From 2514cc943d96b327d189c15ff97fb99a4f422a2c Mon Sep 17 00:00:00 2001 From: Junhan Date: Thu, 7 May 2026 19:31:45 +0800 Subject: [PATCH] update --- benchmark.yaml | 193 +- benchmark_can.yaml | 257 ++ starvla_inference_server.py | 17 +- starvla_inference_server_unnorm.py | 257 ++ starvla_policy.py | 34 +- task.yaml | 5312 ++++++++++++++++++++++++++++ 6 files changed, 5976 insertions(+), 94 deletions(-) create mode 100644 benchmark_can.yaml create mode 100644 starvla_inference_server_unnorm.py create mode 100644 task.yaml diff --git a/benchmark.yaml b/benchmark.yaml index 18919bb..7eaec6e 100644 --- a/benchmark.yaml +++ b/benchmark.yaml @@ -1,77 +1,80 @@ general: scan_project: true root_paths: - asset: /home/ubuntu/projects/gen_data/data - checkpoints: /home/ubuntu/data/models - output: /home/ubuntu/output + asset: /home/ubuntu/xionghao/sim_hofee/sim_hofee/assets + checkpoints: /home/ubuntu/xionghao/starVLA-starVLA/playground/Checkpoints + output: /home/ubuntu/xionghao/sim_hofee simulation: + stereotype: isaaclab + intiailize_steps: 300 launch_config: device: cuda enable_cameras: true headless: false livestream: 0 + scene: - name: kujiale_multispace + name: 827313_home base_config: stereotype: usd - name: _827313_home_workspace_00 + name: _827313_home_workspace_01 source: local - asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_00.usd + asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd object_cfg_dict: - omni6DPose_can_016: - name: omni6DPose_can_016 + omni6DPose_timer_017: + name: omni6DPose_timer_017 stereotype: rigid source: local - asset_path: asset://objects/omni6DPose/can/omni6DPose_can_016/Aligned.usd + asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd scale: - 0.001 - 0.001 - 0.001 position: - - 0.2 - - -4.15243 - - 0.5 + - 0.552364 + - -4.0582599999999995 + - 0.524713118 quaternion: - - -0.304408012043137 - - -0.304408012043137 - - 0.638228612805745 - - 0.6382286128057448 + - 0.166210542394157 + - 0.166210542394157 + - 0.6872947370648492 + - 0.6872947370648491 axis_y_up: true - omni6DPose_plug_001: - name: omni6DPose_plug_001 + omni6DPose_book_031: + name: omni6DPose_book_031 stereotype: rigid source: local - asset_path: asset://objects/omni6DPose/plug/omni6DPose_plug_001/Aligned.usd + asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd scale: - 0.001 - 0.001 - 0.001 position: - - 0.219859 - - -3.852430000000001 - - 0.510259093 + - 0.6623640000000001 + - -3.7882599999999997 + - 0.5101601435 quaternion: - - 0.7070997233636068 - - 0.707099723363607 - - 0.003159306745230588 - - 0.003159306745230588 + - 0.7063055546421202 + - 0.7063055546421203 + - -0.03365209475927027 + - -0.033652094759270265 axis_y_up: true robot_cfg_dict: - Franka: - name: Franka + Franka_Robotiq_2f85: + name: Franka_Robotiq_2f85 asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd position: - - -0.3779152929316859 - - -3.943187336951741 - - 0.3130090550954169 - rotation: - - 0.9987576855319703 + - 1.082364 + - -3.92826 + - 0.47629299999999997 + rotation: + - 7.549799991308018e-08 - 0.0 - 0.0 - - 0.04983056883903615 - stereotype: single_gripper_arm_robot + - 0.9999999999999973 + stereotype: modular_robot source: local ee_link_name: panda_link8 ik_joint_names: @@ -83,18 +86,43 @@ scene: - panda_joint6 - panda_joint7 init_joint_position: + # panda_joint1: 0.18641542 + # panda_joint2: 0.47660449 + # panda_joint3: -0.03320411 + # panda_joint4: -2.27693725 + # panda_joint5: 0.98161776 + # panda_joint6: 2.20247197 + # panda_joint7: 0.71794897 panda_joint2: -0.1633 panda_joint4: -1.07 panda_joint6: 0.8933 panda_joint7: 0.785 - arm_actuator_name: franka_arm - gripper_actuator_name: robotiq_2f_85 - use_planner: true - planner_cfg: - stereotype: curobo - lazy_init: true - robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml - world_config_source: stage + arm_modules: + main_arm: + arm_actuator_name: franka_arm + ee_link_name: panda_link8 + ee_type: gripper + ee_actuator_name: robotiq_gripper + actuator_cfg_dict: + franka_arm: + stereotype: arm + joint_names_expr: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7] + stiffness: 3000.0 + damping: 800.0 + robotiq_gripper: + stereotype: gripper + joint_names_expr: [robotiq_85_left_knuckle_joint] + stiffness: 10000 + damping: 500.0 + close_control_type: velocity + open_control_type: position + drive_joints: + robotiq_85_left_knuckle_joint: + close_velocity: 5.0 + open_velocity: -5.0 + close_position: 0.8 + open_position: 0.0 + use_planner: false sensor_cfg_dict: Hand_Camera: name: Hand_Camera @@ -108,23 +136,23 @@ scene: camera_model: pinhole fix_camera: true focal_length: 2.8 - horizontal_aperture: 4.890881131191918 + horizontal_aperture: 4.893416860031241 vertical_aperture: 2.7608816125932627 convention: opengl attach_to: - target_name: Franka + target_name: Franka_Robotiq_2f85 is_articulation_part: true articulation_part_name: panda_link8 create_fixed_joint: true local_position: - - -0.07176474936469446 - - 0.02890958100382394 - - 0.01978286477078585 + - -0.07128738160694643 + - 0.03551506300731732 + - 0.018927748370281355 local_rotation: - - 0.12352531576657892 - - 0.7000519980574638 - - -0.6933396337721066 - - -0.11810524383481495 + - -0.12117023430710862 + - -0.6862313269668 + - 0.7070213671685396 + - 0.12052023305019997 Left_Camera: name: Left_Camera stereotype: camera @@ -137,20 +165,20 @@ scene: camera_model: pinhole fix_camera: false focal_length: 2.1 - horizontal_aperture: 5.019302546405283 + horizontal_aperture: 5.030789363390793 vertical_aperture: 2.833796298140747 convention: opengl attach_to: - target_name: Franka + target_name: Franka_Robotiq_2f85 local_position: - - -0.07383269512283744 - - -0.4566116797983716 - - 0.5664518136443555 + - 0.31702696813014064 + - -0.3844238699868664 + - 0.6551552990137672 local_rotation: - - 0.7669289562134721 - - 0.4437472984144337 - - -0.232167881174614 - - -0.4012560108236337 + - 0.8742457685173938 + - 0.38378563025938384 + - -0.11951449178007277 + - -0.27224843891267797 Right_Camera: name: Right_Camera stereotype: camera @@ -163,20 +191,20 @@ scene: camera_model: pinhole fix_camera: false focal_length: 2.1 - horizontal_aperture: 5.053278483887542 + horizontal_aperture: 5.050364265142387 vertical_aperture: 2.833796298140747 convention: opengl attach_to: - target_name: Franka + target_name: Franka_Robotiq_2f85 local_position: - - 0.4501524009531093 - - 0.7206899873248545 - - 0.27525652672526973 + - 0.21844487914880717 + - 0.20172329179193413 + - 0.30108042236545296 local_rotation: - - 0.007056820167439314 - - 0.007107689842383092 - - 0.709606075042274 - - 0.7045274304789896 + - -0.5316249212230874 + - -0.38697158527836417 + - 0.44338617110944967 + - 0.6091277686910994 extension: extension_cfg_dict: @@ -185,9 +213,10 @@ extension: stereotype: data_collect observer_cfgs: - stereotype: robot_observer - name: Franka + name: Franka_Robotiq_2f85 + target_joint_names: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7, robotiq_85_left_knuckle_joint] observe_ee_pose: true - observe_gripper_drive_state: true + observe_ee_state: true observe_joint_position: true observe_joint_velocity: true observe_joint_positions: true @@ -210,22 +239,23 @@ extension: stereotype: benchmark data_collector_name: benchmark_data_collect action_frequency: 15.0 - timeout_per_episode: 30 + timeout_per_episode: 300 goals: - name: cola on top of book description: check if the cola bottle is on the book stereotype: on_top - object_A_name: omni6DPose_plug_001 - object_B_name: omni6DPose_can_016 + object_A_name: omni6DPose_book_031 + object_B_name: omni6DPose_timer_017 policy: stereotype: starvla - robot_name: Franka + robot_name: Franka_Robotiq_2f85 + arm_name: main_arm sensor_names: [Hand_Camera, Left_Camera, Right_Camera] - prompt: pick up the can + prompt: pick up the timer and put on the book run_trunk_size: 16 gripper_width_mapper_file: ./gripper_width_robotiq_2f85_fixed.json - visualize_action_ee_pose: false - visualize_state_ee_pose: false + visualize_action_ee_pose: true + visualize_state_ee_pose: true visualize_bounding_box_targets: [] # [omni6DPose_plug_001, omni6DPose_can_016] # 打开会被policy看到，会影响policy的推理结果 recorder: @@ -237,7 +267,10 @@ extension: postprocess_list: ["hdf5", "video"] policy_server: - ckpt_path: checkpoints://0318_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt + # ckpt_path: checkpoints://0324_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt + # ckpt_path: checkpoints://0405_qwenpi_droid_norm_pretrain_8node/checkpoints/steps_60000_pytorch_model.pt + # ckpt_path: checkpoints://0407_qwenpi_droid_postrain/final_model/pytorch_model.pt + ckpt_path: checkpoints://0407_qwenpi_droid_from_scratch/final_model/pytorch_model.pt ckpt_source: local host: 0.0.0.0 port: 5000 diff --git a/benchmark_can.yaml b/benchmark_can.yaml new file mode 100644 index 0000000..eb9e7e3 --- /dev/null +++ b/benchmark_can.yaml @@ -0,0 +1,257 @@ +general: + scan_project: true + root_paths: + asset: /home/ubuntu/xionghao/sim_hofee/sim_hofee/assets + checkpoints: /home/ubuntu/xionghao/starVLA-starVLA/playground/Checkpoints + output: /home/ubuntu/xionghao/sim_hofee + +simulation: + launch_config: + device: cuda + enable_cameras: true + headless: false + livestream: 0 + +scene: + name: kujiale_multispace + base_config: + stereotype: usd + name: _827313_home_workspace_00 + source: local + asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_00.usd + object_cfg_dict: + omni6DPose_can_016: + name: omni6DPose_can_016 + stereotype: rigid + source: local + asset_path: asset://objects/omni6DPose/can/omni6DPose_can_016/Aligned.usd + scale: + - 0.001 + - 0.001 + - 0.001 + position: + - 0.2 + - -4.05243 + - 0.5 + quaternion: + - -0.304408012043137 + - -0.304408012043137 + - 0.638228612805745 + - 0.6382286128057448 + axis_y_up: true + omni6DPose_can_011: + name: omni6DPose_can_011 + stereotype: rigid + source: local + asset_path: asset://objects/omni6DPose/can/omni6DPose_can_011/Aligned.usd + scale: + - 0.001 + - 0.001 + - 0.001 + position: + - 0.219859 + - -3.82430000000001 + - 0.510259093 + quaternion: + - 0.7070997233636068 + - 0.707099723363607 + - 0.003159306745230588 + - 0.003159306745230588 + axis_y_up: true + robot_cfg_dict: + Franka: + name: Franka + asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd + position: + - -0.3779152929316859 + - -3.943187336951741 + - 0.3130090550954169 + rotation: + - 0.9987576855319703 + - 0.0 + - 0.0 + - 0.04983056883903615 + stereotype: single_gripper_arm_robot + source: local + ee_link_name: panda_link8 + ik_joint_names: + - panda_joint1 + - panda_joint2 + - panda_joint3 + - panda_joint4 + - panda_joint5 + - panda_joint6 + - panda_joint7 + init_joint_position: + panda_joint2: -0.1633 + panda_joint4: -1.07 + panda_joint6: 0.8933 + panda_joint7: 0.785 + # panda_joint1: 0.00201746 + # panda_joint2: -0.25797674 + # panda_joint3: -0.02563748 + # panda_joint4: -1.68997145 + # panda_joint5: -0.0735122 + # panda_joint6: 1.45765436 + # panda_joint7: 0.56564939 + arm_actuator_name: franka_arm + gripper_actuator_name: robotiq_2f_85 + use_planner: true + planner_cfg: + stereotype: curobo + lazy_init: true + robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml + world_config_source: stage + sensor_cfg_dict: + Hand_Camera: + name: Hand_Camera + stereotype: camera + data_types: + - rgb + - depth + - normals + width: 1280 + height: 720 + camera_model: pinhole + fix_camera: true + focal_length: 2.8 + horizontal_aperture: 4.890881131191918 + vertical_aperture: 2.7608816125932627 + convention: opengl + attach_to: + target_name: Franka + is_articulation_part: true + articulation_part_name: panda_link8 + create_fixed_joint: true + local_position: + - -0.07176474936469446 + - 0.02890958100382394 + - 0.01978286477078585 + local_rotation: + - 0.12352531576657892 + - 0.7000519980574638 + - -0.6933396337721066 + - -0.11810524383481495 + Left_Camera: + name: Left_Camera + stereotype: camera + data_types: + - rgb + - depth + - normals + width: 1280 + height: 720 + camera_model: pinhole + fix_camera: false + focal_length: 2.1 + horizontal_aperture: 5.019302546405283 + vertical_aperture: 2.833796298140747 + convention: opengl + attach_to: + target_name: Franka + local_position: + - -0.07383269512283744 + - -0.4566116797983716 + - 0.5664518136443555 + local_rotation: + - 0.7669289562134721 + - 0.4437472984144337 + - -0.232167881174614 + - -0.4012560108236337 + Right_Camera: + name: Right_Camera + stereotype: camera + data_types: + - rgb + - depth + - normals + width: 1280 + height: 720 + camera_model: pinhole + fix_camera: false + focal_length: 2.1 + horizontal_aperture: 5.053278483887542 + vertical_aperture: 2.833796298140747 + convention: opengl + attach_to: + target_name: Franka + local_position: + - 0.4501524009531093 + - 0.7206899873248545 + - 0.27525652672526973 + local_rotation: + - 0.007056820167439314 + - 0.007107689842383092 + - 0.709606075042274 + - 0.7045274304789896 + +extension: + extension_cfg_dict: + benchmark_data_collect: + enable: true + stereotype: data_collect + observer_cfgs: + - stereotype: robot_observer + name: Franka + target_joint_names: [panda_joint1, panda_joint2, panda_joint3, panda_joint4, panda_joint5, panda_joint6, panda_joint7] + observe_ee_pose: true + observe_gripper_drive_state: true + observe_joint_position: true + observe_joint_velocity: true + observe_joint_positions: true + observe_joint_velocities: true + observe_joint_accelerations: true + observe_joint_position_targets: true + observe_joint_velocity_targets: true + - stereotype: sensor_observer + name: Hand_Camera + observe_rgb: true + - stereotype: sensor_observer + name: Left_Camera + observe_rgb: true + - stereotype: sensor_observer + name: Right_Camera + observe_rgb: true + + starvla_benchmark: + enable: true + stereotype: benchmark + data_collector_name: benchmark_data_collect + action_frequency: 15.0 + timeout_per_episode: 300 + goals: + - name: cola on top of book + description: check if the cola bottle is on the book + stereotype: on_top + object_A_name: omni6DPose_can_016 + object_B_name: omni6DPose_can_011 + policy: + stereotype: starvla + robot_name: Franka + sensor_names: [Hand_Camera, Left_Camera, Right_Camera] + prompt: pick up the red can on the table + run_trunk_size: 16 + gripper_width_mapper_file: ./gripper_width_robotiq_2f85_fixed.json + visualize_action_ee_pose: false + visualize_state_ee_pose: false + visualize_bounding_box_targets: [] # [omni6DPose_plug_001, omni6DPose_can_016] # 打开会被policy看到，会影响policy的推理结果 + + recorder: + enable: true # set to true to record the data + stereotype: record + data_collector_name: benchmark_data_collect + record_fps: 30 + backend_root_path: output://benchmark_record + postprocess_list: ["hdf5", "video"] + +policy_server: + # ckpt_path: checkpoints://0324_qwenpi_droid_pretrain_8node/checkpoints/steps_30000_pytorch_model.pt + # ckpt_path: checkpoints://0401_qwenpi_droid_pretrain_8node/checkpoints/steps_20000_pytorch_model.p + ckpt_path: checkpoints://0405_qwenpi_droid_norm_pretrain_8node/checkpoints/steps_60000_pytorch_model.pt + # ckpt_path: checkpoints://0407_qwenpi_droid_postrain/checkpoints/steps_10000_pytorch_model.pt + ckpt_source: local + host: 0.0.0.0 + port: 5000 + use_bf16: true + unnorm_key: oxe_bridge + state_mode: ee_pose7 \ No newline at end of file diff --git a/starvla_inference_server.py b/starvla_inference_server.py index a91acea..6d6f6d0 100644 --- a/starvla_inference_server.py +++ b/starvla_inference_server.py @@ -12,6 +12,14 @@ import cv2 from flask import Flask, request, Response from PIL import Image +def pad_to_dim(x: np.ndarray, target_dim: int, axis: int = -1, value: float = 0.0) -> np.ndarray: + """Pad an array to the target dimension with zeros along the specified axis.""" + current_dim = x.shape[axis] + if current_dim < target_dim: + pad_width = [(0, 0)] * len(x.shape) + pad_width[axis] = (0, target_dim - current_dim) + return np.pad(x, pad_width, constant_values=value) + return x class StarvlaInferenceServer: @@ -19,7 +27,7 @@ class StarvlaInferenceServer: with open(config_path, "r") as f: cfg = yaml.safe_load(f) - + policy_server_cfg = cfg["policy_server"] root_paths = cfg["general"]["root_paths"] self.ckpt_source = policy_server_cfg["ckpt_source"] @@ -88,14 +96,15 @@ class StarvlaInferenceServer: img_wrist = Image.fromarray(cv2.resize(wrist_rgb, target_size)) state_vec = obs["state"] - + # import ipdb;ipdb.set_trace() + # state_vec = pad_to_dim(np.array(state_vec), 100, axis=-1) return img_left, img_right, img_wrist, state_vec, obs["prompt"] def inference(self, observation: dict) -> dict: - + img_left, img_right, img_wrist, state_vec, prompt = \ self.parse_observation(observation) - + print(f"{state_vec.shape}") vla_input = { "batch_images": [[img_left, img_right, img_wrist]], "instructions": [prompt], diff --git a/starvla_inference_server_unnorm.py b/starvla_inference_server_unnorm.py new file mode 100644 index 0000000..6edccfb --- /dev/null +++ b/starvla_inference_server_unnorm.py @@ -0,0 +1,257 @@ + +import yaml +import pickle +import argparse +import os +import traceback +from urllib.parse import urlparse +import numpy as np +import torch +import cv2 +import json +from flask import Flask, request, Response +from PIL import Image +from pathlib import Path + + +def pad_to_dim(x: np.ndarray, target_dim: int, axis: int = -1, value: float = 0.0) -> np.ndarray: + """Pad an array to the target dimension with zeros along the specified axis.""" + current_dim = x.shape[axis] + if current_dim < target_dim: + pad_width = [(0, 0)] * len(x.shape) + pad_width[axis] = (0, target_dim - current_dim) + return np.pad(x, pad_width, constant_values=value) + return x + +def normalize_eepose_state(raw_state, stats, start_idx, norm_len=3): + """ + 根据统计信息对原始动作的特定切片进行归一化 (Normalize)，映射到 [-1.0, 1.0] 区间 + + :param raw_action: 包含原始动作的 numpy 数组，形状通常为 (batch_size, action_dim) + :param stats: 归一化所需的统计信息字典 (包含 'q01' 和 'q99') + :param start_idx: 需要归一化的特征在 action 向量中的起始索引 + :param norm_len: 需要归一化的特征长度，默认为 3 (如 xyz 坐标) + :return: 归一化后的动作数组 (返回新数组，不修改原数组) + """ + # 1. 提取并截取对应的 q01 和 q99，保持 float16 精度对齐 + q01 = np.array(stats["q01"][start_idx : start_idx + norm_len], dtype=np.float16) + q99 = np.array(stats["q99"][start_idx : start_idx + norm_len], dtype=np.float16) + + # 2. 计算分母 denom，防除零保护 + denom = np.clip(q99 - q01, a_min=1e-5, a_max=None) + + # 3. 定位切片 + target_slice = slice(start_idx, start_idx + norm_len) + + # 4. 复制一份以防污染原始数据矩阵 + norm_state = raw_state.copy() + x = norm_state[:, target_slice] + + # 5. 执行正向映射计算：y = 2 * (x - q01) / denom - 1 + y = 2.0 * (x - q01) / denom - 1.0 + + # 6. 核心操作：截断到 [-1.0, 1.0] 区间，防止输入给模型的动作越界 + norm_state[:, target_slice] = np.clip(y, -1.0, 1.0) + + return norm_state + +def unnormalize_eepose_action(normalized_action, stats, start_idx, norm_len=3): + """ + 读取统计信息 JSON 并对动作的特定切片进行反归一化 (Un-normalize) + + :param normalized_action: 包含归一化动作的 numpy 数组，形状通常为 (batch_size, action_dim) + :param stats: 反归一化所需的统计信息，通常是从 JSON 文件中读取的字典 + :param start_idx: 需要反归一化的特征在 action 向量中的起始索引 (即原代码中的 start) + :param norm_len: 需要反归一化的特征长度，默认为 3 (如 xyz 坐标) + :return: 反归一化后的动作数组 (返回新数组，不修改原数组) + """ + + # 2. 提取并截取对应的 q01 和 q99 + # 注意：为了和原归一化精度对齐，这里继续保持 float16 + # import ipdb;ipdb.set_trace() + q01 = np.array(stats["q01"][start_idx : start_idx + norm_len], dtype=np.float16) + q99 = np.array(stats["q99"][start_idx : start_idx + norm_len], dtype=np.float16) + + # 3. 计算分母 denom，保持和原来完全相同的裁剪逻辑防除零 + denom = np.clip(q99 - q01, a_min=1e-5, a_max=None) + + # 4. 定位切片 + target_slice = slice(start_idx, start_idx + norm_len) + + # 5. 执行反向计算：x = (y + 1) / 2 * denom + q01 + # 复制一份以防污染原始的 normalized_action 矩阵 + unnorm_action = normalized_action.copy() + y = unnorm_action[:, target_slice] + unnorm_action[:, target_slice] = (y + 1.0) / 2.0 * denom + q01 + + return unnorm_action + +class StarvlaInferenceServer: + + def __init__(self, config_path: str): + + with open(config_path, "r") as f: + cfg = yaml.safe_load(f) + # import ipdb;ipdb.set_trace() + policy_server_cfg = cfg["policy_server"] + root_paths = cfg["general"]["root_paths"] + self.ckpt_source = policy_server_cfg["ckpt_source"] + self.ckpt_path = self._resolve_ckpt_path( + ckpt_url=policy_server_cfg["ckpt_path"], + root_paths=root_paths, + ) + self.rel_eepose_stats = self.read_rel_eepose_stats() + self.host = policy_server_cfg.get("host", "0.0.0.0") + self.port = policy_server_cfg.get("port", 5000) + self.use_bf16 = policy_server_cfg.get("use_bf16", True) + self.unnorm_key = policy_server_cfg.get("unnorm_key", "oxe_bridge") + self.state_mode = policy_server_cfg.get("state_mode", "ee_pose7") + + print("Loading StarVLA model...") + self.model = self.load_model() + print("Model loaded.") + + self.app = Flask(__name__) + self.register_routes() + + @staticmethod + def _resolve_ckpt_path(ckpt_url: str, root_paths: dict) -> str: + parsed = urlparse(ckpt_url) + if not parsed.scheme: + return ckpt_url + root = root_paths.get(parsed.scheme) + if not root: + raise KeyError( + f"cannot find the checkpoint root path in root_paths: {root_paths}" + ) + rel = (parsed.netloc + parsed.path).lstrip("/") + return os.path.join(root, rel) + + def read_rel_eepose_stats(self): + stats_path = Path(self.ckpt_path).parents[1] / "action_delta_eepose_stats.json" + if stats_path is None or not Path(stats_path).exists(): + return {} + with open(stats_path, 'r', encoding='utf-8') as f: + stats = json.load(f) + return stats + + def load_model(self): + + from starVLA.model.framework.share_tools import read_mode_config, dict_to_namespace + from starVLA.model.framework.__init__ import build_framework + + model_config, norm_stats = read_mode_config(self.ckpt_path) + + cfg = dict_to_namespace(model_config) + cfg.trainer.pretrained_checkpoint = None + + model = build_framework(cfg=cfg) + model.norm_stats = norm_stats + + state_dict = torch.load(self.ckpt_path, map_location="cpu") + model.load_state_dict(state_dict, strict=True) + + if self.use_bf16: + model = model.to(torch.bfloat16) + + model = model.to("cuda").eval() + + self.norm_stats = norm_stats + self.action_norm_stats = norm_stats.get(self.unnorm_key, {}).get("action", None) + + return model + + def parse_observation(self, obs, target_size=(320, 180)): + + left_rgb, right_rgb, wrist_rgb = obs["rgb"]["Left_Camera"], obs["rgb"]["Right_Camera"], obs["rgb"]["Hand_Camera"] + + img_left = Image.fromarray(cv2.resize(left_rgb, target_size)) + img_right = Image.fromarray(cv2.resize(right_rgb, target_size)) + img_wrist = Image.fromarray(cv2.resize(wrist_rgb, target_size)) + + state_vec = obs["state"] #[:10] + # import ipdb;ipdb.set_trace() + state_vec = pad_to_dim(np.array(state_vec), 100, axis=-1) + return img_left, img_right, img_wrist, state_vec, obs["prompt"] + + def inference(self, observation: dict) -> dict: + + img_left, img_right, img_wrist, state_vec, prompt = \ + self.parse_observation(observation) + print(f"{state_vec.shape}") + vla_input = { + "batch_images": [[img_left, img_right, img_wrist]], + "instructions": [prompt], + "state": [state_vec] + } + # import ipdb;ipdb.set_trace() + with torch.no_grad(): + output = self.model.predict_action(**vla_input) + + actions = output.get("normalized_actions") + + if isinstance(actions, torch.Tensor): + actions = actions.cpu().numpy() + + if actions.ndim == 3: + actions = actions[0] # (16, 10) + # import ipdb;ipdb.set_trace() + # 反归一化特定切片 (假设需要反归一化的部分是 action 向量中的第 0-8 维，即 ee_pose7 + gripper_width) + actions[:, :3] = unnormalize_eepose_action(actions[:, :3], self.rel_eepose_stats, start_idx=0, norm_len=3) + # from ipdb import set_trace; set_trace() + return {"ee_delta_position_chunks": actions[:, :3].tolist(), + "ee_delta_rot6d_chunks": actions[:, 3:9].tolist(), + "gripper_width_chunks": actions[:, 9:10].tolist()} + + def register_routes(self): + + @self.app.route("/policy/inference", methods=["POST"]) + def policy(): + try: + data = pickle.loads(request.data) + result = self.inference(data) + body = pickle.dumps(result, protocol=4) + return Response(body, mimetype="application/octet-stream") + except Exception as e: + err_obj = { + "error": str(e), + "traceback": traceback.format_exc(), + } + body = pickle.dumps(err_obj, protocol=4) + return Response( + body, + mimetype="application/octet-stream", + status=500, + ) + @self.app.route("/policy/health", methods=["GET"]) + def health(): + if self.model is None: + return Response("Failed to load model", mimetype="application/json", status=500) + return Response("OK", mimetype="application/json") + + def run(self): + + print("StarVLA policy server running") + print(f"Host: {self.host}") + print(f"Port: {self.port}") + + self.app.run( + host=self.host, + port=self.port, + threaded=True + ) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="StarVLA inference server") + parser.add_argument( + "--config", + type=str, + default="./benchmark.yaml", + help="Path to benchmark.yaml", + ) + args = parser.parse_args() + + config_path = args.config + server = StarvlaInferenceServer(config_path) + server.run() \ No newline at end of file diff --git a/starvla_policy.py b/starvla_policy.py index 0f4c85a..32480eb 100644 --- a/starvla_policy.py +++ b/starvla_policy.py @@ -8,8 +8,9 @@ from joysim.annotations.config_class import configclass, field from joysim.annotations.stereotype import stereotype from joysim.controllers.spawnable_controller import SpawnableController from joysim.controllers.visualize_controller import VisualizeController +from joysim.unisim.robots.models.modular_robot import ModularRobot from joysim.utils.namespace import PoseVisualType, SimulatorType -from joysim.unisim.robots.configs.actuator_configs.grippers import GripperDriveJointConfig +from joysim.unisim.robots.actuator_configs.grippers import GripperDriveJointConfig from joysim.extensions.benchmark.action import RobotAction from joysim.extensions.benchmark.benchmark import ( BenchmarkAction, @@ -25,6 +26,8 @@ from joysim.utils.pose import Pose class StarvlaPolicyConfig(PolicyConfig): robot_name: str = field(default="None", required=True, comment="The name of the robot") + arm_name: str = field(default="main_arm", required=True, comment="The name of the arm module to control") + drive_name: str = field(default="robotiq_85_left_knuckle_joint", required=True, comment="The name of the drive module to control") gripper_width_mapper_file: str = field(default="", required=True, comment="The file path to the gripper width mapper") visualize_action_ee_pose: bool = field(default=False, required=True, comment="Whether to visualize the action end effector pose") visualize_state_ee_pose: bool = field(default=False, required=True, comment="Whether to visualize the state end effector pose") @@ -64,6 +67,8 @@ class StarvlaPolicy(Policy): super().__init__(config) self.robot_name = config.robot_name + self.arm_name = config.arm_name + self.drive_name = config.drive_name self.sensor_names = config.sensor_names self.server_url = config.server_url self.prompt = config.prompt @@ -79,11 +84,15 @@ class StarvlaPolicy(Policy): self.current_chunk_id = 0 self.current_chunk_result = None self.run_trunk_size = self.config.run_trunk_size - self.drive_joints: dict[str, GripperDriveJointConfig] = SpawnableController.control_robot(self.robot_name, "get_gripper_drive_joints").unwrap() + self.robot: ModularRobot = SpawnableController.get_spawnable_data(self.robot_name).unwrap() + self.drive_joints: dict[str, GripperDriveJointConfig] = self.robot.get_arm(self.arm_name).get_ee().get_drive_joints() + self.robot_drive_name = list(self.drive_joints.keys())[0] + for joint_name, joint_config in self.drive_joints.items(): SpawnableController.control_robot(self.robot_name, "set_joint_stiffness", parameters={"joint_names": [joint_name], "stiffness": joint_config.position_control_stiffness}).unwrap() SpawnableController.control_robot(self.robot_name, "set_joint_damping", parameters={"joint_names": [joint_name], "damping": joint_config.position_control_damping}).unwrap() - SpawnableController.control_robot(self.robot_name, "set_joint_effort_limit", parameters={"joint_names": [joint_name], "effort_limit": 50}).unwrap() + SpawnableController.control_robot(self.robot_name, "set_joint_effort_limit", parameters={"joint_names": [joint_name], "effort_limit": 5000}).unwrap() + SpawnableController.control_robot(self.robot_name, "set_joint_effort_limit", parameters={"joint_names": [self.robot_drive_name], "effort_limit": 5000}).unwrap() self.max_width = float("-inf") self.min_width = float("inf") for entry in self.gripper_width_mapper: @@ -113,11 +122,13 @@ class StarvlaPolicy(Policy): def preprocess_observation(self, benchmark_observation: BenchmarkObservation) -> dict: robot_obs = benchmark_observation.get_robot_observations(self.robot_name)["robot_data"] - ee_pose_base = robot_obs["ee_pose"]["base_frame"] + ee_pose_base = robot_obs["ee_pose"][self.arm_name]["base_frame"] ee_position, ee_rot6d = ee_pose_base["position"],ee_pose_base["rot6d"] - normalized_gripper_width = self.__map_joint_position_to_normalized_width(robot_obs["gripper_drive_state"]["position"][0]) + arm_joint_positions = robot_obs["joint_positions"][:7] # 临时多加了一个drive的位置，现在读的最后一个joint值是drive + drive_joint_positions = robot_obs["joint_positions"][-1] + normalized_gripper_width = self.__map_joint_position_to_normalized_width(drive_joint_positions) Log.debug(f"input normalized_gripper_width state: {round(normalized_gripper_width, 2)}") - state = np.concatenate([ee_position,ee_rot6d,np.array([normalized_gripper_width])]) + state = np.concatenate([ee_position,ee_rot6d,np.array([normalized_gripper_width]), [0]*10, np.array(arm_joint_positions)]) rgb_data = {} for sensor_name in self.sensor_names: sensor_obs = benchmark_observation.get_sensor_observations(sensor_name) @@ -137,6 +148,7 @@ class StarvlaPolicy(Policy): data=payload, headers={"Content-Type": "application/octet-stream"} ) + self.test_obs = observation["state"] #TODO self._handle_server_error(response) result = pickle.loads(response.content) max_trunk_size = len(result["ee_delta_position_chunks"]) @@ -176,7 +188,9 @@ class StarvlaPolicy(Policy): def postprocess_action(self, action: dict) -> BenchmarkAction: benchmark_action = BenchmarkAction() - + Log.debug(f"observation: {self.test_obs}") + # import ipdb;ipdb.set_trace() + # get base frame end-effector pose delta_ee_pose = Pose(position=action["ee_delta_position_chunks"][self.current_chunk_id], rot6d=action["ee_delta_rot6d_chunks"][self.current_chunk_id]) curr_state_ee_pose = Pose(position=self.current_ee_position_state, rot6d=self.current_ee_rot6d_state) @@ -221,7 +235,7 @@ class StarvlaPolicy(Policy): VisualizeController.create_pose_visualization( robot_base_world * pose_state_base, name=f"{self.robot_name}/starvla_state_ee", - simulator=SimulatorType.ISAACSIM, + simulator=SimulatorType.ISAACLAB, pose_type=PoseVisualType.COORDINATE, extra_params={"axis_length": 0.08, "thickness": 0.006}, ).unwrap() @@ -229,7 +243,7 @@ class StarvlaPolicy(Policy): VisualizeController.create_pose_visualization( robot_base_world * pose_action_base, name=f"{self.robot_name}/starvla_action_ee", - simulator=SimulatorType.ISAACSIM, + simulator=SimulatorType.ISAACLAB, pose_type=PoseVisualType.COORDINATE, extra_params={"axis_length": 0.1, "thickness": 0.006}, ).unwrap() @@ -239,5 +253,5 @@ class StarvlaPolicy(Policy): return for target_name in self.visualize_bounding_box_targets: VisualizeController.visualize_target_bounding_box( - target_name, simulator=SimulatorType.ISAACSIM + target_name, simulator=SimulatorType.ISAACLAB ).unwrap() \ No newline at end of file diff --git a/task.yaml b/task.yaml new file mode 100644 index 0000000..5759d66 --- /dev/null +++ b/task.yaml @@ -0,0 +1,5312 @@ +general: + root_paths: + asset: /data/workspace/luoly/code/TaskGen/data + output: output:// +simulation: + intiailize_steps: 120 + launch_config: + device: cuda + enable_cameras: true + headless: false + livestream: 0 +scene: + name: 827313_home + base_config: + stereotype: usd + name: _827313_home_workspace_01 + source: local + asset_path: asset://scenes/kujiale_multispace/827313_home/workspace_01.usd + object_cfg_dict: + omni6DPose_timer_017: + name: omni6DPose_timer_017 + stereotype: rigid + source: local + asset_path: asset://objects/omni6DPose/timer/omni6DPose_timer_017/Aligned.usd + scale: + - 0.001 + - 0.001 + - 0.001 + position: + - 0.602364 + - -4.0682599999999995 + - 0.524713118 + quaternion: + - 0.166210542394157 + - 0.166210542394157 + - 0.6872947370648492 + - 0.6872947370648491 + axis_y_up: true + omni6DPose_book_031: + name: omni6DPose_book_031 + stereotype: rigid + source: local + asset_path: asset://objects/omni6DPose/book/omni6DPose_book_031/Aligned.usd + scale: + - 0.001 + - 0.001 + - 0.001 + position: + - 0.6623640000000001 + - -3.7882599999999997 + - 0.5101601435 + quaternion: + - 0.7063055546421202 + - 0.7063055546421203 + - -0.03365209475927027 + - -0.033652094759270265 + axis_y_up: true + robot_cfg_dict: + Franka_Robotiq_2f85: + name: Franka_Robotiq_2f85 + asset_path: asset://Franka/franka_robotiq_2f85_zedmini.usd + position: + - 1.082364 + - -3.92826 + - 0.47629299999999997 + rotation: + - 7.549799991308018e-08 + - 0.0 + - 0.0 + - 0.9999999999999973 + stereotype: single_gripper_arm_robot + source: local + init_joint_position: + panda_joint2: -0.1633 + panda_joint4: -1.07 + panda_joint6: 0.8933 + panda_joint7: 0.785 + arm_actuator_name: franka_arm + gripper_actuator_name: robotiq_2f_85 + ee_link_name: gripper_center + use_planner: true + planner_cfg: + stereotype: curobo + lazy_init: true + robot_config_file: asset://curobo/franka_robotiq_2f85/franka_robotiq_2f85.yml + world_config_source: stage + sensor_cfg_dict: + Hand_Camera: + name: Hand_Camera + stereotype: camera + data_types: + - rgb + - depth + - normals + width: 1280 + height: 720 + camera_model: pinhole + fix_camera: true + focal_length: 2.8 + horizontal_aperture: 4.893416860031241 + vertical_aperture: 2.7608816125932627 + convention: opengl + attach_to: + target_name: Franka_Robotiq_2f85 + is_articulation_part: true + articulation_part_name: panda_link8 + create_fixed_joint: true + local_position: + - -0.07128738160694643 + - 0.03551506300731732 + - 0.018927748370281355 + local_rotation: + - -0.12117023430710862 + - -0.6862313269668 + - 0.7070213671685396 + - 0.12052023305019997 + Left_Camera: + name: Left_Camera + stereotype: camera + data_types: + - rgb + - depth + - normals + width: 1280 + height: 720 + camera_model: pinhole + fix_camera: false + focal_length: 2.1 + horizontal_aperture: 5.030789363390793 + vertical_aperture: 2.833796298140747 + convention: opengl + attach_to: + target_name: Franka_Robotiq_2f85 + local_position: + - 0.31702696813014064 + - -0.3844238699868664 + - 0.6551552990137672 + local_rotation: + - 0.8742457685173938 + - 0.38378563025938384 + - -0.11951449178007277 + - -0.27224843891267797 + Right_Camera: + name: Right_Camera + stereotype: camera + data_types: + - rgb + - depth + - normals + width: 1280 + height: 720 + camera_model: pinhole + fix_camera: false + focal_length: 2.1 + horizontal_aperture: 5.050364265142387 + vertical_aperture: 2.833796298140747 + convention: opengl + attach_to: + target_name: Franka_Robotiq_2f85 + local_position: + - 0.21844487914880717 + - 0.20172329179193413 + - 0.30108042236545296 + local_rotation: + - -0.5316249212230874 + - -0.38697158527836417 + - 0.44338617110944967 + - 0.6091277686910994 +task: + name: random_single_pick_place_001999 + description: 'Franka_Robotiq_2f85 executes stages: pick(gripper->omni6DPose_timer_017), + place(omni6DPose_timer_017->omni6DPose_book_031)' + actions: + - name: open_gripper_action + stereotype: release + description: open gripper action + robot_name: Franka_Robotiq_2f85 + ee_type: gripper + release_timeout: 60.0 + - name: pick_action_00 + ee_timeout: 60.0 + stereotype: pick + description: Pick up omni6DPose_timer_017 + pick_up_distance: 0.03 + robot_name: Franka_Robotiq_2f85 + target_name: omni6DPose_timer_017 + pose_source: inline + pose_data: + grasp_0: + position: + - 0.0038685856922695133 + - 0.004466852553715234 + - -0.03531195040680468 + rotation_matrix: + - - 0.10401858389377594 + - -0.9938283562660217 + - -0.038540683686733246 + - - 0.09528955817222595 + - 0.04853108897805214 + - -0.9942658543586731 + - - 0.9900000095367432 + - 0.0997496023774147 + - 0.0997496023774147 + grasp_1: + position: + - -0.0038414330831936733 + - 0.008453966558471693 + - 0.03487375447116792 + rotation_matrix: + - - 0.004352654330432415 + - 0.9999740719795227 + - 0.00573710398748517 + - - -0.6044033169746399 + - 0.007201386149972677 + - -0.7966459393501282 + - - -0.7966666221618652 + - 0.0 + - 0.6044189929962158 + grasp_2: + position: + - -0.007263183377744295 + - -0.019143872814074148 + - 0.021902204042300588 + rotation_matrix: + - - -0.016119660809636116 + - -0.9998555779457092 + - -0.0053815096616744995 + - - 0.9483999013900757 + - -0.016994237899780273 + - 0.31662097573280334 + - - -0.31666672229766846 + - 0.0 + - 0.9485368728637695 + grasp_3: + position: + - -0.007494837295325138 + - -0.019072289498344053 + - 0.0064624012615531745 + rotation_matrix: + - - -0.016119660809636116 + - -0.9998555779457092 + - -0.0053815096616744995 + - - 0.9483999013900757 + - -0.016994237899780273 + - 0.31662097573280334 + - - -0.31666672229766846 + - 0.0 + - 0.9485368728637695 + grasp_4: + position: + - 0.009030799506677019 + - 0.00826768434841968 + - 0.019798676237091417 + rotation_matrix: + - - 0.004352654330432415 + - 0.9999740719795227 + - 0.00573710398748517 + - - -0.6044033169746399 + - 0.007201386149972677 + - -0.7966459393501282 + - - -0.7966666221618652 + - 0.0 + - 0.6044189929962158 + grasp_5: + position: + - -0.00784626989797832 + - -0.018822801522512533 + - 0.0006294223552104072 + rotation_matrix: + - - -0.06790387630462646 + - -0.9976860880851746 + - 0.003399446839466691 + - - 0.996438205242157 + - -0.06798891723155975 + - -0.04988431558012962 + - - 0.050000011920928955 + - 0.0 + - 0.9987491965293884 + grasp_6: + position: + - 0.009646047990892737 + - -0.007336596848019239 + - -0.03486664676181972 + rotation_matrix: + - - -0.003189190523698926 + - 0.9999880790710449 + - 0.003690961981192231 + - - -0.6537930965423584 + - -0.004877923522144556 + - 0.7566576600074768 + - - 0.7566666603088379 + - 0.0 + - 0.6538008451461792 + grasp_7: + position: + - -0.004310431753630337 + - -0.010652628308727596 + - -0.03624066210016608 + rotation_matrix: + - - 0.014043985866010189 + - -0.9998931884765625 + - -0.00404332997277379 + - - 0.9608633518218994 + - 0.014614447019994259 + - -0.27663707733154297 + - - 0.27666664123535156 + - 0.0 + - 0.9609659314155579 + grasp_8: + position: + - 0.0071023775610874855 + - -0.01859674872388173 + - -0.022332253319770068 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_9: + position: + - -0.007272516198317279 + - -0.018775780982575263 + - -0.01750692537911236 + rotation_matrix: + - - 0.06542284041643143 + - -0.9978401064872742 + - 0.0059120506048202515 + - - 0.9937906265258789 + - 0.06568942964076996 + - 0.08980564773082733 + - - -0.09000003337860107 + - 0.0 + - 0.9959417581558228 + grasp_10: + position: + - 0.00724190747898654 + - 0.008501042644415535 + - -0.0011906575841829081 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_11: + position: + - -0.0040729067931614404 + - -0.018855251105264065 + - -0.034223995315656064 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_12: + position: + - -0.0035803358713827615 + - -0.002451058443397519 + - -0.03448927323780954 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_13: + position: + - 0.01004412763059484 + - -0.004444305384017674 + - 0.03372835617475212 + rotation_matrix: + - - -0.021364182233810425 + - -0.9997690916061401 + - -0.0023216078989207745 + - - 0.07873465120792389 + - -0.003997406456619501 + - 0.9968875646591187 + - - -0.996666669845581 + - 0.02111489698290825 + - 0.07880187034606934 + grasp_14: + position: + - -0.004677864934916849 + - -0.005584610308846605 + - -0.035354717759042975 + rotation_matrix: + - - -0.05148642137646675 + - 0.9984356164932251 + - 0.021806450560688972 + - - -0.9193743467330933 + - -0.055913977324962616 + - 0.38938987255096436 + - - 0.38999998569488525 + - 0.0 + - 0.9208148717880249 + grasp_15: + position: + - -0.007450995993386587 + - -0.018235994977500947 + - -0.0034752715267241108 + rotation_matrix: + - - -0.015894992277026176 + - 0.9961710572242737 + - 0.08596841990947723 + - - -0.18111568689346313 + - -0.08742550760507584 + - 0.9795682430267334 + - - 0.9833333492279053 + - 0.0 + - 0.1818118393421173 + grasp_16: + position: + - 0.00961151734379372 + - 0.0004321242388851676 + - -0.034976423616334795 + rotation_matrix: + - - -0.003189190523698926 + - 0.9999880790710449 + - 0.003690961981192231 + - - -0.6537930965423584 + - -0.004877923522144556 + - 0.7566576600074768 + - - 0.7566666603088379 + - 0.0 + - 0.6538008451461792 + grasp_17: + position: + - 0.004133577580497455 + - -0.010918238864973423 + - -0.03539455230794847 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_18: + position: + - -0.007646248654138339 + - -0.019979603972108406 + - 0.0035960888085421194 + rotation_matrix: + - - -0.02789962664246559 + - -0.999335765838623 + - 0.023444462567567825 + - - 0.7650777101516724 + - -0.03644217178225517 + - -0.6429059505462646 + - - 0.6433333158493042 + - 0.0 + - 0.765586256980896 + grasp_19: + position: + - 0.003979062589410415 + - -0.004257581261404006 + - 0.03544733922891319 + rotation_matrix: + - - -0.021364182233810425 + - -0.9997690916061401 + - -0.0023216078989207745 + - - 0.07873465120792389 + - -0.003997406456619501 + - 0.9968875646591187 + - - -0.996666669845581 + - 0.02111489698290825 + - 0.07880187034606934 + grasp_20: + position: + - 0.007032764559356728 + - 0.00858582652631823 + - -0.011253980427235355 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_21: + position: + - -0.0039770220118306165 + - -0.010881112621858952 + - -0.03452548305951059 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_22: + position: + - 0.004275705672351429 + - -0.011847801591674562 + - -0.03522788550592959 + rotation_matrix: + - - 0.10401858389377594 + - -0.9938283562660217 + - -0.038540683686733246 + - - 0.09528955817222595 + - 0.04853108897805214 + - -0.9942658543586731 + - - 0.9900000095367432 + - 0.0997496023774147 + - 0.0997496023774147 + grasp_23: + position: + - 0.00262430877162027 + - -0.010029165907996185 + - 0.03402236251756552 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_24: + position: + - 0.003511516770872941 + - 0.012071983358405383 + - 0.03543837245516479 + rotation_matrix: + - - -0.021364182233810425 + - -0.9997690916061401 + - -0.0023216078989207745 + - - 0.07873465120792389 + - -0.003997406456619501 + - 0.9968875646591187 + - - -0.996666669845581 + - 0.02111489698290825 + - 0.07880187034606934 + grasp_25: + position: + - 0.007359130282758851 + - 0.008532341120260079 + - -0.01977293727509677 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_26: + position: + - 0.009919743003068724 + - 0.00920574463430468 + - 0.021150118232518444 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_27: + position: + - 0.010045908137939014 + - 0.018784698708952413 + - 0.03353463675715029 + rotation_matrix: + - - -0.06472566723823547 + - -0.9966052174568176 + - -0.0508788637816906 + - - -0.1253417432308197 + - -0.042462680488824844 + - 0.9912045001983643 + - - -0.9900000095367432 + - 0.0705336183309555 + - -0.12216781079769135 + grasp_28: + position: + - 0.004157388822657773 + - -0.00367009927652287 + - -0.0352753419790417 + rotation_matrix: + - - 0.10401858389377594 + - -0.9938283562660217 + - -0.038540683686733246 + - - 0.09528955817222595 + - 0.04853108897805214 + - -0.9942658543586731 + - - 0.9900000095367432 + - 0.0997496023774147 + - 0.0997496023774147 + grasp_29: + position: + - 0.009825152001277399 + - -0.011565791176393864 + - -0.03399529974423349 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_30: + position: + - -0.009403777798939798 + - 0.009507189613480627 + - -0.014675957597047096 + rotation_matrix: + - - 0.02635135129094124 + - 0.9996432065963745 + - -0.004362640902400017 + - - -0.9862189292907715 + - 0.026710042729973793 + - 0.1632750779390335 + - - 0.16333335638046265 + - 0.0 + - 0.9865709543228149 + grasp_31: + position: + - 0.0032293874395916272 + - -0.004146547056734562 + - -0.035242008678242565 + rotation_matrix: + - - -0.08158169686794281 + - 0.996666669845581 + - 6.102823415874971e-17 + - - 0.0 + - -6.123234262925839e-17 + - 1.0 + - - 0.996666669845581 + - 0.08158169686794281 + - 4.995438017797565e-18 + grasp_32: + position: + - 0.003955623323497373 + - -0.02324825551134374 + - -1.7636161204426237e-05 + rotation_matrix: + - - 0.14642490446567535 + - -0.989015519618988 + - -0.0202009454369545 + - - 0.9797356724739075 + - 0.14781181514263153 + - -0.13516543805599213 + - - 0.1366666555404663 + - 0.0 + - 0.9906170964241028 + grasp_33: + position: + - 0.0032320753464168683 + - -0.012752298586963667 + - 0.03545149233080447 + rotation_matrix: + - - -0.06472566723823547 + - -0.9966052174568176 + - -0.0508788637816906 + - - -0.1253417432308197 + - -0.042462680488824844 + - 0.9912045001983643 + - - -0.9900000095367432 + - 0.0705336183309555 + - -0.12216781079769135 + grasp_34: + position: + - -0.004019897564301319 + - -0.008367380395123636 + - 0.03536087133176624 + rotation_matrix: + - - 0.024883795529603958 + - -0.9994190335273743 + - 0.023289648815989494 + - - 0.729682445526123 + - 0.03408241644501686 + - 0.6829362511634827 + - - -0.6833332777023315 + - 0.0 + - 0.7301065921783447 + grasp_35: + position: + - 0.0025447624787972717 + - 0.017653002961130593 + - -0.032804053729027505 + rotation_matrix: + - - -0.10679393261671066 + - 0.8623163104057312 + - -0.49498042464256287 + - - -0.9940073490142822 + - -0.0809115469455719 + - 0.07350312173366547 + - - 0.023333311080932617 + - 0.499863862991333 + - 0.8657895922660828 + grasp_36: + position: + - 0.005383325246578141 + - -0.014621710832797397 + - -0.00297238164171576 + rotation_matrix: + - - -0.6226919293403625 + - -0.6826459765434265 + - 0.3824254274368286 + - - 0.5817018151283264 + - -0.730749249458313 + - -0.35725137591362 + - - 0.5233333110809326 + - 0.0 + - 0.8521280884742737 + grasp_37: + position: + - -0.0037185306339732544 + - 0.0008260810026232135 + - 0.03504389965496957 + rotation_matrix: + - - 0.004352654330432415 + - 0.9999740719795227 + - 0.00573710398748517 + - - -0.6044033169746399 + - 0.007201386149972677 + - -0.7966459393501282 + - - -0.7966666221618652 + - 0.0 + - 0.6044189929962158 + grasp_38: + position: + - -0.0038444311662883205 + - -0.0013944417136749765 + - -0.03492260644622147 + rotation_matrix: + - - 0.022773904725909233 + - -0.9989326596260071 + - -0.04018503054976463 + - - 0.49252545833587646 + - 0.04618968814611435 + - -0.8690714240074158 + - - 0.8700000047683716 + - 0.0 + - 0.4930517077445984 + grasp_39: + position: + - -0.003974246639634759 + - -0.007126034359955069 + - -0.03548927315585315 + rotation_matrix: + - - -0.003189190523698926 + - 0.9999880790710449 + - 0.003690961981192231 + - - -0.6537930965423584 + - -0.004877923522144556 + - 0.7566576600074768 + - - 0.7566666603088379 + - 0.0 + - 0.6538008451461792 + grasp_40: + position: + - 0.009117619964715558 + - -0.0004694200401818005 + - 0.0032176515623927315 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_41: + position: + - -0.0070614681048188875 + - -0.020224110491165792 + - 0.011511412898078555 + rotation_matrix: + - - 0.024883795529603958 + - -0.9994190335273743 + - 0.023289648815989494 + - - 0.729682445526123 + - 0.03408241644501686 + - 0.6829362511634827 + - - -0.6833332777023315 + - 0.0 + - 0.7301065921783447 + grasp_42: + position: + - 0.0029025565247784817 + - -0.01768625424732495 + - 0.03432170449420813 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_43: + position: + - 0.009729823250447123 + - 0.008501479512504462 + - -0.03507729702703655 + rotation_matrix: + - - -0.003189190523698926 + - 0.9999880790710449 + - 0.003690961981192231 + - - -0.6537930965423584 + - -0.004877923522144556 + - 0.7566576600074768 + - - 0.7566666603088379 + - 0.0 + - 0.6538008451461792 + grasp_44: + position: + - 0.005477026770116078 + - -0.013125666544616 + - -0.002568837722856543 + rotation_matrix: + - - -0.6426719427108765 + - -0.7536033391952515 + - -0.1380392163991928 + - - 0.7367990016937256 + - -0.6573294997215271 + - 0.15825672447681427 + - - -0.21000003814697266 + - 0.0 + - 0.9777013659477234 + grasp_45: + position: + - 0.007971794099395944 + - 0.0065494035914039905 + - 0.007995273694768545 + rotation_matrix: + - - 0.02635135129094124 + - 0.9996432065963745 + - -0.004362640902400017 + - - -0.9862189292907715 + - 0.026710042729973793 + - 0.1632750779390335 + - - 0.16333335638046265 + - 0.0 + - 0.9865709543228149 + grasp_46: + position: + - 0.0033033437585529013 + - -0.004594475019123176 + - -0.03094998034164309 + rotation_matrix: + - - -0.6358650326728821 + - 0.7673705220222473 + - -0.08257168531417847 + - - -0.05268435925245285 + - 0.06358020007610321 + - 0.9965851306915283 + - - 0.7699999809265137 + - 0.6380438804626465 + - 3.906892154479422e-17 + grasp_47: + position: + - 0.003259250683102715 + - -0.02130388879385714 + - -0.034698116255179046 + rotation_matrix: + - - -0.02789962664246559 + - -0.999335765838623 + - 0.023444462567567825 + - - 0.7650777101516724 + - -0.03644217178225517 + - -0.6429059505462646 + - - 0.6433333158493042 + - 0.0 + - 0.765586256980896 + grasp_48: + position: + - 0.004251141399552016 + - -0.019455431281350438 + - 0.03504707615412772 + rotation_matrix: + - - 0.079692542552948 + - 0.9700073003768921 + - 0.22964076697826385 + - - 0.2561989724636078 + - 0.20270317792892456 + - -0.9451314806938171 + - - -0.9633333683013916 + - 0.13415366411209106 + - -0.23236095905303955 + grasp_49: + position: + - -0.007529410465327351 + - -0.01894041735241525 + - -0.01567359204702079 + rotation_matrix: + - - 0.014043985866010189 + - -0.9998931884765625 + - -0.00404332997277379 + - - 0.9608633518218994 + - 0.014614447019994259 + - -0.27663707733154297 + - - 0.27666664123535156 + - 0.0 + - 0.9609659314155579 + grasp_50: + position: + - -0.007179636329273452 + - -0.018836039415798034 + - -7.05778556410186e-05 + rotation_matrix: + - - 0.06542284041643143 + - -0.9978401064872742 + - 0.0059120506048202515 + - - 0.9937906265258789 + - 0.06568942964076996 + - 0.08980564773082733 + - - -0.09000003337860107 + - 0.0 + - 0.9959417581558228 + grasp_51: + position: + - -0.009639112304092269 + - 0.006819623073058445 + - -0.0016799447923898647 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_52: + position: + - 0.00331552830702383 + - 0.010863116552805419 + - -0.03539513926766813 + rotation_matrix: + - - -0.015894992277026176 + - 0.9961710572242737 + - 0.08596841990947723 + - - -0.18111568689346313 + - -0.08742550760507584 + - 0.9795682430267334 + - - 0.9833333492279053 + - 0.0 + - 0.1818118393421173 + grasp_53: + position: + - -0.004274701108711137 + - -0.0074205552483644355 + - 0.0345095142122358 + rotation_matrix: + - - 0.004352654330432415 + - 0.9999740719795227 + - 0.00573710398748517 + - - -0.6044033169746399 + - 0.007201386149972677 + - -0.7966459393501282 + - - -0.7966666221618652 + - 0.0 + - 0.6044189929962158 + grasp_54: + position: + - -0.009611049450995066 + - -0.014981749387279142 + - 0.027149001618847257 + rotation_matrix: + - - -0.016119660809636116 + - -0.9998555779457092 + - -0.0053815096616744995 + - - 0.9483999013900757 + - -0.016994237899780273 + - 0.31662097573280334 + - - -0.31666672229766846 + - 0.0 + - 0.9485368728637695 + grasp_55: + position: + - -0.007087074751101638 + - -0.019504962063581432 + - 0.002896088895713911 + rotation_matrix: + - - 0.08393515646457672 + - -0.9952710270881653 + - -0.04889218509197235 + - - 0.8600060939788818 + - 0.09713679552078247 + - -0.5009530782699585 + - - 0.503333330154419 + - 0.0 + - 0.8640923500061035 + grasp_56: + position: + - -0.0034382077795287874 + - -0.0033806211700986577 + - -0.03432260643579066 + rotation_matrix: + - - 0.10401858389377594 + - -0.9938283562660217 + - -0.038540683686733246 + - - 0.09528955817222595 + - 0.04853108897805214 + - -0.9942658543586731 + - - 0.9900000095367432 + - 0.0997496023774147 + - 0.0997496023774147 + grasp_57: + position: + - -0.009388058691436576 + - 0.006782622596571475 + - 0.0001533888377249215 + rotation_matrix: + - - 0.02635135129094124 + - 0.9996432065963745 + - -0.004362640902400017 + - - -0.9862189292907715 + - 0.026710042729973793 + - 0.1632750779390335 + - - 0.16333335638046265 + - 0.0 + - 0.9865709543228149 + grasp_58: + position: + - 0.010493100487640076 + - -0.008890723146090185 + - 0.03500844396837055 + rotation_matrix: + - - 0.024883795529603958 + - -0.9994190335273743 + - 0.023289648815989494 + - - 0.729682445526123 + - 0.03408241644501686 + - 0.6829362511634827 + - - -0.6833332777023315 + - 0.0 + - 0.7301065921783447 + grasp_59: + position: + - 0.009775863464239176 + - -0.0016050042017391464 + - -0.03429998005218804 + rotation_matrix: + - - 0.022773904725909233 + - -0.9989326596260071 + - -0.04018503054976463 + - - 0.49252545833587646 + - 0.04618968814611435 + - -0.8690714240074158 + - - 0.8700000047683716 + - 0.0 + - 0.4930517077445984 + grasp_60: + position: + - 0.003858400697288114 + - -0.02327579658252027 + - 0.015629318080469967 + rotation_matrix: + - - 0.14642490446567535 + - -0.989015519618988 + - -0.0202009454369545 + - - 0.9797356724739075 + - 0.14781181514263153 + - -0.13516543805599213 + - - 0.1366666555404663 + - 0.0 + - 0.9906170964241028 + grasp_61: + position: + - -0.0036429078248163965 + - 0.0040855807331998395 + - -0.034304717591777445 + rotation_matrix: + - - 0.10401858389377594 + - -0.9938283562660217 + - -0.038540683686733246 + - - 0.09528955817222595 + - 0.04853108897805214 + - -0.9942658543586731 + - - 0.9900000095367432 + - 0.0997496023774147 + - 0.0997496023774147 + grasp_62: + position: + - 0.01136129901051866 + - -0.011640352727331368 + - 0.026675074062868953 + rotation_matrix: + - - -0.021364182233810425 + - -0.9997690916061401 + - -0.0023216078989207745 + - - 0.07873465120792389 + - -0.003997406456619501 + - 0.9968875646591187 + - - -0.996666669845581 + - 0.02111489698290825 + - 0.07880187034606934 + grasp_63: + position: + - 0.0029405843092033673 + - 0.003990404773503542 + - -0.03527861710600555 + rotation_matrix: + - - -0.08158169686794281 + - 0.996666669845581 + - 6.102823415874971e-17 + - - 0.0 + - -6.123234262925839e-17 + - 1.0 + - - 0.996666669845581 + - 0.08158169686794281 + - 4.995438017797565e-18 + grasp_64: + position: + - 0.003954166379232793 + - -0.010844595051132028 + - 0.035584825534001 + rotation_matrix: + - - 0.079692542552948 + - 0.9963905215263367 + - -0.02924041822552681 + - - 0.2561989724636078 + - -0.048821788281202316 + - -0.9653903245925903 + - - -0.9633333683013916 + - 0.06944304704666138 + - -0.2591649889945984 + grasp_65: + position: + - -0.001743809209467817 + - -0.023401789473437795 + - -0.015523040556162604 + rotation_matrix: + - - -0.577991783618927 + - -0.6351587176322937 + - -0.5123464465141296 + - - 0.47530457377433777 + - -0.7723816633224487 + - 0.42132192850112915 + - - -0.6633332967758179 + - 0.0 + - 0.7483240962028503 + grasp_66: + position: + - 0.003177503284591904 + - 0.004570332756779941 + - 0.035419757179543376 + rotation_matrix: + - - -0.021364182233810425 + - -0.9997690916061401 + - -0.0023216078989207745 + - - 0.07873465120792389 + - -0.003997406456619501 + - 0.9968875646591187 + - - -0.996666669845581 + - 0.02111489698290825 + - 0.07880187034606934 + grasp_67: + position: + - 0.004015260730803799 + - -0.0027405365498217316 + - -0.035442008781060574 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_68: + position: + - 0.004217985857331907 + - 0.008311213320676636 + - 0.0313191568993032 + rotation_matrix: + - - -0.6169073581695557 + - -0.7478697299957275 + - -0.24518591165542603 + - - -0.29415178298950195 + - -0.0698615163564682 + - 0.9532020092010498 + - - -0.7300000190734863 + - 0.6601592302322388 + - -0.17688913643360138 + grasp_69: + position: + - 0.007762289581518318 + - 0.008504792225260793 + - 0.010846348033100361 + rotation_matrix: + - - 0.02635135129094124 + - 0.9996432065963745 + - -0.004362640902400017 + - - -0.9862189292907715 + - 0.026710042729973793 + - 0.1632750779390335 + - - 0.16333335638046265 + - 0.0 + - 0.9865709543228149 + grasp_70: + position: + - 0.00284075629281981 + - -0.009827723398094346 + - -0.025048116733133785 + rotation_matrix: + - - -0.02789962664246559 + - -0.999335765838623 + - 0.023444462567567825 + - - 0.7650777101516724 + - -0.03644217178225517 + - -0.6429059505462646 + - - 0.6433333158493042 + - 0.0 + - 0.765586256980896 + grasp_71: + position: + - -0.00939484337639265 + - 0.006483227534542113 + - 0.008210920505598185 + rotation_matrix: + - - 0.02635135129094124 + - 0.9996432065963745 + - -0.004362640902400017 + - - -0.9862189292907715 + - 0.026710042729973793 + - 0.1632750779390335 + - - 0.16333335638046265 + - 0.0 + - 0.9865709543228149 + grasp_72: + position: + - 0.010679628650985054 + - -7.862575968253793e-05 + - 0.0023856058638542788 + rotation_matrix: + - - 0.02635135129094124 + - 0.9996432065963745 + - -0.004362640902400017 + - - -0.9862189292907715 + - 0.026710042729973793 + - 0.1632750779390335 + - - 0.16333335638046265 + - 0.0 + - 0.9865709543228149 + grasp_73: + position: + - 0.003985240927352963 + - -0.002580657442746992 + - 0.03588067273534834 + rotation_matrix: + - - -0.020128514617681503 + - -0.9988208413124084 + - -0.04417892172932625 + - - 0.4141194224357605 + - -0.04854826629161835 + - 0.9089269638061523 + - - -0.9099999666213989 + - 0.0 + - 0.41460829973220825 + grasp_74: + position: + - 0.0049106080771567084 + - -0.019505235231460083 + - -0.018781450222432605 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_75: + position: + - -0.0036158749302719305 + - 0.007496509666031326 + - 0.03561056636460125 + rotation_matrix: + - - 0.024883795529603958 + - -0.9994190335273743 + - 0.023289648815989494 + - - 0.729682445526123 + - 0.03408241644501686 + - 0.6829362511634827 + - - -0.6833332777023315 + - 0.0 + - 0.7301065921783447 + grasp_76: + position: + - 0.003682786897231727 + - 0.005457654343225177 + - 0.03558642368353904 + rotation_matrix: + - - 0.079692542552948 + - 0.9963905215263367 + - -0.02924041822552681 + - - 0.2561989724636078 + - -0.048821788281202316 + - -0.9653903245925903 + - - -0.9633333683013916 + - 0.06944304704666138 + - -0.2591649889945984 + grasp_77: + position: + - 0.0017168588835366205 + - 0.003990404773503542 + - -0.020328617392480375 + rotation_matrix: + - - -0.08158169686794281 + - 0.996666669845581 + - 6.102823415874971e-17 + - - 0.0 + - -6.123234262925839e-17 + - 1.0 + - - 0.996666669845581 + - 0.08158169686794281 + - 4.995438017797565e-18 + grasp_78: + position: + - 0.007413420115446521 + - 0.012454386389205485 + - -0.016317111197486522 + rotation_matrix: + - - 0.02635135129094124 + - 0.9996432065963745 + - -0.004362640902400017 + - - -0.9862189292907715 + - 0.026710042729973793 + - 0.1632750779390335 + - - 0.16333335638046265 + - 0.0 + - 0.9865709543228149 + grasp_79: + position: + - 0.0032332690177147294 + - 0.01972907169773415 + - 0.03513903047852218 + rotation_matrix: + - - -0.021364182233810425 + - -0.9997690916061401 + - -0.0023216078989207745 + - - 0.07873465120792389 + - -0.003997406456619501 + - 0.9968875646591187 + - - -0.996666669845581 + - 0.02111489698290825 + - 0.07880187034606934 + grasp_80: + position: + - 0.001945202457352524 + - -0.018035489143228056 + - -0.008742262604087614 + rotation_matrix: + - - -0.40543121099472046 + - -0.7324777841567993 + - -0.5469020009040833 + - - 0.4362122714519501 + - -0.680790901184082 + - 0.5884237885475159 + - - -0.8033332824707031 + - 0.0 + - 0.5955296754837036 + grasp_81: + position: + - -0.003689922422853176 + - 0.014208845664651082 + - -0.03503857845850289 + rotation_matrix: + - - 0.022773904725909233 + - -0.9989326596260071 + - -0.04018503054976463 + - - 0.49252545833587646 + - 0.04618968814611435 + - -0.8690714240074158 + - - 0.8700000047683716 + - 0.0 + - 0.4930517077445984 + grasp_82: + position: + - 0.0038102448334711644 + - -0.004836298100360681 + - 0.03610309103801845 + rotation_matrix: + - - 0.052592065185308456 + - 0.9983018636703491 + - 0.02504858188331127 + - - -0.9012957811355591 + - 0.058252524584531784 + - -0.4292697608470917 + - - -0.4299999475479126 + - 0.0 + - 0.9028289318084717 + grasp_83: + position: + - 0.007267349759282889 + - 0.013986951364506894 + - 0.021063274176046254 + rotation_matrix: + - - -0.05148642137646675 + - 0.9984356164932251 + - 0.021806450560688972 + - - -0.9193743467330933 + - -0.055913977324962616 + - 0.38938987255096436 + - - 0.38999998569488525 + - 0.0 + - 0.9208148717880249 + grasp_84: + position: + - 0.0036213499625518016 + - -0.0074155124663792815 + - -0.03644200869910419 + rotation_matrix: + - - -0.003189190523698926 + - 0.9999880790710449 + - 0.003690961981192231 + - - -0.6537930965423584 + - -0.004877923522144556 + - 0.7566576600074768 + - - 0.7566666603088379 + - 0.0 + - 0.6538008451461792 + grasp_85: + position: + - 0.009841256930895707 + - -0.008934512493836866 + - 0.035861689214035875 + rotation_matrix: + - - -0.0619383230805397 + - 0.9971546530723572 + - -0.0429685115814209 + - - -0.8193067908287048 + - -0.07538334280252457 + - -0.568378210067749 + - - -0.5700000524520874 + - 0.0 + - 0.82164466381073 + grasp_86: + position: + - -0.007436530596283524 + - -0.01900067578563802 + - 0.0017627554764505504 + rotation_matrix: + - - 0.014043985866010189 + - -0.9998931884765625 + - -0.00404332997277379 + - - 0.9608633518218994 + - 0.014614447019994259 + - -0.27663707733154297 + - - 0.27666664123535156 + - 0.0 + - 0.9609659314155579 + grasp_87: + position: + - -0.003628789291314223 + - 0.02095193998731376 + - 0.034079435829445726 + rotation_matrix: + - - -0.0619383230805397 + - 0.9971546530723572 + - -0.0429685115814209 + - - -0.8193067908287048 + - -0.07538334280252457 + - -0.568378210067749 + - - -0.5700000524520874 + - 0.0 + - 0.82164466381073 + grasp_88: + position: + - 0.004036492475549585 + - 0.006893017235012344 + - -0.03464455274194478 + rotation_matrix: + - - 0.014043985866010189 + - -0.9998931884765625 + - -0.00404332997277379 + - - 0.9608633518218994 + - 0.014614447019994259 + - -0.27663707733154297 + - - 0.27666664123535156 + - 0.0 + - 0.9609659314155579 + grasp_89: + position: + - 0.008895091216328676 + - -0.022714715580551936 + - -0.03279931391067803 + rotation_matrix: + - - 0.022773904725909233 + - -0.9989326596260071 + - -0.04018503054976463 + - - 0.49252545833587646 + - 0.04618968814611435 + - -0.8690714240074158 + - - 0.8700000047683716 + - 0.0 + - 0.4930517077445984 + grasp_90: + position: + - 0.009475510542153497 + - 0.014212862139063198 + - 0.006267652161791926 + rotation_matrix: + - - -0.02385937236249447 + - 0.999703049659729 + - -0.00495491735637188 + - - -0.9788188338279724 + - -0.024368440732359886 + - -0.2032729983329773 + - - -0.20333337783813477 + - 0.0 + - 0.9791095852851868 + grasp_91: + position: + - -0.0037850359166703706 + - 0.005015143459900978 + - -0.03447138439379632 + rotation_matrix: + - - 0.07559296488761902 + - -0.9970880746841431 + - 0.010053213685750961 + - - 0.281202107667923 + - 0.011643964797258377 + - -0.9595779180526733 + - - 0.9566666483879089 + - 0.07536432147026062 + - 0.28126347064971924 + grasp_92: + position: + - 0.0039118980365524525 + - 0.012136327917912484 + - -0.005562712769582867 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_93: + position: + - 0.00026314202767174777 + - 0.0037053713992050707 + - 0.0224884352259338 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_94: + position: + - 0.004317717961870582 + - -0.004420386219713548 + - -0.024782513458654287 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_95: + position: + - 0.006637959306193375 + - 0.020314241643288614 + - -0.01352655827589333 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_96: + position: + - 0.003122539960775106 + - 0.004251529194423655 + - -0.009976224229112263 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_97: + position: + - 0.003280161274365756 + - 0.004157172025615595 + - 0.0014041404603980512 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_98: + position: + - 3.1392168757360395e-05 + - -0.014260995456573694 + - -0.00054409650377929 + rotation_matrix: + - - 0.9810798168182373 + - -0.009811279363930225 + - -0.19335487484931946 + - - -0.19334520399570465 + - 0.0019335468532517552 + - -0.9811288714408875 + - - 0.009999990463256836 + - 0.9999499917030334 + - 6.12292787522695e-17 + grasp_99: + position: + - 0.0028458606619003457 + - 0.011810183023828733 + - -0.0011819502875208832 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_100: + position: + - 0.0005798159174279505 + - 0.003633039998616916 + - 0.027749651538580666 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_101: + position: + - 0.0027551830308470415 + - -0.003289062099522254 + - -0.026499750279262657 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_102: + position: + - 0.0029315508879528274 + - 0.0036088343965209844 + - -0.009276224316284054 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_103: + position: + - 0.006009170597027325 + - -0.011829654288073647 + - 0.006294476317986852 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_104: + position: + - 0.002220131708608797 + - -0.019570743314562156 + - 0.01019331993237138 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_105: + position: + - 0.002193948725230155 + - -0.019772871002536815 + - -0.01150571499094366 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_106: + position: + - 0.000749143260439622 + - -0.0034894748412990506 + - -0.015668985203653563 + rotation_matrix: + - - -0.7120906114578247 + - -0.12137987464666367 + - -0.6915156245231628 + - - 0.0870773047208786 + - -0.9926061034202576 + - 0.0845613181591034 + - - -0.6966667175292969 + - 0.0 + - 0.7173949480056763 + grasp_107: + position: + - -2.3594719008257492e-05 + - 0.013163844759466553 + - -0.015860685645788908 + rotation_matrix: + - - 0.9859362244606018 + - -0.1549675315618515 + - -0.06256823986768723 + - - 0.15465642511844635 + - 0.9879195690155029 + - -0.00981460977345705 + - - 0.06333333253860474 + - 0.0 + - 0.9979924559593201 + grasp_108: + position: + - 0.003447037047861201 + - 0.018818988675400786 + - 0.029660577971488244 + rotation_matrix: + - - 0.9701414108276367 + - 0.11165301501750946 + - 0.2153119295835495 + - - -0.10900076478719711 + - 0.9937472343444824 + - -0.024191489443182945 + - - -0.21666669845581055 + - 0.0 + - 0.976245641708374 + grasp_109: + position: + - 0.0058442200842032666 + - 0.019304926390984536 + - -0.005353227588906884 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_110: + position: + - 0.0044700501048896 + - 0.003472245728606084 + - 0.022305970824882393 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_111: + position: + - 0.002903211971706454 + - 0.01152699483724283 + - -0.01674891887940466 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_112: + position: + - 0.003121103751623 + - 0.004516510468156182 + - 0.00875841823257506 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_113: + position: + - -0.0005707121407927396 + - -0.019985715983168024 + - 0.02429900142028929 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_114: + position: + - 0.004740150343909677 + - 0.0037611350476016506 + - 0.011291751477494838 + rotation_matrix: + - - -0.6358650326728821 + - 0.08257168531417847 + - 0.7673705220222473 + - - -0.05268435925245285 + - -0.9965851306915283 + - 0.06358020007610321 + - - 0.7699999809265137 + - 0.0 + - 0.6380438804626465 + grasp_115: + position: + - 1.0564582192396088e-06 + - 0.020222392569186592 + - 0.0005650432685390117 + rotation_matrix: + - - 0.9859362244606018 + - -0.1549675315618515 + - -0.06256823986768723 + - - 0.15465642511844635 + - 0.9879195690155029 + - -0.00981460977345705 + - - 0.06333333253860474 + - 0.0 + - 0.9979924559593201 + grasp_116: + position: + - 0.0023825264513299693 + - 0.017075715053299797 + - -0.018083778226003044 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_117: + position: + - 0.003088543301409785 + - 0.004482426179367768 + - 0.014320968922600152 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_118: + position: + - 0.0003395465792858099 + - 0.013260281349422837 + - -2.9944614693522276e-05 + rotation_matrix: + - - 0.9859362244606018 + - -0.1549675315618515 + - -0.06256823986768723 + - - 0.15465642511844635 + - 0.9879195690155029 + - -0.00981460977345705 + - - 0.06333333253860474 + - 0.0 + - 0.9979924559593201 + grasp_119: + position: + - 0.0036697993993417555 + - 0.011570027093198043 + - 0.03115605698749424 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_120: + position: + - -0.00010769106376606885 + - -0.012277728882823247 + - -0.017648369578272094 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_121: + position: + - -0.002745643912570095 + - -0.020551589651962437 + - -0.030019923208281396 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_122: + position: + - 0.002972815779534732 + - -0.005337286811835193 + - -0.00895231794007123 + rotation_matrix: + - - -0.9794467091560364 + - -0.049033619463443756 + - -0.19565249979496002 + - - -0.19540779292583466 + - -0.009782616049051285 + - 0.9806733131408691 + - - -0.04999995231628418 + - 0.9987491965293884 + - 6.115575232198088e-17 + grasp_123: + position: + - -2.7637369219846164e-05 + - 0.003968357569333059 + - -0.01718313297405838 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_124: + position: + - 0.005241480287327516 + - -0.0036646522758794625 + - 0.00226907134205101 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_125: + position: + - -0.001129462629113731 + - -0.017233972258129504 + - -0.000908519504033034 + rotation_matrix: + - - 0.9313517212867737 + - 0.021737437695264816 + - 0.3634713590145111 + - - 0.3633723855018616 + - 0.008480990305542946 + - -0.9316053986549377 + - - -0.023333311080932617 + - 0.999727725982666 + - 6.121566666810932e-17 + grasp_126: + position: + - 0.006443659532518187 + - -0.011428859470223762 + - -0.010994267699494964 + rotation_matrix: + - - -0.8306755423545837 + - 0.012060238048434258 + - -0.5566261410713196 + - - -0.010018873028457165 + - -0.999927282333374 + - -0.006713531911373138 + - - -0.5566666126251221 + - 0.0 + - 0.830735981464386 + grasp_127: + position: + - 0.004054518065221224 + - 0.0043319254611192785 + - 0.010083533305674797 + rotation_matrix: + - - 0.4683450162410736 + - -0.04132113233208656 + - -0.8825789093971252 + - - 0.019369089975953102 + - 0.9991459250450134 + - -0.03650033473968506 + - - 0.8833333253860474 + - 0.0 + - 0.4687453508377075 + grasp_128: + position: + - 0.004279061032067322 + - 0.0028295509307034138 + - 0.0230059707377106 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_129: + position: + - 0.0037138178951696688 + - 0.020126501093413574 + - 0.03106057779714466 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_130: + position: + - -0.0009429162860590257 + - -0.014153725141483608 + - -0.0015196303419768853 + rotation_matrix: + - - 0.44348400831222534 + - 0.004435057286173105 + - -0.8962713479995728 + - - -0.8962265253067017 + - -0.008962704800069332 + - -0.4435061812400818 + - - -0.009999990463256836 + - 0.9999499917030334 + - 6.12292787522695e-17 + grasp_131: + position: + - 0.00011906456273358401 + - 0.02036473713329051 + - 0.027634098621457825 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_132: + position: + - 0.005359965036773051 + - 0.01948588638398155 + - 0.024500118539109828 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_133: + position: + - 0.003882897117240214 + - 0.011249275761881353 + - 0.002484716376662255 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_134: + position: + - -0.0005971383490028792 + - -0.013800042391015899 + - 0.019563683708757162 + rotation_matrix: + - - 0.916827917098999 + - 0.14300437271595 + - -0.37279531359672546 + - - -0.1324719488620758 + - 0.9897220730781555 + - 0.0538649819791317 + - - 0.3766666650772095 + - 0.0 + - 0.926348865032196 + grasp_135: + position: + - 0.005243389977103774 + - 0.019753111956435906 + - 0.02266678520701826 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_136: + position: + - 0.004353802274712826 + - 0.004299027139476455 + - 0.024572637663409114 + rotation_matrix: + - - -0.9648791551589966 + - -0.23372650146484375 + - 0.11991729587316513 + - - 0.2319420725107193 + - -0.9723023772239685 + - -0.028826270252466202 + - - 0.12333333492279053 + - 0.0 + - 0.992365300655365 + grasp_137: + position: + - -0.0012678939151324897 + - -0.0014060937573708854 + - -0.00175296344757081 + rotation_matrix: + - - 0.8544702529907227 + - 0.037061821669340134 + - -0.5181766152381897 + - - -0.5176898837089539 + - -0.02245429903268814 + - -0.8552736043930054 + - - -0.04333329200744629 + - 0.9990606904029846 + - 6.11748237981839e-17 + grasp_138: + position: + - 0.0007671436629420603 + - -0.00986040670093205 + - -0.00924426821544766 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_139: + position: + - 0.0036172052106741015 + - -0.015553742157963013 + - -0.008581639484316117 + rotation_matrix: + - - 0.44348400831222534 + - 0.004435057286173105 + - -0.8962713479995728 + - - -0.8962265253067017 + - -0.008962704800069332 + - -0.4435061812400818 + - - -0.009999990463256836 + - 0.9999499917030334 + - 6.12292787522695e-17 + grasp_140: + position: + - 0.00011239115571681779 + - -0.01458081162869665 + - 0.02382987744882703 + rotation_matrix: + - - 0.9810798168182373 + - 0.19335487484931946 + - -0.009811279363930225 + - - -0.19334520399570465 + - 0.9811288714408875 + - 0.0019335468532517552 + - - 0.009999990463256836 + - 0.0 + - 0.9999499917030334 + grasp_141: + position: + - 0.0057330847400219875 + - 0.01743202229519647 + - -0.008547207557410008 + rotation_matrix: + - - -0.44124072790145874 + - -0.013243169523775578 + - -0.8972910642623901 + - - -0.8968871831893921 + - -0.02691870555281639 + - 0.4414394199848175 + - - -0.029999971389770508 + - 0.999549925327301 + - 6.120478097124813e-17 + grasp_142: + position: + - 0.002894409714969015 + - 0.013698654142015376 + - -0.021335830653086307 + rotation_matrix: + - - -0.889617919921875 + - -0.3132040500640869 + - 0.33239006996154785 + - - 0.2933937907218933 + - -0.9496858716011047 + - -0.10962142050266266 + - - 0.3500000238418579 + - 0.0 + - 0.9367496967315674 + grasp_143: + position: + - 0.0022205275207030084 + - -0.019887301720319106 + - 0.01822672685310245 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_144: + position: + - 0.003199217391519571 + - -0.005184168970712916 + - 0.016317646930739282 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_145: + position: + - 0.002664959184043969 + - -0.0031300373951037297 + - -0.023533083527907728 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_146: + position: + - 0.005055846277787435 + - -0.011238161864717086 + - -0.005626792738586683 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_147: + position: + - -0.0009359600907505872 + - -0.00416359597231521 + - -0.004618903726665291 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_148: + position: + - 0.00627469134802916 + - 0.019844024325945855 + - 0.002268938715010882 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_149: + position: + - 0.0028604835249290694 + - 0.0034652151422895315 + - -0.017438859694823616 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_150: + position: + - 0.005579616268865439 + - 0.019501324718320986 + - 0.0011356052957475216 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_151: + position: + - 0.005156915038727672 + - 0.019743239449020764 + - -0.0006977277383208302 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_152: + position: + - 0.004288916957883859 + - 0.002578378844505652 + - 0.024839304367825388 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_153: + position: + - -0.0013214977509109493 + - 0.011533753277738257 + - -0.0113273525647819 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_154: + position: + - 0.003952777509642624 + - 0.004116872209349157 + - -0.005176224145665764 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_155: + position: + - 0.003071677531265582 + - -0.0038682942388643393 + - -0.007385651610419153 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_156: + position: + - 1.4895215499577397e-05 + - 0.009968974470810438 + - 0.019615343380719408 + rotation_matrix: + - - -0.8994141221046448 + - 0.14528495073318481 + - -0.4122457206249237 + - - -0.13207264244556427 + - -0.9893898367881775 + - -0.06053538993000984 + - - -0.41666659712791443 + - 0.0 + - 0.9090593457221985 + grasp_157: + position: + - 0.00025433932448448715 + - -0.013682963400473258 + - 0.009122450900077794 + rotation_matrix: + - - 0.23938864469528198 + - 0.1741815209388733 + - -0.9551721811294556 + - - -0.04234437644481659 + - 0.9847135543823242 + - 0.16895608603954315 + - - 0.9700000286102295 + - 0.0 + - 0.24310486018657684 + grasp_158: + position: + - 0.0030547749578588856 + - 0.004793553322733485 + - 0.0007041405475698426 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_159: + position: + - 0.00507547579255041 + - 0.012091675948531472 + - -0.02422609369419515 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_160: + position: + - 0.0032515541752089483 + - 0.020800521283662485 + - -0.029977463697642093 + rotation_matrix: + - - 0.9544847011566162 + - -0.07283593714237213 + - -0.28922975063323975 + - - 0.06970592588186264 + - 0.9973439574241638 + - -0.021122422069311142 + - - 0.2900000214576721 + - 0.0 + - 0.9570266604423523 + grasp_161: + position: + - 0.0024325153249402653 + - 0.017141132344859367 + - -0.0012873097094474595 + rotation_matrix: + - - -0.2804296016693115 + - -0.01028932724148035 + - 0.9598194360733032 + - - 0.9591740369796753 + - 0.035193346440792084 + - 0.280618280172348 + - - -0.0366666316986084 + - 0.999327540397644 + - 6.119116226964305e-17 + grasp_162: + position: + - 0.00485565861657361 + - 0.011239606501722954 + - 0.02099867625795304 + rotation_matrix: + - - -0.8306755423545837 + - 0.012060238048434258 + - -0.5566261410713196 + - - -0.010018873028457165 + - -0.999927282333374 + - -0.006713531911373138 + - - -0.5566666126251221 + - 0.0 + - 0.830735981464386 + grasp_163: + position: + - 0.005441429782361784 + - 0.01905686183478894 + - 0.004500986027345055 + rotation_matrix: + - - -0.8306755423545837 + - 0.012060238048434258 + - -0.5566261410713196 + - - -0.010018873028457165 + - -0.999927282333374 + - -0.006713531911373138 + - - -0.5566666126251221 + - 0.0 + - 0.830735981464386 + grasp_164: + position: + - 0.004109899324904465 + - 0.010979934993604553 + - 0.022832008993998176 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_165: + position: + - 0.0007299719037258123 + - 0.013331477234961892 + - 0.029441250921040774 + rotation_matrix: + - - 0.9859362244606018 + - -0.1549675315618515 + - -0.06256823986768723 + - - 0.15465642511844635 + - 0.9879195690155029 + - -0.00981460977345705 + - - 0.06333333253860474 + - 0.0 + - 0.9979924559593201 + grasp_166: + position: + - -1.729610052303432e-05 + - -0.008196140189732415 + - 0.02789480464085936 + rotation_matrix: + - - 0.7771820425987244 + - 0.2242298573255539 + - -0.5879702568054199 + - - -0.1788208782672882 + - 0.9745362997055054 + - 0.13528534770011902 + - - 0.6033333539962769 + - 0.0 + - 0.7974891066551208 + grasp_167: + position: + - 0.002970912305246376 + - -0.004670013741185534 + - -0.009652318448945874 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_168: + position: + - 0.005060620237304914 + - -0.011682466062743743 + - 0.0023970182999968337 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_169: + position: + - 0.0034651758770962715 + - 0.012881531272821822 + - 0.017144329173490402 + rotation_matrix: + - - -0.889617919921875 + - -0.3132040500640869 + - 0.33239006996154785 + - - 0.2933937907218933 + - -0.9496858716011047 + - -0.10962142050266266 + - - 0.3500000238418579 + - 0.0 + - 0.9367496967315674 + grasp_170: + position: + - 0.002844350747667701 + - 0.011577985191401383 + - 0.007361940383538601 + rotation_matrix: + - - -0.9991373419761658 + - 0.036659713834524155 + - 0.019510533660650253 + - - 0.01949741318821907 + - -0.0007153867045417428 + - 0.9998096227645874 + - - 0.036666691303253174 + - 0.999327540397644 + - 6.119116226964305e-17 + grasp_171: + position: + - 0.004687519877884905 + - 0.012185242230544804 + - 0.02143200916834176 + rotation_matrix: + - - -0.8643032908439636 + - -0.20291730761528015 + - -0.4602220952510834 + - - 0.17910827696323395 + - -0.9791958928108215 + - 0.09537113457918167 + - - -0.4700000286102295 + - 0.0 + - 0.8826664090156555 + grasp_172: + position: + - -0.0006835981198299868 + - 0.013566082376561345 + - 0.0036367220494896157 + rotation_matrix: + - - 0.8836217522621155 + - -0.20517346262931824 + - -0.42085203528404236 + - - 0.18523652851581573 + - 0.9787256121635437 + - -0.08822458982467651 + - - 0.4300000071525574 + - 0.0 + - 0.9028288722038269 + grasp_173: + position: + - -0.0016385991177289005 + - -0.012884122056882219 + - -0.01925240662321448 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_174: + position: + - 0.0017272279105764454 + - -0.0073797509761898 + - -0.024290946226567023 + rotation_matrix: + - - 0.9701414108276367 + - 0.11165301501750946 + - 0.2153119295835495 + - - -0.10900076478719711 + - 0.9937472343444824 + - -0.024191489443182945 + - - -0.21666669845581055 + - 0.0 + - 0.976245641708374 + grasp_175: + position: + - 0.0003348173232519125 + - 0.012941389980616474 + - 0.016323917046934366 + rotation_matrix: + - - 0.9859362244606018 + - -0.1549675315618515 + - -0.06256823986768723 + - - 0.15465642511844635 + - 0.9879195690155029 + - -0.00981460977345705 + - - 0.06333333253860474 + - 0.0 + - 0.9979924559593201 + grasp_176: + position: + - 0.0024190091505453815 + - 0.016698918703416717 + - -0.02373854724429547 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_177: + position: + - 0.001273790284765819 + - -0.007766385159173161 + - -0.008377601202577356 + rotation_matrix: + - - -0.9323247075080872 + - -0.015540888532996178 + - 0.3612881898880005 + - - 0.3612380027770996 + - 0.006021464243531227 + - 0.9324542284011841 + - - -0.016666650772094727 + - 0.9998611211776733 + - 6.122383259511645e-17 + grasp_178: + position: + - -0.0006903828047860605 + - 0.013266687314531983 + - 0.011694253717362879 + rotation_matrix: + - - 0.8836217522621155 + - -0.20517346262931824 + - -0.42085203528404236 + - - 0.18523652851581573 + - 0.9787256121635437 + - -0.08822458982467651 + - - 0.4300000071525574 + - 0.0 + - 0.9028288722038269 + grasp_179: + position: + - -0.0007121073133079525 + - 0.0033520281147255138 + - -0.024383774217218157 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_180: + position: + - 4.060667431060594e-05 + - -0.013964470730719297 + - 0.007873206005990507 + rotation_matrix: + - - 0.9810798168182373 + - -0.009811279363930225 + - -0.19335487484931946 + - - -0.19334520399570465 + - 0.0019335468532517552 + - -0.9811288714408875 + - - 0.009999990463256836 + - 0.9999499917030334 + - 6.12292787522695e-17 + grasp_181: + position: + - -0.0005648056930245282 + - 0.011132858569069964 + - 0.011257249961048377 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_182: + position: + - 0.0032993400836938136 + - -0.014921585370238355 + - -0.007505714722722767 + rotation_matrix: + - - -0.8310904502868652 + - 0.05831937864422798 + - 0.5530710220336914 + - - 0.5517143607139587 + - -0.03871496766805649 + - 0.833134114742279 + - - 0.06999999284744263 + - 0.9975469708442688 + - 6.108213324746366e-17 + grasp_183: + position: + - 0.004976907376363027 + - 0.02094008920804731 + - 0.015000766889750938 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_184: + position: + - 0.0029334543622411835 + - 0.0029415613258713252 + - -0.008576223807409411 + rotation_matrix: + - - -0.9794467091560364 + - -0.049033619463443756 + - -0.19565249979496002 + - - -0.19540779292583466 + - -0.009782616049051285 + - 0.9806733131408691 + - - -0.04999995231628418 + - 0.9987491965293884 + - 6.115575232198088e-17 + grasp_185: + position: + - 0.00662012075359919 + - 0.019132631714680673 + - -0.02122272491045296 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_186: + position: + - 0.0047570898660939664 + - -0.004556451017534114 + - 0.02588859493993223 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_187: + position: + - 0.003940248427046322 + - 0.01096608757529545 + - -0.013082252215221524 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_188: + position: + - 0.001379162613266427 + - -0.007732650906040084 + - 0.02562813780233264 + rotation_matrix: + - - 0.916827917098999 + - 0.14300437271595 + - -0.37279531359672546 + - - -0.1324719488620758 + - 0.9897220730781555 + - 0.0538649819791317 + - - 0.3766666650772095 + - 0.0 + - 0.926348865032196 + grasp_189: + position: + - 0.005850423239439628 + - 0.020565838692364946 + - 0.013991137792542574 + rotation_matrix: + - - 0.6660668849945068 + - 0.0922807827591896 + - -0.7401615381240845 + - - -0.06172856688499451 + - 0.9957330226898193 + - 0.06859537959098816 + - - 0.7433333396911621 + - 0.0 + - 0.668921172618866 + grasp_190: + position: + - 0.004943080809130418 + - 0.01241013741211168 + - -0.029894017799198647 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_191: + position: + - 0.0033624538683813543 + - -0.004207877001290895 + - 0.0015394881731830568 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_192: + position: + - 0.00447522535469469 + - 0.003961635463119589 + - -0.023407427623495458 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_193: + position: + - 0.005935413718110849 + - -0.009572575132687167 + - -0.008294267950579526 + rotation_matrix: + - - -0.9323247075080872 + - -0.015540888532996178 + - 0.3612881898880005 + - - 0.3612380027770996 + - 0.006021464243531227 + - 0.9324542284011841 + - - -0.016666650772094727 + - 0.9998611211776733 + - 6.122383259511645e-17 + grasp_194: + position: + - 0.005314694487485616 + - 0.019685931235560873 + - 0.014376479945704346 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_195: + position: + - 0.0004003169802397899 + - -0.014233608053621977 + - 0.028835650605708363 + rotation_matrix: + - - 0.9810798168182373 + - 0.19335487484931946 + - -0.009811279363930225 + - - -0.19334520399570465 + - 0.9811288714408875 + - 0.0019335468532517552 + - - 0.009999990463256836 + - 0.0 + - 0.9999499917030334 + grasp_196: + position: + - 0.004186610322608697 + - -0.020796563866574844 + - -0.02202971298098566 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_197: + position: + - 0.002923788837992103 + - 0.0041220439017380685 + - 0.007625085111334917 + rotation_matrix: + - - -0.9991373419761658 + - 0.036659713834524155 + - 0.019510533660650253 + - - 0.01949741318821907 + - -0.0007153867045417428 + - 0.9998096227645874 + - - 0.036666691303253174 + - 0.999327540397644 + - 6.119116226964305e-17 + grasp_198: + position: + - -0.000819666772180927 + - -0.01258951065476312 + - -0.0050774301808327316 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_199: + position: + - 0.0037872829159160126 + - -0.01998975337438011 + - -0.010149960137158631 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_200: + position: + - 0.0022837250306841916 + - 0.01006780500690757 + - -0.029198956275731325 + rotation_matrix: + - - 0.916827917098999 + - 0.14300437271595 + - -0.37279531359672546 + - - -0.1324719488620758 + - 0.9897220730781555 + - 0.0538649819791317 + - - 0.3766666650772095 + - 0.0 + - 0.926348865032196 + grasp_201: + position: + - -0.0006111268140736037 + - -0.013652262918843638 + - 0.003122570160403848 + rotation_matrix: + - - 0.916827917098999 + - 0.14300437271595 + - -0.37279531359672546 + - - -0.1324719488620758 + - 0.9897220730781555 + - 0.0538649819791317 + - - 0.3766666650772095 + - 0.0 + - 0.926348865032196 + grasp_202: + position: + - -0.0007275757333577992 + - 0.011071085805340868 + - -0.012714973551779973 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_203: + position: + - 0.002941406813769365 + - 0.003357662310323223 + - -0.007442890686169268 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_204: + position: + - 0.004767739549998984 + - -0.010934964385605539 + - -0.011285740579664694 + rotation_matrix: + - - 0.7483898997306824 + - -0.12368586659431458 + - -0.6516243815422058 + - - 0.09328152239322662 + - 0.9923214316368103 + - -0.08122038841247559 + - - 0.65666663646698 + - 0.0 + - 0.7541809678077698 + grasp_205: + position: + - -0.0011258557489840504 + - 0.011249525735159083 + - -0.0031149733848869765 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_206: + position: + - 0.004440794249384428 + - -0.004972961308935181 + - 0.024755261818692087 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_207: + position: + - 0.0051078955810132665 + - 0.020112181512433755 + - 0.015509813364967706 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_208: + position: + - 0.006246600625805232 + - -0.020383760357772687 + - -0.030865029290691015 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_209: + position: + - 0.004923758688532676 + - 0.01959860808047756 + - -0.007186560920998453 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_210: + position: + - 0.0051276307591936465 + - -0.011854502762694438 + - 0.01032987870424984 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_211: + position: + - 0.0030323161139720334 + - 0.004410553898842179 + - -0.007009557477757333 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_212: + position: + - 0.0031287935723948723 + - -0.005080232440063254 + - 0.00826171923317015 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_213: + position: + - 0.0021268078181809758 + - -0.019720439404231113 + - -0.019749960304051628 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_214: + position: + - 0.0024433623045490016 + - 0.01192191934905423 + - -0.02403583099804818 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_215: + position: + - 0.002372221367041849 + - 0.018064248773673904 + - -0.010170646959170693 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_216: + position: + - 0.005162650123142154 + - 0.019091419817563435 + - 0.023366785417869684 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_217: + position: + - 0.0040133496372927735 + - 0.011387187929507634 + - 0.023965342711284754 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_218: + position: + - 0.003380350538525312 + - -0.004290302086612484 + - 0.013784313387796288 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_219: + position: + - 0.007133302465146318 + - -0.01656790852149964 + - 0.018132336004078375 + rotation_matrix: + - - 0.8331876993179321 + - -0.18607601523399353 + - 0.520743727684021 + - - 0.15779201686382294 + - 0.9825353622436523 + - 0.09862028062343597 + - - -0.5299999713897705 + - 0.0 + - 0.8479976654052734 + grasp_220: + position: + - -0.005072595023203397 + - -0.014073734247719988 + - 0.015147017180547118 + rotation_matrix: + - - 0.9385644793510437 + - 0.32241830229759216 + - 0.12305764853954315 + - - -0.3196822702884674 + - 0.9465972781181335 + - -0.041914381086826324 + - - -0.12999999523162842 + - 0.0 + - 0.9915139675140381 + grasp_221: + position: + - 0.0035210040471793103 + - -0.005179657679192054 + - 0.005295052928850047 + rotation_matrix: + - - -0.8994141221046448 + - 0.14528495073318481 + - -0.4122457206249237 + - - -0.13207264244556427 + - -0.9893898367881775 + - -0.06053538993000984 + - - -0.41666659712791443 + - 0.0 + - 0.9090593457221985 + grasp_222: + position: + - 0.0034224049262047695 + - 0.0033641936405084255 + - 0.005358418719843022 + rotation_matrix: + - - -0.8994141221046448 + - 0.14528495073318481 + - -0.4122457206249237 + - - -0.13207264244556427 + - -0.9893898367881775 + - -0.06053538993000984 + - - -0.41666659712791443 + - 0.0 + - 0.9090593457221985 + grasp_223: + position: + - 0.0016382264307862604 + - -0.010515667569302584 + - 0.030625073783844714 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_224: + position: + - 0.0024464945470381028 + - 0.004293691323569521 + - -0.023592140545323492 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_225: + position: + - 0.0009146549462544229 + - -0.010742197394011332 + - -0.014177028148621318 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_226: + position: + - 0.0053956867503652806 + - 0.003667953773626567 + - -0.02157409429140389 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_227: + position: + - 0.0029914366408818616 + - 0.012430009607405507 + - -0.007396046101674436 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_228: + position: + - 0.002769513847075078 + - 0.012087257554257535 + - -0.02106916424669325 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_229: + position: + - -0.0006248182570876004 + - -0.0047194763400711 + - 0.01123573640957476 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_230: + position: + - -0.0009776302567066075 + - -0.01281385043050422 + - -0.013118996185809362 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_231: + position: + - 0.0025064344573683117 + - -0.019584289357048076 + - 0.02021167203709484 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_232: + position: + - 0.0031212792920767285 + - -0.014035166101875052 + - -0.009552406553924087 + rotation_matrix: + - - 0.6660668849945068 + - 0.0922807827591896 + - -0.7401615381240845 + - - -0.06172856688499451 + - 0.9957330226898193 + - 0.06859537959098816 + - - 0.7433333396911621 + - 0.0 + - 0.668921172618866 + grasp_233: + position: + - -0.0015717972120968815 + - -0.02106612428836091 + - 0.020942495945841078 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_234: + position: + - -0.0006762709519593235 + - 0.011385824793954058 + - -0.024322211932390925 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_235: + position: + - 0.005642587800829435 + - -0.011906810613849655 + - -0.02364024708159268 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_236: + position: + - 0.008207892076980805 + - 0.019617406402318203 + - 0.014463860739767576 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_237: + position: + - 0.000737307625529815 + - 0.018994093785923927 + - -0.014909891451150181 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_238: + position: + - 0.005437658731057393 + - 0.004208392073373715 + - 0.01511631980687378 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_239: + position: + - 0.003850112426729002 + - 0.003673152612710618 + - 0.012054302680119866 + rotation_matrix: + - - -0.8306755423545837 + - 0.012060238048434258 + - -0.5566261410713196 + - - -0.010018873028457165 + - -0.999927282333374 + - -0.006713531911373138 + - - -0.5566666126251221 + - 0.0 + - 0.830735981464386 + grasp_240: + position: + - 0.0037760270017086484 + - 0.002405317639587179 + - 0.030204796756803987 + rotation_matrix: + - - 0.6660668849945068 + - 0.0922807827591896 + - -0.7401615381240845 + - - -0.06172856688499451 + - 0.9957330226898193 + - 0.06859537959098816 + - - 0.7433333396911621 + - 0.0 + - 0.668921172618866 + grasp_241: + position: + - 0.0028446736912789983 + - 0.0045341602170650835 + - -0.017005526188388465 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_242: + position: + - 0.0029190218053565253 + - 0.010458049762467277 + - -0.017182252385839814 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_243: + position: + - 0.005224470640682544 + - 0.019844955939979397 + - 0.017343146697059275 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_244: + position: + - 0.006240967472623371 + - -0.011797625173410046 + - 0.02231150398291648 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_245: + position: + - 0.004383057918562638 + - -0.020074839162666877 + - -0.014075185240618904 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_246: + position: + - -0.0005855713924707295 + - 0.003377921754761797 + - 0.010904796520620597 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_247: + position: + - 0.0029075158291977377 + - 0.018144803096974513 + - 0.0028593426352366835 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_248: + position: + - 0.005009053837671029 + - -0.0036333179278565247 + - -0.005875519661605377 + rotation_matrix: + - - 0.7413018941879272 + - -0.053401026874780655 + - 0.6690439581871033 + - - 0.03964284434914589 + - 0.9985731244087219 + - 0.03577868640422821 + - - -0.6699999570846558 + - 0.0 + - 0.7423611283302307 + grasp_249: + position: + - -0.0012403191021026494 + - -0.013062561986700433 + - -0.028852406790107477 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_250: + position: + - -0.0008572447067440869 + - -0.004688141992048162 + - 0.003091145405918372 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_251: + position: + - 7.249564003508624e-05 + - -0.003684123982880372 + - -0.000952237062482153 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_252: + position: + - 0.003004528691953723 + - 0.0047837360406105395 + - 0.006925084900483491 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_253: + position: + - 0.004878160878919513 + - 0.011697209382113358 + - -0.025359426815435293 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_254: + position: + - 0.00248745037800735 + - -0.019827798545342487 + - -0.0037688377437181675 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_255: + position: + - 0.002940900435279392 + - 0.011170732255498302 + - 0.006228606666252023 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_256: + position: + - 0.0002404303145975284 + - 0.017301249994340212 + - -0.008461408244818447 + rotation_matrix: + - - 0.9810798168182373 + - -0.009811279363930225 + - -0.19335487484931946 + - - -0.19334520399570465 + - 0.0019335468532517552 + - -0.9811288714408875 + - - 0.009999990463256836 + - 0.9999499917030334 + - 6.12292787522695e-17 + grasp_257: + position: + - -0.0009990291495466375 + - 0.01600380863357348 + - -0.011700445162504902 + rotation_matrix: + - - -0.828069269657135 + - 0.16457942128181458 + - 0.5359243154525757 + - - -0.13816723227500916 + - -0.9863638281822205 + - 0.08942148089408875 + - - 0.5433332920074463 + - 0.0 + - 0.8395170569419861 + grasp_258: + position: + - 0.006855990507635801 + - 0.00340201655589948 + - 0.0300615334879607 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_259: + position: + - 0.007610292349988557 + - 0.01939770073071989 + - -0.01473420896381139 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_260: + position: + - -0.0013474751314846989 + - 0.0033663669899149373 + - -0.003302408572286364 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_261: + position: + - 0.00675492988869647 + - -0.011569982779955246 + - 0.004461143581941718 + rotation_matrix: + - - -0.8306755423545837 + - 0.012060238048434258 + - -0.5566261410713196 + - - -0.010018873028457165 + - -0.999927282333374 + - -0.006713531911373138 + - - -0.5566666126251221 + - 0.0 + - 0.830735981464386 + grasp_262: + position: + - 8.523799550097522e-05 + - 0.01183478533735488 + - -0.01726068606749176 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_263: + position: + - 0.002757903299049125 + - 0.0018714644696192217 + - -0.02658784327134489 + rotation_matrix: + - - -0.828069269657135 + - 0.16457942128181458 + - 0.5359243154525757 + - - -0.13816723227500916 + - -0.9863638281822205 + - 0.08942148089408875 + - - 0.5433332920074463 + - 0.0 + - 0.8395170569419861 + grasp_264: + position: + - 0.005354229952358569 + - 0.020137706015438878 + - 0.00043560538291931294 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_265: + position: + - -0.002269685012225797 + - 0.01662974510984297 + - 0.01861327477917074 + rotation_matrix: + - - -0.9794467091560364 + - 0.19565249979496002 + - -0.049033619463443756 + - - -0.19540779292583466 + - -0.9806733131408691 + - -0.009782616049051285 + - - -0.04999995231628418 + - 0.0 + - 0.9987491965293884 + grasp_266: + position: + - 0.00019800346415799197 + - -0.011813513939473885 + - 0.007006538993120204 + rotation_matrix: + - - 0.9968194961547852 + - 0.07664846628904343 + - 0.021814685314893723 + - - 0.02175047993659973 + - 0.0016724602319300175 + - -0.9997620582580566 + - - -0.07666671276092529 + - 0.997056782245636 + - 6.105211651739534e-17 + grasp_267: + position: + - 0.004374460128675484 + - 0.003159915960798395 + - -0.02567409446202218 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_268: + position: + - -0.0006238522599678609 + - -0.00891815946177521 + - -0.008918995516747241 + rotation_matrix: + - - 0.9313517212867737 + - 0.021737437695264816 + - 0.3634713590145111 + - - 0.3633723855018616 + - 0.008480990305542946 + - -0.9316053986549377 + - - -0.023333311080932617 + - 0.999727725982666 + - 6.121566666810932e-17 + grasp_269: + position: + - 0.002400579402214942 + - -0.019888792723399204 + - 0.004259986429661522 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_270: + position: + - 0.0003440226643852684 + - 0.010793680636610355 + - 0.017190583463758236 + rotation_matrix: + - - 0.9868567585945129 + - 0.06080242991447449 + - -0.14972244203090668 + - - -0.06011451408267021 + - 0.9981498122215271 + - 0.009120362810790539 + - - 0.1499999761581421 + - 0.0 + - 0.9886860251426697 + grasp_271: + position: + - 0.003081660487684934 + - 0.012270984902986982 + - -0.010362712853029366 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_272: + position: + - 0.004379826258086528 + - 0.003631270433024608 + - 0.025272637576237322 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_273: + position: + - 0.000379774751780082 + - 0.01787205683712384 + - 0.024950118695944545 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_274: + position: + - 0.0003295302049958204 + - 0.020663703496458435 + - 0.008479706444591284 + rotation_matrix: + - - 0.9859362244606018 + - -0.1549675315618515 + - -0.06256823986768723 + - - 0.15465642511844635 + - 0.9879195690155029 + - -0.00981460977345705 + - - 0.06333333253860474 + - 0.0 + - 0.9979924559593201 + grasp_275: + position: + - 0.00033276189432973613 + - 0.012960886287393475 + - 0.008027587053179741 + rotation_matrix: + - - 0.9859362244606018 + - -0.1549675315618515 + - -0.06256823986768723 + - - 0.15465642511844635 + - 0.9879195690155029 + - -0.00981460977345705 + - - 0.06333333253860474 + - 0.0 + - 0.9979924559593201 + grasp_276: + position: + - 0.0033861790790812307 + - -0.004603053447995442 + - 0.03110536323711277 + rotation_matrix: + - - 0.9968194961547852 + - -0.021814685314893723 + - 0.07664846628904343 + - - 0.02175047993659973 + - 0.9997620582580566 + - 0.0016724602319300175 + - - -0.07666671276092529 + - 0.0 + - 0.997056782245636 + grasp_277: + position: + - -0.0008056783071102025 + - -0.01273729012693538 + - 0.011363683367520583 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_278: + position: + - 0.0045802953432349525 + - 0.0035115592240561946 + - -0.012638859611377118 + rotation_matrix: + - - -0.6358650326728821 + - 0.08257168531417847 + - 0.7673705220222473 + - - -0.05268435925245285 + - -0.9965851306915283 + - 0.06358020007610321 + - - 0.7699999809265137 + - 0.0 + - 0.6380438804626465 + grasp_279: + position: + - 0.0030223879589666436 + - -0.004421807417962411 + - 0.007561719320341942 + rotation_matrix: + - - -0.9991373419761658 + - 0.036659713834524155 + - 0.019510533660650253 + - - 0.01949741318821907 + - -0.0007153867045417428 + - 0.9998096227645874 + - - 0.036666691303253174 + - 0.999327540397644 + - 6.119116226964305e-17 + grasp_280: + position: + - 0.0036025909083614582 + - 0.01848750270459938 + - 0.003992676054500044 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_281: + position: + - 0.00443093832356789 + - -0.004721789222737419 + - 0.0229219281885773 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_282: + position: + - 0.005697900240849041 + - -0.011688530978342163 + - -0.00916093496344983 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_283: + position: + - 0.0027621969138789115 + - -0.011146331377194507 + - 0.029093704887479532 + rotation_matrix: + - - 0.9476853609085083 + - -0.10432036221027374 + - 0.30167824029922485 + - - 0.09940525889396667 + - 0.994543731212616 + - 0.031643837690353394 + - - -0.3033332824707031 + - 0.0 + - 0.9528844952583313 + grasp_284: + position: + - -0.0014343731156317707 + - 0.003667325509716435 + - -0.01124979947134852 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_285: + position: + - 0.00201350103162401 + - -0.019454821593699767 + - -0.005572381488233802 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_286: + position: + - 0.0041825113444556306 + - 0.003236803866606495 + - 0.02413930445499718 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_287: + position: + - 0.0028387050218225407 + - 0.00419426608444072 + - -0.026558806849643596 + rotation_matrix: + - - -0.8994141221046448 + - 0.14528495073318481 + - -0.4122457206249237 + - - -0.13207264244556427 + - -0.9893898367881775 + - -0.06053538993000984 + - - -0.41666659712791443 + - 0.0 + - 0.9090593457221985 + grasp_288: + position: + - 0.005149145005039546 + - 0.018962226783359667 + - -0.006486561008170244 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_289: + position: + - 0.0035997854010074715 + - -0.006961126288006936 + - -0.008685651533678174 + rotation_matrix: + - - -0.8540527820587158 + - 0.0028468556702136993 + - -0.5201785564422607 + - - -0.5201756954193115 + - 0.00173392693977803 + - 0.8540574908256531 + - - 0.0033333301544189453 + - 0.9999944567680359 + - 6.123199852212357e-17 + grasp_290: + position: + - 0.003038205800143634 + - -0.005040488277143859 + - -0.0007271780692972296 + rotation_matrix: + - - -0.9794467091560364 + - -0.049033619463443756 + - -0.19565249979496002 + - - -0.19540779292583466 + - -0.009782616049051285 + - 0.9806733131408691 + - - -0.04999995231628418 + - 0.9987491965293884 + - 6.115575232198088e-17 + grasp_291: + position: + - 0.0032197028725975407 + - -0.004027340851544298 + - 0.008695052441582085 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_292: + position: + - 0.0042779104410637925 + - 0.003567168896701476 + - -0.0245407607447356 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_293: + position: + - -0.0011058323136298176 + - 0.019285851420838995 + - -0.01114262473210692 + rotation_matrix: + - - 0.8561459183692932 + - 0.009755730628967285 + - -0.5166420936584473 + - - -0.008352726697921753 + - 0.9999524354934692 + - 0.005040460731834173 + - - 0.5166666507720947 + - 0.0 + - 0.8561866283416748 + grasp_294: + position: + - 0.0029638656576562172 + - 0.0037406617342145287 + - 0.000270807339157908 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_295: + position: + - 0.0040940894912543935 + - 0.012048880068380105 + - 0.023265342500433328 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_296: + position: + - 0.003962791476879057 + - -0.005425860794159423 + - 0.030878356572240584 + rotation_matrix: + - - -0.6188157200813293 + - 0.09457534551620483 + - -0.7798221707344055 + - - -0.05878821760416031 + - -0.9955177307128906 + - -0.07408401370048523 + - - -0.7833333015441895 + - 0.0 + - 0.621601939201355 + grasp_297: + position: + - 0.006754087609938952 + - -0.020592354262744764 + - -0.022831856131926176 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_298: + position: + - 0.00598132923235789 + - -0.011520953907016376 + - 0.015413740459457037 + rotation_matrix: + - - -0.9991373419761658 + - -0.019510533660650253 + - 0.036659713834524155 + - - 0.01949741318821907 + - -0.9998096227645874 + - -0.0007153867045417428 + - - 0.036666691303253174 + - 0.0 + - 0.999327540397644 + grasp_299: + position: + - -0.0007453137031139256 + - 0.0032258994097702325 + - 0.018821768561750662 + rotation_matrix: + - - 0.8959739208221436 + - 0.029225772246718407 + - 0.4431440234184265 + - - -0.026196720078587532 + - 0.9995728135108948 + - -0.012956760823726654 + - - -0.44333338737487793 + - 0.0 + - 0.8963567614555359 + grasp_300: + position: + - 0.0014920118320650433 + - -0.010854030564409298 + - 0.003944476227462301 + rotation_matrix: + - - -0.9416295886039734 + - -0.07053721696138382 + - -0.3291780650615692 + - - 0.06658578664064407 + - -0.9975091218948364 + - 0.0232772845774889 + - - -0.33000004291534424 + - 0.0 + - 0.9439809322357178 + grasp_301: + position: + - 0.003114893692695464 + - 0.01190651598218187 + - 0.01671099566705525 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_302: + position: + - -0.0008022653695786142 + - 0.012044762888141103 + - -0.013322937610000363 + rotation_matrix: + - - -0.828069269657135 + - 0.16457942128181458 + - 0.5359243154525757 + - - -0.13816723227500916 + - -0.9863638281822205 + - 0.08942148089408875 + - - 0.5433332920074463 + - 0.0 + - 0.8395170569419861 + grasp_303: + position: + - 0.0008540299905398507 + - -0.0114391139938304 + - 0.00017935612176078752 + rotation_matrix: + - - -0.9991373419761658 + - 0.036659713834524155 + - 0.019510533660650253 + - - 0.01949741318821907 + - -0.0007153867045417428 + - 0.9998096227645874 + - - 0.036666691303253174 + - 0.999327540397644 + - 6.119116226964305e-17 + grasp_304: + position: + - 0.003114209060876394 + - 0.0031623090183944547 + - 0.015720969046279787 + rotation_matrix: + - - -0.9778562188148499 + - 0.11398041993379593 + - 0.1755153387784958 + - - -0.11218759417533875 + - -0.9934830069541931 + - 0.02013654261827469 + - - 0.17666667699813843 + - 0.0 + - 0.9842707514762878 + grasp_305: + position: + - 0.002861670495550417 + - 0.01074123794905318 + - -0.001615283793956035 + rotation_matrix: + - - -0.9798274040222168 + - 0.06310264766216278 + - -0.18962140381336212 + - - -0.06195317581295967 + - -0.99800705909729 + - -0.011989506892859936 + - - -0.19000005722045898 + - 0.0 + - 0.9817841053009033 + grasp_306: + position: + - 0.004679860657042567 + - 0.01986613540144609 + - 0.006767652269825342 + rotation_matrix: + - - -0.9829893708229065 + - -0.1526530385017395 + - -0.10212226957082748 + - - 0.1518358439207077 + - -0.9882798194885254 + - 0.01577414944767952 + - - -0.10333335399627686 + - 0.0 + - 0.9946467876434326 + grasp_307: + position: + - 0.0038817101466188664 + - 0.003973252955117704 + - -0.013338859524205327 + rotation_matrix: + - - -0.7755820751190186 + - -0.051061857491731644 + - 0.6291781663894653 + - - 0.03965438902378082 + - -0.9986954927444458 + - -0.03216896951198578 + - - 0.6299999952316284 + - 0.0 + - 0.7765951156616211 + grasp_308: + position: + - 0.0032051183610790623 + - 0.004215200606913411 + - 0.01615430225469172 + rotation_matrix: + - - -0.9596743583679199 + - -0.10199049115180969 + - 0.26196014881134033 + - - 0.09839072823524475 + - -0.9947853684425354 + - -0.026857495307922363 + - - 0.2633333206176758 + - 0.0 + - 0.9647049307823181 + grasp_309: + position: + - 0.0026983729095679254 + - 0.018229586978877207 + - -0.007203980207815763 + rotation_matrix: + - - -0.9145970940589905 + - 0.031567055732011795 + - 0.40313228964805603 + - - -0.028885534033179283 + - -0.999501645565033 + - 0.012732044793665409 + - - 0.40333330631256104 + - 0.0 + - 0.915053129196167 + grasp_310: + position: + - 7.938060450107809e-05 + - 0.009645644432769968 + - -0.02604275977984072 + rotation_matrix: + - - -0.9794467091560364 + - 0.19565249979496002 + - -0.049033619463443756 + - - -0.19540779292583466 + - -0.9806733131408691 + - -0.009782616049051285 + - - -0.04999995231628418 + - 0.0 + - 0.9987491965293884 + grasp_311: + position: + - 0.004160960468187258 + - 0.004157554212483636 + - -0.016157427547127012 + rotation_matrix: + - - -0.5112636685371399 + - -0.13334211707115173 + - 0.8490167260169983 + - - 0.06878723949193954 + - -0.9910700917243958 + - -0.11422974616289139 + - - 0.8566666841506958 + - 0.0 + - 0.5158703327178955 + pose_frame: target + ee_type: gripper + - name: place_action_01 + ee_timeout: 60.0 + release_timeout: 60.0 + stereotype: place + description: Place omni6DPose_timer_017 to omni6DPose_book_031 + robot_name: Franka_Robotiq_2f85 + target_name: omni6DPose_book_031 + grasped_target_name: omni6DPose_timer_017 + wait_released_target_stopped: true + pose_source: inline + pose_data: + pose_0: + position: &id001 + - 0.039519483042121335 + - 0.11386714440430301 + - 0.0 + quaternion: + - 0.5 + - 0.5000000000000001 + - -0.5 + - 0.5000000000000001 + pose_1: + position: *id001 + quaternion: + - 0.46761810444947904 + - 0.4676181044494791 + - -0.5304086239787924 + - 0.5304086239787925 + pose_2: + position: *id001 + quaternion: + - 0.43339073387508675 + - 0.43339073387508686 + - -0.558723967439391 + - 0.5587239674393912 + pose_3: + position: *id001 + quaternion: + - 0.39745296807148195 + - 0.39745296807148206 + - -0.5848342826572067 + - 0.5848342826572068 + pose_4: + position: *id001 + quaternion: + - 0.35994663698188806 + - 0.3599466369818882 + - -0.608636524146743 + - 0.608636524146743 + pose_5: + position: *id001 + quaternion: + - 0.32101976096010304 + - 0.32101976096010315 + - -0.6300367553350504 + - 0.6300367553350505 + pose_6: + position: *id001 + quaternion: + - 0.28082596660178666 + - 0.28082596660178677 + - -0.6489505192864646 + - 0.6489505192864646 + pose_7: + position: *id001 + quaternion: + - 0.23952388045047335 + - 0.23952388045047351 + - -0.6653031720155461 + - 0.6653031720155461 + pose_8: + position: *id001 + quaternion: + - 0.19727650297107407 + - 0.19727650297107424 + - -0.6790301770727895 + - 0.6790301770727895 + pose_9: + position: *id001 + quaternion: + - 0.15425056526150915 + - 0.15425056526150932 + - -0.6900773602405058 + - 0.6900773602405058 + pose_10: + position: *id001 + quaternion: + - 0.11061587104123709 + - 0.11061587104123725 + - -0.6984011233337103 + - 0.6984011233337103 + pose_11: + position: *id001 + quaternion: + - 0.0665446265135497 + - 0.06654462651354985 + - -0.7039686162622395 + - 0.7039686162622395 + pose_12: + position: *id001 + quaternion: + - 0.02221076074636137 + - 0.022210760746361528 + - -0.70675786667505 + - 0.70675786667505 + pose_13: + position: *id001 + quaternion: + - 0.022210760746361465 + - 0.022210760746361306 + - 0.70675786667505 + - -0.70675786667505 + pose_14: + position: *id001 + quaternion: + - 0.0665446265135498 + - 0.06654462651354964 + - 0.7039686162622395 + - -0.7039686162622395 + pose_15: + position: *id001 + quaternion: + - 0.11061587104123717 + - 0.110615871041237 + - 0.6984011233337104 + - -0.6984011233337104 + pose_16: + position: *id001 + quaternion: + - 0.1542505652615092 + - 0.15425056526150904 + - 0.6900773602405059 + - -0.6900773602405059 + pose_17: + position: *id001 + quaternion: + - 0.1972765029710741 + - 0.19727650297107394 + - 0.6790301770727895 + - -0.6790301770727893 + pose_18: + position: *id001 + quaternion: + - 0.23952388045047335 + - 0.23952388045047318 + - 0.6653031720155461 + - -0.665303172015546 + pose_19: + position: *id001 + quaternion: + - 0.2808259666017866 + - 0.28082596660178644 + - 0.6489505192864647 + - -0.6489505192864647 + pose_20: + position: *id001 + quaternion: + - 0.32101976096010293 + - 0.32101976096010276 + - 0.6300367553350505 + - -0.6300367553350505 + pose_21: + position: *id001 + quaternion: + - 0.35994663698188795 + - 0.35994663698188784 + - 0.6086365241467432 + - -0.6086365241467431 + pose_22: + position: *id001 + quaternion: + - 0.3974529680714818 + - 0.3974529680714816 + - 0.5848342826572069 + - -0.5848342826572068 + pose_23: + position: *id001 + quaternion: + - 0.4333907338750865 + - 0.43339073387508636 + - 0.5587239674393913 + - -0.5587239674393912 + pose_24: + position: *id001 + quaternion: + - 0.4676181044494788 + - 0.4676181044494787 + - 0.5304086239787928 + - -0.5304086239787927 + pose_25: + position: *id001 + quaternion: + - 0.4999999999999996 + - 0.4999999999999995 + - 0.5000000000000004 + - -0.5000000000000003 + pose_26: + position: *id001 + quaternion: + - 0.5304086239787927 + - 0.5304086239787926 + - 0.46761810444947893 + - -0.4676181044494788 + pose_27: + position: *id001 + quaternion: + - 0.5587239674393912 + - 0.5587239674393912 + - 0.4333907338750867 + - -0.4333907338750866 + pose_28: + position: *id001 + quaternion: + - 0.5848342826572068 + - 0.5848342826572067 + - 0.39745296807148195 + - -0.39745296807148184 + pose_29: + position: *id001 + quaternion: + - 0.6086365241467431 + - 0.608636524146743 + - 0.3599466369818881 + - -0.359946636981888 + pose_30: + position: *id001 + quaternion: + - 0.6300367553350505 + - 0.6300367553350504 + - 0.32101976096010304 + - -0.32101976096010293 + pose_31: + position: *id001 + quaternion: + - 0.6489505192864647 + - 0.6489505192864647 + - 0.2808259666017867 + - -0.2808259666017866 + pose_32: + position: *id001 + quaternion: + - 0.6653031720155461 + - 0.6653031720155461 + - 0.23952388045047351 + - -0.23952388045047335 + pose_33: + position: *id001 + quaternion: + - 0.6790301770727895 + - 0.6790301770727895 + - 0.19727650297107424 + - -0.19727650297107407 + pose_34: + position: *id001 + quaternion: + - 0.6900773602405059 + - 0.6900773602405058 + - 0.15425056526150935 + - -0.15425056526150918 + pose_35: + position: *id001 + quaternion: + - 0.6984011233337102 + - 0.6984011233337102 + - 0.1106158710412373 + - -0.11061587104123714 + pose_36: + position: *id001 + quaternion: + - 0.7039686162622395 + - 0.7039686162622395 + - 0.06654462651354996 + - -0.0665446265135498 + pose_37: + position: *id001 + quaternion: + - 0.70675786667505 + - 0.70675786667505 + - 0.022210760746361666 + - -0.02221076074636151 + pose_38: + position: *id001 + quaternion: + - 0.7067578666750501 + - 0.7067578666750501 + - -0.022210760746361125 + - 0.022210760746361285 + pose_39: + position: *id001 + quaternion: + - 0.7039686162622395 + - 0.7039686162622395 + - -0.0665446265135494 + - 0.06654462651354956 + pose_40: + position: *id001 + quaternion: + - 0.6984011233337103 + - 0.6984011233337103 + - -0.11061587104123673 + - 0.11061587104123688 + pose_41: + position: *id001 + quaternion: + - 0.6900773602405058 + - 0.6900773602405059 + - -0.15425056526150874 + - 0.15425056526150888 + pose_42: + position: *id001 + quaternion: + - 0.6790301770727896 + - 0.6790301770727896 + - -0.1972765029710736 + - 0.19727650297107377 + pose_43: + position: *id001 + quaternion: + - 0.6653031720155462 + - 0.6653031720155462 + - -0.23952388045047285 + - 0.23952388045047301 + pose_44: + position: *id001 + quaternion: + - 0.6489505192864649 + - 0.6489505192864649 + - -0.2808259666017861 + - 0.2808259666017862 + pose_45: + position: *id001 + quaternion: + - 0.6300367553350508 + - 0.6300367553350509 + - -0.3210197609601024 + - 0.32101976096010254 + pose_46: + position: *id001 + quaternion: + - 0.6086365241467433 + - 0.6086365241467434 + - -0.3599466369818874 + - 0.3599466369818875 + pose_47: + position: *id001 + quaternion: + - 0.5848342826572072 + - 0.5848342826572074 + - -0.3974529680714812 + - 0.39745296807148134 + pose_48: + position: *id001 + quaternion: + - 0.5587239674393916 + - 0.5587239674393918 + - -0.43339073387508587 + - 0.433390733875086 + pose_49: + position: *id001 + quaternion: + - 0.5304086239787933 + - 0.5304086239787933 + - -0.4676181044494782 + - 0.4676181044494783 + pose_50: + position: *id001 + quaternion: + - 0.5000000000000009 + - 0.500000000000001 + - -0.499999999999999 + - 0.4999999999999991 + pose_frame: target + ee_type: gripper + goals: + - name: on_top_goal_00 + stereotype: on_top + description: omni6DPose_timer_017 on top of omni6DPose_book_031 + object_A_name: omni6DPose_timer_017 + object_B_name: omni6DPose_book_031 + max_horizontal_offset: 0.01 + max_vertical_offset: 0.02 +extension: + extension_cfg_dict: + data_collect: + enable: true + stereotype: data_collect + observer_cfgs: + - stereotype: robot_observer + name: Franka_Robotiq_2f85 + observe_joint_positions: true + observe_joint_velocities: true + observe_joint_accelerations: true + observe_joint_position_targets: true + observe_joint_velocity_targets: true + observe_position: true + observe_rotation: true + observe_ee_pose: true + observe_gripper_state: true + observe_gripper_drive_state: true + - stereotype: task_observer + name: task + - stereotype: object_observer + name: omni6DPose_timer_017 + observe_position: true + observe_rotation: true + observe_scale: true + - stereotype: object_observer + name: omni6DPose_book_031 + observe_position: true + observe_rotation: true + observe_scale: true + - stereotype: sensor_observer + name: Hand_Camera + observe_intrinsic_matrix: true + observe_extrinsic_matrix: true + observe_rgb: true + observe_depth: true + observe_normals: true + - stereotype: sensor_observer + name: Left_Camera + observe_intrinsic_matrix: true + observe_extrinsic_matrix: true + observe_rgb: true + observe_depth: true + observe_normals: true + - stereotype: sensor_observer + name: Right_Camera + observe_intrinsic_matrix: true + observe_extrinsic_matrix: true + observe_rgb: true + observe_depth: true + observe_normals: true + record: + enable: true + stereotype: record + backend_root_path: output:// + postprocess_list: + - hdf5 + - video + - png_depth + - preview_video + record_task_summary: true