{"schema_version":1,"task":"ArmPickPlace-v0","scope":"simulation-only","runtime":{"kind":"hybrid-distilled-placement-runtime","files_sha256":{"arm_env.py":"e4af9b75364a568284b1e6d96469deacf498dd87a60b067fa5e310fe15c54c00","arm_policy.py":"d6d53d87703fb8608390092309285afb6a2c8fd3103a7abd77668be85469eab3","arm_runner.py":"affb5812b6a395f6cca9cb4e900af2ef28162e7ff1e52a51bd29b789daa98df1","env.py":"929c1d8c3c4cafe0054c633ee5f3e51c551dd6b26ae014ab1ea9219b58eca8e4","skillspace.py":"34b651609358ae9a58b9a610545ce7b85b83fb3d6c699613414ff8e0ea457b3c","cli.py":"192ec6a0852c7fd5dd3ae912815dae2fc7c9cfb93b97c85d528060e00a975b17","installer.py":"d3a2c5a4913920c52beef89df9954494b89fd0becb08bb4847264dae48d3761c","arm_distill.py":"14640f91ec9c91d10a405fa56eb21bda8b55b285854ce2b5859a71d1ffd06ea1","skill_capsule.py":"ecb7dbd60d3a11f40bf65c4520f024b449c0d63f9ae27c601c9c9fe17b32e6a0","capsule_installer.py":"60bb1652cae830fd03ae6eaa5e10150c957be13e1dc630a5631c1a2692ae37ec"},"dependencies":{"mujoco":"3.15.0","numpy":"2.5.3"},"action_contract":"six joint targets in radians; symmetric gripper width in metres"},"skill":{"skill_id":"place_cup","source_name":"place_cup","source_task":"Set a cup on the mark.","source_format":"vdia:0","source_version":"0.3.0","source_permissions":"not_inferred","source_sha256":"23f27bea18abdf54ffd8a123fc099036ab7ee81fcd44714c894f5d1b12720a15","source_hash_kind":"exact_bytes","grounding_sha256":"8bcf1d30156e38c58356c35942efc1fc8110fc6855b208111f32de3d536a1781","source_ids":{},"arm_profile":"dvidia-authored-6dof-parallel-jaw-v0","adapter_id":"contact-pick-place-box-v0","task_id":"ArmPickPlace-v0","provenance":"authored_simulation_adapter","frame":"world","units":"m","language_aliases":["Set a cup on the mark."],"workspace_min":[0.25,-0.2,0.29],"workspace_max":[0.6,0.2,0.55],"table_height":0.29,"object_kind":"box","object_position":[0.42,-0.04,0.31],"object_size":[0.04,0.04,0.04],"object_mass":0.04,"object_friction":0.8,"target_position":[0.54,0.1,0.31],"position_tolerance":0.025,"dwell_seconds":0.25,"procedure":["approach","descend","close","lift","transfer","place","release","retreat","verify"],"simulation_ready":true,"robot_ready":false,"source_has_robot_policy":false,"object_representation":"authored_box_proxy"},"environment_config":{"timestep":0.001,"control_dt":0.02,"horizon":18.0,"settle_time":0.4,"object_position":[0.34,0.07,0.31],"target_position":[0.44,-0.006,0.31],"object_half_size":[0.02,0.02,0.02],"object_mass":0.04,"object_friction":0.8,"table_height":0.29,"position_tolerance":0.025,"dwell_seconds":0.25,"scene_jitter":0,"joint_torque_limit":40.0,"jaw_force_limit":15.0,"joint_target_rate_limit":3.0,"jaw_width_rate_limit":0.16,"gravity":9.81},"scene_binding":"Object and target positions belong to the environment; the installed controller is reused.","episodes":[{"seed":8006,"policy":"distilled_placement","success":true,"reason":"success","final_distance":0.00031093163214063326,"simulated_seconds":12.951999999998261,"episode_wall_seconds":0.8155908340122551,"setup_seconds":0.013851749943569303,"control_latency_p50_seconds":0.0011683544144034386,"control_latency_p95_seconds":0.00143705396912992,"simulated_seconds_per_wall_second":15.880511967356961,"control_steps":648,"reward":1.1252916144829588,"reset_info":{"task_id":"ArmPickPlace-v0","arm_profile":"dvidia-authored-6dof-parallel-jaw-v0","adapter_id":"contact-pick-place-box-v0","seed":8006,"reason":"running","success":false,"valid":true,"simulation_time":0.0,"steps":0,"dwell_elapsed":0.0,"grasp_seen":false,"lift_seen":false,"max_object_lift":0.0,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"max_pad_normal_force":0.0,"target_distance":0.12560254611509936,"warnings":[],"lift_dwell_elapsed":0.0,"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8,"mixing":"maximum at equal geom priority"},"initial_object_position":[0.34000000290802945,0.0700000006551455,0.3099914782969386],"qualification":"simulation-only","observations":"privileged simulator state","actuation":"six bounded joint position servos and two bounded jaw servos","object_profile":"rigid box; unqualified proxy for cup skills","action_contract":{"independent_commands":7,"physical_robot_joints":8,"hinge_target_units":"rad","jaw_gap_units":"m","joint_limits":[[-2.6,2.6],[-2.2,1.6],[-2.7,2.7],[-3.0,3.0],[-2.8,2.8],[-3.1,3.1]],"jaw_gap_limits":[0.0,0.08],"joint_torque_limit_nm":40.0,"jaw_actuator_force_limit_n":15.0,"ik_orientation":"fixed identity rotation; XYZ position goal only","force_observation":"summed native per-pad normal contact forces, N; not actuator force"},"command_limits":{"joint_target_rate_rad_s":3.0,"jaw_gap_rate_m_s":0.16,"scope":"authored target trajectory each native tick, before gravity feedforward; not a physical velocity guarantee"},"requested_joint_targets":[-0.6,-1.1,0.9,0.0,0.2,0.6],"requested_gripper_width":0.08,"commanded_joint_targets":[-0.6,-1.1,0.9,0.0,0.2,0.6],"commanded_gripper_width":0.08,"command_rate_limited":false,"native_position_controls":[-0.6,-1.1036703374330405,0.8974998040917651,-3.4299385939389714e-19,0.19932016700000002,0.6,0.04,0.04],"measured_joint_velocity_rad_s":[1.6495923176351354e-18,4.982657788736472e-16,-6.294329938892013e-16,-1.0977290974519079e-18,4.993256099670851e-16,8.596759738179922e-20],"native_tick_peaks":{"cadence_seconds":0.001,"scope":"absolute peaks after reset, sampled after every native rollout tick","joint_velocity_rad_s":[0.0,0.0,0.0,0.0,0.0,0.0],"jaw_slide_velocity_m_s":[0.0,0.0],"actuator_force":[0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],"actuator_force_units":["N*m","N*m","N*m","N*m","N*m","N*m","N","N"]},"collision_profile":"jaws/object/table enabled; arm links and palm collision-excluded; no selfcollision qualification","config":{"timestep":0.001,"control_dt":0.02,"horizon":18.0,"settle_time":0.4,"object_position":[0.34,0.07,0.31],"target_position":[0.44,-0.006,0.31],"object_half_size":[0.02,0.02,0.02],"object_mass":0.04,"object_friction":0.8,"table_height":0.29,"position_tolerance":0.025,"dwell_seconds":0.25,"scene_jitter":0,"joint_torque_limit":40.0,"jaw_force_limit":15.0,"joint_target_rate_limit":3.0,"jaw_width_rate_limit":0.16,"gravity":9.81},"engine":"3.15.0","scene_sha256":"89d176ae0a6eec5489e57f5559cd177e046d30cecc623a0d0c6fbae3c8596f6d"},"final_info":{"task_id":"ArmPickPlace-v0","arm_profile":"dvidia-authored-6dof-parallel-jaw-v0","adapter_id":"contact-pick-place-box-v0","seed":8006,"reason":"success","success":true,"valid":true,"simulation_time":12.951999999998261,"steps":648,"dwell_elapsed":0.25000000000000017,"grasp_seen":true,"lift_seen":true,"max_object_lift":0.13067118151803997,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"max_pad_normal_force":0.9322361301040415,"target_distance":0.00031093163214063326,"warnings":[],"lift_dwell_elapsed":0.0,"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8,"mixing":"maximum at equal geom priority"},"initial_object_position":[0.34000000290802945,0.0700000006551455,0.3099914782969386],"qualification":"simulation-only","observations":"privileged simulator state","actuation":"six bounded joint position servos and two bounded jaw servos","object_profile":"rigid box; unqualified proxy for cup skills","action_contract":{"independent_commands":7,"physical_robot_joints":8,"hinge_target_units":"rad","jaw_gap_units":"m","joint_limits":[[-2.6,2.6],[-2.2,1.6],[-2.7,2.7],[-3.0,3.0],[-2.8,2.8],[-3.1,3.1]],"jaw_gap_limits":[0.0,0.08],"joint_torque_limit_nm":40.0,"jaw_actuator_force_limit_n":15.0,"ik_orientation":"fixed identity rotation; XYZ position goal only","force_observation":"summed native per-pad normal contact forces, N; not actuator force"},"command_limits":{"joint_target_rate_rad_s":3.0,"jaw_gap_rate_m_s":0.16,"scope":"authored target trajectory each native tick, before gravity feedforward; not a physical velocity guarantee"},"requested_joint_targets":[-0.013349083252251148,-1.238500714302063,1.3032941818237305,-4.074618482263759e-05,-0.06485933810472488,0.013345631770789623],"requested_gripper_width":0.08,"commanded_joint_targets":[-0.013349083252251148,-1.238500714302063,1.3032941818237305,-4.074618482263759e-05,-0.06485933810472488,0.013345631770789623],"commanded_gripper_width":0.08,"command_rate_limited":true,"native_position_controls":[-0.013349081517481234,-1.2417995413500214,1.3007548657723595,-4.074714540674163e-05,-0.06553872173092866,0.01334563175914463,0.04,0.04],"measured_joint_velocity_rad_s":[-0.0006427318961557831,-0.03602889038647513,-0.23903372421205663,-1.2603884217949166e-05,0.26863497785520707,0.0007343244081041429],"native_tick_peaks":{"cadence_seconds":0.001,"scope":"absolute peaks after reset, sampled after every native rollout tick","joint_velocity_rad_s":[0.2345551705678483,0.26581297336526805,0.43993963847463496,0.006103121114410702,0.4407671174422397,0.29011465752321297],"jaw_slide_velocity_m_s":[0.08124001044293241,0.0816981471937726],"actuator_force":[1.8066014223915943,3.5462024837632953,2.4021402691035973,0.027175913240291005,0.3827618839908471,0.2718694294715629,0.9605836179868739,1.0392701541678138],"actuator_force_units":["N*m","N*m","N*m","N*m","N*m","N*m","N","N"]},"collision_profile":"jaws/object/table enabled; arm links and palm collision-excluded; no selfcollision qualification","config":{"timestep":0.001,"control_dt":0.02,"horizon":18.0,"settle_time":0.4,"object_position":[0.34,0.07,0.31],"target_position":[0.44,-0.006,0.31],"object_half_size":[0.02,0.02,0.02],"object_mass":0.04,"object_friction":0.8,"table_height":0.29,"position_tolerance":0.025,"dwell_seconds":0.25,"scene_jitter":0,"joint_torque_limit":40.0,"jaw_force_limit":15.0,"joint_target_rate_limit":3.0,"jaw_width_rate_limit":0.16,"gravity":9.81},"engine":"3.15.0","scene_sha256":"89d176ae0a6eec5489e57f5559cd177e046d30cecc623a0d0c6fbae3c8596f6d"},"actions":[{"stage":"approach","action":{"joint_targets":[-0.5893314480781555,-1.1169472932815552,0.9257286787033081,1.0793103683681693e-05,0.1913600116968155,0.5893679261207581],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5871139764785767,-1.121431827545166,0.932777464389801,-1.0441781341796741e-05,0.1887870728969574,0.5871479511260986],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5840365886688232,-1.125339150428772,0.9391281604766846,-6.588874384760857e-06,0.18633460998535156,0.5840674042701721],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5809614658355713,-1.1292160749435425,0.945434033870697,-6.1453897615137976e-06,0.1838994026184082,0.5809907913208008],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5778740048408508,-1.1330679655075073,0.9516772031784058,-5.593423338723369e-06,0.1815037578344345,0.5779024958610535],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5747761130332947,-1.1368908882141113,0.9578603506088257,-5.176314516575076e-06,0.1791401356458664,0.5748040676116943],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5716704726219177,-1.140689492225647,0.9639914035797119,-4.841043391934363e-06,0.1768050342798233,0.5716981291770935],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.568558931350708,-1.1444666385650635,0.9700760245323181,-4.573905243887566e-06,0.17449547350406647,0.5685864090919495],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5654423832893372,-1.1482245922088623,0.9761186242103577,-4.359921149443835e-06,0.17220915853977203,0.5654698610305786],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5623217821121216,-1.1519650220870972,0.9821221232414246,-4.171089130977634e-06,0.16994450986385345,0.5623491406440735],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5591975450515747,-1.1556894779205322,0.9880896806716919,-4.012538283859612e-06,0.16770006716251373,0.5592249035835266],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5560704469680786,-1.1593999862670898,0.994023859500885,-3.853181169688469e-06,0.16547511518001556,0.5560977458953857],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.552940845489502,-1.1630975008010864,0.999926745891571,-3.7108402466401458e-06,0.16326868534088135,0.5529681444168091],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5498085021972656,-1.166782259941101,1.005798578262329,-3.5487191780703142e-06,0.16108037531375885,0.5498358607292175],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5466739535331726,-1.170454978942871,1.0116413831710815,-3.4053928175126202e-06,0.15890929102897644,0.5467012524604797],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5435368418693542,-1.174115538597107,1.017454981803894,-3.229913545510499e-06,0.1567554473876953,0.5435641407966614],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5403974056243896,-1.1777647733688354,1.0232406854629517,-3.08118296743487e-06,0.15461786091327667,0.5404247045516968],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5372555255889893,-1.1814024448394775,1.0289983749389648,-2.8889965051348554e-06,0.15249687433242798,0.5372828245162964],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5341113209724426,-1.185029149055481,1.0347295999526978,-2.7168525775778107e-06,0.1503915935754776,0.5341386795043945],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5309647917747498,-1.1886448860168457,1.0404340028762817,-2.521382384657045e-06,0.14830204844474792,0.5309921503067017],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5278158783912659,-1.19225013256073,1.0461126565933228,-2.331833684365847e-06,0.14622776210308075,0.5278432369232178],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.524664580821991,-1.1958447694778442,1.0517655611038208,-2.121236775565194e-06,0.14416873455047607,0.5246919989585876],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5215110182762146,-1.1994293928146362,1.0573935508728027,-1.9176538899046136e-06,0.14212441444396973,0.5215383768081665],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5183550715446472,-1.2030037641525269,1.062996745109558,-1.6933026927290484e-06,0.14009490609169006,0.5183824300765991],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5151967406272888,-1.2065683603286743,1.0685757398605347,-1.4796198684052797e-06,0.1380796581506729,0.5152240991592407],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5120360255241394,-1.2101231813430786,1.0741307735443115,-1.241394556927844e-06,0.13607878983020782,0.5120633840560913],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5088729858398438,-1.2136685848236084,1.0796624422073364,-1.016623059513222e-06,0.13409170508384705,0.5089002847671509],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5057075023651123,-1.2172045707702637,1.0851709842681885,-7.886605999374297e-07,0.1321183294057846,0.5057348608970642],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.5025395750999451,-1.220731496810913,1.0906566381454468,-5.275032890494913e-07,0.13015896081924438,0.502566933631897],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.49936923384666443,-1.2242491245269775,1.0961198806762695,-2.925112312368583e-07,0.12821263074874878,0.49939659237861633],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.496196448802948,-1.2277580499649048,1.101561188697815,-4.9407390179112554e-08,0.12627950310707092,0.4962238371372223],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4930211901664734,-1.2312580347061157,1.106980323791504,2.2290782908385154e-07,0.12435978651046753,0.4930485188961029],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.48984336853027344,-1.234749436378479,1.1123780012130737,4.68273810838582e-07,0.12245258688926697,0.48987072706222534],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4866630733013153,-1.2382323741912842,1.1177548170089722,7.213745902845403e-07,0.12055819481611252,0.4866904318332672],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.48348015546798706,-1.2417067289352417,1.123110294342041,9.857292297965614e-07,0.11867638677358627,0.48350751399993896],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4802946448326111,-1.2451728582382202,1.128445029258728,1.2485743354773149e-06,0.1168069839477539,0.480322003364563],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4771064817905426,-1.2486308813095093,1.1337594985961914,1.5131786312849727e-06,0.11494989693164825,0.4771338403224945],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.47391560673713684,-1.2520806789398193,1.1390535831451416,1.7784477677196264e-06,0.1131049245595932,0.47394296526908875],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4707219898700714,-1.2555224895477295,1.1443277597427368,2.0442193999770097e-06,0.11127196997404099,0.4707493782043457],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.46752557158470154,-1.2589561939239502,1.149582028388977,2.309728415639256e-06,0.1094508245587349,0.46755295991897583],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.46432626247406006,-1.2623820304870605,1.1548168659210205,2.5745305265445495e-06,0.10764139145612717,0.46435368061065674],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4611240327358246,-1.2657999992370605,1.1600321531295776,2.837429974533734e-06,0.1058434545993805,0.46115145087242126],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.45791885256767273,-1.2692102193832397,1.165228247642517,3.0941505428927485e-06,0.1040569469332695,0.4579462707042694],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4547106623649597,-1.2726129293441772,1.170405626296997,3.3354799597873352e-06,0.1022815927863121,0.4547380805015564],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4514993131160736,-1.2760080099105835,1.1755635738372803,3.6260714750824263e-06,0.10051827132701874,0.4515267014503479],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4482848048210144,-1.279395341873169,1.1807035207748413,3.843605099973502e-06,0.09876509010791779,0.44831228256225586],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4450669586658478,-1.2827752828598022,1.1858241558074951,4.127276042709127e-06,0.0970238521695137,0.44509443640708923],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4418458938598633,-1.2861478328704834,1.1909273862838745,4.332552634878084e-06,0.09529256820678711,0.44187337160110474],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.43862125277519226,-1.2895128726959229,1.1960113048553467,4.6126988308969885e-06,0.09357322007417679,0.4386487603187561],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4353932738304138,-1.2928705215454102,1.2010785341262817,4.7844587243162096e-06,0.09186314046382904,0.43542081117630005],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.43216148018836975,-1.2962210178375244,1.2061262130737305,5.07276945427293e-06,0.09016541391611099,0.4321889877319336],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4289260804653168,-1.299564003944397,1.2111574411392212,5.251542006590171e-06,0.08847682178020477,0.4289536476135254],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4256867468357086,-1.3028998374938965,1.216170072555542,5.489075647346908e-06,0.08679958432912827,0.425714373588562],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.42244356870651245,-1.306228518486023,1.221165657043457,5.670971404470038e-06,0.08513198047876358,0.42247116565704346],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4191962480545044,-1.3095500469207764,1.2261430025100708,5.903477358515374e-06,0.08347583562135696,0.4192238748073578],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4159448742866516,-1.3128643035888672,1.2311042547225952,6.029750238667475e-06,0.08182840794324875,0.4159725606441498],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4126890301704407,-1.3161715269088745,1.2360466718673706,6.264506737352349e-06,0.08019288629293442,0.41271674633026123],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4094288945198059,-1.3194714784622192,1.2409732341766357,6.3892621255945414e-06,0.07856594771146774,0.40945661067962646],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4061640202999115,-1.32276451587677,1.2458817958831787,6.566512638528366e-06,0.07695002108812332,0.4061918258666992],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.4028945565223694,-1.3260505199432373,1.2507739067077637,6.6856473495136015e-06,0.07534336298704147,0.4029223620891571],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3996201157569885,-1.3293296098709106,1.2556484937667847,6.835820386186242e-06,0.07374753803014755,0.3996480107307434],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3963406980037689,-1.332601547241211,1.2605068683624268,6.928536549821729e-06,0.07216083258390427,0.3963686525821686],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3930560350418091,-1.3358666896820068,1.2653477191925049,7.04901276549208e-06,0.07058467715978622,0.39308398962020874],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.38976603746414185,-1.3391246795654297,1.2701724767684937,7.1159865910885856e-06,0.06901775300502777,0.3897940516471863],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3864704370498657,-1.3423758745193481,1.2749799489974976,7.198574166977778e-06,0.06746111065149307,0.38649851083755493],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3831692039966583,-1.345620036125183,1.2797715663909912,7.212888704088982e-06,0.06591342389583588,0.3831973373889923],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.37986186146736145,-1.3488574028015137,1.2845453023910522,7.295463092304999e-06,0.06437679380178452,0.3798900544643402],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3765485882759094,-1.3520877361297607,1.2893038988113403,7.254497177200392e-06,0.06284824013710022,0.37657681107521057],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3732287883758545,-1.3553112745285034,1.2940443754196167,7.296040621440625e-06,0.06133104860782623,0.3732571005821228],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3699026107788086,-1.3585277795791626,1.2987697124481201,7.2181264840764925e-06,0.059822000563144684,0.3699309825897217],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.366569459438324,-1.3617373704910278,1.3034769296646118,7.22241384210065e-06,0.05832424759864807,0.3665979206562042],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.36322954297065735,-1.3649401664733887,1.3081694841384888,7.085074230417376e-06,0.056834250688552856,0.36325803399086],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.359882116317749,-1.3681358098983765,1.3128430843353271,7.059608833515085e-06,0.055356159806251526,0.3599106967449188],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3565273582935333,-1.3713244199752808,1.3175019025802612,6.893206318636658e-06,0.0538858026266098,0.3565560579299927],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3531647324562073,-1.3745059967041016,1.3221421241760254,6.801312338211574e-06,0.05242699384689331,0.3531935214996338],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3497943580150604,-1.3776805400848389,1.3267674446105957,6.572580787178595e-06,0.05097610503435135,0.3498231768608093],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3464154005050659,-1.380847692489624,1.3313734531402588,6.447998202929739e-06,0.04953714832663536,0.34644436836242676],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.34302815794944763,-1.3840075731277466,1.335964322090149,6.185165148053784e-06,0.048106200993061066,0.34305721521377563],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.33963197469711304,-1.387160062789917,1.340536117553711,5.979388788546203e-06,0.04668664187192917,0.3396610915660858],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.33622682094573975,-1.3903049230575562,1.3450915813446045,5.679480636899825e-06,0.04527609050273895,0.3362560272216797],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3328121304512024,-1.3934420347213745,1.3496277332305908,5.43038549949415e-06,0.04387689754366875,0.3328414559364319],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3293880522251129,-1.3965712785720825,1.3541476726531982,5.050663276051637e-06,0.042486418038606644,0.3294174373149872],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.32595375180244446,-1.399692416191101,1.358647108078003,4.764478489960311e-06,0.04110793024301529,0.32598328590393066],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3225094974040985,-1.4028053283691406,1.3631298542022705,4.331272066337988e-06,0.03973820060491562,0.3225391209125519],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.3190544843673706,-1.4059094190597534,1.3675912618637085,3.991292942373548e-06,0.03838086873292923,0.3190842270851135],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.31558895111083984,-1.409005045890808,1.3720351457595825,3.507798965074471e-06,0.03703251853585243,0.3156187832355499],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.31211209297180176,-1.4120911359786987,1.376456618309021,3.116309471806744e-06,0.03569696098566055,0.3121420741081238],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.30862414836883545,-1.415168046951294,1.380859613418579,2.586572236396023e-06,0.03437095880508423,0.308654248714447],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.305124431848526,-1.4182347059249878,1.3852394819259644,2.146464566976647e-06,0.0330577977001667,0.30515462160110474],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.30161306262016296,-1.421291470527649,1.3895995616912842,1.5725536286481656e-06,0.03175448998808861,0.30164337158203125],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2980893850326538,-1.4243372678756714,1.393935203552246,1.0876701708184555e-06,0.030464423820376396,0.29811984300613403],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.29455363750457764,-1.4273720979690552,1.398249626159668,4.760336196341086e-07,0.029184948652982712,0.2945842146873474],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2910051643848419,-1.4303950071334839,1.402538537979126,-4.733192326966673e-08,0.02791890688240528,0.29103586077690125],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.28744417428970337,-1.4334062337875366,1.4068046808242798,-6.91478362568887e-07,0.026663823053240776,0.287475049495697],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.283870130777359,-1.4364044666290283,1.411043643951416,-1.2461728147172835e-06,0.025422735139727592,0.2839010953903198],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.28028324246406555,-1.439389705657959,1.4152582883834839,-1.913598907776759e-06,0.02419334091246128,0.2803143560886383],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.27668312191963196,-1.4423609972000122,1.4194451570510864,-2.494020463927882e-06,0.02297745645046234,0.2767143249511719],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.27306997776031494,-1.445318341255188,1.4236063957214355,-3.1805320759303868e-06,0.021773362532258034,0.2731013000011444],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2694433629512787,-1.4482601881027222,1.427738070487976,-3.77744640900346e-06,0.020583435893058777,0.2694748342037201],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2658036947250366,-1.451187252998352,1.4318426847457886,-4.472517957765376e-06,0.019405605271458626,0.26583531498908997],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2621505558490753,-1.454097867012024,1.4359161853790283,-5.076147772342665e-06,0.01824224554002285,0.2621822953224182],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.25848427414894104,-1.456992268562317,1.4399608373641968,-5.768225946667371e-06,0.017091747373342514,0.2585161328315735],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2548045814037323,-1.4598690271377563,1.4439730644226074,-6.367792138917139e-06,0.015955857932567596,0.2548365592956543],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2511118948459625,-1.4627286195755005,1.4479548931121826,-7.047396138659678e-06,0.014833133667707443,0.25114402174949646],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2474059909582138,-1.465569257736206,1.4519031047821045,-7.639806426595896e-06,0.01372525654733181,0.24743826687335968],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.24368734657764435,-1.4683916568756104,1.4558193683624268,-8.27810617920477e-06,0.012630952522158623,0.2437196969985962],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2399558275938034,-1.4711945056915283,1.4597011804580688,-8.86819907464087e-06,0.01155124045908451,0.2399882972240448],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.23621168732643127,-1.4739773273468018,1.4635487794876099,-9.453484381083399e-06,0.010485973209142685,0.2362442910671234],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.23245516419410706,-1.4767398834228516,1.4673614501953125,-1.001967757474631e-05,0.009435126557946205,0.23248787224292755],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.22868642210960388,-1.4794813394546509,1.4711387157440186,-1.0575552551017608e-05,0.008398778736591339,0.22871926426887512],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.22490569949150085,-1.4822014570236206,1.4748798608779907,-1.1080126569140702e-05,0.007377052213996649,0.22493861615657806],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.22111330926418304,-1.484899878501892,1.4785850048065186,-1.159906059911009e-05,0.006369615904986858,0.2211463302373886],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.21730937063694,-1.487575888633728,1.4822529554367065,-1.2063704161846545e-05,0.005376866087317467,0.21734251081943512],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.21349424123764038,-1.4902291297912598,1.4858837127685547,-1.2512354260252323e-05,0.004398561082780361,0.21352747082710266],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.20966817438602448,-1.4928592443466187,1.4894769191741943,-1.294228422921151e-05,0.0034346655011177063,0.20970149338245392],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.2058313637971878,-1.4954655170440674,1.4930319786071777,-1.3326178304851055e-05,0.0024851972702890635,0.2058647722005844],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.20198418200016022,-1.4980480670928955,1.4965490102767944,-1.369067558698589e-05,0.0015498993452638388,0.202017679810524],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1981268674135208,-1.5006062984466553,1.5000274181365967,-1.4033703337190673e-05,0.0006287551950663328,0.19816043972969055],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.19425958395004272,-1.5031393766403198,1.5034666061401367,-1.4330674275697675e-05,-0.00027815671637654305,0.19429324567317963],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1903827041387558,-1.5056475400924683,1.5068668127059937,-1.4614870451623574e-05,-0.0011711478000506759,0.19041645526885986],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.18649637699127197,-1.5081298351287842,1.5102272033691406,-1.4853600987407845e-05,-0.002050159964710474,0.186530202627182],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1826009303331375,-1.510586142539978,1.5135480165481567,-1.5078800061019138e-05,-0.002915402641519904,0.18263480067253113],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.17869651317596436,-1.5130162239074707,1.5168286561965942,-1.526021515019238e-05,-0.003767030779272318,0.17873045802116394],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1747833788394928,-1.5154194831848145,1.5200691223144531,-1.5428186088684015e-05,-0.004605040419846773,0.17481739819049835],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.17086172103881836,-1.517795443534851,1.523268699645996,-1.555450216983445e-05,-0.0054296343587338924,0.1708957999944687],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.16693176329135895,-1.5201441049575806,1.5264276266098022,-1.5667999832658097e-05,-0.006240876857191324,0.16696588695049286],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.16299359500408173,-1.5224645137786865,1.5295451879501343,-1.5742503819637932e-05,-0.0070388438180089,0.1630277782678604],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.15904751420021057,-1.524756908416748,1.5326215028762817,-1.580525713507086e-05,-0.007823755033314228,0.15908177196979523],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.15509358048439026,-1.5270203351974487,1.5356559753417969,-1.583187076903414e-05,-0.008595614694058895,0.1551278829574585],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1511320173740387,-1.5292550325393677,1.5386486053466797,-1.584807068866212e-05,-0.009354602545499802,0.1511663943529129],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1471627801656723,-1.5314595699310303,1.5415982007980347,-1.5831585187697783e-05,-0.0101004708558321,0.1471972018480301],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.143185555934906,-1.5336326360702515,1.5445021390914917,-1.5807932868483476e-05,-0.01083237212151289,0.14322002232074738],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.139200359582901,-1.5357732772827148,1.5473599433898926,-1.5757423170725815e-05,-0.0115503603592515,0.13923490047454834],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1352074295282364,-1.5378819704055786,1.5501717329025269,-1.5702964446973056e-05,-0.012254622764885426,0.1352420151233673],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1312066912651062,-1.5399575233459473,1.5529369115829468,-1.5626032109139487e-05,-0.012945108115673065,0.1312413215637207],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.12719836831092834,-1.5420001745224,1.5556554794311523,-1.5547913790214807e-05,-0.013622000813484192,0.12723305821418762],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1231824979186058,-1.5440094470977783,1.558327317237854,-1.5451296349056065e-05,-0.014285373501479626,0.12321723252534866],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.11915925145149231,-1.545985460281372,1.5609523057937622,-1.5355743016698398e-05,-0.014935355633497238,0.11919403821229935],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.11512863636016846,-1.5479273796081543,1.5635298490524292,-1.5245551367115695e-05,-0.015571952797472477,0.11516346037387848],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1110907718539238,-1.5498353242874146,1.5660600662231445,-1.5138858543650713e-05,-0.016195200383663177,0.11112566292285919],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1070457324385643,-1.551708698272705,1.5685425996780396,-1.5021209947008174e-05,-0.01680520549416542,0.10708067566156387],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.1029936894774437,-1.5535478591918945,1.5709775686264038,-1.4908948287484236e-05,-0.01740206591784954,0.10302866995334625],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.09893462061882019,-1.5553520917892456,1.573364496231079,-1.47891978485859e-05,-0.01798577792942524,0.09896965324878693],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.09486867487430573,-1.5571212768554688,1.5757033824920654,-1.4676951650471892e-05,-0.018556367605924606,0.09490376710891724],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.09079594910144806,-1.5588551759719849,1.5779941082000732,-1.4560288946086075e-05,-0.019114000722765923,0.09083107858896255],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.08671658486127853,-1.5605541467666626,1.5802369117736816,-1.445255293219816e-05,-0.019658729434013367,0.08675176650285721],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.08263064175844193,-1.5622174739837646,1.5824311971664429,-1.4343231669045053e-05,-0.02019062452018261,0.08266586065292358],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.07853822410106659,-1.563845157623291,1.584577202796936,-1.424446872988483e-05,-0.02070966176688671,0.07857348769903183],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.07443944364786148,-1.5654371976852417,1.586674690246582,-1.4146708053885959e-05,-0.021216021850705147,0.0744747519493103],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.07033439725637436,-1.5669935941696167,1.5887236595153809,-1.4060719877306838e-05,-0.02170964702963829,0.07036975026130676],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.0662231296300888,-1.5685135126113892,1.5907237529754639,-1.398065887769917e-05,-0.022190550342202187,0.0662585198879242],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.06210578233003616,-1.5699973106384277,1.5926750898361206,-1.3907674656365998e-05,-0.022658871486783028,0.062141209840774536],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.057982511818408966,-1.5714449882507324,1.594577670097351,-1.3847992704540957e-05,-0.023114653304219246,0.05801796913146973],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.05385333672165871,-1.5728563070297241,1.5964312553405762,-1.3796868188364897e-05,-0.023557914420962334,0.05388883873820305],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.04971834644675255,-1.574230670928955,1.5982357263565063,-1.3755807231063955e-05,-0.0239886324852705,0.049753881990909576],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.0455777645111084,-1.5755687952041626,1.5999913215637207,-1.3729364582104608e-05,-0.02440699189901352,0.045613326132297516],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.04143160209059715,-1.5768699645996094,1.6016976833343506,-1.3713996850128751e-05,-0.02481297217309475,0.041467197239398956],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.037279970943927765,-1.5781341791152954,1.603354811668396,-1.371082089463016e-05,-0.02520662732422352,0.037315599620342255],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.033123038709163666,-1.5793615579605103,1.604962706565857,-1.372352744510863e-05,-0.025588005781173706,0.03315868228673935],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.028960835188627243,-1.5805516242980957,1.6065212488174438,-1.3749562640441582e-05,-0.02595713920891285,0.028996508568525314],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.024793516844511032,-1.5817043781280518,1.6080304384231567,-1.3789684089715593e-05,-0.026314130052924156,0.024829212576150894],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.020621243864297867,-1.5828200578689575,1.6094902753829956,-1.3846359252056573e-05,-0.026659073308110237,0.020656967535614967],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.01644405722618103,-1.5838980674743652,1.6109004020690918,-1.3918089280196e-05,-0.026991955935955048,0.016479801386594772],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.012262062169611454,-1.584938406944275,1.6122608184814453,-1.400625205860706e-05,-0.027312802150845528,0.012297824025154114],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.008075355552136898,-1.585940957069397,1.6135715246200562,-1.4111294149188325e-05,-0.027621664106845856,0.008111135102808475],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[-0.0038840724155306816,-1.586905598640442,1.6148324012756348,-1.4233577530831099e-05,-0.027918623760342598,0.003919866867363453],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.00031167734414339066,-1.587831974029541,1.6160433292388916,-1.4373506019182969e-05,-0.028203750029206276,-0.00027587171643972397],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.004511769860982895,-1.5887202024459839,1.6172043085098267,-1.4531319720845204e-05,-0.028477147221565247,-0.0044759539887309074],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.008716091513633728,-1.5895700454711914,1.6183152198791504,-1.4707453374285251e-05,-0.028738869354128838,-0.008680266328155994],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.012924544513225555,-1.5903812646865845,1.6193759441375732,-1.4902299881214276e-05,-0.02898898720741272,-0.012888711877167225],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.017137007787823677,-1.591153860092163,1.6203864812850952,-1.5116213035071269e-05,-0.02922758087515831,-0.017101168632507324],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.021353378891944885,-1.591887354850769,1.6213465929031372,-1.5349560271715745e-05,-0.02945472113788128,-0.021317536011338234],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.02557351440191269,-1.5925817489624023,1.6222562789916992,-1.5602567145833746e-05,-0.02967054955661297,-0.02553766965866089],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.029797308146953583,-1.5932369232177734,1.6231154203414917,-1.5875533790676855e-05,-0.02987516112625599,-0.029761463403701782],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.034024666994810104,-1.5938526391983032,1.623923897743225,-1.6168954971362837e-05,-0.03006860986351967,-0.0339888259768486],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.0382554866373539,-1.594428300857544,1.6246814727783203,-1.6483258150401525e-05,-0.030250994488596916,-0.03821965306997299],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.042489610612392426,-1.5949642658233643,1.6253883838653564,-1.6818534277263097e-05,-0.030422508716583252,-0.04245378449559212],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.04672693461179733,-1.5954599380493164,1.6260442733764648,-1.7175141692860052e-05,-0.03058326058089733,-0.04669111967086792],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.050967343151569366,-1.5959150791168213,1.626649022102356,-1.7553411453263834e-05,-0.03073338232934475,-0.05093153566122055],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.05521070957183838,-1.596329689025879,1.6272026300430298,-1.795360913092736e-05,-0.030873052775859833,-0.05517490580677986],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.059456925839185715,-1.596703052520752,1.6277048587799072,-1.8376227671978995e-05,-0.031002376228570938,-0.05942114442586899],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.06370585411787033,-1.59703528881073,1.6281559467315674,-1.8821439880412072e-05,-0.03112158738076687,-0.0636700913310051],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.0679573267698288,-1.5973260402679443,1.6285555362701416,-1.928931123984512e-05,-0.031230950728058815,-0.06792158633470535],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.07221125811338425,-1.5975749492645264,1.6289035081863403,-1.978034015337471e-05,-0.03133061155676842,-0.0721755400300026],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.07646754384040833,-1.5977815389633179,1.6291999816894531,-2.0294981368351728e-05,-0.03142077103257179,-0.07643184810876846],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.08072597533464432,-1.5979458093643188,1.6294445991516113,-2.0833249436691403e-05,-0.03150176629424095,-0.08069030195474625],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.08498648554086685,-1.5980669260025024,1.629637360572815,-2.139573552994989e-05,-0.03157378360629082,-0.08495084941387177],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.0892488956451416,-1.5981450080871582,1.6297783851623535,-2.1981715690344572e-05,-0.031637176871299744,-0.0892132893204689],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.09351307153701782,-1.5981792211532593,1.6298673152923584,-2.2594193069380708e-05,-0.031692277640104294,-0.09347750246524811],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.09777884930372238,-1.5981695652008057,1.6299043893814087,-2.3230695660458878e-05,-0.03173943981528282,-0.09774332493543625],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.10204609483480453,-1.5981152057647705,1.6298892498016357,-2.3891743694548495e-05,-0.03177903965115547,-0.10201059281826019],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.10631463676691055,-1.5980159044265747,1.6298218965530396,-2.45802821154939e-05,-0.03181153163313866,-0.10627917945384979],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.1105843260884285,-1.5978710651397705,1.6297024488449097,-2.52931331488071e-05,-0.031837332993745804,-0.11054891347885132],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.11485499143600464,-1.5976799726486206,1.629530668258667,-2.6034329493995756e-05,-0.03185698390007019,-0.11481962352991104],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.11912640929222107,-1.5974422693252563,1.629306674003601,-2.6800444175023586e-05,-0.03187108412384987,-0.11909110099077225],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.12339843064546585,-1.5971572399139404,1.629030466079712,-2.7594609491643496e-05,-0.03188028186559677,-0.12336316704750061],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.12767082452774048,-1.5968241691589355,1.6287020444869995,-2.8416194254532456e-05,-0.03188528120517731,-0.12763561308383942],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.13194338977336884,-1.5964422225952148,1.6283214092254639,-2.9265695047797635e-05,-0.031886857002973557,-0.13190823793411255],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.13621586561203003,-1.5960108041763306,1.627888560295105,-3.0144396077957936e-05,-0.03188592940568924,-0.13618077337741852],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.14048804342746735,-1.5955287218093872,1.6274034976959229,-3.1052008125698194e-05,-0.03188345208764076,-0.1404530256986618],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.1447596549987793,-1.5949950218200684,1.6268665790557861,-3.1989067792892456e-05,-0.03188052028417587,-0.14472469687461853],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.14903035759925842,-1.594408631324768,1.6262778043746948,-3.29555623466149e-05,-0.031878527253866196,-0.14899547398090363],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.15329982340335846,-1.5937682390213013,1.625637412071228,-3.395172825548798e-05,-0.031878940761089325,-0.15326499938964844],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.15756766498088837,-1.593072533607483,1.624945878982544,-3.4972967114299536e-05,-0.03188348561525345,-0.15753291547298431],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.16183345019817352,-1.5923196077346802,1.6242032051086426,-3.603406366892159e-05,-0.0318942554295063,-0.16179880499839783],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.16609668731689453,-1.591507911682129,1.6234103441238403,-3.71170426660683e-05,-0.03191358223557472,-0.1660621166229248],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.17035675048828125,-1.5906345844268799,1.6225675344467163,-3.823903534794226e-05,-0.031944431364536285,-0.17032228410243988],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.1746128797531128,-1.5896975994110107,1.6216760873794556,-3.938473673770204e-05,-0.03199047967791557,-0.17457851767539978],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.17886419594287872,-1.5886934995651245,1.620737075805664,-4.056805482832715e-05,-0.03205614909529686,-0.17882992327213287],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.18310947716236115,-1.587618350982666,1.6197525262832642,-4.177426308160648e-05,-0.03214726224541664,-0.18307532370090485],"gripper_width":0.08}},{"stage":"approach","action":{"joint_targets":[0.18734711408615112,-1.5864671468734741,1.618725061416626,-4.3018200813094154e-05,-0.03227150812745094,-0.18731309473514557],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1762274205684662,-1.5852301120758057,1.6357916593551636,-5.686666554538533e-05,-0.05042818933725357,-0.17624975740909576],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17697712779045105,-1.584829330444336,1.6400169134140015,-4.978955985279754e-05,-0.05512367561459541,-0.1769900619983673],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17726671695709229,-1.58430814743042,1.645194411277771,-4.922352673020214e-05,-0.060856904834508896,-0.17727410793304443],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17758528888225555,-1.58360755443573,1.6501103639602661,-4.8644189519109204e-05,-0.06649547070264816,-0.1775895059108734],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17790448665618896,-1.5828062295913696,1.6549091339111328,-4.821059337700717e-05,-0.07210911810398102,-0.17790701985359192],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17822101712226868,-1.5819377899169922,1.6596287488937378,-4.7905206884024665e-05,-0.07770492136478424,-0.17822270095348358],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17853371798992157,-1.5810219049453735,1.6642926931381226,-4.7657002141932026e-05,-0.08328907936811447,-0.17853501439094543],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17884279787540436,-1.5800681114196777,1.6689128875732422,-4.743417230201885e-05,-0.0888652354478836,-0.17884400486946106],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17914897203445435,-1.5790811777114868,1.6734954118728638,-4.7219873522408307e-05,-0.09443555772304535,-0.17915023863315582],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.17945295572280884,-1.5780630111694336,1.678043246269226,-4.7004545194795355e-05,-0.10000129789113998,-0.17945438623428345],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1797553300857544,-1.5770148038864136,1.6825577020645142,-4.677923061535694e-05,-0.10556329041719437,-0.17975695431232452],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18005657196044922,-1.5759366750717163,1.6870392560958862,-4.6541710617020726e-05,-0.11112193018198013,-0.18005843460559845],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18035702407360077,-1.574828863143921,1.6914880275726318,-4.6293760533444583e-05,-0.11667744815349579,-0.1803591102361679],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18065690994262695,-1.5736911296844482,1.6959041357040405,-4.6029843360884115e-05,-0.1222299113869667,-0.1806592494249344],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1809563934803009,-1.5725237131118774,1.7002874612808228,-4.575357525027357e-05,-0.12777943909168243,-0.18095895648002625],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18125556409358978,-1.5713266134262085,1.7046382427215576,-4.546442141872831e-05,-0.13332600891590118,-0.18125836551189423],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18155449628829956,-1.5700998306274414,1.7089567184448242,-4.516314220381901e-05,-0.13886965811252594,-0.1815575212240219],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18185320496559143,-1.5688437223434448,1.7132428884506226,-4.485136014409363e-05,-0.14441049098968506,-0.1818564534187317],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1821517050266266,-1.5675585269927979,1.7174971103668213,-4.452630309970118e-05,-0.14994853734970093,-0.18215517699718475],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1824500411748886,-1.5662446022033691,1.721719741821289,-4.4192431232659146e-05,-0.15548375248908997,-0.1824537068605423],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1827482134103775,-1.5649021863937378,1.725911259651184,-4.384899511933327e-05,-0.16101621091365814,-0.1827520877122879],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18304620683193207,-1.563531756401062,1.7300719022750854,-4.349813752924092e-05,-0.16654597222805023,-0.18305028975009918],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1833440363407135,-1.562133550643921,1.7342023849487305,-4.313696263125166e-05,-0.172073096036911,-0.18334831297397614],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1836417019367218,-1.5607084035873413,1.7383029460906982,-4.2768133425852284e-05,-0.17759765684604645,-0.18364615738391876],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18393920361995697,-1.5592564344406128,1.7423745393753052,-4.239134068484418e-05,-0.18311963975429535,-0.18394385278224945],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1842365264892578,-1.5577784776687622,1.74641752243042,-4.2006071453215554e-05,-0.18863923847675323,-0.18424133956432343],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18453365564346313,-1.5562748908996582,1.7504324913024902,-4.161453398410231e-05,-0.1941564977169037,-0.18453864753246307],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18483060598373413,-1.554746389389038,1.7544201612472534,-4.121415258850902e-05,-0.1996714472770691,-0.1848357766866684],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1851273775100708,-1.5531935691833496,1.7583812475204468,-4.080704093212262e-05,-0.20518416166305542,-0.185132697224617],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18542394042015076,-1.551616907119751,1.7623165845870972,-4.0392369555775076e-05,-0.21069474518299103,-0.1854294091463089],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.185720294713974,-1.5500171184539795,1.7662265300750732,-3.997127714683302e-05,-0.21620333194732666,-0.18572589755058289],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18601642549037933,-1.5483949184417725,1.770112156867981,-3.954114799853414e-05,-0.2217099815607071,-0.18602217733860016],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18631234765052795,-1.5467509031295776,1.773974061012268,-3.910193481715396e-05,-0.2272147834300995,-0.18631821870803833],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18660800158977509,-1.5450857877731323,1.7778130769729614,-3.865669350489043e-05,-0.232717826962471,-0.1866140216588974],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1869034320116043,-1.5434001684188843,1.7816301584243774,-3.820067286142148e-05,-0.23821920156478882,-0.18690957129001617],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18719859421253204,-1.5416946411132812,1.7854256629943848,-3.7737707316409796e-05,-0.24371908605098724,-0.18720482289791107],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1874934583902359,-1.5399702787399292,1.7892006635665894,-3.7264504499034956e-05,-0.24921755492687225,-0.18749980628490448],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18778806924819946,-1.5382273197174072,1.7929558753967285,-3.67810862371698e-05,-0.25471463799476624,-0.1877945065498352],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18808235228061676,-1.5364665985107422,1.7966920137405396,-3.628820923040621e-05,-0.2602105140686035,-0.18808887898921967],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18837633728981018,-1.5346888303756714,1.8004100322723389,-3.578370888135396e-05,-0.26570525765419006,-0.18838293850421906],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18866999447345734,-1.5328947305679321,1.8041105270385742,-3.5268705687485635e-05,-0.27119898796081543,-0.18867667019367218],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18896330893039703,-1.5310848951339722,1.8077943325042725,-3.474112236290239e-05,-0.2766917645931244,-0.18897004425525665],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18925626575946808,-1.5292600393295288,1.811462163925171,-3.4201948437839746e-05,-0.2821837067604065,-0.18926307559013367],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18954886496067047,-1.5274206399917603,1.8151148557662964,-3.3649164834059775e-05,-0.2876749038696289,-0.18955570459365845],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.18984109163284302,-1.5255674123764038,1.8187530040740967,-3.308362647658214e-05,-0.2931654751300812,-0.1898479461669922],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19013291597366333,-1.5237010717391968,1.8223774433135986,-3.250327426940203e-05,-0.29865553975105286,-0.19013981521129608],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1904243528842926,-1.521822214126587,1.8259888887405396,-3.1909112294670194e-05,-0.3041451573371887,-0.19043125212192535],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19071535766124725,-1.5199313163757324,1.8295880556106567,-3.129938704660162e-05,-0.3096344470977783,-0.1907222718000412],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19100596010684967,-1.518028974533081,1.8331754207611084,-3.067402576562017e-05,-0.3151235282421112,-0.19101287424564362],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19129613041877747,-1.5161157846450806,1.8367516994476318,-3.003244819410611e-05,-0.32061243057250977,-0.19130301475524902],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19158586859703064,-1.5141922235488892,1.8403174877166748,-2.937359931820538e-05,-0.32610130310058594,-0.1915927231311798],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.191875159740448,-1.512258768081665,1.8438735008239746,-2.8698501409962773e-05,-0.3315901458263397,-0.1918819695711136],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19216400384902954,-1.510316014289856,1.8474202156066895,-2.8005211788695306e-05,-0.33707913756370544,-0.19217078387737274],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19245243072509766,-1.5083643198013306,1.850957989692688,-2.7293077437207103e-05,-0.3425683379173279,-0.1924591362476349],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19274041056632996,-1.506404161453247,1.854487657546997,-2.6563206120044924e-05,-0.34805774688720703,-0.19274702668190002],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19302797317504883,-1.5044357776641846,1.8580094575881958,-2.581404805823695e-05,-0.3535475432872772,-0.19303449988365173],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19331510365009308,-1.5024597644805908,1.8615238666534424,-2.5045846996363252e-05,-0.35903772711753845,-0.19332151114940643],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1936018317937851,-1.5004762411117554,1.8650314807891846,-2.425762613711413e-05,-0.3645283877849579,-0.1936081200838089],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19388815760612488,-1.498485803604126,1.8685322999954224,-2.344978020119015e-05,-0.37001967430114746,-0.19389432668685913],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.194174125790596,-1.4964882135391235,1.872027039527893,-2.262185989820864e-05,-0.3755114674568176,-0.19418014585971832],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19445975124835968,-1.494484305381775,1.8755156993865967,-2.177407623094041e-05,-0.38100406527519226,-0.19446559250354767],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19474507868289948,-1.4924737215042114,1.8789985179901123,-2.0906059944536537e-05,-0.3864973187446594,-0.19475074112415314],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19503013789653778,-1.4904569387435913,1.8824758529663086,-2.001751636271365e-05,-0.39199137687683105,-0.19503560662269592],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19531497359275818,-1.488433837890625,1.885947585105896,-1.9109058484900743e-05,-0.39748623967170715,-0.1953202337026596],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19559967517852783,-1.486404538154602,1.8894139528274536,-1.8180382539867423e-05,-0.4029819369316101,-0.19560468196868896],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19588425755500793,-1.4843690395355225,1.892875075340271,-1.723181048873812e-05,-0.4084784984588623,-0.19588902592658997],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19616881012916565,-1.4823273420333862,1.8963305950164795,-1.62641990755219e-05,-0.4139760136604309,-0.1961733102798462],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19645345211029053,-1.4802790880203247,1.8997806310653687,-1.5277926650014706e-05,-0.41947439312934875,-0.1964576542377472],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19673822820186615,-1.478224277496338,1.9032249450683594,-1.4273177839640994e-05,-0.424973726272583,-0.19674214720726013],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19702330231666565,-1.4761625528335571,1.9066632986068726,-1.3250280062493403e-05,-0.43047401309013367,-0.19702687859535217],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.197308748960495,-1.4740934371948242,1.9100950956344604,-1.221004731633002e-05,-0.43597522377967834,-0.19731201231479645],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1975947469472885,-1.4720165729522705,1.9135199785232544,-1.11548170025344e-05,-0.44147729873657227,-0.19759763777256012],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19788144528865814,-1.4699314832687378,1.9169374704360962,-1.0084935638587922e-05,-0.4469802975654602,-0.1978839635848999],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1981690227985382,-1.4678373336791992,1.9203466176986694,-9.003016202768777e-06,-0.4524841010570526,-0.19817113876342773],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19845767319202423,-1.465733289718628,1.9237467050552368,-7.909310625109356e-06,-0.4579887092113495,-0.19845940172672272],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1987476348876953,-1.463618516921997,1.9271366596221924,-6.806381406931905e-06,-0.4634939730167389,-0.19874893128871918],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19903917610645294,-1.4614917039871216,1.930515170097351,-5.696617336070631e-06,-0.46899986267089844,-0.19904004037380219],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.1993325799703598,-1.4593517780303955,1.9338809251785278,-4.582650035445113e-06,-0.4745062589645386,-0.19933296740055084],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19962818920612335,-1.457196831703186,1.9372318983078003,-3.4675949791562743e-06,-0.480012983083725,-0.199628084897995],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.19992634654045105,-1.455025315284729,1.9405663013458252,-2.3550680907646893e-06,-0.4855198264122009,-0.1999257653951645],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20022748410701752,-1.4528346061706543,1.9438815116882324,-1.2494786005845526e-06,-0.49102655053138733,-0.20022641122341156],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20053209364414215,-1.450622320175171,1.9471746683120728,-1.5600130609527696e-07,-0.49653297662734985,-0.2005305141210556],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20084071159362793,-1.4483851194381714,1.9504420757293701,9.193183814204531e-07,-0.5020387172698975,-0.2008385956287384],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.2011539191007614,-1.446118950843811,1.9536794424057007,1.9687076928676106e-06,-0.5075432658195496,-0.2011512815952301],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.2014724463224411,-1.4438189268112183,1.9568809270858765,2.9829675440851133e-06,-0.5130462646484375,-0.20146925747394562],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.2017970234155655,-1.4414783716201782,1.9600396156311035,3.9502592699136585e-06,-0.5185467004776001,-0.20179332792758942],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.2021285444498062,-1.4390889406204224,1.9631457328796387,4.854746293858625e-06,-0.5240439176559448,-0.20212431252002716],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.2024679034948349,-1.4366388320922852,1.9661861658096313,5.675363354384899e-06,-0.5295363068580627,-0.20246316492557526],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20281589031219482,-1.4341102838516235,1.9691413640975952,6.380780178005807e-06,-0.535021960735321,-0.20281067490577698],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20297285914421082,-1.432929277420044,1.9700089693069458,7.415864274662454e-06,-0.5370877981185913,-0.20296794176101685],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.2030198574066162,-1.4324951171875,1.969957947731018,7.989130608621053e-06,-0.5374853014945984,-0.2030155062675476],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20304614305496216,-1.4321869611740112,1.9699316024780273,8.16145802673418e-06,-0.5377712249755859,-0.2030421644449234],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.203059121966362,-1.4319732189178467,1.9699246883392334,8.257046829385217e-06,-0.5379771590232849,-0.203055277466774],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20306432247161865,-1.4318252801895142,1.9699287414550781,8.307104508276097e-06,-0.5381263494491577,-0.20306052267551422],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20306526124477386,-1.431722640991211,1.969938039779663,8.334895028383471e-06,-0.5382348299026489,-0.20306143164634705],"gripper_width":0.08}},{"stage":"descend","action":{"joint_targets":[0.20306405425071716,-1.431650996208191,1.9699492454528809,8.35284390632296e-06,-0.5383142232894897,-0.20306016504764557],"gripper_width":0.08}},{"stage":"close","action":{"joint_targets":[0.20306192338466644,-1.4316009283065796,1.9699602127075195,8.367311238544062e-06,-0.5383722186088562,-0.20305797457695007],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.203059583902359,-1.4315654039382935,1.9699697494506836,8.38084270071704e-06,-0.5384148359298706,-0.20305556058883667],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.20305730402469635,-1.4315401315689087,1.9699774980545044,8.394526957999915e-06,-0.5384459495544434,-0.20305322110652924],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.2030552625656128,-1.4315218925476074,1.9699838161468506,8.408509529544972e-06,-0.5384686589241028,-0.2030511349439621],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.2030535489320755,-1.4315088987350464,1.969988465309143,8.422578503086697e-06,-0.5384852886199951,-0.20304936170578003],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.2030521035194397,-1.4314993619918823,1.9699921607971191,8.436953066848218e-06,-0.5384973883628845,-0.20304787158966064],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.2030509114265442,-1.4314924478530884,1.9699947834014893,8.450873792753555e-06,-0.5385062098503113,-0.20304664969444275],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.2030499428510666,-1.4314873218536377,1.9699965715408325,8.464513484796043e-06,-0.5385125875473022,-0.20304566621780396],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.2030491679906845,-1.431483507156372,1.9699978828430176,8.477892151859123e-06,-0.53851717710495,-0.20304487645626068],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.20304857194423676,-1.431480884552002,1.969998836517334,8.490852451359387e-06,-0.5385205149650574,-0.20304425060749054],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.20304809510707855,-1.43147873878479,1.9699993133544922,8.50341712066438e-06,-0.5385228991508484,-0.20304375886917114],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.2030477076768875,-1.4314771890640259,1.9699996709823608,8.515678928233683e-06,-0.5385246872901917,-0.2030433565378189],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.20304737985134125,-1.43147611618042,1.96999990940094,8.527620593667962e-06,-0.5385258197784424,-0.20304302871227264],"gripper_width":0.0336}},{"stage":"close","action":{"joint_targets":[0.20304712653160095,-1.4314751625061035,1.96999990940094,8.5391311586136e-06,-0.538526713848114,-0.20304277539253235],"gripper_width":0.0334}},{"stage":"close","action":{"joint_targets":[0.20304690301418304,-1.4314748048782349,1.970000147819519,8.569626515964046e-06,-0.5385273694992065,-0.20304252207279205],"gripper_width":0.033208552738883054}},{"stage":"close","action":{"joint_targets":[0.20304669439792633,-1.4314746856689453,1.9700005054473877,8.6590680439258e-06,-0.5385277271270752,-0.20304226875305176],"gripper_width":0.03325267687759299}},{"stage":"close","action":{"joint_targets":[0.20304656028747559,-1.4314748048782349,1.9700008630752563,8.791664185991976e-06,-0.5385280847549438,-0.20304206013679504],"gripper_width":0.03328822925772573}},{"stage":"close","action":{"joint_targets":[0.20304648578166962,-1.4314745664596558,1.970000982284546,8.948710274125915e-06,-0.5385283827781677,-0.2030419260263443],"gripper_width":0.033318950910964366}},{"stage":"close","action":{"joint_targets":[0.20304644107818604,-1.4314745664596558,1.9700011014938354,9.114375643548556e-06,-0.5385286211967468,-0.20304179191589355],"gripper_width":0.03334581499562155}},{"stage":"close","action":{"joint_targets":[0.20304641127586365,-1.4314743280410767,1.970001220703125,9.285119631385896e-06,-0.5385288000106812,-0.203041672706604],"gripper_width":0.03336934729008632}},{"stage":"close","action":{"joint_targets":[0.20304641127586365,-1.4314743280410767,1.9700013399124146,9.45597821555566e-06,-0.538529098033905,-0.20304159820079803],"gripper_width":0.03338996496976663}},{"stage":"close","action":{"joint_targets":[0.20304642617702484,-1.4314740896224976,1.970001220703125,9.624845915823244e-06,-0.5385292768478394,-0.20304150879383087],"gripper_width":0.033408035673911624}},{"stage":"close","action":{"joint_targets":[0.20304644107818604,-1.4314738512039185,1.970001220703125,9.788363968254998e-06,-0.5385294556617737,-0.2030414193868637],"gripper_width":0.03342387026528073}},{"stage":"close","action":{"joint_targets":[0.20304644107818604,-1.4314738512039185,1.970001220703125,9.9481103461585e-06,-0.538529634475708,-0.20304137468338013],"gripper_width":0.0334377476977051}},{"stage":"lift","action":{"joint_targets":[0.20307770371437073,-1.4411094188690186,1.9597630500793457,1.515758594905492e-05,-0.5187397003173828,-0.20307140052318573],"gripper_width":0.03344991482221449}},{"stage":"lift","action":{"joint_targets":[0.20305302739143372,-1.4434064626693726,1.9576501846313477,1.445987891202094e-05,-0.5142946243286133,-0.2030465453863144],"gripper_width":0.03345847480074008}},{"stage":"lift","action":{"joint_targets":[0.20302997529506683,-1.4460784196853638,1.9551247358322144,1.370731206407072e-05,-0.5090723037719727,-0.2030235081911087],"gripper_width":0.033468313241384086}},{"stage":"lift","action":{"joint_targets":[0.2030099630355835,-1.4487159252166748,1.9525669813156128,1.297027301916387e-05,-0.5038626790046692,-0.2030036747455597],"gripper_width":0.03347678488886871}},{"stage":"lift","action":{"joint_targets":[0.20299194753170013,-1.4513378143310547,1.9499794244766235,1.2267496458662208e-05,-0.4986446797847748,-0.20298591256141663],"gripper_width":0.03348415111895503}},{"stage":"lift","action":{"joint_targets":[0.20297519862651825,-1.4539467096328735,1.9473704099655151,1.1584155799937434e-05,-0.49342212080955505,-0.2029694765806198],"gripper_width":0.03349054629665885}},{"stage":"lift","action":{"joint_targets":[0.2029593288898468,-1.4565436840057373,1.94474458694458,1.0912903235293925e-05,-0.48819661140441895,-0.20295391976833344],"gripper_width":0.03349612237838095}},{"stage":"lift","action":{"joint_targets":[0.2029440999031067,-1.4591293334960938,1.9421043395996094,1.0249741535517387e-05,-0.4829692542552948,-0.20293903350830078],"gripper_width":0.0335010140450846}},{"stage":"lift","action":{"joint_targets":[0.20292937755584717,-1.461703896522522,1.9394512176513672,9.592260539648123e-06,-0.47774064540863037,-0.20292463898658752],"gripper_width":0.033505327767644075}},{"stage":"lift","action":{"joint_targets":[0.20291508734226227,-1.4642672538757324,1.9367854595184326,8.938783139456064e-06,-0.4725112318992615,-0.20291070640087128],"gripper_width":0.0335091470031532}},{"stage":"lift","action":{"joint_targets":[0.202901229262352,-1.4668190479278564,1.9341071844100952,8.288186108984519e-06,-0.4672810137271881,-0.20289719104766846],"gripper_width":0.033512539263614104}},{"stage":"lift","action":{"joint_targets":[0.20288777351379395,-1.469359040260315,1.931416392326355,7.639589966856875e-06,-0.4620501399040222,-0.20288409292697906],"gripper_width":0.03351556002809167}},{"stage":"lift","action":{"joint_targets":[0.20287474989891052,-1.4718866348266602,1.9287124872207642,6.992149792495184e-06,-0.4568186104297638,-0.2028713822364807],"gripper_width":0.03351825616889206}},{"stage":"lift","action":{"joint_targets":[0.20286215841770172,-1.474401593208313,1.925995111465454,6.34529806120554e-06,-0.45158642530441284,-0.20285911858081818],"gripper_width":0.033520667773199585}},{"stage":"lift","action":{"joint_targets":[0.20284999907016754,-1.4769034385681152,1.9232639074325562,5.69842768527451e-06,-0.4463534653186798,-0.20284728705883026],"gripper_width":0.03352282897868985}},{"stage":"lift","action":{"joint_targets":[0.20283830165863037,-1.4793914556503296,1.9205180406570435,5.05092157254694e-06,-0.44111964106559753,-0.20283590257167816],"gripper_width":0.03352475838403368}},{"stage":"lift","action":{"joint_targets":[0.2028270810842514,-1.481865406036377,1.917757272720337,4.402272679726593e-06,-0.43588489294052124,-0.20282499492168427],"gripper_width":0.033526403430506474}},{"stage":"lift","action":{"joint_targets":[0.20281636714935303,-1.4843246936798096,1.9149806499481201,3.7519125726248603e-06,-0.43064913153648376,-0.20281456410884857],"gripper_width":0.0335278012319452}},{"stage":"lift","action":{"joint_targets":[0.20280614495277405,-1.4867687225341797,1.9121878147125244,3.099416062468663e-06,-0.42541223764419556,-0.20280465483665466],"gripper_width":0.03352898402112856}},{"stage":"lift","action":{"joint_targets":[0.20279642939567566,-1.4891972541809082,1.909378170967102,2.444177880533971e-06,-0.42017415165901184,-0.20279525220394135],"gripper_width":0.03352998050316206}},{"stage":"lift","action":{"joint_targets":[0.20278728008270264,-1.4916093349456787,1.9065510034561157,1.785719177860301e-06,-0.4149347245693207,-0.2027863711118698],"gripper_width":0.033530815615966235}},{"stage":"lift","action":{"joint_targets":[0.2027786672115326,-1.4940048456192017,1.9037055969238281,1.1236035106776399e-06,-0.4096938967704773,-0.20277804136276245],"gripper_width":0.033531511190774826}},{"stage":"lift","action":{"joint_targets":[0.20277062058448792,-1.4963829517364502,1.900841474533081,4.5733611386822304e-07,-0.4044515788555145,-0.20277027785778046],"gripper_width":0.03353208668573348}},{"stage":"lift","action":{"joint_targets":[0.2027631551027298,-1.4987432956695557,1.8979578018188477,-2.1357038804126205e-07,-0.39920759201049805,-0.20276306569576263],"gripper_width":0.03353255900227385}},{"stage":"lift","action":{"joint_targets":[0.20275627076625824,-1.5010851621627808,1.8950541019439697,-8.895186169866065e-07,-0.3939618766307831,-0.20275644958019257],"gripper_width":0.03353294297964392}},{"stage":"lift","action":{"joint_targets":[0.20274998247623444,-1.5034080743789673,1.8921294212341309,-1.5710182879047352e-06,-0.3887143135070801,-0.20275042951107025],"gripper_width":0.03353325166787859}},{"stage":"lift","action":{"joint_targets":[0.20274430513381958,-1.5057114362716675,1.889183521270752,-2.2584624730370706e-06,-0.3834647536277771,-0.20274502038955688],"gripper_width":0.03353349651444004}},{"stage":"lift","action":{"joint_targets":[0.20273923873901367,-1.5079947710037231,1.886215329170227,-2.952364866359858e-06,-0.37821322679519653,-0.20274020731449127],"gripper_width":0.03353368765597359}},{"stage":"lift","action":{"joint_targets":[0.2027347981929779,-1.510257363319397,1.883224368095398,-3.653055046015652e-06,-0.3729594945907593,-0.2027360200881958],"gripper_width":0.033533833702222224}},{"stage":"lift","action":{"joint_targets":[0.20273099839687347,-1.5124986171722412,1.8802099227905273,-4.360981165518751e-06,-0.36770349740982056,-0.20273244380950928],"gripper_width":0.033533942531410246}},{"stage":"lift","action":{"joint_targets":[0.202727809548378,-1.514717936515808,1.877171277999878,-5.0766529966495e-06,-0.3624453842639923,-0.20272952318191528],"gripper_width":0.03353401900930997}},{"stage":"lift","action":{"joint_targets":[0.20272527635097504,-1.51691472530365,1.8741081953048706,-5.800518465548521e-06,-0.35718512535095215,-0.20272722840309143],"gripper_width":0.03353406839854556}},{"stage":"lift","action":{"joint_targets":[0.20272336900234222,-1.5190882682800293,1.8710196018218994,-6.5328963501087856e-06,-0.3519227206707001,-0.20272555947303772],"gripper_width":0.03353409677787097}},{"stage":"lift","action":{"joint_targets":[0.20272211730480194,-1.521238088607788,1.8679050207138062,-7.274124072864652e-06,-0.34665799140930176,-0.20272453129291534],"gripper_width":0.033534109011748824}},{"stage":"lift","action":{"joint_targets":[0.2027215212583542,-1.5233635902404785,1.864763617515564,-8.024531780392863e-06,-0.34139081835746765,-0.2027241587638855],"gripper_width":0.033534109695009785}},{"stage":"lift","action":{"joint_targets":[0.20272159576416016,-1.5254639387130737,1.8615946769714355,-8.784414603724144e-06,-0.336121141910553,-0.20272444188594818],"gripper_width":0.03353410243918053}},{"stage":"lift","action":{"joint_targets":[0.20272231101989746,-1.527538537979126,1.858397364616394,-9.554060852678958e-06,-0.3308488428592682,-0.2027253806591034],"gripper_width":0.03353409054695371}},{"stage":"lift","action":{"joint_targets":[0.2027236968278885,-1.529586911201477,1.8551712036132812,-1.0333778845961206e-05,-0.3255738615989685,-0.20272697508335114],"gripper_width":0.0335340770774948}},{"stage":"lift","action":{"joint_targets":[0.20272573828697205,-1.5316081047058105,1.8519151210784912,-1.1123808690172154e-05,-0.32029610872268677,-0.2027292251586914],"gripper_width":0.03353406469936157}},{"stage":"lift","action":{"joint_targets":[0.20272845029830933,-1.5336016416549683,1.8486284017562866,-1.1924382306460757e-05,-0.31501543521881104,-0.2027321457862854],"gripper_width":0.033534055456123854}},{"stage":"lift","action":{"joint_targets":[0.20273183286190033,-1.5355666875839233,1.8453104496002197,-1.273569341719849e-05,-0.30973175168037415,-0.20273572206497192],"gripper_width":0.03353405167439077}},{"stage":"lift","action":{"joint_targets":[0.20273587107658386,-1.5375027656555176,1.8419603109359741,-1.3557979400502518e-05,-0.3044450283050537,-0.20273995399475098],"gripper_width":0.03353405511088507}},{"stage":"lift","action":{"joint_targets":[0.2027405947446823,-1.5394090414047241,1.838577151298523,-1.4391383047041018e-05,-0.2991551458835602,-0.20274487137794495],"gripper_width":0.03353406733109034}},{"stage":"lift","action":{"joint_targets":[0.2027459591627121,-1.5412847995758057,1.8351603746414185,-1.5236062608892098e-05,-0.29386192560195923,-0.20275042951107025],"gripper_width":0.03353408974613377}},{"stage":"lift","action":{"joint_targets":[0.2027520090341568,-1.5431292057037354,1.8317090272903442,-1.609216633369215e-05,-0.28856536746025085,-0.20275664329528809],"gripper_width":0.033534123689648865}},{"stage":"lift","action":{"joint_targets":[0.20275872945785522,-1.5449419021606445,1.828222393989563,-1.6959733329713345e-05,-0.2832654118537903,-0.20276354253292084],"gripper_width":0.03353417022975252}},{"stage":"lift","action":{"joint_targets":[0.20276612043380737,-1.5467216968536377,1.8246994018554688,-1.7838912754086778e-05,-0.2779618799686432,-0.20277108252048492],"gripper_width":0.03353423053841199}},{"stage":"lift","action":{"joint_targets":[0.20277416706085205,-1.5484682321548462,1.8211394548416138,-1.8729682778939605e-05,-0.2726547122001648,-0.20277930796146393],"gripper_width":0.033534305304921665}},{"stage":"lift","action":{"joint_targets":[0.20278288424015045,-1.5501805543899536,1.8175417184829712,-1.9632156181614846e-05,-0.26734381914138794,-0.20278817415237427],"gripper_width":0.033534395690106966}},{"stage":"lift","action":{"joint_targets":[0.20279227197170258,-1.5518579483032227,1.813905119895935,-2.0546289306366816e-05,-0.26202908158302307,-0.20279771089553833],"gripper_width":0.03353450218060298}},{"stage":"lift","action":{"joint_targets":[0.20280231535434723,-1.553499460220337,1.8102290630340576,-2.147205304936506e-05,-0.256710410118103,-0.20280790328979492],"gripper_width":0.03353462548706971}},{"stage":"lift","action":{"joint_targets":[0.2028130292892456,-1.5551044940948486,1.8065122365951538,-2.240942558273673e-05,-0.2513878345489502,-0.20281876623630524],"gripper_width":0.03353476631641355}},{"stage":"lift","action":{"joint_targets":[0.2028243988752365,-1.556672215461731,1.8027540445327759,-2.3358301405096427e-05,-0.24606110155582428,-0.2028302550315857],"gripper_width":0.033534925364713544}},{"stage":"lift","action":{"joint_targets":[0.20283645391464233,-1.5582016706466675,1.798953652381897,-2.43186059378786e-05,-0.2407301664352417,-0.20284244418144226],"gripper_width":0.03353510326588929}},{"stage":"lift","action":{"joint_targets":[0.2028491497039795,-1.5596920251846313,1.795109748840332,-2.5290226403740235e-05,-0.23539499938488007,-0.20285525918006897],"gripper_width":0.03353530036356747}},{"stage":"lift","action":{"joint_targets":[0.20286253094673157,-1.5611423254013062,1.7912216186523438,-2.6272940885974094e-05,-0.23005543649196625,-0.2028687298297882],"gripper_width":0.033535517220057966}},{"stage":"lift","action":{"joint_targets":[0.20287656784057617,-1.5625519752502441,1.7872884273529053,-2.7266562028671615e-05,-0.22471147775650024,-0.20288287103176117],"gripper_width":0.03353575454011329}},{"stage":"lift","action":{"joint_targets":[0.2028912603855133,-1.5639196634292603,1.783308744430542,-2.827093339874409e-05,-0.2193630188703537,-0.20289766788482666],"gripper_width":0.03353601281616463}},{"stage":"lift","action":{"joint_targets":[0.20290660858154297,-1.5652445554733276,1.779281735420227,-2.9285783966770396e-05,-0.21400994062423706,-0.2029131054878235],"gripper_width":0.033536292291928525}},{"stage":"lift","action":{"joint_targets":[0.20292262732982635,-1.5665258169174194,1.7752063274383545,-3.0310829970403574e-05,-0.20865219831466675,-0.20292919874191284],"gripper_width":0.033536526321556556}},{"stage":"lift","action":{"joint_targets":[0.20293930172920227,-1.5677621364593506,1.7710813283920288,-3.134585858788341e-05,-0.20328965783119202,-0.20294594764709473],"gripper_width":0.033536671383527096}},{"stage":"lift","action":{"joint_targets":[0.20295663177967072,-1.5689525604248047,1.766905426979065,-3.239051511627622e-05,-0.19792227447032928,-0.20296333730220795],"gripper_width":0.03353673529339027}},{"stage":"lift","action":{"joint_targets":[0.2029746174812317,-1.5700957775115967,1.7626776695251465,-3.344448487041518e-05,-0.192549929022789,-0.2029813826084137],"gripper_width":0.03353672438058436}},{"stage":"lift","action":{"joint_targets":[0.2029932588338852,-1.571190595626831,1.7583963871002197,-3.4507444070186466e-05,-0.18717259168624878,-0.2030000537633896],"gripper_width":0.03353664426228675}},{"stage":"lift","action":{"joint_targets":[0.20301254093647003,-1.5722358226776123,1.7540605068206787,-3.55789452441968e-05,-0.18179017305374146,-0.20301936566829681],"gripper_width":0.03353649958919929}},{"stage":"lift","action":{"joint_targets":[0.2030324637889862,-1.5732299089431763,1.7496683597564697,-3.6658668250311166e-05,-0.17640261352062225,-0.20303930342197418],"gripper_width":0.03353629418130794}},{"stage":"lift","action":{"joint_targets":[0.20305299758911133,-1.5741714239120483,1.7452183961868286,-3.774622018681839e-05,-0.171009823679924,-0.2030598670244217],"gripper_width":0.0335360314172439}},{"stage":"lift","action":{"joint_targets":[0.2030741274356842,-1.5750585794448853,1.740708827972412,-3.8841251807753e-05,-0.16561172902584076,-0.20308101177215576],"gripper_width":0.033535713697321876}},{"stage":"lift","action":{"joint_targets":[0.20309583842754364,-1.5758897066116333,1.7361377477645874,-3.994335202150978e-05,-0.1602083146572113,-0.2031027227640152],"gripper_width":0.03353534293292847}},{"stage":"lift","action":{"joint_targets":[0.20311811566352844,-1.5766626596450806,1.7315032482147217,-4.1052233427762985e-05,-0.1547994315624237,-0.20312495529651642],"gripper_width":0.033534920211580346}},{"stage":"lift","action":{"joint_targets":[0.20314088463783264,-1.577375054359436,1.7268027067184448,-4.216745583107695e-05,-0.14938513934612274,-0.20314770936965942],"gripper_width":0.0335344462835619}},{"stage":"lift","action":{"joint_targets":[0.20316408574581146,-1.5780246257781982,1.7220338582992554,-4.328876457293518e-05,-0.14396533370018005,-0.20317086577415466],"gripper_width":0.033533921050928485}},{"stage":"lift","action":{"joint_targets":[0.20318764448165894,-1.5786080360412598,1.7171934843063354,-4.4415945012588054e-05,-0.13854007422924042,-0.20319436490535736],"gripper_width":0.03353334351545235}},{"stage":"lift","action":{"joint_targets":[0.2032114416360855,-1.5791224241256714,1.7122782468795776,-4.554873157758266e-05,-0.13310934603214264,-0.20321810245513916],"gripper_width":0.03353271244740315}},{"stage":"lift","action":{"joint_targets":[0.20323531329631805,-1.5795631408691406,1.7072842121124268,-4.6687342546647415e-05,-0.12767313420772552,-0.20324189960956573],"gripper_width":0.03353202499942541}},{"stage":"lift","action":{"joint_targets":[0.20325903594493866,-1.579925775527954,1.7022064924240112,-4.783175972988829e-05,-0.12223160266876221,-0.20326553285121918],"gripper_width":0.033531278209472964}},{"stage":"lift","action":{"joint_targets":[0.20328226685523987,-1.5802042484283447,1.6970394849777222,-4.898251791018993e-05,-0.11678490042686462,-0.20328867435455322],"gripper_width":0.03353046679193361}},{"stage":"lift","action":{"joint_targets":[0.20330457389354706,-1.5803911685943604,1.6917760372161865,-5.014034468331374e-05,-0.11133334040641785,-0.20331090688705444],"gripper_width":0.0335295844832183}},{"stage":"transfer","action":{"joint_targets":[0.19073043763637543,-1.5648866891860962,1.6859965324401855,-6.778442184440792e-05,-0.1209455356001854,-0.19078561663627625],"gripper_width":0.033528622597274724}},{"stage":"transfer","action":{"joint_targets":[0.18852052092552185,-1.5626046657562256,1.6819555759429932,-5.4732598073314875e-05,-0.1192832812666893,-0.18856367468833923],"gripper_width":0.03352187318491549}},{"stage":"transfer","action":{"joint_targets":[0.18572357296943665,-1.5592169761657715,1.6778022050857544,-5.712988422601484e-05,-0.11855356395244598,-0.1857609748840332],"gripper_width":0.03349589082948525}},{"stage":"transfer","action":{"joint_targets":[0.18286728858947754,-1.555777668952942,1.6734790802001953,-5.965819218545221e-05,-0.11769186705350876,-0.1829017996788025],"gripper_width":0.03347911525933831}},{"stage":"transfer","action":{"joint_targets":[0.1799774020910263,-1.5522851943969727,1.6690685749053955,-6.169555854285136e-05,-0.11678656190633774,-0.18001048266887665],"gripper_width":0.033468315002302816}},{"stage":"transfer","action":{"joint_targets":[0.17707209289073944,-1.548757553100586,1.6646013259887695,-6.351808406179771e-05,-0.11585438996553421,-0.17710447311401367],"gripper_width":0.03345995767057461}},{"stage":"transfer","action":{"joint_targets":[0.1741609126329422,-1.5452027320861816,1.6600935459136963,-6.527559162350371e-05,-0.11490564048290253,-0.17419299483299255],"gripper_width":0.03345281102604471}},{"stage":"transfer","action":{"joint_targets":[0.17124927043914795,-1.5416254997253418,1.6555536985397339,-6.698958168271929e-05,-0.11394519358873367,-0.17128124833106995],"gripper_width":0.03344656895412265}},{"stage":"transfer","action":{"joint_targets":[0.16834016144275665,-1.5380287170410156,1.6509859561920166,-6.865154864499345e-05,-0.11297542601823807,-0.16837212443351746],"gripper_width":0.03344111229694997}},{"stage":"transfer","action":{"joint_targets":[0.1654352843761444,-1.5344139337539673,1.6463923454284668,-7.025421655271202e-05,-0.1119973212480545,-0.1654672920703888],"gripper_width":0.033436339708696326}},{"stage":"transfer","action":{"joint_targets":[0.16253557801246643,-1.5307817459106445,1.6417738199234009,-7.179443491622806e-05,-0.11101119965314865,-0.1625676304101944],"gripper_width":0.03343215728757194}},{"stage":"transfer","action":{"joint_targets":[0.15964163839817047,-1.527132511138916,1.6371303796768188,-7.327059574890882e-05,-0.11001712083816528,-0.15967373549938202],"gripper_width":0.033428483998959396}},{"stage":"transfer","action":{"joint_targets":[0.1567537933588028,-1.5234664678573608,1.6324621438980103,-7.468202238669619e-05,-0.10901496559381485,-0.1567859649658203],"gripper_width":0.033425251248284445}},{"stage":"transfer","action":{"joint_targets":[0.1538723111152649,-1.5197833776474,1.627768635749817,-7.602835103170946e-05,-0.10800452530384064,-0.153904527425766],"gripper_width":0.03342240107704102}},{"stage":"transfer","action":{"joint_targets":[0.1509973555803299,-1.5160833597183228,1.6230496168136597,-7.7309254265856e-05,-0.10698558390140533,-0.1510295867919922],"gripper_width":0.033419884251031096}},{"stage":"transfer","action":{"joint_targets":[0.14812910556793213,-1.5123660564422607,1.61830472946167,-7.852443377487361e-05,-0.10595787316560745,-0.14816135168075562],"gripper_width":0.033417657907145425}},{"stage":"transfer","action":{"joint_targets":[0.14526766538619995,-1.5086314678192139,1.6135334968566895,-7.967375131556764e-05,-0.10492118448019028,-0.14529994130134583],"gripper_width":0.033415685399446435}},{"stage":"transfer","action":{"joint_targets":[0.1424131691455841,-1.5048794746398926,1.60873544216156,-8.075712685240433e-05,-0.10387526452541351,-0.1424454301595688],"gripper_width":0.03341393441788371}},{"stage":"transfer","action":{"joint_targets":[0.13956573605537415,-1.5011097192764282,1.6039103269577026,-8.177448762580752e-05,-0.10281981527805328,-0.13959798216819763],"gripper_width":0.03341237701651308}},{"stage":"transfer","action":{"joint_targets":[0.13672545552253723,-1.4973223209381104,1.5990575551986694,-8.272573904832825e-05,-0.10175464302301407,-0.13675770163536072],"gripper_width":0.03341098903043568}},{"stage":"transfer","action":{"joint_targets":[0.1338925063610077,-1.4935168027877808,1.5941768884658813,-8.361101208720356e-05,-0.10067945718765259,-0.1339247077703476],"gripper_width":0.033409748864733725}},{"stage":"transfer","action":{"joint_targets":[0.1310669481754303,-1.489693284034729,1.5892677307128906,-8.443027036264539e-05,-0.09959407150745392,-0.13109910488128662],"gripper_width":0.03340863827441127}},{"stage":"transfer","action":{"joint_targets":[0.128248929977417,-1.485851526260376,1.5843298435211182,-8.51836521178484e-05,-0.09849818795919418,-0.12828104197978973],"gripper_width":0.03340764063711869}},{"stage":"transfer","action":{"joint_targets":[0.12543855607509613,-1.4819912910461426,1.5793628692626953,-8.587144839111716e-05,-0.09739159792661667,-0.1254706084728241],"gripper_width":0.03340674194908999}},{"stage":"transfer","action":{"joint_targets":[0.12263594567775726,-1.4781124591827393,1.5743662118911743,-8.649373194202781e-05,-0.09627410769462585,-0.12266790866851807],"gripper_width":0.03340592989868984}},{"stage":"transfer","action":{"joint_targets":[0.11984119564294815,-1.474215030670166,1.5693398714065552,-8.705080108484253e-05,-0.09514547139406204,-0.11987309157848358],"gripper_width":0.03340519344414457}},{"stage":"transfer","action":{"joint_targets":[0.11705444753170013,-1.4702988862991333,1.5642834901809692,-8.754304144531488e-05,-0.0940055251121521,-0.1170862466096878],"gripper_width":0.03340452306282237}},{"stage":"transfer","action":{"joint_targets":[0.11427579075098038,-1.466363787651062,1.5591965913772583,-8.797084592515603e-05,-0.0928540825843811,-0.11430748552083969],"gripper_width":0.033403910701308034}},{"stage":"transfer","action":{"joint_targets":[0.11150535941123962,-1.4624098539352417,1.5540790557861328,-8.833462197799236e-05,-0.09169097244739532,-0.11153694242238998],"gripper_width":0.03340334925195205}},{"stage":"transfer","action":{"joint_targets":[0.10874326527118683,-1.4584367275238037,1.5489306449890137,-8.863506081979722e-05,-0.09051602333784103,-0.10877472907304764],"gripper_width":0.03340283222791678}},{"stage":"transfer","action":{"joint_targets":[0.10598959773778915,-1.4544446468353271,1.5437511205673218,-8.887273725122213e-05,-0.08932914584875107,-0.10602094978094101],"gripper_width":0.033402354532923076}},{"stage":"transfer","action":{"joint_targets":[0.10324449092149734,-1.450433373451233,1.5385403633117676,-8.904846617951989e-05,-0.0881301760673523,-0.10327570140361786],"gripper_width":0.033401911098090174}},{"stage":"transfer","action":{"joint_targets":[0.10050804167985916,-1.4464030265808105,1.533298373222351,-8.91630188561976e-05,-0.08691905438899994,-0.10053910315036774],"gripper_width":0.03340149817341707}},{"stage":"transfer","action":{"joint_targets":[0.09778035432100296,-1.4423534870147705,1.5280249118804932,-8.92172465682961e-05,-0.08569573611021042,-0.0978112667798996],"gripper_width":0.033401112173091586}},{"stage":"transfer","action":{"joint_targets":[0.0950615406036377,-1.4382847547531128,1.5227200984954834,-8.921224070945755e-05,-0.08446016907691956,-0.0950922966003418],"gripper_width":0.03340075023493262}},{"stage":"transfer","action":{"joint_targets":[0.09235168993473053,-1.4341968297958374,1.5173839330673218,-8.91490199137479e-05,-0.08321239054203033,-0.0923822745680809],"gripper_width":0.033400409768329566}},{"stage":"transfer","action":{"joint_targets":[0.08965091407299042,-1.4300899505615234,1.5120162963867188,-8.902871195459738e-05,-0.08195244520902634,-0.08968131989240646],"gripper_width":0.03340008859260342}},{"stage":"transfer","action":{"joint_targets":[0.08695929497480392,-1.4259639978408813,1.5066176652908325,-8.88528156792745e-05,-0.08068034052848816,-0.08698952198028564],"gripper_width":0.033399784668478254}},{"stage":"transfer","action":{"joint_targets":[0.08427692949771881,-1.4218190908432007,1.5011879205703735,-8.862263348419219e-05,-0.07939624786376953,-0.08430697023868561],"gripper_width":0.03339949687131865}},{"stage":"transfer","action":{"joint_targets":[0.08160390704870224,-1.4176554679870605,1.4957275390625,-8.833974425215274e-05,-0.0781002789735794,-0.08163375407457352],"gripper_width":0.033399223816321495}},{"stage":"transfer","action":{"joint_targets":[0.07894030958414078,-1.4134730100631714,1.490236759185791,-8.800581417744979e-05,-0.0767926275730133,-0.07896995544433594],"gripper_width":0.033398964430892165}},{"stage":"transfer","action":{"joint_targets":[0.0762862116098404,-1.4092721939086914,1.4847160577774048,-8.762248762650415e-05,-0.07547357678413391,-0.07631565630435944],"gripper_width":0.033398718227089674}},{"stage":"transfer","action":{"joint_targets":[0.07364170253276825,-1.405052900314331,1.4791659116744995,-8.71916490723379e-05,-0.0741434097290039,-0.07367093861103058],"gripper_width":0.03339848425525925}},{"stage":"transfer","action":{"joint_targets":[0.07100683450698853,-1.400815486907959,1.4735866785049438,-8.671520481584594e-05,-0.07280251383781433,-0.07103585451841354],"gripper_width":0.03339826251473524}},{"stage":"transfer","action":{"joint_targets":[0.06838168948888779,-1.3965599536895752,1.4679793119430542,-8.61952212289907e-05,-0.07145123928785324,-0.0684104934334755],"gripper_width":0.03339805239000647}},{"stage":"transfer","action":{"joint_targets":[0.06576630473136902,-1.3922868967056274,1.4623442888259888,-8.563372830394655e-05,-0.07009018212556839,-0.06579489260911942],"gripper_width":0.03339785399712573}},{"stage":"transfer","action":{"joint_targets":[0.06316076964139938,-1.3879963159561157,1.4566824436187744,-8.503299613948911e-05,-0.0687197893857956,-0.06318911910057068],"gripper_width":0.03339766688206331}},{"stage":"transfer","action":{"joint_targets":[0.06056511402130127,-1.3836885690689087,1.450994849205017,-8.439537486992776e-05,-0.06734068691730499,-0.060593243688344955],"gripper_width":0.03339749152853981}},{"stage":"transfer","action":{"joint_targets":[0.05797939747571945,-1.379364013671875,1.4452823400497437,-8.372318552574143e-05,-0.0659535825252533,-0.058007292449474335],"gripper_width":0.03339732802255147}},{"stage":"transfer","action":{"joint_targets":[0.055403657257556915,-1.3750228881835938,1.43954598903656,-8.30188364489004e-05,-0.06455923616886139,-0.05543132871389389],"gripper_width":0.03339717654433624}},{"stage":"transfer","action":{"joint_targets":[0.052837956696748734,-1.370665431022644,1.4337871074676514,-8.228493970818818e-05,-0.06315845996141434,-0.05286538600921631],"gripper_width":0.03339703748286898}},{"stage":"transfer","action":{"joint_targets":[0.0502823144197464,-1.3662923574447632,1.428006887435913,-8.15238818177022e-05,-0.06175224483013153,-0.05030951276421547],"gripper_width":0.033396911238474866}},{"stage":"transfer","action":{"joint_targets":[0.04773678258061409,-1.3619035482406616,1.4222066402435303,-8.073835488175973e-05,-0.060341544449329376,-0.04776374250650406],"gripper_width":0.03339679783599118}},{"stage":"transfer","action":{"joint_targets":[0.04520139843225479,-1.3574998378753662,1.4163880348205566,-7.993092731339857e-05,-0.05892748758196831,-0.04522811621427536],"gripper_width":0.0333966982832071}},{"stage":"transfer","action":{"joint_targets":[0.042676202952861786,-1.3530813455581665,1.4105526208877563,-7.910420390544459e-05,-0.05751127749681473,-0.04270268604159355],"gripper_width":0.03339661246088596}},{"stage":"transfer","action":{"joint_targets":[0.04016124829649925,-1.3486485481262207,1.4047019481658936,-7.826079672668129e-05,-0.05609423667192459,-0.040187492966651917],"gripper_width":0.03339654130797183}},{"stage":"transfer","action":{"joint_targets":[0.03765658661723137,-1.3442018032073975,1.3988380432128906,-7.7403339673765e-05,-0.05467775836586952,-0.03768259286880493],"gripper_width":0.033396485056837164}},{"stage":"transfer","action":{"joint_targets":[0.03516227379441261,-1.339741587638855,1.3929628133773804,-7.653440115973353e-05,-0.05326339974999428,-0.035188041627407074],"gripper_width":0.03339644424459904}},{"stage":"transfer","action":{"joint_targets":[0.03267839178442955,-1.335268259048462,1.3870781660079956,-7.565644773421809e-05,-0.05185282602906227,-0.03270392119884491],"gripper_width":0.03339641926326996}},{"stage":"transfer","action":{"joint_targets":[0.030205026268959045,-1.330782175064087,1.3811864852905273,-7.47720041545108e-05,-0.05044782906770706,-0.030230319127440453],"gripper_width":0.033396410560814674}},{"stage":"transfer","action":{"joint_targets":[0.027742285281419754,-1.3262839317321777,1.3752901554107666,-7.38834569347091e-05,-0.04905036836862564,-0.027767343446612358],"gripper_width":0.033396418594587134}},{"stage":"transfer","action":{"joint_targets":[0.02529030293226242,-1.3217735290527344,1.3693915605545044,-7.299309800146148e-05,-0.047662556171417236,-0.02531512826681137],"gripper_width":0.03339644359959169}},{"stage":"transfer","action":{"joint_targets":[0.022849246859550476,-1.3172516822814941,1.3634932041168213,-7.210303010651842e-05,-0.04628674313426018,-0.02287384122610092],"gripper_width":0.03339648631218931}},{"stage":"transfer","action":{"joint_targets":[0.020419344305992126,-1.3127186298370361,1.3575983047485352,-7.121542876120657e-05,-0.04492535442113876,-0.020443705841898918],"gripper_width":0.03339654636040537}},{"stage":"transfer","action":{"joint_targets":[0.01800084300339222,-1.30817449092865,1.3517097234725952,-7.033218571450561e-05,-0.04358118027448654,-0.018024977296590805],"gripper_width":0.03339662439505808}},{"stage":"transfer","action":{"joint_targets":[0.01559406891465187,-1.3036197423934937,1.3458305597305298,-6.945498171262443e-05,-0.04225726053118706,-0.015617972239851952],"gripper_width":0.03339672073815668}},{"stage":"transfer","action":{"joint_targets":[0.01319944392889738,-1.2990543842315674,1.339964747428894,-6.858533015474677e-05,-0.04095691442489624,-0.013223119080066681],"gripper_width":0.03339683500444643}},{"stage":"transfer","action":{"joint_targets":[0.010817458853125572,-1.2944788932800293,1.334115982055664,-6.77244970574975e-05,-0.03968394175171852,-0.01084090769290924],"gripper_width":0.033396967600834056}},{"stage":"transfer","action":{"joint_targets":[0.008448772132396698,-1.2898930311203003,1.3282886743545532,-6.687342829536647e-05,-0.03844253346323967,-0.00847199372947216],"gripper_width":0.033397118066625424}},{"stage":"transfer","action":{"joint_targets":[0.0060941921547055244,-1.2852970361709595,1.322487473487854,-6.603272777283564e-05,-0.03723752498626709,-0.006117180921137333],"gripper_width":0.033397286751341564}},{"stage":"transfer","action":{"joint_targets":[0.003754749894142151,-1.2806906700134277,1.3167181015014648,-6.520257011288777e-05,-0.03607448562979698,-0.003777505364269018],"gripper_width":0.03339747298220372}},{"stage":"transfer","action":{"joint_targets":[0.0014317678287625313,-1.2760738134384155,1.310986876487732,-6.438242417061701e-05,-0.034960050135850906,-0.0014542876742780209],"gripper_width":0.0333976767398627}},{"stage":"transfer","action":{"joint_targets":[-0.0008730432018637657,-1.271445870399475,1.305301308631897,-6.357106758514419e-05,-0.03390210121870041,0.0008507668972015381],"gripper_width":0.033397897499958286}},{"stage":"transfer","action":{"joint_targets":[-0.0031573758460581303,-1.2668064832687378,1.2996705770492554,-6.276580097619444e-05,-0.032910510897636414,0.003135350067168474],"gripper_width":0.03339813498352502}},{"stage":"transfer","action":{"joint_targets":[-0.005418137181550264,-1.262154459953308,1.2941064834594727,-6.196246977197006e-05,-0.03199779987335205,0.005396383348852396],"gripper_width":0.033398388293802234}},{"stage":"transfer","action":{"joint_targets":[-0.007650985382497311,-1.2574889659881592,1.2886241674423218,-6.115385622251779e-05,-0.031180500984191895,0.007629520259797573],"gripper_width":0.03339865737047027}},{"stage":"place","action":{"joint_targets":[-0.0029306758660823107,-1.2653872966766357,1.3170031309127808,-2.604133987915702e-05,-0.05151183158159256,0.0029345897492021322],"gripper_width":0.033398941255942005}},{"stage":"place","action":{"joint_targets":[-0.0030911648645997047,-1.265153408050537,1.3204535245895386,-4.1707331547513604e-05,-0.055219635367393494,0.0030921967700123787],"gripper_width":0.03340042728577082}},{"stage":"place","action":{"joint_targets":[-0.0032395569141954184,-1.2645384073257446,1.3256981372833252,-4.051245196023956e-05,-0.06108219921588898,0.003238782286643982],"gripper_width":0.033416895008095075}},{"stage":"place","action":{"joint_targets":[-0.0033984463661909103,-1.263877034187317,1.3307868242263794,-3.981087502324954e-05,-0.06683428585529327,0.003396499902009964],"gripper_width":0.03343178890432394}},{"stage":"place","action":{"joint_targets":[-0.0035647032782435417,-1.2631536722183228,1.3358036279678345,-3.905672565451823e-05,-0.07257568836212158,0.0035619756672531366],"gripper_width":0.033443921774885525}},{"stage":"place","action":{"joint_targets":[-0.0037351257633417845,-1.262384295463562,1.3407618999481201,-3.827854379778728e-05,-0.07830435782670975,0.0037318586837500334],"gripper_width":0.03345434220077624}},{"stage":"place","action":{"joint_targets":[-0.003907902631908655,-1.2615768909454346,1.3456708192825317,-3.749031020561233e-05,-0.0840211808681488,0.003904246259480715],"gripper_width":0.03346359340413832}},{"stage":"place","action":{"joint_targets":[-0.0040819356217980385,-1.260736107826233,1.3505350351333618,-3.669945363071747e-05,-0.08972662687301636,0.004077984020113945],"gripper_width":0.033471829051870156}},{"stage":"place","action":{"joint_targets":[-0.004256559535861015,-1.259864330291748,1.355357050895691,-3.5910405131289735e-05,-0.09542091190814972,0.004252373240888119],"gripper_width":0.03347912938084822}},{"stage":"place","action":{"joint_targets":[-0.004431369248777628,-1.2589627504348755,1.3601382970809937,-3.512604598654434e-05,-0.1011040210723877,0.004426988773047924],"gripper_width":0.033485578459862865}},{"stage":"place","action":{"joint_targets":[-0.0046061244793236256,-1.258031964302063,1.3648791313171387,-3.434828977333382e-05,-0.1067759320139885,0.004601576831191778],"gripper_width":0.03349126426957918}},{"stage":"place","action":{"joint_targets":[-0.0047806743532419205,-1.2570723295211792,1.369579553604126,-3.357856621732935e-05,-0.11243654042482376,0.0047759804874658585],"gripper_width":0.033496271001674335}},{"stage":"place","action":{"joint_targets":[-0.00495491735637188,-1.256083369255066,1.374239444732666,-3.2818090403452516e-05,-0.11808562278747559,0.004950092174112797],"gripper_width":0.03350067578055193}},{"stage":"place","action":{"joint_targets":[-0.005128794815391302,-1.2550649642944336,1.3788583278656006,-3.2067800930235535e-05,-0.123723104596138,0.0051238518208265305],"gripper_width":0.03350454839286338}},{"stage":"place","action":{"joint_targets":[-0.005302264355123043,-1.2540169954299927,1.383435845375061,-3.132852725684643e-05,-0.12934887409210205,0.005297213327139616],"gripper_width":0.033507950368099663}},{"stage":"place","action":{"joint_targets":[-0.005475289188325405,-1.252938985824585,1.3879714012145996,-3.0601120670326054e-05,-0.13496273756027222,0.0054701403714716434],"gripper_width":0.0335109364422269}},{"stage":"place","action":{"joint_targets":[-0.00564784137532115,-1.251830816268921,1.3924646377563477,-2.988638516399078e-05,-0.14056459069252014,0.005642602685838938],"gripper_width":0.03351355529416746}},{"stage":"place","action":{"joint_targets":[-0.005819893442094326,-1.2506918907165527,1.3969151973724365,-2.9185152015998028e-05,-0.1461542844772339,0.005814571864902973],"gripper_width":0.03351584958880719}},{"stage":"place","action":{"joint_targets":[-0.00599142350256443,-1.2495222091674805,1.4013224840164185,-2.8498148822109215e-05,-0.1517316997051239,0.005986028350889683],"gripper_width":0.03351785727972826}},{"stage":"place","action":{"joint_targets":[-0.006162408739328384,-1.2483211755752563,1.4056862592697144,-2.782617048069369e-05,-0.15729673206806183,0.006156945135444403],"gripper_width":0.033519611277398796}},{"stage":"place","action":{"joint_targets":[-0.006332827266305685,-1.24708890914917,1.4100061655044556,-2.716994276852347e-05,-0.1628493070602417,0.006327302195131779],"gripper_width":0.03352114102967403}},{"stage":"place","action":{"joint_targets":[-0.006502654403448105,-1.245824933052063,1.4142818450927734,-2.653022420417983e-05,-0.16838930547237396,0.006497073918581009],"gripper_width":0.033522471993656905}},{"stage":"place","action":{"joint_targets":[-0.0066718668676912785,-1.2445292472839355,1.4185130596160889,-2.5907755116350017e-05,-0.17391669750213623,0.006666236557066441],"gripper_width":0.03352362710014718}},{"stage":"place","action":{"joint_targets":[-0.006840439513325691,-1.2432013750076294,1.4226995706558228,-2.5303301299572922e-05,-0.17943131923675537,0.0068347640335559845],"gripper_width":0.033524626154671326}},{"stage":"place","action":{"joint_targets":[-0.007008349522948265,-1.2418416738510132,1.4268412590026855,-2.471752668498084e-05,-0.18493323028087616,0.007002634461969137],"gripper_width":0.033525486919823405}},{"stage":"place","action":{"joint_targets":[-0.007175568491220474,-1.2404494285583496,1.4309378862380981,-2.4151162506313995e-05,-0.19042229652404785,0.007169817574322224],"gripper_width":0.033526224639819614}},{"stage":"place","action":{"joint_targets":[-0.007342074997723103,-1.2390251159667969,1.4349892139434814,-2.3604858142789453e-05,-0.19589854776859283,0.0073362914845347404],"gripper_width":0.033526853455745916}},{"stage":"place","action":{"joint_targets":[-0.007507835980504751,-1.2375682592391968,1.4389954805374146,-2.3079341190168634e-05,-0.20136186480522156,0.007502024527639151],"gripper_width":0.03352738499777339}},{"stage":"place","action":{"joint_targets":[-0.007672829087823629,-1.236079216003418,1.4429563283920288,-2.257519372506067e-05,-0.20681233704090118,0.007666992023587227],"gripper_width":0.03352783036810922}},{"stage":"place","action":{"joint_targets":[-0.0078370226547122,-1.2345576286315918,1.4468719959259033,-2.2093108782428317e-05,-0.21224984526634216,0.007831161841750145],"gripper_width":0.03352819889109609}},{"stage":"place","action":{"joint_targets":[-0.008000390604138374,-1.2330037355422974,1.4507421255111694,-2.1633652067976072e-05,-0.21767446398735046,0.007994509302079678],"gripper_width":0.03352849923364035}},{"stage":"place","action":{"joint_targets":[-0.008162899874150753,-1.2314174175262451,1.4545671939849854,-2.1197447495069355e-05,-0.22308611869812012,0.008156998082995415],"gripper_width":0.033528738701846444}},{"stage":"place","action":{"joint_targets":[-0.008324523456394672,-1.2297990322113037,1.4583470821380615,-2.0785028027603403e-05,-0.2284848839044571,0.008318603970110416],"gripper_width":0.03352892401618132}},{"stage":"place","action":{"joint_targets":[-0.008485229685902596,-1.228148341178894,1.462081789970398,-2.039693936239928e-05,-0.2338707447052002,0.008479291573166847],"gripper_width":0.03352906114307774}},{"stage":"place","action":{"joint_targets":[-0.00864498782902956,-1.2264658212661743,1.4657716751098633,-2.003372719627805e-05,-0.23924371600151062,0.00863903108984232],"gripper_width":0.03352915557578453}},{"stage":"place","action":{"joint_targets":[-0.008803763426840305,-1.224751353263855,1.4694169759750366,-1.9695895389304496e-05,-0.24460379779338837,0.008797788061201572],"gripper_width":0.03352921185892986}},{"stage":"place","action":{"joint_targets":[-0.008961528539657593,-1.2230051755905151,1.4730174541473389,-1.9383864128030837e-05,-0.2499510794878006,0.008955532684922218],"gripper_width":0.03352923459356495}},{"stage":"place","action":{"joint_targets":[-0.009118245914578438,-1.2212275266647339,1.4765738248825073,-1.9098142729490064e-05,-0.2552855312824249,0.009112230502068996],"gripper_width":0.03352922752905193}},{"stage":"place","action":{"joint_targets":[-0.009273885749280453,-1.2194184064865112,1.4800859689712524,-1.883909681055229e-05,-0.2606072425842285,0.009267845191061497],"gripper_width":0.03352919400588491}},{"stage":"place","action":{"joint_targets":[-0.009428411722183228,-1.2175782918930054,1.483554482460022,-1.860715747170616e-05,-0.26591625809669495,0.009422346949577332],"gripper_width":0.03352913734368826}},{"stage":"place","action":{"joint_targets":[-0.0095817930996418,-1.2157073020935059,1.486979365348816,-1.8402668501948938e-05,-0.2712126672267914,0.009575698524713516],"gripper_width":0.033529060165572826}},{"stage":"place","action":{"joint_targets":[-0.00973399169743061,-1.2138056755065918,1.490360975265503,-1.822603189793881e-05,-0.27649644017219543,0.00972786359488964],"gripper_width":0.03352896526031075}},{"stage":"place","action":{"joint_targets":[-0.009884972125291824,-1.2118737697601318,1.4936997890472412,-1.8077585991704836e-05,-0.2817676365375519,0.00987880676984787],"gripper_width":0.03352885485718133}},{"stage":"place","action":{"joint_targets":[-0.010034698061645031,-1.2099117040634155,1.4969959259033203,-1.7957660020329058e-05,-0.2870263457298279,0.010028490796685219],"gripper_width":0.0335287310761886}},{"stage":"place","action":{"joint_targets":[-0.01018313318490982,-1.2079198360443115,1.5002497434616089,-1.7866555936052464e-05,-0.2922726571559906,0.010176879353821278],"gripper_width":0.03352859597395959}},{"stage":"place","action":{"joint_targets":[-0.010330239310860634,-1.2058985233306885,1.5034617185592651,-1.7804602975957096e-05,-0.2975064814090729,0.010323931463062763],"gripper_width":0.033528451124473786}},{"stage":"place","action":{"joint_targets":[-0.010475977323949337,-1.203847885131836,1.5066320896148682,-1.777208672137931e-05,-0.30272799730300903,0.010469609871506691],"gripper_width":0.03352829812940673}},{"stage":"place","action":{"joint_targets":[-0.010620308108627796,-1.2017682790756226,1.509761095046997,-1.776929639163427e-05,-0.3079372048377991,0.010613875463604927],"gripper_width":0.03352813856832836}},{"stage":"place","action":{"joint_targets":[-0.010763190686702728,-1.1996601819992065,1.5128493309020996,-1.779651029210072e-05,-0.3131341338157654,0.01075668539851904],"gripper_width":0.03352797358883012}},{"stage":"place","action":{"joint_targets":[-0.01090458407998085,-1.197523593902588,1.5158969163894653,-1.7854048564913683e-05,-0.3183188736438751,0.010897996835410595],"gripper_width":0.0335278043137094}},{"stage":"place","action":{"joint_targets":[-0.011044444516301155,-1.1953588724136353,1.518904209136963,-1.7942205886356533e-05,-0.3234913945198059,0.011037767864763737],"gripper_width":0.03352763201695937}},{"stage":"place","action":{"joint_targets":[-0.011182726360857487,-1.1931664943695068,1.521871566772461,-1.8061267837765627e-05,-0.3286518156528473,0.011175950989127159],"gripper_width":0.0335274574109533}},{"stage":"place","action":{"joint_targets":[-0.011319374665617943,-1.1909465789794922,1.52479887008667,-1.8211860151495785e-05,-0.3337995111942291,0.011312490329146385],"gripper_width":0.03352727777076519}},{"stage":"place","action":{"joint_targets":[-0.011454337276518345,-1.18869948387146,1.5276861190795898,-1.8394330254523084e-05,-0.3389345109462738,0.01144733652472496],"gripper_width":0.03352709395127116}},{"stage":"place","action":{"joint_targets":[-0.011587566696107388,-1.1864253282546997,1.5305335521697998,-1.8609038306749426e-05,-0.34405675530433655,0.011580436490476131],"gripper_width":0.0335269073284125}},{"stage":"place","action":{"joint_targets":[-0.011719007045030594,-1.1841245889663696,1.5333417654037476,-1.8856451788451523e-05,-0.34916624426841736,0.011711737141013145],"gripper_width":0.0335267187411307}},{"stage":"place","action":{"joint_targets":[-0.011848600581288338,-1.1817971467971802,1.5361104011535645,-1.913697997224517e-05,-0.35426297783851624,0.011841179803013802],"gripper_width":0.033526528808648474}},{"stage":"place","action":{"joint_targets":[-0.011976285837590694,-1.179443359375,1.5388398170471191,-1.9451174011919647e-05,-0.3593468964099884,0.011968700215220451],"gripper_width":0.033526338228316084}},{"stage":"place","action":{"joint_targets":[-0.012101993896067142,-1.177063226699829,1.5415301322937012,-1.979967964871321e-05,-0.3644179105758667,0.012094231322407722],"gripper_width":0.03352614695056103}},{"stage":"place","action":{"joint_targets":[-0.012225648388266563,-1.174656867980957,1.544180989265442,-2.018316627072636e-05,-0.36947593092918396,0.012217695824801922],"gripper_width":0.03352595519961727}},{"stage":"place","action":{"joint_targets":[-0.012347167357802391,-1.1722242832183838,1.5467926263809204,-2.060249425994698e-05,-0.37452077865600586,0.012339010834693909],"gripper_width":0.03352576295400572}},{"stage":"place","action":{"joint_targets":[-0.012466459535062313,-1.1697653532028198,1.5493645668029785,-2.1058616766822524e-05,-0.37955233454704285,0.012458082288503647],"gripper_width":0.033525569866112305}},{"stage":"place","action":{"joint_targets":[-0.012583419680595398,-1.1672800779342651,1.551896333694458,-2.1552723410422914e-05,-0.38457030057907104,0.012574808672070503],"gripper_width":0.03352537567095358}},{"stage":"place","action":{"joint_targets":[-0.01269792951643467,-1.164767861366272,1.5543875694274902,-2.2086187527747825e-05,-0.3895743787288666,0.012689066119492054],"gripper_width":0.03352517964178093}},{"stage":"place","action":{"joint_targets":[-0.012809851206839085,-1.1622287034988403,1.5568374395370483,-2.2660598915535957e-05,-0.3945642113685608,0.01280071958899498],"gripper_width":0.0335249808394212}},{"stage":"place","action":{"joint_targets":[-0.01291902456432581,-1.1596617698669434,1.5592448711395264,-2.327792753931135e-05,-0.3995393216609955,0.012909606099128723],"gripper_width":0.03352477811388178}},{"stage":"place","action":{"joint_targets":[-0.013025256805121899,-1.1570663452148438,1.5616084337234497,-2.394057810306549e-05,-0.4044991135597229,0.013015532866120338],"gripper_width":0.03352457002757198}},{"stage":"place","action":{"joint_targets":[-0.013128313235938549,-1.1544415950775146,1.5639264583587646,-2.465132092765998e-05,-0.40944281220436096,0.013118264265358448],"gripper_width":0.033524354508087245}},{"stage":"place","action":{"joint_targets":[-0.013227907940745354,-1.1517858505249023,1.5661966800689697,-2.541373214626219e-05,-0.4143694341182709,0.013217510655522346],"gripper_width":0.03352412903401044}},{"stage":"place","action":{"joint_targets":[-0.01332367118448019,-1.1490974426269531,1.5684155225753784,-2.623219188535586e-05,-0.41927778720855713,0.01331290416419506],"gripper_width":0.03352389054824386}},{"stage":"place","action":{"joint_targets":[-0.013415121473371983,-1.1463737487792969,1.5705792903900146,-2.711213346628938e-05,-0.42416611313819885,0.01340396050363779],"gripper_width":0.03352363494954132}},{"stage":"place","action":{"joint_targets":[-0.013501610606908798,-1.1436113119125366,1.5726817846298218,-2.8060765544069e-05,-0.42903220653533936,0.013490029610693455],"gripper_width":0.03352335664494853}},{"stage":"place","action":{"joint_targets":[-0.01358221285045147,-1.1408051252365112,1.5747150182724,-2.9087475923006423e-05,-0.4338728189468384,0.013570183888077736],"gripper_width":0.03352304876023208}},{"stage":"place","action":{"joint_targets":[-0.01365553867071867,-1.1379474401474,1.5766667127609253,-3.0205119401216507e-05,-0.43868333101272583,0.013643033802509308],"gripper_width":0.03352270141260342}},{"stage":"place","action":{"joint_targets":[-0.013719320297241211,-1.1350265741348267,1.5785174369812012,-3.1432056857738644e-05,-0.4434565007686615,0.013706309720873833],"gripper_width":0.03352230082614516}},{"stage":"place","action":{"joint_targets":[-0.013743317686021328,-1.1332004070281982,1.5794429779052734,-3.2328662200598046e-05,-0.44621944427490234,0.013729969970881939],"gripper_width":0.033521826253120425}},{"stage":"place","action":{"joint_targets":[-0.013727854937314987,-1.1329277753829956,1.5792667865753174,-3.265102714067325e-05,-0.44633400440216064,0.013714373111724854],"gripper_width":0.03352170678190948}},{"stage":"place","action":{"joint_targets":[-0.013713475316762924,-1.1326655149459839,1.5791149139404297,-3.298110459581949e-05,-0.44645223021507263,0.013699812814593315],"gripper_width":0.03352250928800968}},{"stage":"place","action":{"joint_targets":[-0.01369962003082037,-1.1325006484985352,1.5790016651153564,-3.104295319644734e-05,-0.44650912284851074,0.013686729595065117],"gripper_width":0.03352020843772292}},{"stage":"release","action":{"joint_targets":[-0.013687832280993462,-1.1325148344039917,1.5789408683776855,-2.8519700208562426e-05,-0.44644397497177124,0.013675972819328308],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013679293915629387,-1.132486343383789,1.5788905620574951,-2.8491433113231324e-05,-0.44642624258995056,0.013667403720319271],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013673354871571064,-1.1323792934417725,1.5788410902023315,-3.132518759230152e-05,-0.44648170471191406,0.013660206459462643],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013666931539773941,-1.132245659828186,1.5787869691848755,-3.156049206154421e-05,-0.4465567171573639,0.013653636910021305],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013661151751875877,-1.1321450471878052,1.5787445306777954,-3.176289828843437e-05,-0.4466117322444916,0.013647723942995071],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013656185008585453,-1.1320712566375732,1.578711986541748,-3.1940558983478695e-05,-0.4466506242752075,0.013642637059092522],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013652022927999496,-1.132016897201538,1.5786869525909424,-3.20952276524622e-05,-0.44667816162109375,0.013638368807733059],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013648595660924911,-1.1319772005081177,1.5786679983139038,-3.222877421649173e-05,-0.4466977119445801,0.013634849339723587],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013645828701555729,-1.1319478750228882,1.5786535739898682,-3.234401447116397e-05,-0.4467116594314575,0.013632002286612988],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013643618673086166,-1.131926417350769,1.5786428451538086,-3.244279287173413e-05,-0.44672173261642456,0.013629724271595478],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.01364187616854906,-1.1319105625152588,1.5786349773406982,-3.252744863857515e-05,-0.44672903418540955,0.013627924025058746],"gripper_width":0.08}},{"stage":"release","action":{"joint_targets":[-0.013640516437590122,-1.131899118423462,1.5786290168762207,-3.260003722971305e-05,-0.4467342793941498,0.013626516796648502],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013648243620991707,-1.1404695510864258,1.5689915418624878,-3.3212461858056486e-05,-0.42861729860305786,0.01363400835543871],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013639261946082115,-1.1422227621078491,1.5669268369674683,-3.299782474641688e-05,-0.42477527260780334,0.01362521667033434],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013631632551550865,-1.144400954246521,1.5643765926361084,-3.280984310549684e-05,-0.42003270983695984,0.013617799617350101],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01362469233572483,-1.146553635597229,1.561777114868164,-3.26483859680593e-05,-0.4152727425098419,0.013611063361167908],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013618038035929203,-1.1486947536468506,1.559131145477295,-3.2506228308193386e-05,-0.41048142313957214,0.013604608364403248],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013611449860036373,-1.1508212089538574,1.556448221206665,-3.2377374736825004e-05,-0.4056697189807892,0.013598215766251087],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01360480859875679,-1.152931571006775,1.5537331104278564,-3.2259049476124346e-05,-0.4008430242538452,0.013591769151389599],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013598055578768253,-1.155024766921997,1.550987958908081,-3.214992830180563e-05,-0.3960043489933014,0.013585207052528858],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013591160997748375,-1.1570998430252075,1.548214077949524,-3.204964741598815e-05,-0.3911552429199219,0.013578500598669052],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013584110885858536,-1.1591559648513794,1.5454113483428955,-3.195781755493954e-05,-0.3862965404987335,0.013571634888648987],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013576903380453587,-1.161192536354065,1.5425797700881958,-3.187476977473125e-05,-0.38142865896224976,0.013564609922468662],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013569538481533527,-1.1632091999053955,1.5397189855575562,-3.180051135132089e-05,-0.37655165791511536,0.013557422906160355],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013562023639678955,-1.1652051210403442,1.5368283987045288,-3.1735311495140195e-05,-0.3716655373573303,0.01355008315294981],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013554362580180168,-1.167180061340332,1.5339076519012451,-3.167926479363814e-05,-0.3667702078819275,0.013542592525482178],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013546562753617764,-1.1691334247589111,1.5309559106826782,-3.163261862937361e-05,-0.3618655800819397,0.013534962199628353],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013538633473217487,-1.1710647344589233,1.5279728174209595,-3.1595511245541275e-05,-0.35695144534111023,0.013527197763323784],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013530583120882511,-1.1729736328125,1.5249574184417725,-3.156811362714507e-05,-0.3520277440547943,0.013519308529794216],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013522421009838581,-1.1748595237731934,1.521909475326538,-3.155043668812141e-05,-0.3470943868160248,0.01351130474358797],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013514160178601742,-1.1767221689224243,1.5188288688659668,-3.154249498038553e-05,-0.34215158224105835,0.013503197580575943],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013505809009075165,-1.178560733795166,1.5157146453857422,-3.154440128128044e-05,-0.3371990919113159,0.013494998216629028],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01349737960845232,-1.180375337600708,1.512566328048706,-3.155610102112405e-05,-0.3322368562221527,0.013486716896295547],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013488879427313805,-1.1821651458740234,1.5093834400177002,-3.157769242534414e-05,-0.32726454734802246,0.013478362001478672],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01348031871020794,-1.1839299201965332,1.5061653852462769,-3.160911364830099e-05,-0.322282075881958,0.013469945639371872],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013471711426973343,-1.1856693029403687,1.5029115676879883,-3.1650411983719096e-05,-0.3172893226146698,0.013461477123200893],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013463065028190613,-1.1873829364776611,1.4996215105056763,-3.1701438274467364e-05,-0.3122861385345459,0.013452969491481781],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013454392552375793,-1.189070463180542,1.4962948560714722,-3.176223981427029e-05,-0.3072723150253296,0.013444432057440281],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013445703312754631,-1.1907316446304321,1.4929308891296387,-3.183267108397558e-05,-0.3022477626800537,0.013435876928269863],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01343701034784317,-1.1923660039901733,1.4895293712615967,-3.1912652048049495e-05,-0.2972123324871063,0.013427314348518848],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013428324833512306,-1.1939733028411865,1.4860897064208984,-3.200211358489469e-05,-0.2921658456325531,0.013418758288025856],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013419657945632935,-1.1955534219741821,1.4826117753982544,-3.210083377780393e-05,-0.28710827231407166,0.013410218991339207],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.0134110227227211,-1.197105884552002,1.4790951013565063,-3.2208638003794476e-05,-0.28203946352005005,0.01340171042829752],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013402432203292847,-1.1986308097839355,1.4755393266677856,-3.232532981201075e-05,-0.2769593298435211,0.013393244706094265],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013393898494541645,-1.2001276016235352,1.4719440937042236,-3.2450676371809095e-05,-0.2718677818775177,0.013384834863245487],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013385435566306114,-1.2015963792800903,1.4683094024658203,-3.2584521250100806e-05,-0.26676470041275024,0.013376494869589806],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013377056457102299,-1.203036904335022,1.464634895324707,-3.2726500649005175e-05,-0.261650025844574,0.013368237763643265],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013368777930736542,-1.2044490575790405,1.4609203338623047,-3.287643630756065e-05,-0.2565237581729889,0.013360081240534782],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013360613957047462,-1.205832839012146,1.4571655988693237,-3.303410630906001e-05,-0.25138580799102783,0.013352038338780403],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013352575711905956,-1.2071881294250488,1.4533708095550537,-3.319906318210997e-05,-0.24623610079288483,0.013344122096896172],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013344683684408665,-1.208514928817749,1.4495357275009155,-3.337109592393972e-05,-0.24107463657855988,0.013336350210011005],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013336951844394207,-1.2098134756088257,1.4456604719161987,-3.354985892656259e-05,-0.23590141534805298,0.013328742235898972],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.0133293978869915,-1.2110835313796997,1.4417450428009033,-3.373497384018265e-05,-0.23071637749671936,0.013321309350430965],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013322039507329464,-1.2123252153396606,1.4377895593643188,-3.3926127798622474e-05,-0.2255195677280426,0.013314072974026203],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013314894400537014,-1.2135388851165771,1.4337942600250244,-3.412276419112459e-05,-0.22031104564666748,0.013307051733136177],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013307985849678516,-1.2147245407104492,1.4297592639923096,-3.432484299992211e-05,-0.21509084105491638,0.013300267979502678],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013301330618560314,-1.215882420539856,1.4256848096847534,-3.453162935329601e-05,-0.2098589837551117,0.013293737545609474],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013294952921569347,-1.217012882232666,1.4215714931488037,-3.474314871709794e-05,-0.2046155333518982,0.01328748557716608],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013288876973092556,-1.218116044998169,1.4174193143844604,-3.495881173876114e-05,-0.199360653758049,0.013281538151204586],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013283123262226582,-1.219192385673523,1.4132288694381714,-3.5178192774765193e-05,-0.19409437477588654,0.013275914825499058],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013277716003358364,-1.2202421426773071,1.4090007543563843,-3.5400964407017455e-05,-0.18881681561470032,0.013270638883113861],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01327268686145544,-1.2212659120559692,1.4047354459762573,-3.562672281987034e-05,-0.18352816998958588,0.013265741989016533],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.0132680619135499,-1.2222639322280884,1.4004335403442383,-3.585511876735836e-05,-0.17822857201099396,0.013261253014206886],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01326387282460928,-1.2232369184494019,1.396095633506775,-3.6085744795855135e-05,-0.1729181855916977,0.013257200829684734],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013260150328278542,-1.2241852283477783,1.391722559928894,-3.6318288039183244e-05,-0.1675971895456314,0.01325361616909504],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013256927020847797,-1.225109577178955,1.387315034866333,-3.6552391975419596e-05,-0.16226577758789062,0.013250536285340786],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013254241086542606,-1.2260103225708008,1.3828740119934082,-3.678770735859871e-05,-0.15692418813705444,0.013247993774712086],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01325213722884655,-1.2268885374069214,1.378400206565857,-3.702386311488226e-05,-0.15157271921634674,0.013246036134660244],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013250650838017464,-1.227744460105896,1.3738948106765747,-3.7260630051605403e-05,-0.14621154963970184,0.013244697824120522],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013249834068119526,-1.2285791635513306,1.3693585395812988,-3.7497637094929814e-05,-0.1408410370349884,0.013244032859802246],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013249731622636318,-1.2293931245803833,1.3647925853729248,-3.7734669604105875e-05,-0.13546139001846313,0.01324408408254385],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013250401243567467,-1.2301874160766602,1.3601980209350586,-3.7971451092744246e-05,-0.13007299602031708,0.013244908303022385],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013251896016299725,-1.2309626340866089,1.3555760383605957,-3.820780693786219e-05,-0.12467609345912933,0.013246561400592327],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013254282996058464,-1.2317198514938354,1.3509278297424316,-3.844351158477366e-05,-0.11927108466625214,0.01324911043047905],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01325763389468193,-1.2324597835540771,1.3462547063827515,-3.867841587634757e-05,-0.11385828256607056,0.013252625241875648],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013262033462524414,-1.2331832647323608,1.3415578603744507,-3.891235974151641e-05,-0.10843808948993683,0.013257189653813839],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013267573900520802,-1.2338916063308716,1.3368384838104248,-3.914519038517028e-05,-0.10301095247268677,0.013262897729873657],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013274340890347958,-1.2345852851867676,1.3320982456207275,-3.937693691113964e-05,-0.09757713973522186,0.013269835151731968],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013282465748488903,-1.2352657318115234,1.3273383378982544,-3.960751200793311e-05,-0.0921371653676033,0.013278131373226643],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013292078860104084,-1.235933542251587,1.32256019115448,-3.983711212640628e-05,-0.08669137954711914,0.013287918642163277],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.01330333761870861,-1.2365899085998535,1.317765235900879,-4.006554445368238e-05,-0.08124028146266937,0.013299353420734406],"gripper_width":0.08}},{"stage":"retreat","action":{"joint_targets":[-0.013316432945430279,-1.2372360229492188,1.3129550218582153,-4.029303454444744e-05,-0.07578430324792862,0.013312624767422676],"gripper_width":0.08}},{"stage":"verify","action":{"joint_targets":[-0.013331587426364422,-1.2378724813461304,1.3081307411193848,-4.051988435094245e-05,-0.07032381743192673,0.013327958062291145],"gripper_width":0.08}},{"stage":"verify","action":{"joint_targets":[-0.013349083252251148,-1.238500714302063,1.3032941818237305,-4.074618482263759e-05,-0.06485933810472488,0.013345631770789623],"gripper_width":0.08}}],"trace":[{"joint_position":[-0.6,-1.1,0.9,-3.880884169995344e-21,0.2,0.6],"joint_velocity":[1.6495923176351354e-18,4.982657788736472e-16,-6.294329938892013e-16,-1.0977290974519079e-18,4.993256099670851e-16,8.596759738179922e-20],"joint_actuator_torque":[0.0,-1.468134973216138,-0.8750685678822379,-2.952038113258255e-17,-0.06798330000000163,0.0],"jaw_actuator_force":[0.0,0.0],"end_effector_position":[0.38883752452744336,-0.26601806299368963,0.498145513401745],"end_effector_quaternion":[1.0,-6.138802721666153e-19,-4.9081572933862966e-17,-6.240265365853449e-17],"end_effector_velocity":[8.452807199064264e-17,-5.695380234519736e-17,-4.560889260261301e-17],"object_position":[0.34000000290802945,0.0700000006551455,0.3099914782969386],"object_quaternion":[0.9999999999999998,-6.0317257298541395e-15,6.5817296662778346e-15,1.2834960729632038e-21],"object_velocity":[-1.6869890532768666e-14,-1.5462270318935896e-14,-9.219406337426521e-14],"object_angular_velocity":[3.4960279001381646e-13,-3.8089043917718675e-13,8.405460094788164e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10482332946327866,-0.07171349805875715,0.4795380608172019],[0.29895545386528466,-0.2045264300437379,0.5272187002080166],[0.34344406570741104,-0.23496272695696266,0.538145513401745],[0.38883752452744336,-0.26601806299368963,0.538145513401745],[0.38883752452744336,-0.26601806299368963,0.498145513401745]],"gripper_points":[[0.43483752452744334,-0.26601806299368963,0.506145513401745],[0.34283752452744337,-0.26601806299368963,0.506145513401745]],"object_size":[0.04,0.04,0.04],"gripper_width":0.08,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.0,"stage":"observe"},{"joint_position":[-0.5974761441558842,-1.1039872764056953,0.906317562617015,-1.928037343075396e-05,0.1967941973808259,0.5959866585321705],"joint_velocity":[0.13732573009391927,-0.21503459176979164,0.3456897404663568,0.0013224214270178571,-0.1406281369792621,-0.18473550651406762],"joint_actuator_torque":[-0.17724224020298607,-1.272419097295142,-0.9944769356514485,-0.00231034787400082,-0.048790491760019705,0.024707872279641663],"jaw_actuator_force":[0.0026154575353025677,-0.001311742251440151],"end_effector_position":[0.38882489575793217,-0.2645724224329915,0.4980242188175825],"end_effector_quaternion":[0.9999996254096679,-0.0002538141546372576,-0.00035679121688189896,-0.0007466317206830942],"end_effector_velocity":[-0.0014956863286963405,0.0792155676927833,-0.010147139883084588],"object_position":[0.34000000290802773,0.07000000065514397,0.3099914782969383],"object_quaternion":[0.9999999999999998,-3.3397629727336216e-14,3.641718355665288e-14,1.2834973124409053e-21],"object_velocity":[-9.650064705643966e-14,-8.849760876285325e-14,-8.361759050903589e-14],"object_angular_velocity":[2.7091567802199886e-12,-2.9544164699832193e-12,3.048978895464035e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10418055199365221,-0.0708884124426944,0.4800424875249253],[0.2987385910608207,-0.2032731066443113,0.5271748774015539],[0.3433248083470468,-0.23361126573218183,0.5379760500816146],[0.3887963676317296,-0.26455209599689544,0.5380242034798547],[0.38882489575793217,-0.2645724224329915,0.4980242188175825]],"gripper_points":[[0.4348155828059374,-0.26463703361496754,0.5060570554337018],[0.34282445352746216,-0.26449968314922545,0.505991377248742]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999125526213652,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.02000000000000001,"stage":"approach","target_distance":0.1256025461150998,"dwell_elapsed":0.0},{"joint_position":[-0.5945950636017081,-1.108781296861692,0.9141137104733048,-1.2226061487026489e-05,0.19363081308946445,0.5922971750602145],"joint_velocity":[0.12639582089069623,-0.20876953001689633,0.33308606631984133,0.0005913220437926704,-0.124943206777043,-0.14370602681752503],"joint_actuator_torque":[-0.16923357522276206,-1.3000223915077527,-1.004498424839312,-0.002211531830604064,-0.052494901284457995,0.019180136884706656],"jaw_actuator_force":[0.00012401811882511993,-0.00039800337838613586],"end_effector_position":[0.38873988787469466,-0.26287880895860516,0.4977656760431338],"end_effector_quaternion":[0.9999992042275896,-0.0002948654111120744,-0.0004263977740956279,-0.0011501232607499339],"end_effector_velocity":[-0.004205554511880758,0.0744836745515088,-0.00988951252661515],"object_position":[0.3400000029080235,0.07000000065514009,0.3099914782969375],"object_quaternion":[0.9999999999999998,-7.885837519356883e-14,8.594855721149474e-14,1.2834979320050471e-21],"object_velocity":[-2.29158110952464e-13,-2.1024819994940595e-13,-4.1916225925334243e-14],"object_angular_velocity":[3.1330394046766217e-12,-3.415857339791456e-12,2.863958763169388e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10339017796505633,-0.06991567277410958,0.4806437108744156],[0.2984451543505998,-0.2018179498602607,0.5270694094337619],[0.3431452531056202,-0.23204555502583699,0.5377086320202787],[0.3887058032104377,-0.262855180511688,0.53776565454228],[0.38873988787469466,-0.26287880895860516,0.4977656760431338]],"gripper_points":[[0.4347350299904518,-0.26297988778203835,0.5058049332972082],[0.3427383460411462,-0.26276829539494645,0.5057264163628873]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999696078629806,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.04000000000000003,"stage":"approach","target_distance":0.1256025461151008,"dwell_elapsed":0.0},{"joint_position":[-0.5916857091328811,-1.1133433021332555,0.9214984080133992,-9.32709849992676e-06,0.19075113762166024,0.5888873908508803],"joint_velocity":[0.12918730099050094,-0.1980147268571887,0.31462199947260144,0.0006195541907305451,-0.11390094119191227,-0.13450911798987372],"joint_actuator_torque":[-0.17175738171721378,-1.3021911414197689,-0.9976551312859101,-0.002230055373584783,-0.05394965175639044,0.017928403083722344],"jaw_actuator_force":[9.547128418674333e-05,0.0010913411100972326],"end_effector_position":[0.3886876262729916,-0.26119857623462067,0.49751839725130204],"end_effector_quaternion":[0.9999988703877458,-0.00030819564298293305,-0.00045178777940743756,-0.0014000451708208247],"end_effector_velocity":[-0.0021721639736522686,0.07438601127412701,-0.009429332230501814],"object_position":[0.34000000290801846,0.07000000065513552,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.980237574168594e-14,8.694695173726672e-14,1.2834993066082604e-21],"object_velocity":[-3.429575392857403e-13,-3.14775910122621e-13,-1.8203249898121677e-14],"object_angular_velocity":[-1.515573075910678e-11,1.6507387416111534e-11,2.7494940573763356e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10264301954463075,-0.06897609140192663,0.4812104881442525],[0.29818890958043437,-0.2003828957245129,0.526971352076557],[0.34300150938030605,-0.23049695504843892,0.5374582167277101],[0.38865151781049234,-0.2611738700091695,0.5375183733235619],[0.3886876262729916,-0.26119857623462067,0.49751839725130204]],"gripper_points":[[0.43466737802739575,-0.2613223902752146,0.5055599849897164],[0.34268355793355787,-0.2610648520606554,0.5054767910120606]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07998421824544365,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.060000000000000046,"stage":"approach","target_distance":0.12560254611510208,"dwell_elapsed":0.0},{"joint_position":[-0.5887288632617517,-1.1177150065389192,0.9285627954233461,-7.07437054916079e-06,0.1880487551175041,0.5856186009179078],"joint_velocity":[0.1311707427765268,-0.18983758661063022,0.3011088888003395,0.0005799489050211517,-0.1069908055403552,-0.12914001016150156],"joint_actuator_torque":[-0.17398917099640698,-1.3040489444843502,-0.9933604295010809,-0.0022512766722092284,-0.05488015464231211,0.017195246478792114],"jaw_actuator_force":[-0.0007185931331452622,0.001551211679865716],"end_effector_position":[0.3886694107655233,-0.2595212902735346,0.4972771887024126],"end_effector_quaternion":[0.9999986375444911,-0.0003085555264581439,-0.00045739404566410386,-0.0015557934745709784],"end_effector_velocity":[-0.0006972500289551733,0.07421236373787628,-0.009207426198080312],"object_position":[0.34000000290801324,0.07000000065513085,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.05967959965335e-14,7.691575595013111e-14,1.2835008426382752e-21],"object_velocity":[-2.1746911814565086e-13,-1.9960313476640806e-13,-1.8883261500704586e-14],"object_angular_velocity":[6.5388215113830706e-12,-7.1240119842450814e-12,5.88250547061942e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10193221239463685,-0.06806179123270563,0.481748717276832],[0.2979675614281353,-0.19895777285323762,0.5268750280601412],[0.3428923289149787,-0.2289547686412762,0.5372164742813162],[0.38863285769561845,-0.25949654893619567,0.5372771643491465],[0.3886694107655233,-0.2595212902735346,0.4972771887024126]],"gripper_points":[[0.4346538234528914,-0.2596594368279181,0.5053193008332549],[0.3426661362134029,-0.25937323399025103,0.5052350629468932]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07998817104256253,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.08000000000000006,"stage":"approach","target_distance":0.12560254611510338,"dwell_elapsed":0.0},{"joint_position":[-0.58573537055718,-1.1219417726348424,0.9353846669446443,-5.430654385689251e-06,0.18546853425392398,0.5824267607788904],"joint_velocity":[0.1327336348234839,-0.18364602670668595,0.2907985911538889,0.000554330300115562,-0.10221874597124896,-0.12624692275929708],"joint_actuator_torque":[-0.17544073792845438,-1.3043529368944178,-0.9901478061750026,-0.0022570997832243147,-0.05551588893224846,0.016799560735996977],"jaw_actuator_force":[-0.0008996746331124683,0.0022888641729377213],"end_effector_position":[0.38867561389511257,-0.25784644639263693,0.49704009203014254],"end_effector_quaternion":[0.9999984826802721,-0.0003023632063152281,-0.0004525820654837738,-0.0016548060668253853],"end_effector_velocity":[0.0003565932618445583,0.07409137808829588,-0.009019841650619231],"object_position":[0.3400000029080081,0.07000000065512617,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.722353653696639e-14,8.413616712190453e-14,1.2835055935924975e-21],"object_velocity":[-2.5845427017477076e-13,-2.372181001264767e-13,-1.8919343749004905e-14],"object_angular_velocity":[-2.0611412263277074e-12,2.2471737363287483e-12,6.87270674967571e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10124788167046923,-0.0671675117431632,0.4822645274775562],[0.29777111280249113,-0.19754037700296512,0.5267789704076817],[0.34280768660357946,-0.22741749195833638,0.5369801969125022],[0.38863944741300827,-0.25782219745799045,0.5370400683298198],[0.38867561389511257,-0.25784644639263693,0.49704009203014254]],"gripper_points":[[0.4346627311621363,-0.25799380814330536,0.5050817659353775],[0.34267275879179954,-0.25768938086111676,0.5049984074928173]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999051386580792,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.10000000000000007,"stage":"approach","target_distance":0.12560254611510469,"dwell_elapsed":0.0},{"joint_position":[-0.5827125983320567,-1.1260562821857716,0.9420181470593665,-4.206447283066965e-06,0.18297445091362444,0.5792749167689324],"joint_velocity":[0.13397067768016602,-0.17883598381190846,0.28277820806443144,0.0005293909391733951,-0.0988395041545801,-0.1247540120595148],"joint_actuator_torque":[-0.17629248988592394,-1.3035295855235631,-0.9877742634085962,-0.0022375292713645457,-0.05599019550986739,0.01659409133038281],"jaw_actuator_force":[-0.0010724172102509755,0.0019168936261486635],"end_effector_position":[0.38869925344696765,-0.2561733973151218,0.49680612901290183],"end_effector_quaternion":[0.9999983807038573,-0.0002936327388667474,-0.0004434411915667724,-0.0017192234838135712],"end_effector_velocity":[0.001105977360041787,0.07399520509143319,-0.008882978774532455],"object_position":[0.34000000290800336,0.07000000065512185,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.993505313112338e-14,6.53142760488192e-14,1.2835085213683587e-21],"object_velocity":[-1.9111053274040926e-13,-1.7537542748739212e-13,-1.8908241518758654e-14],"object_angular_velocity":[7.233112299746386e-12,-7.881770607538333e-12,4.6418625148384535e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10058293870590869,-0.06628942013731036,0.482762309728216],[0.2975923600464285,-0.19612893835256934,0.5266825489432172],[0.3427403524369642,-0.2258838279435662,0.5367476037633216],[0.38866381859471133,-0.2561498457440899,0.5368061063840798],[0.38869925344696765,-0.2561733973151218,0.49680612901290183]],"gripper_points":[[0.43468801353094766,-0.25632683004456225,0.5048469640242889],[0.3426952892134657,-0.2560105404152025,0.5047652840352678]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999330431125123,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.12000000000000009,"stage":"approach","target_distance":0.12560254611510582,"dwell_elapsed":0.0},{"joint_position":[-0.5796666066247261,-1.130083036942878,0.948503572916042,-3.2922433393170277e-06,0.18054350478357364,0.5761428358631242],"joint_velocity":[0.1349531897454602,-0.17506951916737226,0.27646934269559853,0.0005126346794052488,-0.09635976969939603,-0.1240229834771873],"joint_actuator_torque":[-0.17697479870230381,-1.3020640291502446,-0.9860220667655426,-0.0022278813116162924,-0.056327356786244565,0.01649240405939878],"jaw_actuator_force":[-0.0011980511704852148,0.0019078745264540231],"end_effector_position":[0.3887348033866929,-0.2545017797246172,0.49657440343329057],"end_effector_quaternion":[0.9999983132055024,-0.0002843130408668057,-0.0004329798852969744,-0.0017621806558227296],"end_effector_velocity":[0.0016174806863269338,0.07391816965312216,-0.008787627433630433],"object_position":[0.34000000290799787,0.07000000065511684,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.785387950543139e-14,8.484386804380827e-14,1.2835133572301323e-21],"object_velocity":[-2.3716664556146806e-13,-2.1762621903965134e-13,-1.8909629297539434e-14],"object_angular_velocity":[4.613921802597579e-12,-5.028741828732302e-12,2.0923916788531144e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09993202651822683,-0.06542470347734536,0.4832453321403216],[0.2974257721575984,-0.19472228901894817,0.5265853229853029],[0.34268475553328775,-0.2243529857055655,0.5365174042206111],[0.3887002051351723,-0.2544789736806118,0.5365743819688517],[0.3887348033866929,-0.2545017797246172,0.49657440343329057]],"gripper_points":[[0.43472474836848124,-0.25465931755544463,0.50461427686004],[0.3427310502136994,-0.25433511958582117,0.5045345214477365]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999430398368379,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.1400000000000001,"stage":"approach","target_distance":0.12560254611510716,"dwell_elapsed":0.0},{"joint_position":[-0.5766022493246713,-1.1340405008612173,0.9548710418854971,-2.6071826835492638e-06,0.1781607119632745,0.5730196251932203],"joint_velocity":[0.13572593480075293,-0.17209363124218835,0.271434034980736,0.0005004569827706496,-0.0944675662757245,-0.12370143920776021],"joint_actuator_torque":[-0.17740297175635078,-1.3000224815170895,-0.9846885823455409,-0.0022205240428521283,-0.05657503221447158,0.01644701731270004],"jaw_actuator_force":[-0.0012708236156750985,0.002166964008278427],"end_effector_position":[0.38877793688029294,-0.2528313854522256,0.4963441982584844],"end_effector_quaternion":[0.9999982679890195,-0.0002752925015270535,-0.0004226207478223775,-0.0017915425486371387],"end_effector_velocity":[0.0019407203497803357,0.07385082585964034,-0.008721633075234953],"object_position":[0.34000000290799265,0.07000000065511211,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.47507081009015e-14,8.147161201925878e-14,1.2835169205086261e-21],"object_velocity":[-3.146647329112788e-13,-2.887090443222413e-13,-1.8888812615827706e-14],"object_angular_velocity":[-1.097099123225152e-11,1.1957608965408012e-11,8.119563945702445e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09929108782451211,-0.06457127771440874,0.4837160420094752],[0.29726710698887776,-0.19331963564205212,0.5264870154233009],[0.34263661138071155,-0.22282446766713707,0.536288696830636],[0.3887441667348842,-0.2528093015188041,0.5363441779069438],[0.38877793688029294,-0.2528313854522256,0.4963441982584844]],"gripper_points":[[0.4347688042501995,-0.25299177218548874,0.5043831188548071],[0.34277455521185096,-0.25266216870610597,0.5043052703624966]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999487243847375,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.16000000000000011,"stage":"approach","target_distance":0.12560254611510846,"dwell_elapsed":0.0},{"joint_position":[-0.5735232623069016,-1.1379426096231395,0.9611430360878757,-2.0779231242336647e-06,0.17581613203874039,0.5698994416998299],"joint_velocity":[0.136330458962387,-0.1697188564180868,0.26735304613351346,0.0004864537828746723,-0.09295605100602922,-0.12359935403786838],"joint_actuator_torque":[-0.17747799449585955,-1.297459892266886,-0.9837170697095416,-0.002195800317021799,-0.056795992389993444,0.016431597724327673],"jaw_actuator_force":[-0.0013164337960098749,0.001692886959295592],"end_effector_position":[0.3888253205318979,-0.25116206450435696,0.4961149689150306],"end_effector_quaternion":[0.9999982372658056,-0.00026691653819447246,-0.0004129720119515771,-0.0018120913223257232],"end_effector_velocity":[0.002116066643609252,0.07378826896714204,-0.008677169667155623],"object_position":[0.3400000029079877,0.07000000065510759,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.853125479202931e-14,7.470347551307932e-14,1.283518825069724e-21],"object_velocity":[-2.1167196390989494e-13,-1.941870186688508e-13,-1.8904078182416292e-14],"object_angular_velocity":[6.915875862724703e-12,-7.538220883782285e-12,1.4892235280343426e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09865705794516695,-0.06372758429971845,0.4841762772505063],[0.2971131392216233,-0.19192040610843636,0.5263874634587951],[0.3425926578474779,-0.22129792777293422,0.5360608602981946],[0.38879232152334997,-0.2511406513515017,0.5361149495718049],[0.3888253205318979,-0.25116206450435696,0.4961149689150306]],"gripper_points":[[0.43481690873645173,-0.2513244784255249,0.5041530016672281],[0.342820833438922,-0.25099108641183226,0.5040769286742088]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999671085144197,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.18000000000000013,"stage":"approach","target_distance":0.12560254611510965,"dwell_elapsed":0.0},{"joint_position":[-0.5704326649323184,-1.1417999473321572,0.9673362372646895,-1.6752191500792606e-06,0.17350318554319177,0.5667792069420681],"joint_velocity":[0.13681777701276876,-0.16778809264998204,0.26397921309775757,0.00048028919387328164,-0.0917098840045163,-0.12361246441384703],"joint_actuator_torque":[-0.1776482383544078,-1.2947285321645836,-0.9829836684406246,-0.0021921435525860612,-0.05695225725703423,0.01643207830873905],"jaw_actuator_force":[-0.0013098698520206398,0.0020810079263799963],"end_effector_position":[0.38887434167926976,-0.2494937639415472,0.49588637945900926],"end_effector_quaternion":[0.9999982159401083,-0.0002592961384742817,-0.00040424994228636767,-0.0018268727643656153],"end_effector_velocity":[0.0021839556263990945,0.07373207316738169,-0.008650261017798455],"object_position":[0.3400000029079822,0.07000000065510258,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.337177143645015e-14,9.088764545933831e-14,1.2835204583914874e-21],"object_velocity":[-2.636315392807125e-13,-2.4183305073961885e-13,-1.890685373997786e-14],"object_angular_velocity":[6.536586709753776e-13,-7.126347485236613e-13,4.952390562354777e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09802760183573776,-0.06289246471438527,0.48462742813861176],[0.29696137255132277,-0.1905242227185709,0.5262866314151994],[0.34255036167364433,-0.21977316726119675,0.5358335321660841],[0.3888420396376676,-0.24947296120642048,0.535886361006809],[0.38887434167926976,-0.2494937639415472,0.49588637945900926]],"gripper_points":[[0.43486594742211454,-0.24965765985682936,0.5039236089727577],[0.34287145997567564,-0.24932155294178576,0.5038491438958118]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999513157466012,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.20000000000000015,"stage":"approach","target_distance":0.12560254611511099,"dwell_elapsed":0.0},{"joint_position":[-0.567332648275093,-1.145620490904689,0.9734629076834521,-1.3495977266589152e-06,0.17121731430923412,0.5636574260156577],"joint_velocity":[0.13719288178474537,-0.16621265805896498,0.2611501505068713,0.0004669598854560989,-0.090630370909491,-0.12368071619625431],"joint_actuator_torque":[-0.17732836069021118,-1.2914657315889713,-0.9824275139334873,-0.0021555111843161692,-0.05712807361556571,0.016440345657407818],"jaw_actuator_force":[-0.0013185680620768636,0.0011724851731127472],"end_effector_position":[0.38892304292740426,-0.24782641375649772,0.4956582617891042],"end_effector_quaternion":[0.9999982008680494,-0.0002524753197526124,-0.00039658926537893837,-0.0018377251783983836],"end_effector_velocity":[0.0021591981337460778,0.07367383902210499,-0.008632929150856773],"object_position":[0.3400000029079771,0.07000000065509795,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.18517133515134e-14,6.74285123370833e-14,1.2835201855149945e-21],"object_velocity":[-2.0043386899313725e-13,-1.8385649275988594e-13,-1.8908241518758648e-14],"object_angular_velocity":[7.923143089304645e-12,-8.637611816611048e-12,-4.17970447458806e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09740097193327858,-0.06206504449973452,0.4850705410620729],[0.2968099372041251,-0.18913078170468886,0.5261845654110924],[0.34250782507869404,-0.2182500131474909,0.5356065293244093],[0.38889135296167543,-0.24780615746149015,0.5356582441069576],[0.38892304292740426,-0.24782641375649772,0.4956582617891042]],"gripper_points":[[0.4349149284085806,-0.24799141836375738,0.5036947859330968],[0.3429178277099468,-0.24765330422852763,0.5036217300531033]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999775103384113,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.22000000000000017,"stage":"approach","target_distance":0.12560254611511226,"dwell_elapsed":0.0},{"joint_position":[-0.5642251318526222,-1.1494106610021813,0.9795327957548979,-1.0980447125094629e-06,0.16895550871310913,0.5605334901847842],"joint_velocity":[0.13750971434849266,-0.1648957469223577,0.2587372209054568,0.00046648089079376337,-0.08968476947818296,-0.12377041877486561],"joint_actuator_torque":[-0.17740874297155074,-1.2883296429858433,-0.9819934290045467,-0.0021623902540457737,-0.05722624842092827,0.01645170193528145],"jaw_actuator_force":[-0.0012676833769464935,0.0020600617148431866],"end_effector_position":[0.388969788182828,-0.24616001745289878,0.4954304812165764],"end_effector_quaternion":[0.9999981899596775,-0.00024635832603748956,-0.00038986311316094996,-0.0018459121585771396],"end_effector_velocity":[0.002074375265575195,0.07362285799411356,-0.008628489457950079],"object_position":[0.34000000290797183,0.07000000065509311,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.679708937560297e-14,8.374069525260096e-14,1.2835203882059994e-21],"object_velocity":[-2.322431431661392e-13,-2.1298940074483377e-13,-1.8911017076320215e-14],"object_angular_velocity":[5.553226956769327e-12,-6.055007204621733e-12,3.457133799735828e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0967757545181687,-0.061244641674748704,0.48550645237169804],[0.2966572967232374,-0.18773989341104325,0.5260813260485787],[0.34246348347856564,-0.21672838860061075,0.5353797345995306],[0.3889386355706949,-0.2461402512502444,0.5354304642017227],[0.388969788182828,-0.24616001745289878,0.4954304812165764]],"gripper_points":[[0.43496194130800975,-0.24632587422920532,0.5034663859864732],[0.3429669131927671,-0.24598626061597742,0.5033945709984115]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999568301134072,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.24000000000000019,"stage":"approach","target_distance":0.12560254611511354,"dwell_elapsed":0.0},{"joint_position":[-0.5611114172742774,-1.1531751935808652,0.9855535007095433,-8.69323699069362e-07,0.16671555435818844,0.5574072583939947],"joint_velocity":[0.13774429272480956,-0.16380107604052171,0.25664436983079864,0.0004547159034970716,-0.08880880848953161,-0.1238642968422727],"joint_actuator_torque":[-0.17691175508525703,-1.2847079496398237,-0.9816893953920953,-0.002123947841319315,-0.05737801697192779,0.01646376425411944],"jaw_actuator_force":[-0.0012276451997568216,0.001098399575887754],"end_effector_position":[0.38901341355282193,-0.24449454949359317,0.49520280145288276],"end_effector_quaternion":[0.999998182131622,-0.00024074305137983297,-0.0003838159768859373,-0.001852150514963386],"end_effector_velocity":[0.0019275096777161432,0.07356544603660382,-0.008624970166914075],"object_position":[0.3400000029079669,0.07000000065508863,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.665245371218749e-14,8.359406843937726e-14,1.2835227318678511e-21],"object_velocity":[-2.830652799079934e-13,-2.595611386436686e-13,-1.8890200394608496e-14],"object_angular_velocity":[-7.600627740056105e-12,8.29221455493287e-12,4.094791289683426e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09615092380405628,-0.060430749132525816,0.48593578181041486],[0.296502363692141,-0.1863514072313553,0.5259768656959541],[0.3424162353331604,-0.21520822471233705,0.5351529474197235],[0.38898274400187854,-0.24447523321369719,0.5352027850311291],[0.38901341355282193,-0.24449454949359317,0.49520280145288276]],"gripper_points":[[0.4350058018231079,-0.24466107101952694,0.503238149313532],[0.3430085851379236,-0.2443203008173886,0.503167446891096]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999787498080566,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.2600000000000002,"stage":"approach","target_distance":0.12560254611511473,"dwell_elapsed":0.0},{"joint_position":[-0.55799261609247,-1.1569178047269362,0.9915303697318404,-6.896401375327819e-07,0.16449599570487733,0.5542785745049394],"joint_velocity":[0.13795937778818934,-0.16284520101268923,0.25477708089973067,0.00045623081189844736,-0.08800903513456322,-0.12396468713511465],"joint_actuator_torque":[-0.17686627952087974,-1.281294262202323,-0.9814154137999935,-0.0021313944053476903,-0.05745312022176918,0.016476947412456866],"jaw_actuator_force":[-0.0011430768472955322,0.0021080596507125904],"end_effector_position":[0.3890529740888714,-0.2428300320339242,0.4949752358718356],"end_effector_quaternion":[0.9999981762993535,-0.00023558788614093864,-0.0003783707870319004,-0.0018570761595488043],"end_effector_velocity":[0.0017524155164930816,0.07351546502644782,-0.00862843403033442],"object_position":[0.3400000029079619,0.07000000065508405,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.926735870761822e-14,7.555679411777714e-14,1.2835256647967489e-21],"object_velocity":[-2.1602260553014889e-13,-1.9804400834018574e-13,-1.890824151875865e-14],"object_angular_velocity":[7.620203816448263e-12,-8.3118030639433e-12,6.807926118950897e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09552567616051776,-0.059622983971924885,0.4863590157891068],[0.2963442538676297,-0.18496523038299695,0.5258712937836586],[0.3423651779255095,-0.2136894951855343,0.5349261908240768],[0.3890227394814834,-0.2428111288243348,0.5349752199785472],[0.3890529740888714,-0.2428300320339242,0.4949752358718356]],"gripper_points":[[0.4350455182375568,-0.2429970898808119,0.503010082175454],[0.3430503523655447,-0.24265542039160903,0.5029403847384684]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999582675095435,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.2800000000000002,"stage":"approach","target_distance":0.12560254611511595,"dwell_elapsed":0.0},{"joint_position":[-0.5548693957923464,-1.160641129246225,0.9974678142227865,-5.015057837034532e-07,0.16229554009433877,0.5511474791935436],"joint_velocity":[0.13811684871554752,-0.16202206989406928,0.2530981345712865,0.00044476884300889474,-0.08723871072702065,-0.12406258571757417],"joint_actuator_torque":[-0.17626651074900224,-1.277467740268321,-0.9812609878380272,-0.002090025704184616,-0.05759750155445431,0.01648961082701561],"jaw_actuator_force":[-0.001086262515251235,0.0009605772794625267],"end_effector_position":[0.3890878579309049,-0.2411664568854841,0.4947476024252677],"end_effector_quaternion":[0.9999981720310334,-0.0002307360279744167,-0.00037334051587311663,-0.001860997672224464],"end_effector_velocity":[0.0015383068055303739,0.0734572650423972,-0.008631901886548441],"object_position":[0.34000000290795657,0.07000000065507923,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.297797388984495e-14,9.050117270050415e-14,1.283528290865488e-21],"object_velocity":[-2.532053652552568e-13,-2.321526417814122e-13,-1.8899914846073957e-14],"object_angular_velocity":[2.319994261695529e-12,-2.531312693592698e-12,1.7654114173573856e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0948994618232175,-0.05882107034136104,0.48677650560275243],[0.29618239713877503,-0.18358128993846962,0.5257645493704809],[0.34230973648192364,-0.21217217359614032,0.5346993094005853],[0.3890580250961683,-0.24114794245412194,0.5347475870154873],[0.3890878579309049,-0.2411664568854841,0.4947476024252677]],"gripper_points":[[0.43508052772871986,-0.2413339537052816,0.5027819853411084],[0.3430833673547185,-0.24099155471131134,0.5027132134295057]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799978232542847,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.3000000000000002,"stage":"approach","target_distance":0.1256025461151173,"dwell_elapsed":0.0},{"joint_position":[-0.5517424445860468,-1.1643473027129154,1.0033688357214592,-3.535327086384004e-07,0.1601134963192678,0.5480139388129293],"joint_velocity":[0.1382749383945766,-0.16126873303067288,0.25154352741387653,0.0004477784589202208,-0.08651908690217046,-0.12416228984695546],"joint_actuator_torque":[-0.17614986721858372,-1.2739002158323842,-0.9810610275255272,-0.002098991437866627,-0.05765668481959807,0.01650301540833965],"jaw_actuator_force":[-0.0009835422762165535,0.002164318766517681],"end_effector_position":[0.3891175213672944,-0.23950388004773865,0.49451993483871615],"end_effector_quaternion":[0.9999981687067774,-0.00022615841271413103,-0.00036864068831482473,-0.0018642798896851085],"end_effector_velocity":[0.001314187271162752,0.073405609901319,-0.008641310170883043],"object_position":[0.3400000029079518,0.07000000065507479,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.768138502706979e-14,7.379086125728232e-14,1.2835311936488063e-21],"object_velocity":[-3.698534670587308e-13,-3.3926232131572416e-13,-1.8905465961197072e-14],"object_angular_velocity":[-2.0617479684255824e-11,2.2470909815139017e-11,8.366051853971715e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09427183296923339,-0.05802480393956443,0.48718853714035565],[0.29601629178338085,-0.182199568552499,0.5256567210214418],[0.34224939692828965,-0.21065628544296316,0.5344723464941907],[0.3890880638960428,-0.23948573242790078,0.5345199198752294],[0.3891175213672944,-0.23950388004773865,0.49451993483871615]],"gripper_points":[[0.435110265020055,-0.23967175243941752,0.5025538847543207],[0.34311503015842576,-0.2393287561970575,0.5024859804401278]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999589933613611,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.32000000000000023,"stage":"approach","target_distance":0.1256025461151184,"dwell_elapsed":0.0},{"joint_position":[-0.5486119923756262,-1.1680377813969185,1.0092359961882398,-1.7645490278787176e-07,0.15794895465681547,0.544877998373493],"joint_velocity":[0.13839292465762518,-0.16060017827311443,0.25010068697240784,0.00043614180695346924,-0.08580947736620362,-0.12425968301203975],"joint_actuator_torque":[-0.17550155690054225,-1.269965228733838,-0.9810008755356989,-0.00205528295167431,-0.05779973912315306,0.01651553604369127],"jaw_actuator_force":[-0.000920487488258459,0.0007959211212291706],"end_effector_position":[0.3891416870537275,-0.23784227238590944,0.49429211253918015],"end_effector_quaternion":[0.999998166220789,-0.00022177176601930262,-0.0003642077263242111,-0.0018670096613942384],"end_effector_velocity":[0.0010644951750026195,0.07334642655407322,-0.008647999560088153],"object_position":[0.3400000029079465,0.07000000065506995,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.841280445522971e-14,8.547064210462089e-14,1.2835336009327123e-21],"object_velocity":[-2.3711284381010717e-13,-2.1752907202584023e-13,-1.890269040363551e-14],"object_angular_velocity":[6.713402727224695e-12,-7.318098032941268e-12,8.052473494596932e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09364251279970541,-0.05723403028937916,0.48759531357032004],[0.2958456718343095,-0.18082001044721926,0.5255477572973395],[0.3421838957797396,-0.2091417975667243,0.5342451923181147],[0.38911258361305406,-0.2378244762788148,0.5342920979927814],[0.3891416870537275,-0.23784227238590944,0.49429211253918015]],"gripper_points":[[0.4351344879273498,-0.23801046640348017,0.5023256540094171],[0.3431374174384154,-0.23766696057009729,0.5022585653762772]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999773625306339,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.34000000000000025,"stage":"approach","target_distance":0.12560254611511967,"dwell_elapsed":0.0},{"joint_position":[-0.5454784913181397,-1.1717138697926586,1.015070998944551,-2.5731164401072357e-08,0.15580161170103202,0.5417396427760086],"joint_velocity":[0.13851569755082052,-0.15996924680107882,0.24872765995818935,0.00043587219524718796,-0.08513144338051636,-0.12435803943899118],"joint_actuator_torque":[-0.17521518899187072,-1.2662249115108466,-0.9808806730450215,-0.002049891289691136,-0.057876628121883655,0.016528647549947095],"jaw_actuator_force":[-0.0008213626295674459,0.0012858263842350226],"end_effector_position":[0.3891600260218081,-0.2361817017234039,0.4940642037509606],"end_effector_quaternion":[0.999998164158751,-0.0002175723327979075,-0.0003599882051712341,-0.001869425018548304],"end_effector_velocity":[0.0008115994047889082,0.0732914077715697,-0.008658031165823523],"object_position":[0.3400000029079412,0.07000000065506509,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.589210364161744e-14,9.363845466399082e-14,1.2835359105700366e-21],"object_velocity":[-2.8638529409459647e-13,-2.6269181749277317e-13,-1.889436373095082e-14],"object_angular_velocity":[-3.8386958609357815e-12,4.1889661545005846e-12,4.3119385093655095e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09301124162710811,-0.056448637381752036,0.487997016007409],[0.29567023739084675,-0.1794426321279007,0.5254377517429332],[0.34211292392003684,-0.20762875592389313,0.5340179203489908],[0.3891312595570779,-0.23616424213105774,0.5340641895966224],[0.3891600260218081,-0.2361817017234039,0.4940642037509606]],"gripper_points":[[0.4351528551111256,-0.2363501853317082,0.5020973564123337],[0.3431561422309271,-0.23600623596762718,0.5020310457535677]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999737974002416,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.36000000000000026,"stage":"approach","target_distance":0.12560254611512098,"dwell_elapsed":0.0},{"joint_position":[-0.5423420416619282,-1.1753764240685218,1.0208755323653373,1.420670943157511e-07,0.15367083932091327,0.5385989291072306],"joint_velocity":[0.13861852783234233,-0.15938639045158112,0.24742828986711946,0.00042879088027194054,-0.08446590203621582,-0.12445372902504807],"joint_actuator_torque":[-0.17468003534031595,-1.262312382236189,-0.9808254487031718,-0.002021085228350215,-0.05798979977294927,0.016541210983795906],"jaw_actuator_force":[-0.000740029482710014,0.0006647090477667206],"end_effector_position":[0.3891724049469159,-0.23452216347624766,0.493836090755129],"end_effector_quaternion":[0.9999981625362453,-0.00021348716474115087,-0.0003559072419276865,-0.0018715441215872782],"end_effector_velocity":[0.0005460558944346684,0.0732320147671678,-0.008669200354386765],"object_position":[0.3400000029079362,0.0700000006550606,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.227732199802846e-14,6.790668169055047e-14,1.2835394584307149e-21],"object_velocity":[-1.975932185650721e-13,-1.8121640869574758e-13,-1.8908241518758635e-14],"object_angular_velocity":[7.171838387679671e-12,-7.81975684725783e-12,9.397732855062348e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09237787596475736,-0.05566854121177659,0.48839377227710556],[0.29548986205946454,-0.17806741486451858,0.5253266415564293],[0.3420363588728349,-0.20611715674327194,0.5337904240996076],[0.3891439643839309,-0.23450503124676184,0.5338360769753903],[0.3891724049469159,-0.23452216347624766,0.493836090755129]],"gripper_points":[[0.4351652519273842,-0.23469090754953845,0.501868867357958],[0.3431674790500188,-0.23434656388101974,0.5018033081396545]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999844066596162,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.3800000000000003,"stage":"approach","target_distance":0.12560254611512223,"dwell_elapsed":0.0},{"joint_position":[-0.5392028915809356,-1.1790262211594953,1.0266506755235607,3.0099031531305636e-07,0.15155633468400115,0.5354558503914866],"joint_velocity":[0.13872443515150212,-0.15882697595881437,0.2461726320905502,0.00042830933883459806,-0.08382375946764811,-0.12455002512354431],"joint_actuator_torque":[-0.1743722834521293,-1.2585328844542119,-0.9807399490053967,-0.0020152953779910814,-0.05806284708189757,0.016554058639300706],"jaw_actuator_force":[-0.0006387448753208957,0.0011289781144174782],"end_effector_position":[0.38917865509398875,-0.23286371539925682,0.49360780946641125],"end_effector_quaternion":[0.999998161115301,-0.00020952611343982099,-0.0003519594670917825,-0.0018734965593500408],"end_effector_velocity":[0.000279321658342894,0.07317425908874324,-0.008681882784643024],"object_position":[0.34000000290793114,0.0700000006550559,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.36309132336183e-14,8.030623670904124e-14,1.283545709453061e-21],"object_velocity":[-2.2786723179114276e-13,-2.0893308887641326e-13,-1.88957515097316e-14],"object_angular_velocity":[2.843926764714452e-12,-3.1002065085824643e-12,3.0883498125115512e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09174227948546712,-0.05489368268319636,0.4887856985157546],[0.29530439107115225,-0.17669438375991342,0.5252144775784313],[0.34195404164287174,-0.20460704442332775,0.5335627394469614],[0.3891505297921146,-0.23284690058941712,0.5336077960442785],[0.38917865509398875,-0.23286371539925682,0.49360780946641125]],"gripper_points":[[0.43517150334437615,-0.23303270255161912,0.5016402222674121],[0.34317464037701145,-0.23268800263639952,0.501575391355509]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999753158055257,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.4000000000000003,"stage":"approach","target_distance":0.12560254611512342,"dwell_elapsed":0.0},{"joint_position":[-0.5360610662494676,-1.182663820951403,1.0323975118986404,4.77788996083061e-07,0.14945767467001664,0.5323103991127678],"joint_velocity":[0.13881592931640732,-0.15830193871117543,0.24496458805960894,0.00042140412766644025,-0.08318694543313652,-0.12464658386552059],"joint_actuator_torque":[-0.17382074197954012,-1.2545785864268169,-0.9807054339146362,-0.001986346800315241,-0.05817288563220302,0.016566768848193192],"jaw_actuator_force":[-0.0005546010388979283,0.0004839142030697019],"end_effector_position":[0.3891787126952124,-0.2312063581095624,0.4933792994463895],"end_effector_quaternion":[0.9999981598933279,-0.00020565089561605719,-0.0003481093897939774,-0.0018752966485629204],"end_effector_velocity":[3.829248773150849e-06,0.073112656958668,-0.008693578263317878],"object_position":[0.34000000290792626,0.07000000065505149,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.773013639748978e-14,8.477924475637907e-14,1.2835485431699295e-21],"object_velocity":[-3.3622672847953974e-13,-3.0827226838594724e-13,-1.8905465961197066e-14],"object_angular_velocity":[-1.526695532101352e-11,1.6651472523232656e-11,9.565270501758957e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09110437470257385,-0.05412401144516818,0.48917288495353123],[0.29511376257274713,-0.17532353100781178,0.52510123196006],[0.3418659139596618,-0.2030984209075843,0.5333348114823895],[0.3891508948477884,-0.2311898538435169,0.5333792863685944],[0.3891787126952124,-0.2312063581095624,0.4933792994463895]],"gripper_points":[[0.4351715596114803,-0.2313755729381765,0.5014113574415462],[0.34317377250835246,-0.23103053795108192,0.5013472355467269]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999845646874813,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.4200000000000003,"stage":"approach","target_distance":0.12560254611512464,"dwell_elapsed":0.0},{"joint_position":[-0.532916716837549,-1.1862897411028634,1.0381167811903138,6.470850868737438e-07,0.14737465134508337,0.5291625924104448],"joint_velocity":[0.13891456563428592,-0.1577882133640132,0.24378685801239877,0.0004210404107752069,-0.08256973397885382,-0.12474234976868005],"joint_actuator_torque":[-0.17350377577304243,-1.250771908354693,-0.9806356150033935,-0.001980555502832918,-0.05824255579491222,0.01657956352392631],"jaw_actuator_force":[-0.00045121925326441215,0.0009469363676117837],"end_effector_position":[0.38917248246030106,-0.22955014348082523,0.4931505861211643],"end_effector_quaternion":[0.9999981587466764,-0.00020186779011702532,-0.0003443452213765759,-0.001877013324550322],"end_effector_velocity":[-0.0002695220953734911,0.07305277808700028,-0.008708051395094073],"object_position":[0.34000000290792115,0.07000000065504684,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.988890769861804e-14,7.623013752071252e-14,1.2835517296347749e-21],"object_velocity":[-2.1521059245555818e-13,-1.9730983193256135e-13,-1.8904078182416282e-14],"object_angular_velocity":[6.442510799033692e-12,-7.026835070659543e-12,1.0426287089157964e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09046408523943941,-0.05335949462101075,0.4895554153077562],[0.2949178907727606,-0.1739548856839408,0.5249869416271492],[0.3417718878741467,-0.2015913294691956,0.5331066664086768],[0.3891449652059956,-0.22953394238010555,0.5331505733752254],[0.38917248246030106,-0.22955014348082523,0.4931505861211643]],"gripper_points":[[0.4351653145943647,-0.22971957678311233,0.5011822972170581],[0.3431684804622043,-0.22937422912650474,0.5011188698145402]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999750419647024,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.44000000000000034,"stage":"approach","target_distance":0.1256025461151259,"dwell_elapsed":0.0},{"joint_position":[-0.5297698444026167,-1.189904359138967,1.0438092833960684,8.35368876121208e-07,0.14530687638323664,0.5260124212506273],"joint_velocity":[0.13899939979021816,-0.15730197780123792,0.24264425405521553,0.00041424946853557036,-0.08195660312787047,-0.12483860503084976],"joint_actuator_torque":[-0.17294503572509257,-1.2467946991923213,-0.9806141424568295,-0.001951812390050122,-0.058349715705439564,0.016592252452355183],"jaw_actuator_force":[-0.00036571004259045026,0.000294356641816762],"end_effector_position":[0.3891599418781279,-0.22789508507059542,0.49292161858044903],"end_effector_quaternion":[0.9999981576786269,-0.0001981559955751872,-0.00034065953942682606,-0.0018786496830974437],"end_effector_velocity":[-0.0005501170395362624,0.07298843520317332,-0.008720588762824645],"object_position":[0.340000002907916,0.07000000065504217,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.686377563749922e-14,8.383236908677465e-14,1.2835566056991228e-21],"object_velocity":[-2.574058708510595e-13,-2.3600575861531205e-13,-1.8899914846073942e-14],"object_angular_velocity":[-2.0714360119938733e-12,2.2600972689203555e-12,5.573850752518262e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08982137296921319,-0.05260010439188245,0.4899333567972541],[0.2947167522887941,-0.17258845443990906,0.5248715792225193],[0.3416719433828648,-0.2000857846592485,0.5328782551949759],[0.38913271894643797,-0.2278791814217599,0.5329216061552714],[0.3891599418781279,-0.22789508507059542,0.49292161858044903]],"gripper_points":[[0.4351527616367071,-0.2280647283217976,0.5009529900086597],[0.343155003309701,-0.2277190757398849,0.500890241343472]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999842906428664,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.46000000000000035,"stage":"approach","target_distance":0.12560254611512717,"dwell_elapsed":0.0},{"joint_position":[-0.5266205653768975,-1.193508055141983,1.0494755781990102,1.0141338996328588e-06,0.14325420264734057,0.5228598993260749],"joint_velocity":[0.13909334013328778,-0.1568204161155123,0.24152405542688613,0.00041427819441758063,-0.0813616566087721,-0.12493422648834818],"joint_actuator_torque":[-0.17262292818995206,-1.2429706547710566,-0.9805415599014964,-0.0019471724033620836,-0.05841333074651267,0.016605129533971308],"jaw_actuator_force":[-0.00025954376473791285,0.0008717058715230763],"end_effector_position":[0.38914102980278537,-0.22624123742843444,0.4926924154933765],"end_effector_quaternion":[0.999998156597011,-0.0001945187925669615,-0.00033703175422103833,-0.0018802591885685453],"end_effector_velocity":[-0.0008268174377160788,0.07292580001136999,-0.008736370664211731],"object_position":[0.3400000029079113,0.07000000065503788,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.971849101684022e-14,6.514543825793581e-14,1.2835589995775875e-21],"object_velocity":[-1.9059887471545436e-13,-1.747247285026344e-13,-1.8908241518758635e-14],"object_angular_velocity":[7.205897848620193e-12,-7.860280998215151e-12,4.65430452313446e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08917619210148284,-0.051845823154063234,0.4903067755241055],[0.29451029451657007,-0.17122427283260588,0.5247551737123832],[0.3415660263200276,-0.1985818342172719,0.5326495982971968],[0.3891140965718103,-0.22622562525715098,0.5326924033791394],[0.38914102980278537,-0.22624123742843444,0.4926924154933765]],"gripper_points":[[0.43513382694463787,-0.2264110869219075,0.5007234525843236],[0.34313697041714436,-0.2260651412277913,0.5006613732267907]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999752791901603,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.48000000000000037,"stage":"approach","target_distance":0.12560254611512828,"dwell_elapsed":0.0},{"joint_position":[-0.5234688066143669,-1.1971010531461528,1.0551162763357527,1.2162604770838078e-06,0.14121626489683226,0.5197050155405436],"joint_velocity":[0.1391762665691683,-0.15636010626186392,0.24043224214738262,0.0004072119147686516,-0.08076749153014164,-0.12503034489759285],"joint_actuator_torque":[-0.17206373971529842,-1.238985571912167,-0.9805421150165898,-0.001917695616463604,-0.05852112847401081,0.01661771730486805],"jaw_actuator_force":[-0.00017531376625434802,0.00010417718233313167],"end_effector_position":[0.38911577165487266,-0.22458860344377446,0.4924629181094989],"end_effector_quaternion":[0.9999981555702551,-0.00019093609654634628,-0.0003334612459478558,-0.0018818084632510094],"end_effector_velocity":[-0.0011089316631092104,0.0728590379910071,-0.008751014691533273],"object_position":[0.34000000290790583,0.0700000006550329,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.760441649864239e-14,8.466139841337433e-14,1.2835636050762543e-21],"object_velocity":[-2.3664638801874624e-13,-2.1691877262079248e-13,-1.8905465961197072e-14],"object_angular_velocity":[4.59783756603915e-12,-5.016853856224596e-12,2.496712397136628e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0885285410093055,-0.051096636847656376,0.4906757202533878],[0.2942985377118901,-0.1698623442204938,0.5246376873525989],[0.34145416195623235,-0.1970794854934357,0.532420638146168],[0.3890891235488135,-0.22457327838340863,0.5324629062972592],[0.38911577165487266,-0.22458860344377446,0.4924629181094989]],"gripper_points":[[0.4351085465955823,-0.22475865276449747,0.500493626140032],[0.34311084795420077,-0.22441241849309077,0.5004322043596012]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999837067098667,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.5000000000000003,"stage":"approach","target_distance":0.12560254611512964,"dwell_elapsed":0.0},{"joint_position":[-0.5203146780507076,-1.200683694867892,1.0607318418184475,1.4070524868219335e-06,0.13919296042082924,0.5165477598173958],"joint_velocity":[0.13926884464564243,-0.15590308500558886,0.23935780107850188,0.000407309137362663,-0.08019144410135845,-0.12512693403971395],"joint_actuator_torque":[-0.17174009674729973,-1.235152443087486,-0.9804751959715077,-0.0019131488914306714,-0.058582050827540755,0.016630731569350132],"jaw_actuator_force":[-6.883875900776104e-05,0.0006852817952065493],"end_effector_position":[0.3890841126591732,-0.22293723849254693,0.4922331558663832],"end_effector_quaternion":[0.9999981544858729,-0.0001874173766999886,-0.0003299313728826088,-0.001883359993315524],"end_effector_velocity":[-0.0013868403879368722,0.07279409416196256,-0.0087678787069342],"object_position":[0.3400000029079006,0.07000000065502818,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.453928378235828e-14,8.130397298132466e-14,1.2835685383113442e-21],"object_velocity":[-3.1402275139594103e-13,-2.8789540231809974e-13,-1.892628264290879e-14],"object_angular_velocity":[-1.0943851953384399e-11,1.193461786745624e-11,1.1578386149950511e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08787838133590621,-0.05035253240491782,0.49104025086984726],[0.29408143541161197,-0.16850270545661095,0.5245191561343048],[0.34133630197062786,-0.1955787867809573,0.5321914052574096],[0.38905774643600516,-0.22292219541971758,0.5322331443479845],[0.3890841126591732,-0.22293723849254693,0.4922331558663832]],"gripper_points":[[0.4350768603492825,-0.2231074868012809,0.5002635385814973],[0.3430800518877132,-0.22276097006722254,0.5002027680375202]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999748112867364,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.5200000000000004,"stage":"approach","target_distance":0.12560254611513094,"dwell_elapsed":0.0},{"joint_position":[-0.5171581361627466,-1.2042561759322996,1.0663228208789453,1.6019348307770047e-06,0.1371839495220669,0.5133881280073896],"joint_velocity":[0.13934140288435534,-0.15547143831218113,0.2383078097883979,0.0003958654257375162,-0.07960857834327124,-0.12522361364131132],"joint_actuator_torque":[-0.17095140442447132,-1.2309827947433973,-0.9804643344843953,-0.0018642923670731,-0.058721046587661974,0.01664336736038763],"jaw_actuator_force":[7.576282337495854e-06,0.001566608347131293],"end_effector_position":[0.38904607435170036,-0.2212871596398628,0.4920030758935567],"end_effector_quaternion":[0.9999981533860983,-0.00018395284299922173,-0.0003264416288528107,-0.0018848929963831054],"end_effector_velocity":[-0.001673526227117702,0.07272205366287106,-0.008780933034150859],"object_position":[0.34000000290789567,0.07000000065502367,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.835575001090301e-14,7.454463734910999e-14,1.2835741093374194e-21],"object_velocity":[-2.112241094201057e-13,-1.9368324547269538e-13,-1.8911017076320205e-14],"object_angular_velocity":[6.897369715644809e-12,-7.522606704870762e-12,1.683580895262577e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08722571488806537,-0.04961350222091893,0.4914004113608868],[0.29385900606222193,-0.16714537070420613,0.524399545733829],[0.34121246862296617,-0.19407975723162613,0.5319618473609615],[0.3890199868081311,-0.22127239421499487,0.5320030646613338],[0.38904607435170036,-0.2212871596398628,0.4920030758935567]],"gripper_points":[[0.4350388042882865,-0.22145760439737527,0.5000331369993264],[0.34304181124147637,-0.22111080457269852,0.4999730095771647]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999766635670773,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.5400000000000004,"stage":"approach","target_distance":0.12560254611513214,"dwell_elapsed":0.0},{"joint_position":[-0.5139991555336483,-1.207818691686628,1.0718896002728202,1.827258057315936e-06,0.13518893888478473,0.510226137965077],"joint_velocity":[0.1394372631743219,-0.1550312870471158,0.23727712018156366,0.0003967501571640521,-0.07905584130255233,-0.12531942932454476],"joint_actuator_torque":[-0.17074339735299304,-1.227247023762402,-0.9804594162334865,-0.0018674545981432428,-0.05876871962261632,0.016656116461689408],"jaw_actuator_force":[0.00011066727403452603,-0.00018307350370072584],"end_effector_position":[0.38900167160594296,-0.21963838884932393,0.49177267709604155],"end_effector_quaternion":[0.999998152297246,-0.00018055563679699032,-0.0003230432119638037,-0.0018863840646512367],"end_effector_velocity":[-0.0019498698998353316,0.07265564794507191,-0.008801574149409366],"object_position":[0.3400000029078902,0.07000000065501866,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.318309025140235e-14,9.071945007752937e-14,1.2835807651383052e-21],"object_velocity":[-2.631420434754881e-13,-2.412809631404664e-13,-1.8898527067293177e-14],"object_angular_velocity":[6.513955016778228e-13,-7.084219139997907e-13,4.364506093665809e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08657054198186746,-0.048879540365235,0.4917562449964644],[0.2936312594439166,-0.16579035627950567,0.5242788587653634],[0.34108267386230284,-0.19258241825985936,0.5317319577540695],[0.38897585544451896,-0.21962389567438384,0.5317726661394612],[0.38900167160594296,-0.21963838884932393,0.49177267709604155]],"gripper_points":[[0.4349943647619827,-0.21980902504567337,0.49980242499178323],[0.3429970499314772,-0.21946194933897448,0.4997429237815055]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999798877129516,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.5600000000000004,"stage":"approach","target_distance":0.1256025461151335,"dwell_elapsed":0.0},{"joint_position":[-0.5108378215648405,-1.2113715569389372,1.077432600364794,2.0309508186932183e-06,0.1332080195817576,0.5070617363617654],"joint_velocity":[0.13952939965237313,-0.1546054978816747,0.2362584650490605,0.00039718167392729036,-0.07850326360908078,-0.12541791458725543],"joint_actuator_torque":[-0.17040606486614251,-1.2233892587779565,-0.9803783472959822,-0.0018632744778471354,-0.05882423193210684,0.01666951552881102],"jaw_actuator_force":[0.00021913818299346133,0.0005318844261701372],"end_effector_position":[0.38895085171405863,-0.2179909710152964,0.49154197793980103],"end_effector_quaternion":[0.9999981511194245,-0.00017719945118985407,-0.0003196382066675126,-0.0018879061163634037],"end_effector_velocity":[-0.002228455766317956,0.07258741578172123,-0.008818730520298107],"object_position":[0.34000000290788507,0.07000000065501404,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.169939784164286e-14,6.730222914877549e-14,1.2835827529535123e-21],"object_velocity":[-2.000578341963694e-13,-1.8340643325386915e-13,-1.8906853739977868e-14],"object_angular_velocity":[7.904169242205013e-12,-8.621592154303722e-12,2.8002561495545403e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08591282967589872,-0.04815063515666871,0.4921078061239105],[0.29339815651854595,-0.16443769392136368,0.5241571291878421],[0.3409468772533193,-0.19108681155493962,0.5315017657233264],[0.3889253074676773,-0.21797674680965684,0.5315419672543428],[0.38895085171405863,-0.2179909710152964,0.49154197793980103]],"gripper_points":[[0.4349435144989069,-0.21816180086477704,0.49957141203047617],[0.3429467816591405,-0.21781444699207136,0.4995125388136775]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999740743064385,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.5800000000000004,"stage":"approach","target_distance":0.12560254611513477,"dwell_elapsed":0.0},{"joint_position":[-0.5076740428671171,-1.2149148203269193,1.0829522218475094,2.243113832221728e-06,0.13124074087545493,0.50389491905921],"joint_velocity":[0.1396036839437034,-0.15419705978892298,0.2352617345304897,0.0003856758547586984,-0.07794497745132484,-0.12551613568574235],"joint_actuator_torque":[-0.1696346357313132,-1.219219810590289,-0.9803921858684816,-0.0018148731107554463,-0.05896265154541247,0.016682258762905633],"jaw_actuator_force":[0.0002941011270927163,0.0012893144802568202],"end_effector_position":[0.38889368138693164,-0.21634492319987508,0.4913109138034699],"end_effector_quaternion":[0.9999981499212172,-0.0001738951325716559,-0.000316277273192149,-0.0018894134836221488],"end_effector_velocity":[-0.002513517471921668,0.07251189985053214,-0.008834877285099435],"object_position":[0.3400000029078798,0.0700000006550092,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.659744242219645e-14,8.359050551880117e-14,1.2835850896089381e-21],"object_velocity":[-2.3182592058649434e-13,-2.124384859035408e-13,-1.8909629297539438e-14],"object_angular_velocity":[5.539391081629487e-12,-6.04398452437443e-12,9.800684275732681e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08525261384306815,-0.04742679382624018,0.49245512199286195],[0.29315975443949777,-0.16308740113877174,0.5240343050904788],[0.3408051408261796,-0.18959295698122688,0.531271201217016],[0.38886840553667196,-0.21633096380872335,0.5313109033818034],[0.38889368138693164,-0.21634492319987508,0.4913109138034699]],"gripper_points":[[0.43488631724062665,-0.21651594453143858,0.49934003815365496],[0.34288943434198266,-0.21616831244052806,0.4992817843342566]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999755814501232,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.6000000000000004,"stage":"approach","target_distance":0.12560254611513605,"dwell_elapsed":0.0},{"joint_position":[-0.5045078104458315,-1.218448698452519,1.0884488571379463,2.4827428692981903e-06,0.12928688042995493,0.500725685454032],"joint_velocity":[0.1397003007930987,-0.15378241909823112,0.23428290586341677,0.00038657837203607057,-0.07741564845345339,-0.125614404273621],"joint_actuator_torque":[-0.16942565384150043,-1.2154805772281634,-0.980391688495672,-0.0018180284760577954,-0.05900688297687573,0.016695341905958117],"jaw_actuator_force":[0.0003967576570982345,-0.00047218233478041327],"end_effector_position":[0.38883016177994467,-0.21470026825211436,0.49107948461001116],"end_effector_quaternion":[0.9999981487055292,-0.00017064514872848518,-0.0003129857006774928,-0.0018909007637932886],"end_effector_velocity":[-0.0027892311498533356,0.07244207842816719,-0.008857232401411268],"object_position":[0.3400000029078749,0.07000000065500474,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.645048786009598e-14,8.345463171048541e-14,1.283588725027815e-21],"object_velocity":[-2.8259578019244243e-13,-2.588813697946905e-13,-1.888881261582772e-14],"object_angular_velocity":[-7.580842935597537e-12,8.280401748524247e-12,5.914208394215333e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08458988749658074,-0.04670800914985715,0.49279823594265754],[0.2929160525505327,-0.16173949472652216,0.5239103924082424],[0.3406574653753967,-0.1881008768378412,0.5310402615982723],[0.3888051487840881,-0.2146865693194972,0.5310794744436259],[0.38883016177994467,-0.21470026825211436,0.49107948461001116]],"gripper_points":[[0.4348227584334086,-0.2148714782992509,0.49910830560122393],[0.3428255079927575,-0.21452357087209512,0.49905065826646017]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999792634311363,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.6200000000000004,"stage":"approach","target_distance":0.12560254611513721,"dwell_elapsed":0.0},{"joint_position":[-0.5013392028204945,-1.2219734009456213,1.0939227792432407,2.7000791061205116e-06,0.1273465209775845,0.49755398028119346],"joint_velocity":[0.13979349257699228,-0.15337629236247977,0.23330983940024233,0.0003870066875158067,-0.07688666110867286,-0.12571532989027112],"joint_actuator_torque":[-0.16909159167215648,-1.2116233135317316,-0.9803127041911353,-0.00181408646103005,-0.05905880480214343,0.01670906946756645],"jaw_actuator_force":[0.0005048301131260757,0.0002545152772324144],"end_effector_position":[0.3887602641377505,-0.21305706057455598,0.49084771098119173],"end_effector_quaternion":[0.9999981473666935,-0.00016743544854895168,-0.00030968793350758645,-0.0018924380928337313],"end_effector_velocity":[-0.0030658501594508867,0.07236984938804962,-0.008876626353239723],"object_position":[0.3400000029078699,0.07000000065500019,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.908528016172992e-14,7.541060330788179e-14,1.283592438696419e-21],"object_velocity":[-2.1561155120062195e-13,-1.9752322142493442e-13,-1.890824151875865e-14],"object_angular_velocity":[7.600146099683227e-12,-8.296523795236089e-12,8.283391567337801e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08392464063323328,-0.045994282209161894,0.49313718988133676],[0.29266703393425203,-0.1603940159948678,0.523785422272821],[0.34050383239906884,-0.18661062165409206,0.5308089755292028],[0.38873551449786664,-0.2130436188782684,0.5308477010658921],[0.3887602641377505,-0.21305706057455598,0.49084771098119173]],"gripper_points":[[0.43475282631446943,-0.21322846331108095,0.4988762280536889],[0.3427561556053914,-0.212880274927855,0.4988191889217234]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999734729962234,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.6400000000000005,"stage":"approach","target_distance":0.12560254611513844,"dwell_elapsed":0.0},{"joint_position":[-0.4981681004590835,-1.2254890158242207,1.0993743559885412,2.9246718238657364e-06,0.12541923889314732,0.49437979939126186],"joint_velocity":[0.13987699731149814,-0.15298549377786153,0.23235400381420318,0.00038029880066865583,-0.07635991839207053,-0.125816123046782],"joint_actuator_torque":[-0.16848802852007339,-1.2075854858767343,-0.9802629804163985,-0.001785059542373414,-0.059157706183007974,0.016722570805633552],"jaw_actuator_force":[0.0005921677547551241,0.000736119598926166],"end_effector_position":[0.38868404865309514,-0.21141529883141957,0.49061555376003485],"end_effector_quaternion":[0.9999981459926098,-0.00016428737052979705,-0.0003064544527654674,-0.0018939658580202528],"end_effector_velocity":[-0.003346376416425162,0.07229334748398704,-0.008893957231174475],"object_position":[0.3400000029078646,0.07000000065499538,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.275522882854315e-14,9.030997873609396e-14,1.2835964110301067e-21],"object_velocity":[-2.5266934054663816e-13,-2.315314002792382e-13,-1.8901302624854747e-14],"object_angular_velocity":[2.3144825197019893e-12,-2.5251151306844398e-12,3.2819103757366922e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08325690004057246,-0.04528561274991837,0.4934720134539883],[0.2924127469063348,-0.15905096650352202,0.5236593619162694],[0.3403442951464053,-0.18512219340538952,0.5305772959388755],[0.3886595572347011,-0.21140210943300275,0.5306155440876611],[0.38868404865309514,-0.21141529883141957,0.49061555376003485]],"gripper_points":[[0.43467658061974696,-0.21158689240467576,0.49864377284031824],[0.3426799946411523,-0.21123842296294182,0.49858732975216147]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999726326631126,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.6600000000000005,"stage":"approach","target_distance":0.1256025461151398,"dwell_elapsed":0.0},{"joint_position":[-0.4949945083815074,-1.2289957279956174,1.104804000661234,3.16135366705132e-06,0.12350490189797585,0.4912031317755139],"joint_velocity":[0.13995012669692364,-0.15261562340789664,0.23143610142174584,0.0003626907889989172,-0.07581484240200378,-0.1259167992070828],"joint_actuator_torque":[-0.1676316357947485,-1.2032014459300058,-0.9805929422979034,-0.0017129084199570893,-0.059343637002474026,0.01673439712977398],"jaw_actuator_force":[0.0006455671657974449,0.0012571477632388195],"end_effector_position":[0.3886015148708192,-0.20977501266180296,0.49038298425923166],"end_effector_quaternion":[0.9999981445863364,-0.00016117538426915458,-0.0003032445321924568,-0.0018954917920685189],"end_effector_velocity":[-0.0036330940538609534,0.0722132713051607,-0.008915137517580657],"object_position":[0.3400000029078598,0.070000000654991,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.748306717251208e-14,7.364291984473205e-14,1.2836006119322709e-21],"object_velocity":[-3.691148155182624e-13,-3.382484869937421e-13,-1.887354704923911e-14],"object_angular_velocity":[-2.0550528812941743e-11,2.2426444143658696e-11,1.092189421233719e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08258666391723954,-0.044581998766765045,0.4938027451126714],[0.2921531951161743,-0.15771037073767666,0.5235321994712185],[0.3401788585159302,-0.18363562264767724,0.5303451994283855],[0.38857727979378476,-0.20976207267118344,0.5303829748244516],[0.3886015148708192,-0.20977501266180296,0.49038298425923166]],"gripper_points":[[0.4345940118347811,-0.20994679630485472,0.4984109075174154],[0.34259714982442374,-0.20959804478087643,0.49835505590726176]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999754000396189,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.6800000000000005,"stage":"approach","target_distance":0.12560254611514093,"dwell_elapsed":0.0},{"joint_position":[-0.49181841927314046,-1.2324936401702913,1.1102119030395137,3.397892631157394e-06,0.12160339391798455,0.48802392472739914],"joint_velocity":[0.14004244438568822,-0.15223082451367326,0.23050825062480518,0.0003595673692233109,-0.07530367558361803,-0.1260203436727339],"joint_actuator_torque":[-0.1672046477250717,-1.1992784656125082,-0.9805783131025123,-0.001697502208992454,-0.05941851469288473,0.01674816796506917],"jaw_actuator_force":[0.0007397306449412611,0.0011742489051389526],"end_effector_position":[0.38851268280370177,-0.20813623736338632,0.4901500136000046],"end_effector_quaternion":[0.9999981430989906,-0.00015811137750865417,-0.00030006834252590707,-0.0018970393650993046],"end_effector_velocity":[-0.003909078276291648,0.07213666169233118,-0.008936510539821528],"object_position":[0.34000000290785454,0.07000000065498617,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.814079976497383e-14,8.528305217183559e-14,1.2836048474168109e-21],"object_velocity":[-2.365979766609533e-13,-2.1678571314855587e-13,-1.8908241518758648e-14],"object_angular_velocity":[6.6918639902853e-12,-7.303018385373084e-12,1.5094393524775076e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0819139496860923,-0.043883447500336646,0.49412941502662955],[0.2918883989264466,-0.15637225746447944,0.5234039483117363],[0.3400075435440278,-0.18215094308126217,0.5301126955229066],[0.38848870137635605,-0.20812354293735677,0.5301500043967872],[0.38851268280370177,-0.20813623736338632,0.4901500136000046]],"gripper_points":[[0.4345051467935199,-0.20830821230386187,0.4981776441484249],[0.34250844892098004,-0.207959176391729,0.4981223780622932]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999737659226822,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.7000000000000005,"stage":"approach","target_distance":0.1256025461151422,"dwell_elapsed":0.0},{"joint_position":[-0.488639796251374,-1.2359828959847254,1.11559835521483,3.6368504340420614e-06,0.11971454357964435,0.48484215451373014],"joint_velocity":[0.14013563564690323,-0.15185323779075455,0.22959291460134132,0.00035631743310644414,-0.07479900555327422,-0.12612471943394715],"joint_actuator_torque":[-0.16677595613938934,-1.1953486579539003,-0.9805619726183181,-0.0016819922630710714,-0.05949262644496223,0.01676206172716377],"jaw_actuator_force":[0.0008340207947696854,0.0010789626264404717],"end_effector_position":[0.38841757069125654,-0.20649899149198264,0.4899166378896647],"end_effector_quaternion":[0.9999981415401343,-0.00015509920040330857,-0.00029693694922525794,-0.0018986018444881105],"end_effector_velocity":[-0.004184644164310538,0.07205913053473559,-0.008957628233859143],"object_position":[0.3400000029078492,0.07000000065498131,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.556298218946253e-14,9.340713869360601e-14,1.2836074753544663e-21],"object_velocity":[-2.8568161673330764e-13,-2.616922790504613e-13,-1.8909629297539425e-14],"object_angular_velocity":[-3.821455201410661e-12,4.175201086097077e-12,2.596838800793351e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08123876623115192,-0.04318995856327925,0.4944520567901534],[0.29161837494815473,-0.15503664216741814,0.5232746105083171],[0.3398303686124679,-0.18066817382669997,0.5298797790687296],[0.3883938393371964,-0.20648653847780687,0.5299166289114796],[0.38841757069125654,-0.20649899149198264,0.4899166378896647]],"gripper_points":[[0.43440999922094176,-0.20667115825958263,0.4979439798564569],[0.342413363711595,-0.20632183483881533,0.4978892909727035]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999731497585083,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.7200000000000005,"stage":"approach","target_distance":0.12560254611514352,"dwell_elapsed":0.0},{"joint_position":[-0.4854586083085436,-1.239463650803287,1.1209636985879194,3.877898008170402e-06,0.11783821370400395,0.48165778575736345],"joint_velocity":[0.14023034056454914,-0.15148202829279012,0.22869263082164057,0.0003531001652990509,-0.07429963463269085,-0.12623059905587036],"joint_actuator_torque":[-0.16635012064088528,-1.1914184449321397,-0.9805473604732242,-0.0016666499112698724,-0.05956599623310055,0.016776157902398836],"jaw_actuator_force":[0.0009282359387299266,0.0009869394690422695],"end_effector_position":[0.3883161906115564,-0.204863293384478,0.4896828387147726],"end_effector_quaternion":[0.9999981399144392,-0.00015212714767096446,-0.0002938290294900365,-0.001900181437114145],"end_effector_velocity":[-0.004459550122222974,0.07198087628050395,-0.008979836187522915],"object_position":[0.3400000029078442,0.07000000065497682,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.202883422986241e-14,6.771957740390627e-14,1.2836091629511785e-21],"object_velocity":[-1.9705523854459767e-13,-1.804967749140337e-13,-1.890962929753943e-14],"object_angular_velocity":[7.143418577140352e-12,-7.798645397830686e-12,4.0067929541733506e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08056111899119758,-0.042501530631474126,0.49477070457448274],[0.2913431363903023,-0.1537035407479275,0.5231441796387697],[0.33964734871093044,-0.17918733473294807,0.5296464343410021],[0.38829270745845557,-0.2048510785690245,0.5296828299565192],[0.3883161906115564,-0.204863293384478,0.4896828387147726]],"gripper_points":[[0.43430858181582954,-0.2050356529015806,0.4977098942649427],[0.3423119746148058,-0.20468603870065918,0.4976557782309784]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999728743356549,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.7400000000000005,"stage":"approach","target_distance":0.12560254611514476,"dwell_elapsed":0.0},{"joint_position":[-0.4822748159136731,-1.2429359832173672,1.1263081519016818,4.120552206027844e-06,0.11597424588084444,0.47847077283234746],"joint_velocity":[0.14032688398622017,-0.15111393765283054,0.22780135538034016,0.00034989445623185065,-0.07380668059967962,-0.12633837243486273],"joint_actuator_torque":[-0.16592720735417288,-1.1874902472407598,-0.9805319809967727,-0.0016514492202655195,-0.05963843499969279,0.01679050791847203],"jaw_actuator_force":[0.0010219728118787685,0.0008963552930154606],"end_effector_position":[0.38820857454188873,-0.20322916760756798,0.4894486071973468],"end_effector_quaternion":[0.99999813821353,-0.00014919936096991006,-0.0002907528411299964,-0.0019017812202577352],"end_effector_velocity":[-0.0047329467544180255,0.07190161597422758,-0.00900242241558187],"object_position":[0.34000000290783877,0.07000000065497183,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.6115083732103e-14,9.401823834616704e-14,1.2836116901770532e-21],"object_velocity":[-2.580820621709759e-13,-2.363870303844388e-13,-1.8909629297539438e-14],"object_angular_velocity":[4.250203768957163e-12,-4.640749854049857e-12,6.379804133575569e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.07988103133288434,-0.0418181711994979,0.4950853850945469],[0.2910627139110898,-0.15237297512349146,0.5230126526437614],[0.3394585161685952,-0.17770845102274,0.529412651457123],[0.38818533705746733,-0.20321718744504913,0.5294485986535337],[0.38820857454188873,-0.20322916760756798,0.4894486071973468]],"gripper_points":[[0.4342009266655698,-0.20340172101384477,0.4974753792564235],[0.3422043384999007,-0.2030518122893176,0.49742183021379294]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999726918631439,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.7600000000000006,"stage":"approach","target_distance":0.1256025461151461,"dwell_elapsed":0.0},{"joint_position":[-0.4790883812424952,-1.2464000086898794,1.1316319995377708,4.364498778996755e-06,0.11412250314997398,0.4752810870091033],"joint_velocity":[0.14042512722352582,-0.15075097826301714,0.22692255037511233,0.00034670022211113317,-0.07331907570594816,-0.12644723719198656],"joint_actuator_torque":[-0.16550697654446367,-1.1835629480072498,-0.9805177753312364,-0.0016363740260219113,-0.059710203772578296,0.016805003016138187],"jaw_actuator_force":[0.0011153950224844777,0.0008063965578841703],"end_effector_position":[0.38809474392580356,-0.20159663384667167,0.4892139261750011],"end_effector_quaternion":[0.9999981364517334,-0.0001463082750080115,-0.0002876944296553461,-0.0019033966649709246],"end_effector_velocity":[-0.005005408870953489,0.07182158882987921,-0.009025787722738387],"object_position":[0.34000000290783355,0.07000000065496699,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.113729750556329e-14,8.857232696473205e-14,1.2836125411933775e-21],"object_velocity":[-3.5036570783245124e-13,-3.2096345318600775e-13,-1.890269040363554e-14],"object_angular_velocity":[-1.482271843837192e-11,1.6176730437168694e-11,1.4590685214035358e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07919851759769822,-0.04113988329415123,0.4953961281045199],[0.29077712941375333,-0.15104496310721088,0.5228800225388258],[0.3392638946215993,-0.17623154389770374,0.5291784150133543],[0.38807175069293637,-0.2015848853987538,0.5292139178410654],[0.38809474392580356,-0.20159663384667167,0.4892139261750011]],"gripper_points":[[0.43408705709417683,-0.20176938199337904,0.4972404163845421],[0.34209048623388055,-0.20141917586283206,0.49718743104962126]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999725268633358,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.7800000000000006,"stage":"approach","target_distance":0.12560254611514732,"dwell_elapsed":0.0},{"joint_position":[-0.4758992615560918,-1.2498557872723348,1.1369354487544703,4.609117686562057e-06,0.11228282249285768,0.472088666107818],"joint_velocity":[0.14052534868957228,-0.1503902093180328,0.22605250034328933,0.00034351305814166335,-0.07283802124459601,-0.12655878582878394],"joint_actuator_torque":[-0.1650896172754699,-1.1796384628341912,-0.9805030646591604,-0.0016214209781829378,-0.059781058862091285,0.016819858343318117],"jaw_actuator_force":[0.0012083871304966465,0.0007168285828385024],"end_effector_position":[0.38797473458796133,-0.19996571671952185,0.4889787820629958],"end_effector_quaternion":[0.9999981346083168,-0.00014345753678355832,-0.0002846609319351578,-0.0019050375261006561],"end_effector_velocity":[-0.0052761698974157405,0.07174054112831525,-0.00904987650882425],"object_position":[0.34000000290782834,0.07000000065496226,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.055647858252023e-14,7.702098969722877e-14,1.283611822539887e-21],"object_velocity":[-2.1815577707285914e-13,-1.9984786782562184e-13,-1.8904078182416314e-14],"object_angular_velocity":[6.566108168752971e-12,-7.167060777830351e-12,-3.289653979254764e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07851360505192899,-0.04046667630080562,0.4957029580770895],[0.29048641746025367,-0.14971952717455772,0.5227462821268968],[0.3390635203038281,-0.17475663883312592,0.5289437105549776],[0.38795198361924615,-0.1999541967548069,0.5289787739340429],[0.38797473458796133,-0.19996571671952185,0.4889787820629958]],"gripper_points":[[0.4339670077766466,-0.20013866129260863,0.4970049927212089],[0.3419704531602075,-0.19978815308159228,0.49695256649609953]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999723727270582,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.8000000000000006,"stage":"approach","target_distance":0.1256025461151486,"dwell_elapsed":0.0},{"joint_position":[-0.4727074020209801,-1.2533034183960405,1.1422187798061483,4.8538661734480764e-06,0.11045506490231588,0.4688934579882998],"joint_velocity":[0.14062813032171623,-0.1500338868999543,0.22519475009667758,0.00034033668827834274,-0.07236239557749632,-0.12667239402555575],"joint_actuator_torque":[-0.1646758770891097,-1.1757160156004716,-0.9804899959699469,-0.0016065952560369826,-0.059851270632389486,0.016834987972139004],"jaw_actuator_force":[0.0013009970056572229,0.0006276861495706498],"end_effector_position":[0.38784857378347715,-0.19833643026036463,0.4887431513834946],"end_effector_quaternion":[0.9999981326927877,-0.00014063759982421362,-0.00028163387099827594,-0.001906702484945806],"end_effector_velocity":[-0.00554572461093709,0.07165902103158195,-0.009075015748659088],"object_position":[0.3400000029078232,0.07000000065495758,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.679819842430601e-14,8.384506114659136e-14,1.2836142432802539e-21],"object_velocity":[-2.5767326204002247e-13,-2.360175632336223e-13,-1.8917955970224125e-14],"object_angular_velocity":[-2.0313151318969834e-12,2.2197631426755774e-12,3.8098236652946803e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07782631189284135,-0.039798553778132226,0.49600590274339285],[0.2901906053888163,-0.1483966814510951,0.5226114193495833],[0.3388574226483106,-0.1732837523761491,0.5287085169051686],[0.3878260645681939,-0.19832513631402765,0.5287431434557689],[0.38784857378347715,-0.19833643026036463,0.4887431513834946]],"gripper_points":[[0.4338408073723768,-0.198509572982527,0.4967690830879748],[0.341844269138427,-0.19815875826272128,0.4967172147785189]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999722174239683,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.8200000000000006,"stage":"approach","target_distance":0.12560254611514987,"dwell_elapsed":0.0},{"joint_position":[-0.46951276097826955,-1.2567429831001464,1.1474821667122401,5.093731316791755e-06,0.10863907317445731,0.46569539719776276],"joint_velocity":[0.1407437333560999,-0.14966746515791463,0.2243297292649417,0.0003462701188610495,-0.07191235087465801,-0.12678912278731],"joint_actuator_torque":[-0.16452697389365767,-1.1721265556091112,-0.9801897530476822,-0.0016278738740902632,-0.059846169147389716,0.01685165054497162],"jaw_actuator_force":[0.001421512402716374,0.0002015561584709502],"end_effector_position":[0.38771629088710285,-0.1967087961752424,0.48850704020363794],"end_effector_quaternion":[0.9999981306721164,-0.00013786503828380544,-0.00027864097653769655,-0.001908403707369406],"end_effector_velocity":[-0.005807692295553813,0.07157926295077452,-0.009099623950649153],"object_position":[0.3400000029078185,0.07000000065495329,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.954787990481527e-14,6.501149660573326e-14,1.2836148901937376e-21],"object_velocity":[-1.902464181547844e-13,-1.7425792399739663e-13,-1.890685373997787e-14],"object_angular_velocity":[7.187619173899568e-12,-7.847101218137346e-12,1.9274714724697213e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07713665981376226,-0.039135522537247155,0.4963049879151958],[0.28988972021708986,-0.14707644466669123,0.522475441080232],[0.3386456298928524,-0.17181290598802215,0.5284728365972196],[0.3876940206988216,-0.19669772445203906,0.528507032471833],[0.38771629088710285,-0.1967087961752424,0.48850704020363794]],"gripper_points":[[0.43370848599421885,-0.19688213962604764,0.49653269610633843],[0.3417122762025196,-0.19653101292267455,0.49648137958414684]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999689418336688,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.8400000000000006,"stage":"approach","target_distance":0.125602546115151,"dwell_elapsed":0.0},{"joint_position":[-0.46631529845080766,-1.2601745795034964,1.152725842301048,5.3202823635420174e-06,0.10683472986679869,0.462494442762003],"joint_velocity":[0.14082948566788156,-0.14934167768261908,0.2235037626268033,0.00032808940433564417,-0.07141813835731807,-0.12690659695386639],"joint_actuator_torque":[-0.16358026889383837,-1.167610863094012,-0.9804854227688224,-0.0015520232226480545,-0.060039602195994135,0.016866014595720458],"jaw_actuator_force":[0.0014727998871553183,0.0024376845647626766],"end_effector_position":[0.38757790856950947,-0.19508283360134693,0.4882704389621398],"end_effector_quaternion":[0.9999981285476566,-0.00013513934802724038,-0.0002756729967559672,-0.001910142125634243],"end_effector_velocity":[-0.006085668323135298,0.07149073668322557,-0.009121640409486346],"object_position":[0.34000000290781307,0.07000000065494834,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.730850886290891e-14,8.439358987571463e-14,1.2836152174724732e-21],"object_velocity":[-2.359196048842306e-13,-2.1611025672873426e-13,-1.8909629297539425e-14],"object_angular_velocity":[4.582913149508359e-12,-5.003592130207875e-12,1.7054946796221386e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07644466610701238,-0.03847758741530527,0.496600240604702],[0.2895837851522732,-0.1457588341304752,0.5223383453493992],[0.33842816660014546,-0.17034411983603495,0.528236661020059],[0.38755587542187064,-0.195071980347769,0.5282704314214802],[0.38757790856950947,-0.19508283360134693,0.4882704389621398]],"gripper_points":[[0.4335700692088213,-0.19525638046516083,0.4962958213653996],[0.34157427723223305,-0.1949049352840712,0.4962450520760677]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999647728383813,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.8600000000000007,"stage":"approach","target_distance":0.1256025461151523,"dwell_elapsed":0.0},{"joint_position":[-0.46311487532938667,-1.263598232975386,1.1579500383862247,5.591891574282291e-06,0.10504172056786909,0.45929054640949013],"joint_velocity":[0.14096773798879345,-0.14896705690060824,0.22266107826010192,0.0003433685620962608,-0.07099995030170864,-0.12702685061908986],"joint_actuator_torque":[-0.1639263491702252,-1.1644910480894168,-0.9801760595439646,-0.0016160047369249515,-0.05994711610463099,0.016883276867666552],"jaw_actuator_force":[0.0016101900405551817,-0.0017309201910631344],"end_effector_position":[0.3874334932556993,-0.19345853204764987,0.4880333173485796],"end_effector_quaternion":[0.9999981263960948,-0.00013245825422620084,-0.000272791538677513,-0.00191186921298431],"end_effector_velocity":[-0.0063370918742759325,0.07141495843069352,-0.009153880067351973],"object_position":[0.34000000290780796,0.07000000065494365,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.42435544737308e-14,8.102671892012846e-14,1.2836174378349901e-21],"object_velocity":[-3.1296697877636354e-13,-2.8678043297821806e-13,-1.8923507085347243e-14],"object_angular_velocity":[-1.0905075746887512e-11,1.1894332416278282e-11,5.9508774044732015e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07575036888047176,-0.03782475440319817,0.49689168134059597],[0.2892728561672174,-0.14444384762405293,0.5222001064920004],[0.33820509283709654,-0.16887738982049882,0.5279999539225306],[0.38741169023292205,-0.19344789368382617,0.5280333099917466],[0.3874334932556993,-0.19345853204764987,0.4880333173485796]],"gripper_points":[[0.4334256016482738,-0.19363228049921175,0.49605843420921825],[0.34142974513129326,-0.1932805170910396,0.4960081959514241]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999654274846818,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.8800000000000007,"stage":"approach","target_distance":0.12560254611515356,"dwell_elapsed":0.0},{"joint_position":[-0.4599116247477332,-1.2670142205084924,1.163154864235577,5.800151480925576e-06,0.10326053130094896,0.45608361258039065],"joint_velocity":[0.1410803477498836,-0.1486258784238157,0.22182197829416325,0.0003437258626229803,-0.07054244277285594,-0.1271512072978953],"joint_actuator_torque":[-0.16349859749936968,-1.16055056757898,-0.9799558110263433,-0.0016090095918427996,-0.059990647504641004,0.016900713815275026],"jaw_actuator_force":[0.0017109681014755296,0.001043260696818038],"end_effector_position":[0.3872829687938285,-0.1918359501059539,0.48779575227365285],"end_effector_quaternion":[0.9999981240366831,-0.00012979886382003558,-0.00026983033483327865,-0.0019137050346424587],"end_effector_velocity":[-0.006601440744732427,0.07133136483987856,-0.00917408887355236],"object_position":[0.340000002907803,0.07000000065493917,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.808755343952623e-14,7.429980422752573e-14,1.2836205349471536e-21],"object_velocity":[-2.1052727664353907e-13,-1.9292443919042478e-13,-1.8905465961197088e-14],"object_angular_velocity":[6.870560875519517e-12,-7.497352699039884e-12,8.597804952817893e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07505373550587298,-0.037177020170309515,0.4971793516682584],[0.2889568807031322,-0.14313152716308777,0.5220608090740759],[0.3379763514775041,-0.1674127683489328,0.5277628097295758],[0.3872614022792763,-0.1918255249062745,0.5277957451011605],[0.3872829687938285,-0.1918359501059539,0.48779575227365285]],"gripper_points":[[0.4332758899692067,-0.19200991310727702,0.49582059672767753],[0.3412797462627869,-0.19165781061488604,0.49577090404599755]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999683093661428,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.9000000000000007,"stage":"approach","target_distance":0.12560254611515478,"dwell_elapsed":0.0},{"joint_position":[-0.45670522385118195,-1.27042230522995,1.1683406254203872,6.068113063648006e-06,0.10149026779609725,0.452873632929299],"joint_velocity":[0.1411949286967029,-0.14828575555728088,0.22102173240547865,0.0003367384707481663,-0.07009263219587053,-0.12727477998203954],"joint_actuator_torque":[-0.16311678700557763,-1.1566473410578055,-0.9801365686589065,-0.0015860772221182096,-0.06008165735509685,0.016916307800649122],"jaw_actuator_force":[0.0018180799396319003,-0.0019209975072236318],"end_effector_position":[0.38712651751006955,-0.1902150427482845,0.48755760552279026],"end_effector_quaternion":[0.9999981217295167,-0.0001271841606583249,-0.0002669744175035984,-0.0019154859144047567],"end_effector_velocity":[-0.006864367371164958,0.07124655231934,-0.009206020530909414],"object_position":[0.3400000029077976,0.07000000065493418,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.284951363817035e-14,9.041313729661641e-14,1.283626425475406e-21],"object_velocity":[-2.6225226979336875e-13,-2.4031455562113187e-13,-1.8898527067293174e-14],"object_angular_velocity":[6.49891305012871e-13,-7.084533838470624e-13,4.275499450887529e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07435487306391939,-0.036534408068732885,0.4974632495852762],[0.28863601014175133,-0.14182185165973593,0.5219203245269513],[0.33774210405542116,-0.1659502241493408,0.5275250708677518],[0.38710517908634273,-0.19020482712368383,0.5275575985266983],[0.38712651751006955,-0.1902150427482845,0.48755760552279026]],"gripper_points":[[0.4331187869107225,-0.19038920892474437,0.4955821864700306],[0.341122372958709,-0.19003677752753173,0.49553301999220356]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999710215687501,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.9200000000000007,"stage":"approach","target_distance":0.1256025461151561,"dwell_elapsed":0.0},{"joint_position":[-0.4534958699911759,-1.2738228465876777,1.1735073451287998,6.2669302750461784e-06,0.09973157075506199,0.4496604627029286],"joint_velocity":[0.14131426180576243,-0.14794953810609324,0.22019652967710454,0.0003372381594798133,-0.06964587213110658,-0.12740558365442053],"joint_actuator_torque":[-0.16269966270661484,-1.152708576260352,-0.9799092912019205,-0.0015794631363240808,-0.06012293475061625,0.01693463053127431],"jaw_actuator_force":[0.0019097552336795331,0.0008868110528066353],"end_effector_position":[0.3869640258838572,-0.18859588195877378,0.48731901024952246],"end_effector_quaternion":[0.9999981191802612,-0.00012460433059700512,-0.0002640591709954955,-0.0019173894896216382],"end_effector_velocity":[-0.00712532746062843,0.07116234068259432,-0.009226487319483173],"object_position":[0.3400000029077925,0.07000000065492958,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.145468061965903e-14,6.706394799873162e-14,1.283629512769701e-21],"object_velocity":[-1.9935273351056498e-13,-1.8267814091459025e-13,-1.8904078182416292e-14],"object_angular_velocity":[7.872743446073217e-12,-8.59139877631291e-12,4.4929721255659943e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0736537262688636,-0.03589690975219771,0.4977434228453687],[0.2883101585236738,-0.14051486958564458,0.5217787837106296],[0.3375022575820678,-0.1644898187141428,0.5272868872422519],[0.38694292030311206,-0.18858587312673236,0.5273190034292436],[0.3869640258838572,-0.18859588195877378,0.48731901024952246]],"gripper_points":[[0.4329560804581081,-0.18877026370643787,0.4953433224772004],[0.3409606592914581,-0.18841748567342578,0.49529469377676666]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799961104216933,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.9400000000000007,"stage":"approach","target_distance":0.12560254611515737,"dwell_elapsed":0.0},{"joint_position":[-0.45028322494861084,-1.277215642247204,1.1786554004056409,6.533409553037826e-06,0.09798354403309116,0.44644408067334185],"joint_velocity":[0.14143505264066336,-0.14761585676401126,0.2194146819145513,0.0003304607616491414,-0.06920517154854286,-0.12753592428342028],"joint_actuator_torque":[-0.1623481752170619,-1.148850715786807,-0.9801049922021434,-0.0015583306807981391,-0.06021170087131722,0.016951043948701283],"jaw_actuator_force":[0.001962983025309839,-0.0020974863057716675],"end_effector_position":[0.3867956686788269,-0.1869784105473398,0.4870798181875381],"end_effector_quaternion":[0.9999981166594052,-0.00012206718700751805,-0.0002612570740844963,-0.0019192503707521618],"end_effector_velocity":[-0.0073854910954784655,0.0710769813829929,-0.009259725937357265],"object_position":[0.3400000029077872,0.07000000065492475,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.63107220323059e-14,8.328393520147037e-14,1.2836330723845974e-21],"object_velocity":[-2.3097834475256067e-13,-2.1164196283962435e-13,-1.890130262485472e-14],"object_angular_velocity":[5.518757627628177e-12,-6.022035197450624e-12,1.652493321203193e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07295039394169352,-0.035264543361167466,0.4980198724074021],[0.28797947017062053,-0.1392105506801616,0.5216360520005097],[0.3372569668064163,-0.16303151069076444,0.5270480931572634],[0.38677478689446254,-0.18696860507735183,0.5270798115350855],[0.3867956686788269,-0.1869784105473398,0.4870798181875381]],"gripper_points":[[0.4327884889489428,-0.18715300701751678,0.49510387262592004],[0.34079145185240345,-0.1867998802055042,0.4950557594962892]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799977274064998,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.9600000000000007,"stage":"approach","target_distance":0.12560254611515864,"dwell_elapsed":0.0},{"joint_position":[-0.4470675203763126,-1.2806010495289315,1.1837847318306118,6.704078041002044e-06,0.09624700372122885,0.4432243597141417],"joint_velocity":[0.14155096819154372,-0.1472942329510861,0.21860054134337864,0.0003259165155085597,-0.06875350579835121,-0.12767271876513522],"joint_actuator_torque":[-0.16166789370126367,-1.1446432184312698,-0.9798567663565905,-0.0015290660937558927,-0.06029928821850916,0.016970177626049576],"jaw_actuator_force":[0.002099097880329026,0.0029076061321458013],"end_effector_position":[0.3866213197834843,-0.18536271267558554,0.4868401795626358],"end_effector_quaternion":[0.9999981138655555,-0.0001195590472332527,-0.0002583531787121235,-0.0019212559956641154],"end_effector_velocity":[-0.007647931089567877,0.07098941398321379,-0.009276244687117166],"object_position":[0.3400000029077824,0.07000000065492029,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.613427536428335e-14,8.313011635408025e-14,1.28363614876674e-21],"object_velocity":[-2.8149012848432215e-13,-2.5780196819498756e-13,-1.888881261582769e-14],"object_angular_velocity":[-7.544593387610217e-12,8.245566325430305e-12,3.6069039729387737e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07224481948316824,-0.03463730336472795,0.4982926448366862],[0.28764385263002723,-0.13790895258402025,0.5214922781727062],[0.33700613105951577,-0.16157537219677473,0.5268088608122107],[0.38660066994445336,-0.18535310826083976,0.5268401730793774],[0.3866213197834843,-0.18536271267558554,0.4868401795626358]],"gripper_points":[[0.4326135038345369,-0.18553753133430625,0.49486396611884886],[0.3406188032239937,-0.1851840442871638,0.4948163893412496]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999539204256778,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":0.9800000000000008,"stage":"approach","target_distance":0.1256025461151598,"dwell_elapsed":0.0},{"joint_position":[-0.4438483049029857,-1.2839787116394044,1.1888957605658135,6.979259529875795e-06,0.09452067564344516,0.44000128988065607],"joint_velocity":[0.14168787050316423,-0.14695381321406598,0.21783796538512276,0.00032353976166123313,-0.06833683537010343,-0.1278085312757682],"joint_actuator_torque":[-0.16158172858342823,-1.141050998455853,-0.9800726406653553,-0.001529725101789177,-0.06034146687199282,0.016987295782371348],"jaw_actuator_force":[0.0021447533206639946,-0.0023141445348979772],"end_effector_position":[0.3864412228157146,-0.18374870686859807,0.48659988521476605],"end_effector_quaternion":[0.9999981111701627,-0.00011709679804873279,-0.00025561459473036346,-0.0019231759217110311],"end_effector_velocity":[-0.007899963054065321,0.07090586110821817,-0.009315972541608623],"object_position":[0.34000000290777743,0.07000000065491574,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.879339206051559e-14,7.51286818412128e-14,1.283637806887657e-21],"object_velocity":[-2.1480056056626784e-13,-1.9668981540555335e-13,-1.890407818241628e-14],"object_angular_velocity":[7.56808380104827e-12,-8.264827205464713e-12,2.635753293650634e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0715371424876503,-0.03401521766801445,0.49856172886638045],[0.28730350553830025,-0.13661003134638727,0.5213472677495203],[0.3367499637374075,-0.1601213428143477,0.5265689537435733],[0.38642079170258053,-0.18373929981510154,0.5265998788907276],[0.3864412228157146,-0.18374870686859807,0.48659988521476605]],"gripper_points":[[0.43243402507654055,-0.1839237439188335,0.4946234197515256],[0.34043811085197373,-0.18356989877640065,0.4945763470547939]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999660676480115,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.0000000000000007,"stage":"approach","target_distance":0.12560254611516097,"dwell_elapsed":0.0},{"joint_position":[-0.44062587780168344,-1.2873491312041359,1.1939883146196064,7.1590157337978735e-06,0.09280579977077624,0.4367746721343583],"joint_velocity":[0.14182117980803077,-0.14663022051275723,0.21703336230444442,0.00032435833058562855,-0.06789782208162738,-0.12795414539979164],"joint_actuator_torque":[-0.16116435972841714,-1.1370743135607881,-0.9798203019047946,-0.0015221190591617859,-0.06038251093970359,0.017007667775324364],"jaw_actuator_force":[0.0022870641925099022,0.0005236105477877118],"end_effector_position":[0.38625519026983124,-0.1821364819619083,0.48635916261856116],"end_effector_quaternion":[0.9999981081563135,-0.00011464883523233369,-0.0002527434681031756,-0.0019252688586313094],"end_effector_velocity":[-0.008155460199163328,0.0708213178220814,-0.009334191863271895],"object_position":[0.3400000029077721,0.07000000065491095,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.239998912142498e-14,8.996801231166978e-14,1.2836396328000398e-21],"object_velocity":[-2.517163815021556e-13,-2.305361942833914e-13,-1.8908241518758626e-14],"object_angular_velocity":[2.3037258172017636e-12,-2.5168391221839746e-12,1.6716660699299162e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07082726833169166,-0.03339826878892177,0.4988271818521586],[0.286958286168553,-0.13531384448971256,0.5212012417961809],[0.3364883110895004,-0.15866949725447713,0.5263286305333527],[0.38623498848902166,-0.18212727114451124,0.5263591564566719],[0.38625519026983124,-0.1821364819619083,0.48635916261856116]],"gripper_points":[[0.4322473019345439,-0.18231174805151973,0.4943824322770929],[0.340252049142421,-0.1819575201911702,0.49433588900340875]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999594654081221,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.0199999999999985,"stage":"approach","target_distance":0.12560254611516233,"dwell_elapsed":0.0},{"joint_position":[-0.43739983647353975,-1.2907119994803162,1.199062829889243,7.39115761912129e-06,0.09110117205627027,0.43354450452646065],"joint_velocity":[0.14193954257249752,-0.146323755951709,0.21629357513804157,0.0003053961294674862,-0.0674474073887056,-0.12809778312244394],"joint_actuator_torque":[-0.16037670240257285,-1.1326888468931884,-0.9803057721176742,-0.0014514968015221985,-0.06058078134779521,0.017024793721788],"jaw_actuator_force":[0.002287895695726405,-0.000370675960734701],"end_effector_position":[0.38606343949429844,-0.1805259694936433,0.4861178141793828],"end_effector_quaternion":[0.9999981051581379,-0.00011224654611410481,-0.0002499791573959789,-0.0019273274935288126],"end_effector_velocity":[-0.008417800856174227,0.0707308672372021,-0.009367465602022765],"object_position":[0.34000000290776733,0.0700000006549066,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.71824244530026e-14,7.335275168581298e-14,1.2836426493659344e-21],"object_velocity":[-3.676791204114938e-13,-3.367455582082745e-13,-1.887077149167753e-14],"object_angular_velocity":[-2.045856169941681e-11,2.2338659326573383e-11,1.5241572464271285e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0701153227586231,-0.032786482670526404,0.4990889965579221],[0.2866083732222745,-0.13402035521150324,0.5210540176437333],[0.336221363953528,-0.1572197843354771,0.5260876683092317],[0.3860434585064688,-0.1805169512436331,0.5261178081722735],[0.38606343949429844,-0.1805259694936433,0.4861178141793828]],"gripper_points":[[0.43205618812803526,-0.18070146584761546,0.4941408294647785],[0.3400596002955241,-0.18034685389739727,0.49409479494083824]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999728279486068,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.0399999999999963,"stage":"approach","target_distance":0.1256025461151635,"dwell_elapsed":0.0},{"joint_position":[-0.4341702934334545,-1.2940675727276818,1.204119257592722,7.5752607482645085e-06,0.0894074247230143,0.430310641791364],"joint_velocity":[0.14207094680858715,-0.1460121787785425,0.21552056721561147,0.00029741125091974026,-0.0670056838440523,-0.12824876287351175],"joint_actuator_torque":[-0.1597421425544212,-1.1284892825030965,-0.9803013532515479,-0.0014141638656668821,-0.06069666725270295,0.017044821742246086],"jaw_actuator_force":[0.0023968838204808662,0.0016025621326978268],"end_effector_position":[0.38586589620488904,-0.17891721886883274,0.48587595159148766],"end_effector_quaternion":[0.9999981019639375,-0.00010986572936911212,-0.0002471525040111507,-0.0019294853417034157],"end_effector_velocity":[-0.008674316155371238,0.07064327319909097,-0.00939001366371907],"object_position":[0.34000000290776206,0.07000000065490176,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.780226100596928e-14,8.494091664440776e-14,1.283648446144045e-21],"object_velocity":[-2.356521425038797e-13,-2.158448142615077e-13,-1.890130262485472e-14],"object_angular_velocity":[6.6622628159915245e-12,-7.2740023804677516e-12,1.709610239010813e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0694012767058842,-0.03217985696456912,0.4993472101161124],[0.286253716194973,-0.13272959922291439,0.5209057077310071],[0.3359490669112225,-0.15577224849045185,0.5258461967677538],[0.38584614100084164,-0.17890839147699486,0.5258759457391006],[0.38586589620488904,-0.17891721886883274,0.48587595159148766]],"gripper_points":[[0.43185793921953014,-0.17909294909155726,0.49389870610114045],[0.3398622623652411,-0.1787379434547401,0.4938531929159415]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999637308248067,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.059999999999994,"stage":"approach","target_distance":0.12560254611516478,"dwell_elapsed":0.0},{"joint_position":[-0.43093698679399833,-1.2974157380146623,1.2091577913039626,7.80359399167674e-06,0.08772387437875516,0.42707298164060603],"joint_velocity":[0.14224389683584326,-0.1456582981194661,0.21474587582605,0.00031155276693911973,-0.06663319538074215,-0.12840397277113905],"joint_actuator_torque":[-0.16011391337772807,-1.1254527387914095,-0.9799643841379293,-0.0014751797047689824,-0.06059232081896404,0.017066637536473195],"jaw_actuator_force":[0.0024967708170411385,-0.002630480199885099],"end_effector_position":[0.3856626872711171,-0.17731018793641376,0.48563351676908784],"end_effector_quaternion":[0.9999980986843443,-0.00010754351795566803,-0.0002444541070223805,-0.0019316584267096671],"end_effector_velocity":[-0.008909341278804704,0.07056519889439009,-0.00942527364806871],"object_position":[0.3400000029077567,0.07000000065489694,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.526137569775725e-14,9.30507116266449e-14,1.2836508442437007e-21],"object_velocity":[-2.845965019814427e-13,-2.607650884754595e-13,-1.889158817338924e-14],"object_angular_velocity":[-3.8164776757863274e-12,4.1631527160775146e-12,1.9988699978953662e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0686852030969065,-0.03157840522414133,0.49960183085253085],[0.2858944164654505,-0.13144155258197138,0.5207562494833187],[0.3356715278624085,-0.15432685718480743,0.5256041370862076],[0.3856431475987255,-0.17730154669518838,0.5256335110632143],[0.3856626872711171,-0.17731018793641376,0.48563351676908784]],"gripper_points":[[0.43165536713716635,-0.17748615767203335,0.49365602297582123],[0.33965875970444903,-0.17713074844615603,0.493611006600719]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999730496770746,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.0799999999999919,"stage":"approach","target_distance":0.12560254611516608,"dwell_elapsed":0.0},{"joint_position":[-0.4277000548031662,-1.300756814211865,1.2141784731372054,7.938998829653248e-06,0.08605130784734466,0.42383141112972983],"joint_velocity":[0.14238479809679128,-0.1453501858792357,0.21396855575025883,0.00030700891939563655,-0.06620124846719738,-0.12856393238588668],"joint_actuator_torque":[-0.15947749192767446,-1.1212472432756613,-0.9797064907518234,-0.0014471864079302291,-0.060678010019891815,0.017088865009505128],"jaw_actuator_force":[0.0026275661624612923,0.0024351250992875606],"end_effector_position":[0.38545371139696155,-0.17570492784308092,0.4853906068150954],"end_effector_quaternion":[0.9999980951337103,-0.00010523552047973348,-0.00024162394152530312,-0.001933978362578041],"end_effector_velocity":[-0.009161868002806502,0.07047818795879993,-0.009442592631955439],"object_position":[0.34000000290775173,0.07000000065489245,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.184557168607774e-14,6.748515454382713e-14,1.2836523695966546e-21],"object_velocity":[-1.9636485489095913e-13,-1.7995249208290376e-13,-1.890824151875861e-14],"object_angular_velocity":[7.1213678448475775e-12,-7.770864868926727e-12,3.621460635181719e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06796705614436654,-0.030982119974735742,0.49985289978234376],[0.2855304049014664,-0.13015625161551647,0.5206057523788817],[0.3353886723249685,-0.15288365678319538,0.525361614432255],[0.385434397800318,-0.17569647163384133,0.5253906012585638],[0.38545371139696155,-0.17570492784308092,0.4853906068150954]],"gripper_points":[[0.43144568463471394,-0.17588114517787323,0.49341285194325707],[0.33945119927927153,-0.17552531714240482,0.49336835810357854]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999518427127206,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.0999999999999897,"stage":"approach","target_distance":0.12560254611516736,"dwell_elapsed":0.0},{"joint_position":[-0.4244590310257936,-1.3040903967977726,1.2191816336863084,8.17104169031934e-06,0.08438842731346029,0.4205858779651098],"joint_velocity":[0.142547772660889,-0.1450203305225854,0.2132395858813044,0.00030460444484914714,-0.06580543897413865,-0.12872491364871594],"joint_actuator_torque":[-0.15940856250176694,-1.1176782668575242,-0.9799136645115141,-0.0014479816013084307,-0.060716286432919375,0.017109354327764947],"jaw_actuator_force":[0.0026669883429217833,-0.0028429970275407612],"end_effector_position":[0.38523921942535894,-0.17410135298317456,0.4851470259125911],"end_effector_quaternion":[0.9999980916532404,-0.00010297217843717662,-0.00023895739531509612,-0.0019362298342233855],"end_effector_velocity":[-0.00940349721847926,0.07039550038069213,-0.009483145375090374],"object_position":[0.3400000029077463,0.07000000065488747,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.589608909899425e-14,9.37183388095943e-14,1.283656291005554e-21],"object_velocity":[-2.5725264245495894e-13,-2.35777690772381e-13,-1.891101707632017e-14],"object_angular_velocity":[4.2381338774020235e-12,-4.624524592240772e-12,1.8604766312516564e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0672469861395001,-0.0303910336994054,0.5001004034166472],[0.2851618875507142,-0.1288736496883581,0.520454029405972],[0.33510071912411743,-0.15144258251915976,0.5251184020285256],[0.3852201188204391,-0.17409307821050507,0.5251470204962786],[0.38523921942535894,-0.17410135298317456,0.4851470259125911]],"gripper_points":[[0.43123183320765535,-0.17427781611620258,0.4931690256722674],[0.33923600950375227,-0.17392156849456564,0.493125022572536]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999652399737894,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.1199999999999875,"stage":"approach","target_distance":0.12560254611516866,"dwell_elapsed":0.0},{"joint_position":[-0.4212141796692046,-1.307416965443219,1.2241670857922646,8.307696650255458e-06,0.08273651133300992,0.4173361755009824],"joint_velocity":[0.14270878789558392,-0.14470563056463187,0.21246755162371386,0.00030533136443508437,-0.06538604979234182,-0.12889580652021088],"joint_actuator_torque":[-0.1590334099747963,-1.1137233496619956,-0.9796500323020041,-0.001441058615402791,-0.060754311682654105,0.017133070288075203],"jaw_actuator_force":[0.002807319037112066,4.242117418051805e-05],"end_effector_position":[0.38501903371403656,-0.17249954134522988,0.48490299152245275],"end_effector_quaternion":[0.9999980878517903,-0.00010071473907882592,-0.00023613647162909246,-0.0019386564603173367],"end_effector_velocity":[-0.009647969410324711,0.0703122392578507,-0.00950271558133887],"object_position":[0.3400000029077411,0.07000000065488265,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.094415357895899e-14,8.830180204403784e-14,1.2836574685659288e-21],"object_velocity":[-3.4930723903881365e-13,-3.2019982580311386e-13,-1.888742483704688e-14],"object_angular_velocity":[-1.478867743174585e-11,1.6130886674775962e-11,6.515678876826051e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06652490337875946,-0.02980512964272777,0.5003443942038135],[0.28478873123289616,-0.12759379757167133,0.5203012946430744],[0.3348075251161358,-0.1500037006387209,0.5248747509937384],[0.3850001584525308,-0.1724914475585104,0.5249029862501414],[0.38501903371403656,-0.17249954134522988,0.48490299152245275]],"gripper_points":[[0.4310109249456101,-0.1726762610106919,0.4929247310624159],[0.33901577275274375,-0.1723195693552953,0.49288124806815764]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999585396471118,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.1399999999999852,"stage":"approach","target_distance":0.1256025461151699,"dwell_elapsed":0.0},{"joint_position":[-0.4179650893993337,-1.310736195738041,1.2291352154507595,8.49046061002521e-06,0.08109432723554598,0.41408223155038365],"joint_velocity":[0.14285574145839838,-0.14440920236892812,0.2117589498336742,0.00028702255511074096,-0.06495568214476957,-0.12906790787256317],"joint_actuator_torque":[-0.15828578985926356,-1.1093417163626782,-0.9801389474820326,-0.0013735167218586384,-0.06095139441522157,0.01715405204917886],"jaw_actuator_force":[0.002803385023831595,-0.0008702705751790774],"end_effector_position":[0.38479337038413086,-0.17089941933166145,0.4846583190258382],"end_effector_quaternion":[0.9999980840010554,-9.850567368708234e-05,-0.00023342849562455408,-0.0019410826844510596],"end_effector_velocity":[-0.00989953567389746,0.07022362398999214,-0.009536492956519226],"object_position":[0.34000000290773585,0.07000000065487794,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.040463483131024e-14,7.680390466569802e-14,1.2836578922068547e-21],"object_velocity":[-2.1753653228812067e-13,-1.9941035478106593e-13,-1.8901302624854684e-14],"object_angular_velocity":[6.5508799907325665e-12,-7.146318563217654e-12,1.0543999204129461e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06580093632635281,-0.02922443516564885,0.5005848650013967],[0.2844111127996418,-0.12631665429773492,0.52014737318221],[0.3345092782414372,-0.14856695451550464,0.5246304479736464],[0.3847747114368734,-0.17089150264454456,0.5246583138904598],[0.38479337038413086,-0.17089941933166145,0.4846583190258382]],"gripper_points":[[0.43078592937233445,-0.17107640010902997,0.49267980940151884],[0.3387893961865237,-0.17071925653865697,0.49263682474963816]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999723646620113,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.159999999999983,"stage":"approach","target_distance":0.12560254611517122,"dwell_elapsed":0.0},{"joint_position":[-0.41471182003657786,-1.3140483599958968,1.2340859405335758,8.622627303045663e-06,0.07946257780838546,0.4108238870893036],"joint_velocity":[0.14301807459975419,-0.14410757754787298,0.21101511114563956,0.00027928795897425913,-0.06453155404948203,-0.12924760806735744],"joint_actuator_torque":[-0.15769885161188313,-1.10515230208523,-0.9801283534337699,-0.0013380236603466283,-0.06106558936875128,0.017177916389314873],"jaw_actuator_force":[0.0029106346784182335,0.0011278062789550347],"end_effector_position":[0.38456215589671316,-0.16930101299394154,0.4844131324768225],"end_effector_quaternion":[0.9999980799256919,-9.631811895104591e-05,-0.00023065495438352518,-0.001943621887428206],"end_effector_velocity":[-0.010145118861481738,0.07013883167377481,-0.009559013598817858],"object_position":[0.3400000029077307,0.07000000065487326,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.665084801092145e-14,8.360985250750656e-14,1.2836612320190463e-21],"object_velocity":[-2.569523284830756e-13,-2.3556359119999197e-13,-1.8897139288512334e-14],"object_angular_velocity":[-2.0294360977896285e-12,2.2128076857340587e-12,5.595757429574497e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06507505191846849,-0.028648943127325573,0.500821852285771],[0.284028981402496,-0.12504223807469575,0.5199923883422513],[0.33420592357591894,-0.14713236816680142,0.524385636188528],[0.3845437185122728,-0.16929327169473907,0.5244131274785114],[0.38456215589671316,-0.16930101299394154,0.4844131324768225]],"gripper_points":[[0.4305539827563382,-0.16947825949375814,0.4924343670069159],[0.3385583825935332,-0.16912065220404984,0.49239189383680737]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999630501416082,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.1799999999999808,"stage":"approach","target_distance":0.1256025461151725,"dwell_elapsed":0.0},{"joint_position":[-0.4114541108453651,-1.3173533375638138,1.2390194374192427,8.781210813580218e-06,0.07784063531168807,0.40756102470922706],"joint_velocity":[0.14320408062123577,-0.1437834358124683,0.21028267499544698,0.00028102836067299533,-0.064148040210827,-0.12943184323233387],"joint_actuator_torque":[-0.15764386209224313,-1.1015908988892988,-0.9800716496056907,-0.0013487417044568335,-0.06107155264397157,0.01720251867980238],"jaw_actuator_force":[0.0029701697930910598,-0.0010198530555545204],"end_effector_position":[0.38432551026417877,-0.1677042784950568,0.484167373154779],"end_effector_quaternion":[0.9999980757289794,-9.41832808745032e-05,-0.0002279829320741877,-0.0019461992781885475],"end_effector_velocity":[-0.010378818015277104,0.07005902162115407,-0.009591911094118263],"object_position":[0.34000000290772603,0.07000000065486897,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.944692211167566e-14,6.483410816925386e-14,1.2836635863718764e-21],"object_velocity":[-1.8972533079813522e-13,-1.7395773581534677e-13,-1.890546596119702e-14],"object_angular_velocity":[7.174938387585008e-12,-7.825590027168913e-12,3.1235755481326914e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06434732331772663,-0.028078668638810728,0.5010553639928859],[0.2836424349675547,-0.12377052428481292,0.5198362790268793],[0.3338975647206403,-0.14569990787035508,0.5241402387221695],[0.38430728632866357,-0.16769670835106815,0.5241673682870424],[0.38432551026417877,-0.1677042784950568,0.484167373154779]],"gripper_points":[[0.4303180099607218,-0.1678817988477237,0.4921883618359625],[0.3383218445260823,-0.16752371499611815,0.4921463807575327]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999687190950178,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.1999999999999786,"stage":"approach","target_distance":0.1256025461151736,"dwell_elapsed":0.0},{"joint_position":[-0.40819195422279897,-1.3206513350729459,1.2439357215310736,8.890539559045952e-06,0.07622907054452568,0.4042934972789423],"joint_velocity":[0.14337776932307067,-0.14348585723815782,0.2095469323290421,0.00027326384674497545,-0.06372594925381862,-0.1296222556371858],"joint_actuator_torque":[-0.15706915392098608,-1.0973931388604115,-0.9800540639031965,-0.0013135719772137267,-0.06118585158068157,0.017227833409656057],"jaw_actuator_force":[0.003077506080321868,0.0009619809652345879],"end_effector_position":[0.38408338934549496,-0.16610922356354077,0.48392110990673387],"end_effector_quaternion":[0.9999980713164237,-9.205977813028306e-05,-0.00022522358499471053,-0.001948887571571161],"end_effector_velocity":[-0.010621171590333454,0.06997577056618233,-0.00961382087761376],"object_position":[0.3400000029077206,0.07000000065486402,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.71875989120989e-14,8.41918096832102e-14,1.283668115487693e-21],"object_velocity":[-2.3534797839339663e-13,-2.1576965507128303e-13,-1.8904078182416235e-14],"object_angular_velocity":[4.575438349201758e-12,-4.9901168816121385e-12,1.8533525063699258e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06361773499817495,-0.027513607766084466,0.5012854312000481],[0.2832514493364407,-0.12250152062850629,0.5196791240325925],[0.3335841755389599,-0.1442695839928113,0.5238943453067173],[0.3840653858465788,-0.16610182368065904,0.5239211051706806],[0.38408338934549496,-0.16610922356354077,0.48392110990673387]],"gripper_points":[[0.4300751491724371,-0.16628702228686057,0.49194184406359776],[0.33807967798559846,-0.1659284463722066,0.49190037171404777]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999617935289925,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.2199999999999764,"stage":"approach","target_distance":0.12560254611517493,"dwell_elapsed":0.0},{"joint_position":[-0.40492507123259575,-1.323942182402725,1.2488349778950356,9.024291740608255e-06,0.07462721959818717,0.4010211640097656],"joint_velocity":[0.14357675332393807,-0.14316245325168828,0.20882338232512795,0.00027496203863504743,-0.06334615324570382,-0.12981830757485213],"joint_actuator_torque":[-0.15702657580223445,-1.0938440733821153,-0.9799930261796135,-0.0013242882958834474,-0.061190817905043104,0.017254007364275736],"jaw_actuator_force":[0.0031354979348172662,-0.001183582666945071],"end_effector_position":[0.3838359265288712,-0.16451580224889237,0.48367426221457394],"end_effector_quaternion":[0.9999980667896173,-8.997515781325409e-05,-0.00022253335427217477,-0.0019516148200031888],"end_effector_velocity":[-0.010850693402221785,0.06989783225546581,-0.00964764645276186],"object_position":[0.3400000029077155,0.07000000065485933,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.414454430637408e-14,8.083989155067763e-14,1.2836728025913294e-21],"object_velocity":[-3.1221956379575854e-13,-2.8637480172542385e-13,-1.8906853739977795e-14],"object_angular_velocity":[-1.0888147898570659e-11,1.1862940768986648e-11,1.4147581405485937e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06288637237777857,-0.02695378011229112,0.5015120584924759],[0.2828561361666583,-0.12123520262622753,0.5195208448872632],[0.33326587370160987,-0.14284136195233796,0.5236478584360686],[0.38381813794269387,-0.16450856950623122,0.5236742576052441],[0.3838359265288712,-0.16451580224889237,0.48367426221457394]],"gripper_points":[[0.4298283656076339,-0.1646938878347791,0.49169474885163256],[0.33783224111154647,-0.16433480744214604,0.4916537718937941]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799968344028155,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.2399999999999742,"stage":"approach","target_distance":0.12560254611517616,"dwell_elapsed":0.0},{"joint_position":[-0.4016534467449193,-1.327226084369986,1.2537171745827145,9.111582485539187e-06,0.07303557522368628,0.39774382677365033],"joint_velocity":[0.14376365379712858,-0.14286639706945625,0.20809425155729339,0.00026732602504236355,-0.06293066326946377,-0.13002270906757585],"joint_actuator_torque":[-0.15648048543710047,-1.0896731806927846,-0.9799794587229371,-0.0012903335287723734,-0.06130395347076778,0.017281144434420526],"jaw_actuator_force":[0.003229663735536903,0.0008091659216464819],"end_effector_position":[0.38358308153175913,-0.16292402088136604,0.4834269184690554],"end_effector_quaternion":[0.9999980619955005,-8.791144738860265e-05,-0.00021978085140469467,-0.001954475172101992],"end_effector_velocity":[-0.011088894660381713,0.06981654129425521,-0.009669255575882567],"object_position":[0.3400000029077106,0.07000000065485484,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.800389153751733e-14,7.412487868579946e-14,1.2836769661864014e-21],"object_velocity":[-2.1003135985291848e-13,-1.9268382942303877e-13,-1.8901302624854665e-14],"object_angular_velocity":[6.86163648216003e-12,-7.479636039420489e-12,7.527619704726538e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06215321998617281,-0.026399181854981236,0.5017352764046988],[0.2824564706952039,-0.11997157569081272,0.5193615306541375],[0.33294263231602356,-0.14141524927819077,0.5234008805863005],[0.383565512843381,-0.16291695361470737,0.5234269139864918],[0.38358308153175913,-0.16292402088136604,0.4834269184690554]],"gripper_points":[[0.42957572591751836,-0.1631024033913105,0.4914471516456772],[0.33757932909016497,-0.16274279551403684,0.49140668170432855]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999710856791872,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.259999999999972,"stage":"approach","target_distance":0.12560254611517735,"dwell_elapsed":0.0},{"joint_position":[-0.39837680960656185,-1.3305028928756817,1.2585824864627386,9.212663765095725e-06,0.07145360703883974,0.39446136843830915],"joint_velocity":[0.14397540149019483,-0.1425462224714763,0.20737568658883282,0.00026878494979915235,-0.06255313925296652,-0.13023148093659126],"joint_actuator_torque":[-0.15642677663507243,-1.0860852991842194,-0.9798978396132725,-0.0012995165725831264,-0.06130970016749071,0.017309099175005116],"jaw_actuator_force":[0.0033391819597277106,-0.0013429648658078719],"end_effector_position":[0.38332497401138926,-0.16133383198562404,0.483179003625543],"end_effector_quaternion":[0.9999980570633186,-8.588153439035118e-05,-0.0002170734539618184,-0.001957389349477465],"end_effector_velocity":[-0.011315019189746015,0.06974066505081988,-0.009701704887526289],"object_position":[0.34000000290770516,0.07000000065484986,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.274451328181438e-14,9.019191897008196e-14,1.2836815702003624e-21],"object_velocity":[-2.6161260805557606e-13,-2.400091842826047e-13,-1.8898527067293092e-14],"object_angular_velocity":[6.48717695737356e-13,-7.067910587488153e-13,3.67492260937375e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06141835704451882,-0.02584983101007947,0.5019550912461512],[0.28205255580055505,-0.1187106144522964,0.5192011121721395],[0.3326145596821467,-0.13999121065780445,0.5231533253010118],[0.3833076216171012,-0.16132692748444044,0.5231789992658212],[0.38332497401138926,-0.16133383198562404,0.483179003625543]],"gripper_points":[[0.42931668009806423,-0.16151251135479958,0.4911989869974133],[0.3373212482162782,-0.16115237093386364,0.4911590163031398]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999614549477348,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.2799999999999698,"stage":"approach","target_distance":0.12560254611517865,"dwell_elapsed":0.0},{"joint_position":[-0.3950951316123249,-1.3337728173835488,1.263430910479414,9.252995070020349e-06,0.06988173277866692,0.39117359981785665],"joint_velocity":[0.14417316678528228,-0.1422549905925317,0.20665139948470634,0.00025985840160787957,-0.062140401975230734,-0.13044840521425977],"joint_actuator_torque":[-0.15579874381347736,-1.0818116808347895,-0.9798380589581939,-0.0012594022585542411,-0.06143772953787785,0.017338079332347434],"jaw_actuator_force":[0.0033713875919936243,0.002680312147870012],"end_effector_position":[0.3830615654431879,-0.15974523759370582,0.4829306014784242],"end_effector_quaternion":[0.999998051853981,-8.387997137195233e-05,-0.00021430236895390758,-0.0019604404830644855],"end_effector_velocity":[-0.011550519024072193,0.0696607787876858,-0.009721257185874977],"object_position":[0.34000000290770005,0.07000000065484525,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.138279829688184e-14,6.690904310006772e-14,1.2836858951176224e-21],"object_velocity":[-1.9888933499753224e-13,-1.8246363172508148e-13,-1.890824151875856e-14],"object_angular_velocity":[7.86340503645357e-12,-8.571099172510574e-12,6.631985066629896e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06068176663714977,-0.02530572292992372,0.5021715333843502],[0.28164436631239437,-0.11745232041929489,0.5190396724604133],[0.33228162873797124,-0.13856924901060913,0.5229052876653444],[0.3830444344424063,-0.1597384935989057,0.5229305972415158],[0.3830615654431879,-0.15974523759370582,0.4829306014784242]],"gripper_points":[[0.42905395073957336,-0.1599242322944187,0.49095032989609033],[0.3370589222321373,-0.15956353194250106,0.49091086990524657]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999574409677179,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.2999999999999676,"stage":"approach","target_distance":0.12560254611517993,"dwell_elapsed":0.0},{"joint_position":[-0.39180803149583526,-1.3370355691709497,1.2682625927604465,9.354147864166926e-06,0.06831920477760425,0.3878803835583919],"joint_velocity":[0.14441978688590332,-0.1419085726826594,0.20592910412260226,0.0002733638286412592,-0.06180140962050444,-0.13067073631584983],"joint_actuator_torque":[-0.1563079493816133,-1.0789778387264732,-0.9795056845800332,-0.0013219470777787084,-0.06130989328098746,0.017368515566694498],"jaw_actuator_force":[0.0035140662545796175,-0.0036790148777985365],"end_effector_position":[0.3827930329153235,-0.15815816201762148,0.48268160074344646],"end_effector_quaternion":[0.9999980465779542,-8.191067866220145e-05,-0.00021163550255758333,-0.001963502312353889],"end_effector_velocity":[-0.011761333006923624,0.06959248562242028,-0.00975952115930714],"object_position":[0.3400000029076948,0.07000000065484042,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.622735225562316e-14,8.309307396660776e-14,1.2836932286070725e-21],"object_velocity":[-2.3044825237091965e-13,-2.114070374576088e-13,-1.8902690403635436e-14],"object_angular_velocity":[5.5118306558018076e-12,-6.008527628257421e-12,2.6459140008983353e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05994356559677707,-0.024766884017005306,0.5023846001513909],[0.28123205315867195,-0.1161966521861287,0.518877106483342],[0.33194399822493953,-0.13714930739155282,0.5226566391844141],[0.38277611497473657,-0.1581515759323851,0.5226815966235309],[0.3827930329153235,-0.15815816201762148,0.48268160074344646]],"gripper_points":[[0.4287855782519254,-0.15833747048756974,0.4907010835716942],[0.33679002055150065,-0.15797620458429007,0.49066211469999366]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999627529545977,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.3199999999999654,"stage":"approach","target_distance":0.1256025461151812,"dwell_elapsed":0.0},{"joint_position":[-0.3885156363587785,-1.3402916085210979,1.273077408219791,9.346364457879932e-06,0.06676710791054817,0.3845814610570767],"joint_velocity":[0.14463893266031955,-0.1416140981648291,0.2051916531863934,0.0002696239119334089,-0.06139433066397882,-0.1309043549376907],"joint_actuator_torque":[-0.15580449017656406,-1.0748138134531473,-0.9792218792553626,-0.0012978596243775412,-0.061391564811507315,0.017400511311940647],"jaw_actuator_force":[0.003614112949692938,0.0015216350226356923],"end_effector_position":[0.3825192289878356,-0.1565726371328418,0.48243219458554487],"end_effector_quaternion":[0.9999980409017438,-7.995688020584306e-05,-0.00020880981470032027,-0.0019667735082670927],"end_effector_velocity":[-0.011990230517319001,0.06951737109977453,-0.009773907211658302],"object_position":[0.34000000290768995,0.07000000065483597,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.610457101059016e-14,8.295226637292666e-14,1.2836983470137234e-21],"object_velocity":[-2.8089405279627653e-13,-2.577099683145418e-13,-1.8904078182416206e-14],"object_angular_velocity":[-7.551240745519275e-12,8.22923068719343e-12,6.784057150806893e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05920366939019813,-0.024233293383803325,0.5025943378401515],[0.28081550290881374,-0.11494362661643102,0.51871360238116],[0.3316015480901632,-0.13573141131557487,0.5224076005051411],[0.38250253681595175,-0.15656620774042787,0.5224321905859736],[0.3825192289878356,-0.1565726371328418,0.48243219458554487]],"gripper_points":[[0.4285118275739595,-0.1567522779603664,0.4904514171709401],[0.3365168039576194,-0.1563904121593815,0.49041296908399834]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999574335415899,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.3399999999999632,"stage":"approach","target_distance":0.12560254611518237,"dwell_elapsed":0.0},{"joint_position":[-0.38521742395690783,-1.3435404601436445,1.2778756375849953,9.410372972217248e-06,0.06522407613828457,0.381276716626869],"joint_velocity":[0.14487870819890875,-0.14129829571470437,0.20450192913697243,0.00026694515315005285,-0.06102395502487146,-0.13114122977297205],"joint_actuator_torque":[-0.15577152763256663,-1.0712495184967565,-0.9793844049260088,-0.0012976231319677175,-0.0614252413939429,0.017431246257590516],"jaw_actuator_force":[0.0036925532283902385,-0.0038411538067855133],"end_effector_position":[0.382240415152187,-0.15498855649841525,0.48218218174791644],"end_effector_quaternion":[0.9999980351669417,-7.805051534381463e-05,-0.00020614197080814106,-0.0019700446342580244],"end_effector_velocity":[-0.012209549445188955,0.06944642387073693,-0.009810957850624701],"object_position":[0.340000002907685,0.07000000065483142,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.877736555534547e-14,7.496838007734053e-14,1.283702039596529e-21],"object_velocity":[-2.1434179492008416e-13,-1.9664205649605557e-13,-1.890546596119699e-14],"object_angular_velocity":[7.566421070754591e-12,-8.247339151583336e-12,7.729299841034948e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05846224479971317,-0.023704988786855275,0.5028007321097095],[0.28039493258232956,-0.11369318361835763,0.5185489664409381],[0.33125450686584584,-0.1343154782672436,0.5221579368085113],[0.382223936127965,-0.15498227998074557,0.5221821778610048],[0.382240415152187,-0.15498855649841525,0.48218218174791644]],"gripper_points":[[0.42823200176727627,-0.15516852472345435,0.4902011581782323],[0.3362370426682977,-0.15480605720051047,0.4901632016197164]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999568100203541,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.359999999999961,"stage":"approach","target_distance":0.12560254611518357,"dwell_elapsed":0.0},{"joint_position":[-0.38191354684169454,-1.3467826135575327,1.2826570556038028,9.368988117723685e-06,0.06369143928672502,0.3779658995733895],"joint_velocity":[0.14511513865491776,-0.14100322075562255,0.2037673108692306,0.0002634725571506844,-0.06061787386070498,-0.1313896995857176],"joint_actuator_torque":[-0.1553101017737788,-1.067130315072518,-0.97910412067165,-0.0012752908496245718,-0.061505211926733416,0.017465153842920245],"jaw_actuator_force":[0.003743102418848565,0.0013915260727657142],"end_effector_position":[0.3819564245309464,-0.15340595689564357,0.4819317881399061],"end_effector_quaternion":[0.9999980290329785,-7.615805128054029e-05,-0.00020331394375075574,-0.0019735231313213974],"end_effector_velocity":[-0.012433841059201282,0.06937476840370554,-0.00982495207565076],"object_position":[0.3400000029076797,0.07000000065482663,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.238540319376437e-14,8.980148791434737e-14,1.2837078904600755e-21],"object_velocity":[-2.512465930057122e-13,-2.304967086782682e-13,-1.8899914846073863e-14],"object_angular_velocity":[2.3038440770027868e-12,-2.5116181074721764e-12,4.216335903975076e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0577191985684879,-0.023181948573163157,0.5030038303338669],[0.2799702154420219,-0.11244534396459457,0.5183834188157831],[0.3309027401422068,-0.1329015387417976,0.5219079078428889],[0.3819401714714784,-0.15339983216396785,0.5219317843689775],[0.3819564245309464,-0.15340595689564357,0.4819317881399061]],"gripper_points":[[0.42794870176380695,-0.15358627807255362,0.48995050438675025],[0.33595387082916034,-0.153223170925025,0.48991306884842667]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999555514759575,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.3799999999999588,"stage":"approach","target_distance":0.1256025461151849,"dwell_elapsed":0.0},{"joint_position":[-0.3786034632443426,-1.350017582494002,1.2874219280598345,9.399781983259066e-06,0.06216787648419345,0.37464886390278695],"joint_velocity":[0.14537217752423567,-0.140687572362022,0.20307952992804534,0.0002607733934678159,-0.06024659169773819,-0.1316428373713663],"joint_actuator_torque":[-0.15529551686262266,-1.0635909280242686,-0.9792667002323014,-0.0012752631392308343,-0.061539062908868125,0.017498007344070032],"jaw_actuator_force":[0.0038272109645021146,-0.003992419083761689],"end_effector_position":[0.38166751935126003,-0.15182472379276132,0.4816808114307975],"end_effector_quaternion":[0.9999980228377398,-7.430322101820014e-05,-0.00020062284864026282,-0.0019770053402749822],"end_effector_velocity":[-0.012648968472150067,0.06930741117318323,-0.00986106280521436],"object_position":[0.3400000029076749,0.07000000065482227,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.719325611013532e-14,7.322926705332892e-14,1.2837124672386342e-21],"object_velocity":[-3.670621011406029e-13,-3.368178542886233e-13,-1.88971392885123e-14],"object_angular_velocity":[-2.046803537709812e-11,2.2302998437905192e-11,1.3122055542086379e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0569747002991421,-0.022664210804226023,0.5032036183406885],[0.2795415709010105,-0.11120004244305605,0.5182167667950242],[0.33054647874727205,-0.13148950386028793,0.5216572799824761],[0.3816514813069311,-0.15181874781623717,0.5216808077691578],[0.38166751935126003,-0.15182472379276132,0.4816808114307975]],"gripper_points":[[0.4276599610309421,-0.15200539559142645,0.48969927987753814],[0.335664086985532,-0.15164164351206524,0.489662339682159]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999660059769731,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.3999999999999566,"stage":"approach","target_distance":0.12560254611518606,"dwell_elapsed":0.0},{"joint_position":[-0.3752873418350116,-1.3532458847345241,1.2921700431361338,9.305255408391959e-06,0.06065475137594555,0.37132532645973415],"joint_velocity":[0.14560413162487987,-0.1404242583100611,0.20236708050778646,0.00024264641923440835,-0.059801662955001514,-0.13190847110928572],"joint_actuator_torque":[-0.15427940138587815,-1.058646055188774,-0.9794096226360693,-0.0011927683308608759,-0.06178163396678471,0.01753292311973098],"jaw_actuator_force":[0.0038768729049998285,0.004200695286900924],"end_effector_position":[0.38137352068901026,-0.15024489856256673,0.4814294816673593],"end_effector_quaternion":[0.999998016190153,-7.246080323447829e-05,-0.00019773781137873928,-0.001980723339805528],"end_effector_velocity":[-0.012881815541462753,0.06923405669344197,-0.009870353778118273],"object_position":[0.34000000290766963,0.07000000065481744,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.783787029534646e-14,8.481792625082613e-14,1.283717414701307e-21],"object_velocity":[-2.353042219607844e-13,-2.1593709169921199e-13,-1.8912404855100894e-14],"object_angular_velocity":[6.6645168009543945e-12,-7.26256215033436e-12,1.5345001217284204e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.056228648473744966,-0.022151752693657045,0.503400144373435],[0.2791088621211172,-0.10995730212512475,0.5180492349097052],[0.33018557774864,-0.13007940720316943,0.5214063181576004],[0.38135771317746625,-0.150239070376696,0.5214294781192945],[0.38137352068901026,-0.15024489856256673,0.4814294816673593]],"gripper_points":[[0.42736602592534617,-0.1504259420710865,0.4894476844339039],[0.3353714915726938,-0.150061511099618,0.48941127621479424]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799952633903111,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.4199999999999544,"stage":"approach","target_distance":0.12560254611518734,"dwell_elapsed":0.0},{"joint_position":[-0.37196456037796355,-1.356466968100082,1.2969017167552088,9.308301166618809e-06,0.059150442473600455,0.36799514292407787],"joint_velocity":[0.14590119860927594,-0.14007842301330864,0.20166521042504695,0.00025414624435491636,-0.059475981309367966,-0.1321793730216169],"joint_actuator_torque":[-0.15484920257731005,-1.0559392967907115,-0.9791401706121405,-0.001252630334371345,-0.06165355776484471,0.01756940613643465],"jaw_actuator_force":[0.003985342093084654,-0.004176888978772553],"end_effector_position":[0.38107472558296046,-0.14866634305512988,0.48117756924889704],"end_effector_quaternion":[0.999998009495167,-7.06651642693835e-05,-0.0001950502980006741,-0.0019844312836344606],"end_effector_velocity":[-0.013080164342289783,0.06917595123181085,-0.009909806842835463],"object_position":[0.3400000029076643,0.07000000065481261,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.52630007735982e-14,9.290100498584394e-14,1.2837211869367445e-21],"object_velocity":[-2.8413234852980204e-13,-2.607688932845033e-13,-1.891240485510089e-14],"object_angular_velocity":[-3.811281964120617e-12,4.152891899155621e-12,5.6078612457160455e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0554812308187132,-0.02164461476366559,0.5035933911456437],[0.2786723330529342,-0.10871704187550629,0.5178805994218136],[0.32982029398160984,-0.12867113975530312,0.5211547513184359],[0.3810591328085933,-0.14866065888812802,0.5211775658058423],[0.38107472558296046,-0.14866634305512988,0.48117756924889704]],"gripper_points":[[0.42706718404932775,-0.14884775616596563,0.4891955244693003],[0.3350726165203216,-0.14848264272984787,0.4891596113187034]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999529907785778,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.4399999999999522,"stage":"approach","target_distance":0.12560254611518865,"dwell_elapsed":0.0},{"joint_position":[-0.36863530949409024,-1.35968136471604,1.301616537076498,9.18779817870594e-06,0.05765672560461071,0.36465800074958965],"joint_velocity":[0.1461539454928945,-0.13981320956696466,0.2009503079273116,0.0002363365701638386,-0.05902361902265614,-0.13246363803357686],"joint_actuator_torque":[-0.15389469537922196,-1.0510322861573513,-0.979341820221407,-0.00117193249137548,-0.06190010501727361,0.01760657598772042],"jaw_actuator_force":[0.004023573767366173,0.0020441913325282],"end_effector_position":[0.38077093558362285,-0.1470891031242768,0.4809253564634882],"end_effector_quaternion":[0.999998002326928,-6.886824691515936e-05,-0.0001921328057655939,-0.001988387362304159],"end_effector_velocity":[-0.01330816246040342,0.06910734198193615,-0.009917915297687763],"object_position":[0.3400000029076594,0.07000000065480814,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.182057748514442e-14,6.735106332417108e-14,1.2837240221466675e-21],"object_velocity":[-1.9598400816961643e-13,-1.7988762242645108e-13,-1.8908241518758547e-14],"object_angular_velocity":[7.11916074442874e-12,-7.75659222369032e-12,4.9195066055953975e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05473234095889855,-0.02114277490045917,0.5037834069527725],[0.27823183687092745,-0.10747928910113398,0.5177111362273401],[0.32945047135076744,-0.12726474027212195,0.5209029075194285],[0.38075557594480725,-0.14708356311277426,0.5209253531308602],[0.38077093558362285,-0.1470891031242768,0.4809253564634882]],"gripper_points":[[0.426763403144061,-0.1472709088981146,0.4889430430038886],[0.3347677426041961,-0.14690506312600446,0.48890766682823406]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999639478136537,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.45999999999995,"stage":"approach","target_distance":0.12560254611518984,"dwell_elapsed":0.0},{"joint_position":[-0.36529899909394525,-1.3628885613130493,1.306314800485934,9.130220021733684e-06,0.056171996530190144,0.3613137462449948],"joint_velocity":[0.14647125110525183,-0.13946453232309472,0.2002380494569932,0.00024843916506035285,-0.058697957947837345,-0.13275366624637092],"joint_actuator_torque":[-0.15444542610148915,-1.0482843780756639,-0.9789740061204952,-0.0012310742262679995,-0.06176587696156943,0.017645934198654345],"jaw_actuator_force":[0.004137123497127249,-0.004282474994443675],"end_effector_position":[0.38046242935921887,-0.14551304954216696,0.4806726363683524],"end_effector_quaternion":[0.9999979950459519,-6.712647794634432e-05,-0.00018938966987983502,-0.0019923678540102597],"end_effector_velocity":[-0.013501349086646575,0.06905366645686438,-0.009953245079193849],"object_position":[0.340000002907654,0.07000000065480318,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.583786139841124e-14,9.350146529865504e-14,1.283726649559672e-21],"object_velocity":[-2.5666037047902614e-13,-2.356228754510477e-13,-1.890269040363542e-14],"object_angular_velocity":[4.235932081963757e-12,-4.614208040141278e-12,1.8697072782827986e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.053982155594395176,-0.020646271954485713,0.5039701778146009],[0.2777876006179384,-0.10624396682183437,0.5175406387946146],[0.3290763484358337,-0.1258601052289351,0.5206505361025345],[0.3804472889152568,-0.14550764924798687,0.5206726331383995],[0.38046242935921887,-0.14551304954216696,0.4806726363683524]],"gripper_points":[[0.42645484391668576,-0.14569524909731218,0.48869007025341277],[0.3344591256038055,-0.14532867061104807,0.4886551993593588]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999645527773702,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.4799999999999478,"stage":"approach","target_distance":0.12560254611519114,"dwell_elapsed":0.0},{"joint_position":[-0.3619557499887241,-1.366089009883967,1.310996214003935,8.951270949414204e-06,0.05469774416305943,0.35796207377862566],"joint_velocity":[0.1467433902120333,-0.1391992010951744,0.19952033422725504,0.00023078145879778806,-0.05825085493249497,-0.13305668985059896],"joint_actuator_torque":[-0.15349538382483274,-1.0433409941067566,-0.9791053086739794,-0.0011516478333783904,-0.06200996520265534,0.017685861660059032],"jaw_actuator_force":[0.004177814523080414,0.003933481579078801],"end_effector_position":[0.3801490451758103,-0.1439382115605022,0.4804196319304331],"end_effector_quaternion":[0.9999979872916033,-6.53931861960558e-05,-0.00018644078542792182,-0.0019965911717062983],"end_effector_velocity":[-0.01372486369810735,0.06898924492978156,-0.0099586145292645],"object_position":[0.34000000290764876,0.07000000065479837,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.089306475346515e-14,8.811844926716417e-14,1.2837281289097766e-21],"object_velocity":[-3.4858252675794894e-13,-3.1997988760379597e-13,-1.8905465961196983e-14],"object_angular_velocity":[-1.4775896785286967e-11,1.6101190299895113e-11,6.816030972591746e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05323058962042694,-0.0201550887704516,0.5041537465097221],[0.2773395071952036,-0.1050110928120844,0.5173693297941757],[0.32869780080608996,-0.12445726040495858,0.5203979009635297],[0.38013414038807275,-0.1439329503364538,0.5204196288075182],[0.3801490451758103,-0.1439382115605022,0.4804196319304331]],"gripper_points":[[0.4261414738825611,-0.14412082735933224,0.4884367942606068],[0.33414702031407173,-0.14375347675987138,0.488402466994995]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999519341894465,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.4999999999999456,"stage":"approach","target_distance":0.12560254611519242,"dwell_elapsed":0.0},{"joint_position":[-0.35860494228240297,-1.3692821325274596,1.3156610253011287,8.86290392836281e-06,0.05323239572124151,0.35460281169472396],"joint_velocity":[0.14707996762720657,-0.13884802167174023,0.198811051301239,0.00024174898076088455,-0.05792184252855523,-0.1333660769157446],"joint_actuator_torque":[-0.15408038235602817,-1.040666902361977,-0.9788086540315817,-0.001209389046529279,-0.06188043761775308,0.017727446174315986],"jaw_actuator_force":[0.004281226584254227,-0.004475090279518312],"end_effector_position":[0.3798310774471773,-0.14236445194921063,0.48016612624918786],"end_effector_quaternion":[0.9999979794461955,-6.370165105267406e-05,-0.0001836731866370981,-0.0020008272755701853],"end_effector_velocity":[-0.013913773380886757,0.06893976810975691,-0.00999452483313648],"object_position":[0.34000000290764354,0.07000000065479367,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.034959528769543e-14,7.664146620537858e-14,1.283731057679234e-21],"object_velocity":[-2.1707849957856363e-13,-1.9925847632704214e-13,-1.8911017076320114e-14],"object_angular_velocity":[6.546220115069028e-12,-7.131675095259531e-12,1.1340811365498028e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05247783655574412,-0.019669269256378876,0.5043340965271155],[0.27688780061346174,-0.10378058741593837,0.5171969962420038],[0.32831508404335535,-0.1230560978275041,0.5201447440933323],[0.37981639381841614,-0.1423593264275577,0.5201661232256887],[0.3798310774471773,-0.14236445194921063,0.48016612624918786]],"gripper_points":[[0.4258234496146488,-0.14254748421992552,0.48818303368153115],[0.3338289273419846,-0.1421793538454263,0.48814921617214213]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999526505082905,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.5199999999999434,"stage":"approach","target_distance":0.12560254611519373,"dwell_elapsed":0.0},{"joint_position":[-0.35524670700381256,-1.3724684291431921,1.3203087740149613,8.65218670105316e-06,0.05177771046368818,0.3512356189850405],"joint_velocity":[0.14737627890093105,-0.13857669615091076,0.1980868949373073,0.000224551446982378,-0.05746666552201928,-0.13368999680935503],"joint_actuator_torque":[-0.15319655409183497,-1.035772706772832,-0.9789983513770721,-0.001132030261015068,-0.062127978579114895,0.017769923218263983],"jaw_actuator_force":[0.004316204903922483,0.0017733056668767233],"end_effector_position":[0.3795083435033907,-0.14079179919054938,0.4799124048403459],"end_effector_quaternion":[0.9999979711034366,-6.201158963991618e-05,-0.00018067556166776553,-0.0020053179086066313],"end_effector_velocity":[-0.0141313880695287,0.06888101395098904,-0.009998992942726615],"object_position":[0.3400000029076384,0.070000000654789,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.656687020465786e-14,8.339262985485911e-14,1.2837365207623092e-21],"object_velocity":[-2.562893183561573e-13,-2.3530962565443933e-13,-1.890269040363542e-14],"object_angular_velocity":[-2.0255844660623164e-12,2.2045015992345658e-12,6.777321078697278e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.051723798207370414,-0.0191887929777906,0.5045112728524255],[0.27643234669956396,-0.10255246631185952,0.5170239145711893],[0.327928055729025,-0.12165664145091698,0.5198913949650728],[0.37949389943601913,-0.14078680928848825,0.5199124019212182],[0.3795083435033907,-0.14079179919054938,0.4799124048403459]],"gripper_points":[[0.4255007234599483,-0.14097527157322234,0.4879290362389824],[0.33350509274927187,-0.14060631042018942,0.48789577043235755]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999637660691589,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.5399999999999412,"stage":"approach","target_distance":0.125602546115195,"dwell_elapsed":0.0},{"joint_position":[-0.3518804782581265,-1.3756473764118256,1.3249397232420288,8.488975063975609e-06,0.05033218699399406,0.3478603135532468],"joint_velocity":[0.1477196371882125,-0.13824361962276133,0.19737886460274298,0.00022613849748682864,-0.0571063597871315,-0.13402053515508028],"joint_actuator_torque":[-0.15337224359370794,-1.0324597447687438,-0.9789286430830657,-0.001148195383665672,-0.0621119043611813,0.017813739357059433],"jaw_actuator_force":[0.004391548255886946,-0.00240684034122296],"end_effector_position":[0.3791811099284384,-0.13922013120538598,0.4796582646571654],"end_effector_quaternion":[0.9999979625851608,-6.036815038244484e-05,-0.00017781273303815138,-0.002009866623865376],"end_effector_velocity":[-0.014323950558029534,0.06883282211714664,-0.010028080753207824],"object_position":[0.3400000029076337,0.0700000006547847,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.937037307814579e-14,6.466177022625264e-14,1.2837404282746528e-21],"object_velocity":[-1.8922206348174104e-13,-1.7373817204732948e-13,-1.8908241518758538e-14],"object_angular_velocity":[7.166077823119e-12,-7.80461537429231e-12,6.698915996305202e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05096865270611348,-0.018713701763871327,0.5046852631788179],[0.2759733666783352,-0.10132665873215074,0.5168498852952622],[0.32753694696363606,-0.12025879470404811,0.5196376111969474],[0.37916689464533204,-0.1392152731728048,0.5196582618362309],[0.3791811099284384,-0.13922013120538598,0.4796582646571654]],"gripper_points":[[0.4251734468751863,-0.13940404809445422,0.4876746324116231],[0.3331781607287803,-0.1390342513015027,0.4876418940212671]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999603521146663,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.559999999999939,"stage":"approach","target_distance":0.1256025461151961,"dwell_elapsed":0.0},{"joint_position":[-0.348506253008263,-1.378819259511445,1.3295534590555425,8.240944515832106e-06,0.04889706093271926,0.344476559244573],"joint_velocity":[0.14805290717097097,-0.13794339702793287,0.1966355942393511,0.00021841028823782845,-0.05668463720758446,-0.13436577425092053],"joint_actuator_torque":[-0.15291813460368076,-1.0281978428535012,-0.978802221175556,-0.0011129844721740946,-0.06224211461078877,0.017859891689493423],"jaw_actuator_force":[0.004455235303799654,0.0016848669012325956],"end_effector_position":[0.3788492816280532,-0.13764944874330692,0.47940391641854263],"end_effector_quaternion":[0.999997953599465,-5.874101318078056e-05,-0.0001748102954579467,-0.0020146433272609744],"end_effector_velocity":[-0.014526775035563532,0.06878231249853863,-0.010034147396245087],"object_position":[0.3400000029076283,0.07000000065477975,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.708910478864673e-14,8.393716517827001e-14,1.2837467740078031e-21],"object_velocity":[-2.346446493179182e-13,-2.154952243174809e-13,-1.8912404855100884e-14],"object_angular_velocity":[4.569943969854601e-12,-4.977201640676711e-12,3.1265214685039777e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.050212359157395095,-0.018243989539806958,0.5048561002297751],[0.27551079744457957,-0.10010316565543229,0.5166751099609989],[0.32714168955205936,-0.11886256018192976,0.5193836330244043],[0.37883530630041035,-0.13764472129743746,0.5194039136978109],[0.3788492816280532,-0.13764944874330692,0.47940391641854263]],"gripper_points":[[0.4248416200322023,-0.13783383102347466,0.48742000770517113],[0.3328466926307843,-0.13746315670643441,0.48738782241311485]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799956798058176,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.5799999999999368,"stage":"approach","target_distance":0.12560254611519744,"dwell_elapsed":0.0},{"joint_position":[-0.34512352495145454,-1.3819836304935649,1.3341500066941163,8.036172537164181e-06,0.04747142305920986,0.3410841447556433],"joint_velocity":[0.14843479433168819,-0.1375795726235912,0.19589241605528376,0.00022996030685141843,-0.05634114216752179,-0.13471901673832337],"joint_actuator_torque":[-0.15349233999930334,-1.0254854619687421,-0.9783765688744097,-0.0011685843669061655,-0.062107682222561245,0.01790764903230979],"jaw_actuator_force":[0.004564460588325048,-0.004731876247458189],"end_effector_position":[0.37851307821533425,-0.13607964005945838,0.4791492394225357],"end_effector_quaternion":[0.9999979444065038,-5.714467452184172e-05,-0.00017189513738200422,-0.0020194972925635553],"end_effector_velocity":[-0.014704397678320442,0.06874306142316912,-0.010060729101548123],"object_position":[0.3400000029076232,0.07000000065477506,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.40282491878172e-14,8.059293231699156e-14,1.283752757707654e-21],"object_velocity":[-3.112829426822439e-13,-2.8592849297656317e-13,-1.8926282642908705e-14],"object_angular_velocity":[-1.0868079073699062e-11,1.1830139224974703e-11,1.4686504534845961e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04945507497477904,-0.017779694191718414,0.5050237772151491],[0.27504482848465145,-0.09888192348236546,0.5164994695882599],[0.3267424803306639,-0.11746785102813875,0.5191293157570978],[0.37849933586489265,-0.13607504072355278,0.5191492367974595],[0.37851307821533425,-0.13607964005945838,0.4791492394225357]],"gripper_points":[[0.4245053708939347,-0.1362644941552238,0.4871650622588313],[0.33250990644857364,-0.13589292449083598,0.48713341368462576]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999622027108189,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.5999999999999346,"stage":"approach","target_distance":0.12560254611519864,"dwell_elapsed":0.0},{"joint_position":[-0.3417323138550943,-1.3851408273316628,1.3387290103389118,7.712543764359923e-06,0.04605647541360702,0.3376827369419221],"joint_velocity":[0.14877721020398402,-0.1372946541391543,0.19514493234394403,0.00021331072490654308,-0.05588596289812,-0.1350862202070355],"joint_actuator_torque":[-0.15265831703732147,-1.0205742071501618,-0.978480749135656,-0.001094456841932174,-0.062352937165117694,0.017956155143714625],"jaw_actuator_force":[0.004600505054609627,0.0035428639040784304],"end_effector_position":[0.3781723870606384,-0.13451071187656535,0.47889444701340145],"end_effector_quaternion":[0.9999979346865692,-5.556991370618439e-05,-0.00016880086757140747,-0.0020246088135256867],"end_effector_velocity":[-0.014910016301544239,0.06869438646379303,-0.010059387444194268],"object_position":[0.34000000290761834,0.07000000065477058,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.78788804379262e-14,7.388759452670499e-14,1.283757743973861e-21],"object_velocity":[-2.09362165119687e-13,-1.923337147783772e-13,-1.8904078182416206e-14],"object_angular_velocity":[6.849662373880925e-12,-7.456369478536026e-12,1.4057058320730199e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0486967447757276,-0.017320806509190503,0.5051883295311028],[0.2745753798038377,-0.09766293512375142,0.5163231670925199],[0.3263392336644463,-0.11607467293125497,0.5188749007003447],[0.37815889201970976,-0.13450623895219246,0.5188944444868616],[0.3781723870606384,-0.13451071187656535,0.47889444701340145]],"gripper_points":[[0.42416469512738003,-0.1346960613750116,0.4869099849480421],[0.3321703407388648,-0.1343235556337717,0.4868789066018871]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799951138145423,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.6199999999999324,"stage":"approach","target_distance":0.1256025461151998,"dwell_elapsed":0.0},{"joint_position":[-0.3383319916310229,-1.3882901406861519,1.343290542728751,7.470703940538096e-06,0.04465085702797094,0.33427213860951593],"joint_velocity":[0.14918188996647624,-0.13691824139761194,0.1943968566912129,0.00022349918945950453,-0.055540042403777794,-0.13546082842264995],"joint_actuator_torque":[-0.15327025391164284,-1.0179639095961193,-0.9781315294530373,-0.0011488453357884141,-0.06222311550558768,0.018006384436212386],"jaw_actuator_force":[0.004697091150649868,-0.00489355310884676],"end_effector_position":[0.37782751891560185,-0.13294252985737168,0.4786393230263546],"end_effector_quaternion":[0.9999979248301862,-5.40194435210132e-05,-0.00016583390249168747,-0.002029757704202819],"end_effector_velocity":[-0.015080983540476493,0.06865979310010263,-0.010087693050916514],"object_position":[0.3400000029076129,0.0700000006547656,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.260079215041098e-14,8.989872833454395e-14,1.2837638421918923e-21],"object_velocity":[-2.6076286893783147e-13,-2.395910950054049e-13,-1.8906853739977767e-14],"object_angular_velocity":[6.472492580041221e-13,-7.043458171081896e-13,3.5649172442737723e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0479375957201519,-0.01686738269226633,0.5053497381834309],[0.2741027213874738,-0.09644612812091041,0.5161459971599245],[0.3259322293529018,-0.11468292394830802,0.5186201398420376],[0.3778142610026437,-0.13293818138264665,0.5186393205928359],[0.37782751891560185,-0.13294252985737168,0.4786393230263546]],"gripper_points":[[0.4238197753263223,-0.13312837753738566,0.4866545877511415],[0.33182530946452493,-0.1327549239111937,0.486624055784917]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999522894699093,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.6399999999999302,"stage":"approach","target_distance":0.1256025461152011,"dwell_elapsed":0.0},{"joint_position":[-0.3349226721205181,-1.3914320768235169,1.3478340674519729,7.0946631854696135e-06,0.04325624593200664,0.33085198112930575],"joint_velocity":[0.14954977830215826,-0.13662240384921887,0.19362679409680472,0.00020762532576623806,-0.05507536280427992,-0.13585122117567236],"joint_actuator_torque":[-0.15247246173080953,-1.0130512656755855,-0.9782132097671479,-0.0010763321905941613,-0.06246938771692623,0.01805802100536269],"jaw_actuator_force":[0.004733001561316286,0.003385013472028575],"end_effector_position":[0.37747829321363163,-0.1313751200479359,0.47838418537488303],"end_effector_quaternion":[0.9999979143919762,-5.2490135231364715e-05,-0.00016265886823260198,-0.0020351900589096056],"end_effector_velocity":[-0.01527973711573066,0.06861682972136535,-0.01008172079639837],"object_position":[0.3400000029076079,0.07000000065476102,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.128352741443615e-14,6.669556110178477e-14,1.2837675883579334e-21],"object_velocity":[-1.9825402542301823e-13,-1.82165963559845e-13,-1.8906853739977767e-14],"object_angular_velocity":[7.850287087423617e-12,-8.543540299592519e-12,5.0958705342542285e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.047177526849388925,-0.016419403103403656,0.505508047363599],[0.27362671565589886,-0.09523151475399581,0.5159682551076255],[0.3255213214240574,-0.11329262367392318,0.5183653860489649],[0.37746528907750454,-0.13137089436253835,0.5183841830378333],[0.37747829321363163,-0.1313751200479359,0.47838418537488303]],"gripper_points":[[0.4234705685620465,-0.13156149192530747,0.48639915777712633],[0.33147649709978544,-0.13118704031594566,0.48636921063180477]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999483841522229,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.659999999999928,"stage":"approach","target_distance":0.12560254611520233,"dwell_elapsed":0.0},{"joint_position":[-0.33150368048866935,-1.3945658393639349,1.3523596125545514,6.798729757542529e-06,0.04187112475439148,0.3274220648216673],"joint_velocity":[0.14997903045665165,-0.1362328498494077,0.19285666384325165,0.00021758147486892362,-0.05472327045257438,-0.1362489425014223],"joint_actuator_torque":[-0.15309599450421274,-1.01046877534111,-0.977841103536889,-0.0011297456778294208,-0.06233895484863394,0.01811131778486441],"jaw_actuator_force":[0.00482701981045075,-0.00503166423522039],"end_effector_position":[0.37712505086810416,-0.1298083379158044,0.47812880908270433],"end_effector_quaternion":[0.9999979038015492,-5.0994901498176924e-05,-0.0001596383470377278,-0.0020406635258049923],"end_effector_velocity":[-0.015443605967856008,0.06858751497099419,-0.010106100022070026],"object_position":[0.3400000029076026,0.07000000065475619,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.610032969661358e-14,8.279020946888616e-14,1.283772676747829e-21],"object_velocity":[-2.296154750562105e-13,-2.1105595931936627e-13,-1.8905465961196987e-14],"object_angular_velocity":[5.5032183537313054e-12,-5.987906439845765e-12,1.371955145481602e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04641678881062414,-0.015976929401914846,0.5056632355672337],[0.27314765760944903,-0.09401901669091128,0.5157897228805468],[0.32510681504251304,-0.11190366169463964,0.518110376223181],[0.37711228815218667,-0.129804232270784,0.5181288068359138],[0.37712505086810416,-0.1298083379158044,0.47812880908270433]],"gripper_points":[[0.42311727576893843,-0.12999523694687118,0.48614350335893525],[0.33112288620192226,-0.12961977689477805,0.486114112363141]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999516044819577,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.6799999999999258,"stage":"approach","target_distance":0.1256025461152036,"dwell_elapsed":0.0},{"joint_position":[-0.3280751286741896,-1.3976918292490708,1.3568665529734218,6.371854614494184e-06,0.04049726619205901,0.3239820104766373],"joint_velocity":[0.15037224771850202,-0.13591889002795626,0.19206070724574065,0.00020209702866781076,-0.05424824275467856,-0.13666293441771998],"joint_actuator_torque":[-0.15233925444152874,-1.0055812910823079,-0.9779063425598906,-0.0010590887557440976,-0.06258627639278025,0.018166107621667038],"jaw_actuator_force":[0.004860584872563578,0.0032578626977475267],"end_effector_position":[0.37676763395377344,-0.12824221732239843,0.4778734957925137],"end_effector_quaternion":[0.999997892609831,-4.951247882467832e-05,-0.00015638510572884423,-0.002046428134716666],"end_effector_velocity":[-0.015633997451029134,0.06854964177826767,-0.010097171551859196],"object_position":[0.3400000029075978,0.07000000065475175,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.595159053474128e-14,8.261283510697311e-14,1.2837737454401785e-21],"object_velocity":[-2.797501986284248e-13,-2.57196079876071e-13,-1.891240485510089e-14],"object_angular_velocity":[-7.534027229760649e-12,8.191400149293459e-12,8.110905129439981e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.045655307846260575,-0.015539951814480223,0.5058153417833512],[0.27266543672905014,-0.0928086557320344,0.5156106865715984],[0.3246885912646894,-0.1105160670464739,0.5178554530855717],[0.37675513127757865,-0.1282382307299694,0.5178734936398908],[0.37676763395377344,-0.12824221732239843,0.4778734957925137]],"gripper_points":[[0.4227598778356762,-0.12842967035891256,0.48588789055960246],[0.3307658327817065,-0.1280531510009131,0.4858590987383936]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999482007802239,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.6999999999999236,"stage":"approach","target_distance":0.12560254611520477,"dwell_elapsed":0.0},{"joint_position":[-0.32463635092271614,-1.4008092684267495,1.3613548525995938,6.023016094178728e-06,0.03913314640949439,0.3205316340030334],"joint_velocity":[0.1508257267304995,-0.13551337734485247,0.19126116306977425,0.00021181888103916747,-0.053886606163388445,-0.13708349643399229],"joint_actuator_torque":[-0.15297132462453078,-1.00302597393204,-0.9775080992786798,-0.0011113059254416625,-0.062456219931195545,0.01822243109662125],"jaw_actuator_force":[0.004951523322890949,-0.005156724932398049],"end_effector_position":[0.37640637606526967,-0.12667661447855819,0.4776180529000747],"end_effector_quaternion":[0.9999978812496534,-4.8070178081320034e-05,-0.00015330304179385262,-0.002052238689697711],"end_effector_velocity":[-0.015790296727029262,0.06852529166669098,-0.010116259110292104],"object_position":[0.34000000290759286,0.07000000065474721,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.864772073345442e-14,7.464971814524952e-14,1.283773782618847e-21],"object_velocity":[-2.1343379314532368e-13,-1.9626941879948975e-13,-1.8906853739977764e-14],"object_angular_velocity":[7.551815437575418e-12,-8.212545208745915e-12,-1.528223562615798e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.044893329984931944,-0.01510853012525149,0.5059643477703568],[0.27218033912877465,-0.09160035253808306,0.5154309510899551],[0.3242669453909053,-0.10912972850769029,0.517600381017363],[0.37639411974002934,-0.1266727437033049,0.5176180508350695],[0.37640637606526967,-0.12667661447855819,0.4776180529000747]],"gripper_points":[[0.42239857319033225,-0.12686462483858957,0.4856321638906124],[0.33040419741287336,-0.1264870349617387,0.4856039395252714]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999515501054502,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.7199999999999214,"stage":"approach","target_distance":0.12560254611520597,"dwell_elapsed":0.0},{"joint_position":[-0.3211874474827945,-1.4039184878166235,1.3658237630493764,5.546499991771473e-06,0.03778059243797221,0.31707056749378043],"joint_velocity":[0.15124446991542267,-0.13517929598301526,0.19043092959064523,0.00019674398906840038,-0.05339956560880121,-0.13751990248255572],"joint_actuator_torque":[-0.1522552759316511,-0.9981632725400686,-0.977550970526238,-0.0010424734081014644,-0.06270462618113237,0.018280212446313726],"jaw_actuator_force":[0.004982631683715155,0.0031337602821945865],"end_effector_position":[0.37604113765345343,-0.12511156492612396,0.47736279469004184],"end_effector_quaternion":[0.9999978692909508,-4.664655436766168e-05,-0.00015000519553693594,-0.0020583333302941274],"end_effector_velocity":[-0.01597187586954177,0.06849245226305611,-0.010102209219531678],"object_position":[0.34000000290758753,0.07000000065474242,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.224610102029018e-14,8.940403842622362e-14,1.2837747582708836e-21],"object_velocity":[-2.501348699749991e-13,-2.3010163500925783e-13,-1.890546596119698e-14],"object_angular_velocity":[2.2985376686960972e-12,-2.5005515482774186e-12,2.9398636789472374e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.044130799903410865,-0.014682660303836234,0.5061102895335254],[0.27169227272214747,-0.0903941319053272,0.515250812303257],[0.3238417769097746,-0.10774467748066889,0.5173455154379871],[0.37602914494451245,-0.12510780850887027,0.5173627927158451],[0.37604113765345343,-0.12511156492612396,0.47736279469004184]],"gripper_points":[[0.42203335434622496,-0.12530015870759975,0.4853766020781947],[0.33003931926197244,-0.12492144879868865,0.485348985069844]],"object_size":[0.04,0.04,0.04],"gripper_width":0.079994818739845,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.7399999999999192,"stage":"approach","target_distance":0.1256025461152073,"dwell_elapsed":0.0},{"joint_position":[-0.3177277609913449,-1.4070186336861012,1.3702731917943765,5.146949566664119e-06,0.03643818392406851,0.3135986221204091],"joint_velocity":[0.1517223044804694,-0.13475025274829264,0.18959480547654306,0.0002062656241291969,-0.0530216508554221,-0.13796313609066332],"joint_actuator_torque":[-0.1528950785238834,-0.9956418412416497,-0.9771238450263127,-0.0010934446028555143,-0.06257601610856245,0.018339539162848695],"jaw_actuator_force":[0.005070335143306792,-0.005275564853544523],"end_effector_position":[0.37567226310154495,-0.12354693108277483,0.47710751506040816],"end_effector_quaternion":[0.9999978571674345,-4.524896767795727e-05,-0.00014683667566064062,-0.002064473797517327],"end_effector_velocity":[-0.01611906250556147,0.06847263089441194,-0.010116747396420094],"object_position":[0.34000000290758275,0.07000000065473806,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.706428753231102e-14,7.290348380430712e-14,1.2837744731723197e-21],"object_velocity":[-3.654242809851182e-13,-3.3615341944293465e-13,-1.8931833758031826e-14],"object_angular_velocity":[-2.0424653093455502e-11,2.2202864829081523e-11,-2.729752991466268e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0433679837558828,-0.014262408194768155,0.5062531478507264],[0.2712015405812307,-0.0891899216849067,0.5150700694504728],[0.3234133973537062,-0.10636081019306345,0.5170906139837481],[0.3756605236658885,-0.12354328692187991,0.5171075131717299],[0.37567226310154495,-0.12354693108277483,0.47710751506040816]],"gripper_points":[[0.42166443490966166,-0.12373611182093712,0.4851210307274492],[0.3296700675745187,-0.12335627068137979,0.48509399707221496]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999515547844369,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.759999999999917,"stage":"approach","target_distance":0.12560254611520846,"dwell_elapsed":0.0},{"joint_position":[-0.31425741009590036,-1.4101099869237808,1.3747024247667576,4.623415004167255e-06,0.03510761344633543,0.31011543732016866],"joint_velocity":[0.1521652079012399,-0.1343903410573255,0.18873000717172594,0.0001916118455784096,-0.05252405904449519,-0.1384218612545806],"joint_actuator_torque":[-0.1522185278851822,-0.9908144966459531,-0.977146248878114,-0.001026454976719862,-0.06282534109659554,0.01840030225592315],"jaw_actuator_force":[0.005098613604264557,0.003010403466754852],"end_effector_position":[0.375299625887258,-0.12198276033135977,0.47685250466744283],"end_effector_quaternion":[0.9999978444284169,-4.386453760230529e-05,-0.0001434348171965957,-0.002070903395995178],"end_effector_velocity":[-0.01629078219339311,0.06844396025676373,-0.010099507116944387],"object_position":[0.34000000290757754,0.07000000065473325,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.768204260554903e-14,8.443503322820642e-14,1.283774279844459e-21],"object_velocity":[-2.3424263445970945e-13,-2.1550574257562115e-13,-1.890685373997777e-14],"object_angular_velocity":[6.651313679443701e-12,-7.229883158984973e-12,2.597627883341732e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04260483929005535,-0.013847774474804772,0.5063929572387175],[0.2707080625699879,-0.08798775588517566,0.5148889966557095],[0.3229817179049725,-0.10497816829171898,0.5168360056887702],[0.3752881583937546,-0.12197922741274383,0.5168525028676313],[0.375299625887258,-0.12198276033135977,0.47685250466744283]],"gripper_points":[[0.4212918193220844,-0.1221725546784265,0.48486570717068433],[0.32929779068598053,-0.1217915318808982,0.48483929999328923]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999482148692685,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.7799999999999148,"stage":"approach","target_distance":0.1256025461152097,"dwell_elapsed":0.0},{"joint_position":[-0.31077574245636547,-1.4131916424090623,1.3791112351861146,4.175405149674477e-06,0.0337874700256134,0.30662084116720584],"joint_velocity":[0.15266638791699766,-0.13393390205536937,0.18785231661500396,0.0002009189516944073,-0.05213523414364216,-0.1388866837098411],"joint_actuator_torque":[-0.15286441180356292,-0.9883321124491431,-0.97668835158197,-0.0010761405582571958,-0.06269744471709515,0.018462487851270026],"jaw_actuator_force":[0.005182548289885958,-0.0053876509057992905],"end_effector_position":[0.3749235819137102,-0.1204189194677693,0.47659758643324945],"end_effector_quaternion":[0.9999978315186511,-4.251203020176885e-05,-0.00014017892500386222,-0.0020773782977584337],"end_effector_velocity":[-0.016427900567083417,0.06842801260804593,-0.010108818879406727],"object_position":[0.3400000029075722,0.07000000065472843,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.510540001012998e-14,9.249727122736461e-14,1.2837768825843558e-21],"object_velocity":[-2.828924055662009e-13,-2.602883640456299e-13,-1.8904078182416203e-14],"object_angular_velocity":[-3.806208417483097e-12,4.135912988360518e-12,4.13640904321183e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04184164678372055,-0.01343882810812803,0.5065296991165805],[0.2702121520933153,-0.08678756559176021,0.5147074136015466],[0.3225470595600974,-0.10359665126509257,0.516581473171018],[0.3749123746891135,-0.12041549521635554,0.5165975847166572],[0.3749235819137102,-0.1204189194677693,0.47659758643324945]],"gripper_points":[[0.42091573325233955,-0.1206093308185475,0.4846104891867735],[0.3289213715586142,-0.12022711524889251,0.4845846814287825]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999515931948827,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.7999999999999126,"stage":"approach","target_distance":0.12560254611521104,"dwell_elapsed":0.0},{"joint_position":[-0.3072828659811805,-1.4162638589417773,1.3834987988316514,3.6076725249270285e-06,0.03247949149232536,0.3031144953887263],"joint_velocity":[0.15313387644492454,-0.1335456037537288,0.18694151462246214,0.00018672318676463842,-0.05162487728372753,-0.13936607407476503],"joint_actuator_torque":[-0.15222813369669552,-0.9835420334743503,-0.9766824153657012,-0.0010110386993918705,-0.06294754221939813,0.018526007802027067],"jaw_actuator_force":[0.0052076113518300104,0.0028880136468778517],"end_effector_position":[0.37454401220187283,-0.11885545316891563,0.47634307942304926],"end_effector_quaternion":[0.99999781801395,-4.118465101831679e-05,-0.00013672758907317447,-0.0020841249314084744],"end_effector_velocity":[-0.016589035755751352,0.06840355001630885,-0.010085340312086272],"object_position":[0.3400000029075673,0.07000000065472398,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.171368520838068e-14,6.707133591334884e-14,1.283779451380046e-21],"object_velocity":[-1.9516400285430056e-13,-1.7957409706811192e-13,-1.8908241518758538e-14],"object_angular_velocity":[7.10664631985854e-12,-7.723720451014308e-12,5.344004374179462e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04107837034649119,-0.01303557034030033,0.5066634081254324],[0.26971373504097973,-0.08558938281182646,0.5145256156312691],[0.32210933945013337,-0.10221629816988453,0.5163273715180233],[0.37453308088533066,-0.11885213560743314,0.5163430777918006],[0.37454401220187283,-0.11885545316891563,0.47634307942304926]],"gripper_points":[[0.4205361875050551,-0.11904650638423242,0.48435566447124945],[0.3285421620739789,-0.11866305082761766,0.48433049227148894]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999482804384732,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.8199999999999104,"stage":"approach","target_distance":0.12560254611521224,"dwell_elapsed":0.0},{"joint_position":[-0.30377816941063307,-1.419325627147591,1.3878647701882794,3.1155629757225144e-06,0.03118242335813681,0.29959624231148985],"joint_velocity":[0.15365680816073998,-0.13305540244186181,0.1860128859665533,0.00019585604713516318,-0.051216642065481106,-0.13985102121988283],"joint_actuator_torque":[-0.15287782140289607,-0.9811035248537792,-0.9761888524552091,-0.0010593905501385277,-0.06282157493247986,0.018590857425287766],"jaw_actuator_force":[0.005287677484332676,-0.005492502038507041],"end_effector_position":[0.37416128674646054,-0.1172922476731386,0.47608880167200807],"end_effector_quaternion":[0.9999978043466689,-3.987901828053726e-05,-0.00013339192496091622,-0.002090913221459312],"end_effector_velocity":[-0.016714976974155134,0.06839058979737171,-0.010088927858529443],"object_position":[0.3400000029075619,0.07000000065471902,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.568744612137585e-14,9.31180255896327e-14,1.2837842583060388e-21],"object_velocity":[-2.556070134880581e-13,-2.3521031628473303e-13,-1.8902690403635404e-14],"object_angular_velocity":[4.22916003470433e-12,-4.595604587858455e-12,3.0371222933416257e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04031531806278553,-0.01263807862324284,0.5067940644201194],[0.2692131469387532,-0.08439315577577533,0.5143434245719682],[0.3216688993894958,-0.1008370276232307,0.5160734862734336],[0.37415062208657957,-0.11728903504580583,0.5160888001213088],[0.37416128674646054,-0.1172922476731386,0.47608880167200807]],"gripper_points":[[0.42015342199941946,-0.11748394597158328,0.4841010796409955],[0.3281590629204836,-0.11709923997410371,0.48407652152835484]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999516674341962,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.8399999999999082,"stage":"approach","target_distance":0.12560254611521357,"dwell_elapsed":0.0},{"joint_position":[-0.3002617756081346,-1.4223771477839982,1.3922083486888437,2.5089019755252713e-06,0.029897895108893964,0.2960657630642162],"joint_velocity":[0.1541462784239722,-0.13263084223854157,0.18505279018408907,0.00018214885999261586,-0.050691690021157636,-0.14034972113325936],"joint_actuator_torque":[-0.15227954287109924,-0.9763630410517408,-0.9761546015142812,-0.0009961956553072291,-0.06307265639489312,0.01865695677575019],"jaw_actuator_force":[0.005309238532930749,0.0027659962888062495],"end_effector_position":[0.3737753018851497,-0.11572935740218877,0.4758350485931256],"end_effector_quaternion":[0.999997790090292,-3.859256043962666e-05,-0.00012984386330388103,-0.002097967043988186],"end_effector_velocity":[-0.016864094026050405,0.06836895868263737,-0.010061045114651933],"object_position":[0.34000000290755666,0.07000000065471422,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.072961059301942e-14,8.774852135021142e-14,1.283789798117705e-21],"object_velocity":[-3.471279861427437e-13,-3.1936341412157376e-13,-1.888603705826602e-14],"object_angular_velocity":[-1.4749816155030922e-11,1.603356587368756e-11,1.5034621794500972e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03955246980824178,-0.012246358214865631,0.5069217016460453],[0.2687103286339604,-0.0831989242755212,0.5141611151457941],[0.3212256712815209,-0.0994588873310881,0.5158201474061532],[0.3737649208763144,-0.1157262482115248,0.5158350471252204],[0.3737753018851497,-0.11572935740218877,0.4758350485931256]],"gripper_points":[[0.4197674633215043,-0.11592172517155123,0.4838469999657027],[0.3277734373084449,-0.1155357226659362,0.48382309519101996]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999483893927983,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.859999999999906,"stage":"approach","target_distance":0.12560254611521482,"dwell_elapsed":0.0},{"joint_position":[-0.29673309539042414,-1.4254174177305488,1.396529085567571,1.9777354577012873e-06,0.028624651224965002,0.29252294673465007],"joint_velocity":[0.1546894365527556,-0.13210595308196482,0.1840691319320228,0.00019110234707779428,-0.050268967609582854,-0.14085195487424856],"joint_actuator_torque":[-0.15293105633492132,-0.9739707832068234,-0.9756231901918113,-0.0010431753387870855,-0.06294794402130632,0.0187240893564109],"jaw_actuator_force":[0.005384942945472204,-0.005589316632956809],"end_effector_position":[0.3733864241758455,-0.11416667384996214,0.47558168045050786],"end_effector_quaternion":[0.9999977757002833,-3.733848564295688e-05,-0.00012644652509256977,-0.0021050443224906877],"end_effector_velocity":[-0.016978616286080606,0.06835846549150304,-0.010057346224523754],"object_position":[0.34000000290755145,0.07000000065470952,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.020844054819473e-14,7.631983382518866e-14,1.2837950675284938e-21],"object_velocity":[-2.161676791041174e-13,-1.9886022592953452e-13,-1.8904078182416175e-14],"object_angular_velocity":[6.533219629264876e-12,-7.101655085091227e-12,1.7259480320665327e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03879013290708077,-0.011860484204388304,0.5070463038979018],[0.2682056100808129,-0.08200663837661509,0.5139785393234335],[0.32077999026645987,-0.0980817987077504,0.5155671766084512],[0.37337631476427185,-0.11416366548371168,0.515581679059877],[0.3733864241758455,-0.11416667384996214,0.47558168045050786]],"gripper_points":[[0.4193785501515283,-0.11435971247364048,0.48359331908057646],[0.3273841900857313,-0.11397240634822033,0.48357003972959145]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999517830777053,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.8799999999999037,"stage":"approach","target_distance":0.12560254611521612,"dwell_elapsed":0.0},{"joint_position":[-0.2931922771491322,-1.4284465578293006,1.4008260527803036,1.3381095501087987e-06,0.027364390256950026,0.2889674821719044],"joint_velocity":[0.15519870882911685,-0.13164346822157702,0.1830489991890774,0.00017792198023646217,-0.049726618404428484,-0.14136781599112827],"joint_actuator_torque":[-0.15236914921518974,-0.969282559694534,-0.9755532742195783,-0.0009819207441287342,-0.06319997370814212,0.018792481986306342],"jaw_actuator_force":[0.005402582660375188,0.002645275685129178],"end_effector_position":[0.37299456731196007,-0.11260426537318369,0.47532900388730515],"end_effector_quaternion":[0.9999977607285512,-3.611011965192633e-05,-0.00012286253758344012,-0.0021123775087000694],"end_effector_velocity":[-0.017115458184177184,0.06833890101231058,-0.010021870622273115],"object_position":[0.3400000029075464,0.07000000065470484,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.640976301991042e-14,8.307435222676618e-14,1.2837982032870276e-21],"object_velocity":[-2.5530167316251706e-13,-2.3482394668854974e-13,-1.8890200394608354e-14],"object_angular_velocity":[-2.0206669800354135e-12,2.1973409667064365e-12,1.9708396447557745e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03802830888565371,-0.011480467454742712,0.5071679032469631],[0.2676989514286999,-0.08081634944080705,0.5137959816320483],[0.32033180701148134,-0.0967058223959468,0.5153149162619637],[0.37298474443321955,-0.11260135580751547,0.5153290025753736],[0.37299456731196007,-0.11260426537318369,0.47532900388730515]],"gripper_points":[[0.41898672237293405,-0.11279799824450687,0.48334031262607957],[0.3269926918148791,-0.11240934420872156,0.4833176931998012]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999485432302358,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.8999999999999015,"stage":"approach","target_distance":0.12560254611521732,"dwell_elapsed":0.0},{"joint_position":[-0.28963877332367893,-1.4314633148797051,1.4050987467178075,7.751183851586987e-07,0.026115972476243098,0.285399294776029],"joint_velocity":[0.1557590236430906,-0.13107735720402944,0.18200326437763995,0.00018673935697040354,-0.049281543030102085,-0.14188558604453752],"joint_actuator_torque":[-0.15301937756539985,-0.9669550500260584,-0.9749868116393827,-0.0010275007353718786,-0.06307834061223705,0.01886166713421744],"jaw_actuator_force":[0.005471502414676976,-0.0056752479466872785],"end_effector_position":[0.3726001471633771,-0.1110420518254507,0.47507679849241896],"end_effector_quaternion":[0.9999977456500666,-3.487611145543068e-05,-0.00011930532511348741,-0.0021197275015466047],"end_effector_velocity":[-0.01721752975923584,0.06832954790817662,-0.010011155315227093],"object_position":[0.34000000290754173,0.07000000065470056,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.924957553017246e-14,6.441686118184117e-14,1.2837982387770609e-21],"object_velocity":[-1.885041767530739e-13,-1.7338307658454214e-13,-1.8904078182416162e-14],"object_angular_velocity":[7.151396005606009e-12,-7.775185808552483e-12,-1.3506096888653372e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03726737233920863,-0.011106401247444999,0.5072864778712831],[0.2671907459936877,-0.07962803515095014,0.5136132412252278],[0.31988151912283913,-0.09533090958717007,0.5150631244938401],[0.37259060867311267,-0.1110392415112418,0.5150767972564106],[0.3726001471633771,-0.1110420518254507,0.47507679849241896]],"gripper_points":[[0.41859227588768666,-0.11123648034593525,0.4830877797868927],[0.32659791116977316,-0.11084647250504134,0.4830658152012935]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799951940506213,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.9199999999998993,"stage":"approach","target_distance":0.12560254611521843,"dwell_elapsed":0.0},{"joint_position":[-0.28607277955537636,-1.4344678624733864,1.4093464704022163,1.0923341412451005e-07,0.0248806951955896,0.2818181663030429],"joint_velocity":[0.15628406219268653,-0.13057547305684303,0.18093216081465407,0.00017406342156338846,-0.04873375117059064,-0.142412976917673],"joint_actuator_torque":[-0.1524906756869342,-0.9623379722851269,-0.9748924344226566,-0.0009682060527325381,-0.06333018253245015,0.01893159931536914],"jaw_actuator_force":[0.005483379008856204,0.0025317570428704528],"end_effector_position":[0.3722030688038451,-0.10948011520378981,0.47482533506419994],"end_effector_quaternion":[0.9999977300451586,-3.3662636507037775e-05,-0.00011554469392036917,-0.0021273036409346214],"end_effector_velocity":[-0.017342079059855634,0.06831067306900007,-0.009970914752201316],"object_position":[0.3400000029075363,0.07000000065469562,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.694199983319625e-14,8.365113153345525e-14,1.2837977018515372e-21],"object_velocity":[-2.338372197111651e-13,-2.1508219937490365e-13,-1.891240485510086e-14],"object_angular_velocity":[4.560440528205935e-12,-4.958460236166787e-12,1.7083038646797842e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.036507311501161065,-0.01073829093800503,0.5074020643663056],[0.2666809382406429,-0.0784417527529273,0.5134305643347112],[0.3194290610351075,-0.09395712941884699,0.5148120955774709],[0.37219383097816594,-0.10947740253509042,0.5148253339055],[0.3722030688038451,-0.10948011520378981,0.47482533506419994]],"gripper_points":[[0.41819523931010943,-0.10967526012862966,0.48283597022167984],[0.32620120098421695,-0.10928385967441116,0.4828146980553302]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999487341328539,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.9399999999998971,"stage":"approach","target_distance":0.12560254611521976,"dwell_elapsed":0.0},{"joint_position":[-0.2824938070017088,-1.4374591148579412,1.4135687022379466,-4.798520541784618e-07,0.02365738764020107,0.27822406032713354],"joint_velocity":[0.1568567218278262,-0.12996992907277866,0.17983329796806521,0.0001826862548413493,-0.04828387283111764,-0.14294098405801756],"joint_actuator_torque":[-0.15313429480650598,-0.9600671599856696,-0.9742908804142303,-0.0010123057853440535,-0.06320877020207716,0.019002130215593382],"jaw_actuator_force":[0.0055479842774488475,-0.0057509577931096345],"end_effector_position":[0.37180370243027566,-0.107918381145333,0.47457447058485586],"end_effector_quaternion":[0.9999977143590127,-3.246956739337842e-05,-0.00011189702840448406,-0.0021348774045446715],"end_effector_velocity":[-0.0174322902410294,0.06830097549522161,-0.009954396804215795],"object_position":[0.34000000290753124,0.07000000065469093,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.38976530966042e-14,8.03222743562182e-14,1.2837972182051373e-21],"object_velocity":[-3.102348195035101e-13,-2.8542829307022975e-13,-1.8902690403635398e-14],"object_angular_velocity":[-1.0849793603577815e-11,1.1790444403644556e-11,-3.3701179621405116e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.035748457507853285,-0.01037621438397646,0.5075146517949403],[0.2661698706516633,-0.07725747718849735,0.513247805419449],[0.31897477783045314,-0.09258443324786672,0.5145616531250656],[0.3717947562339475,-0.10791576447496364,0.5145744694988384],[0.37180370243027566,-0.107918381145333,0.47457447058485586]],"gripper_points":[[0.4177958551137769,-0.10811424167793326,0.4825847699855869],[0.3258014829222015,-0.10772144624079553,0.4825641692967551]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999521306875657,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.959999999999895,"stage":"approach","target_distance":0.12560254611522095,"dwell_elapsed":0.0},{"joint_position":[-0.2789020586066381,-1.4404370826490966,1.4177645792088205,-1.1649985134830088e-06,0.022447546696205842,0.27461680078784106],"joint_velocity":[0.15739483837434895,-0.12942046175570848,0.17870207421406323,0.0001705681930080691,-0.04772299384511412,-0.143476848202916],"joint_actuator_torque":[-0.15263623866597698,-0.9555223337130201,-0.9741629300100954,-0.0009549613877736263,-0.06346083219680598,0.01907319476468672],"jaw_actuator_force":[0.005555774018915827,0.0024191179546857455],"end_effector_position":[0.3714019892392548,-0.10635694199317654,0.474324461782417],"end_effector_quaternion":[0.9999976982175549,-3.1293761989483454e-05,-0.00010803899164468408,-0.00214264039648019],"end_effector_velocity":[-0.017542950726933897,0.0682815535997441,-0.009909522289143127],"object_position":[0.34000000290752636,0.07000000065468646,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.777626492647175e-14,7.365303621229576e-14,1.283795325407004e-21],"object_velocity":[-2.08693362703207e-13,-1.9203805443710772e-13,-1.8904078182416175e-14],"object_angular_velocity":[6.838681218684435e-12,-7.432156145468606e-12,-6.046257784766251e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03499084305552072,-0.010020186818977095,0.5076242726390774],[0.2656575316341126,-0.07607527754099465,0.5130652072915911],[0.3185186477667066,-0.09121290249812368,0.5143120881494588],[0.3713933515039201,-0.10635441997888326,0.5143244607702792],[0.3714019892392548,-0.10635694199317654,0.474324461782417]],"gripper_points":[[0.4173941859758871,-0.10655353552028164,0.4823344060909601],[0.3254001358041634,-0.10615931308459668,0.48231451572814765]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999489699952363,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.9799999999998927,"stage":"approach","target_distance":0.12560254611522215,"dwell_elapsed":0.0},{"joint_position":[-0.2752971211441395,-1.443400727312413,1.4219335671137163,-1.7718133267138897e-06,0.021250004288430213,0.2709964125046373],"joint_velocity":[0.15797604473973995,-0.12877087647627022,0.17754225704501594,0.0001790398996104957,-0.04726029600080963,-0.14401076362780343],"joint_actuator_torque":[-0.15326940617968887,-0.9533140386878358,-0.9735228088069903,-0.0009975382198233974,-0.06334090191990227,0.019144493879284852],"jaw_actuator_force":[0.005615483538750965,-0.00581750440447415],"end_effector_position":[0.3709982795215233,-0.10479574337160978,0.4740751923111532],"end_effector_quaternion":[0.9999976820533906,-3.0143169785885068e-05,-0.00010431369077199618,-0.002150371570088315],"end_effector_velocity":[-0.017620676618499625,0.06827014782651189,-0.009886423641247682],"object_position":[0.3400000029075209,0.07000000065468148,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.249025198743951e-14,8.963889807000875e-14,1.2837962199102038e-21],"object_velocity":[-2.6000526538328546e-13,-2.3926981014770805e-13,-1.890685373997773e-14],"object_angular_velocity":[6.447708189512831e-13,-7.000647646431792e-13,1.669289506192111e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03423478760640737,-0.009670280483973797,0.5077309219242709],[0.2651442448248211,-0.074895140161102,0.512882644664919],[0.3180609954373742,-0.08984250383711055,0.5140632477929841],[0.37098993963112625,-0.10479331397856093,0.5140751913679567],[0.3709982795215233,-0.10479574337160978,0.4740751923111532]],"gripper_points":[[0.4169904654833235,-0.104993066330753,0.48208479372914553],[0.32499608178630823,-0.10459741994411412,0.4820655891222488]],"object_size":[0.04,0.04,0.04],"gripper_width":0.079995236489037,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":1.9999999999998905,"stage":"approach","target_distance":0.12560254611522348,"dwell_elapsed":0.0},{"joint_position":[-0.2716792453651178,-1.4463500829240008,1.4260747584245745,-2.4671450077565994e-06,0.020066244175329526,0.2673627581274036],"joint_velocity":[0.15852156080821608,-0.12817795859054587,0.17634821583006008,0.00016749890310053872,-0.04668736219710201,-0.14455106815680996],"joint_actuator_torque":[-0.15279721174619,-0.9488387445442186,-0.9733568954952148,-0.0009421501259960907,-0.06359259656951766,0.019216157130806266],"jaw_actuator_force":[0.0056194289394788655,0.0023082283029811634],"end_effector_position":[0.3705925075340364,-0.10323489101561388,0.47382694648492224],"end_effector_quaternion":[0.999997665474376,-2.9024680837443757e-05,-0.00010043771415977381,-0.002158266811920207],"end_effector_velocity":[-0.017718864731874718,0.06824867717461858,-0.009834041842380192],"object_position":[0.3400000029075159,0.07000000065467692,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.119233762038372e-14,6.649529262497333e-14,1.2837985430573225e-21],"object_velocity":[-1.9766111490686925e-13,-1.8189737944305716e-13,-1.890546596119695e-14],"object_angular_velocity":[7.838931327730092e-12,-8.518426925363222e-12,3.167873429579075e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.033480318446955266,-0.009326506694022626,0.5078346352591356],[0.2646299900358771,-0.07371714153254108,0.5127003797475113],[0.31760178977500503,-0.0884733286830349,0.513815446192764],[0.370584477547102,-0.10323255170485679,0.5138269456105089],[0.3705925075340364,-0.10323489101561388,0.47382694648492224]],"gripper_points":[[0.4165847427582574,-0.10343295823754682,0.4818361911697249],[0.3245906765158329,-0.10303586051333846,0.4818177001671971]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999492514446291,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.0199999999998886,"stage":"approach","target_distance":0.12560254611522467,"dwell_elapsed":0.0},{"joint_position":[-0.2680480520126116,-1.4492840077265778,1.4301875132722657,-3.0818360372442467e-06,0.018895271216253597,0.26371587351540715],"joint_velocity":[0.159107954353534,-0.12747994370655089,0.17512115926666566,0.00017585099747036753,-0.04620496164234305,-0.1450890790495007],"joint_actuator_torque":[-0.1534165014549842,-0.9466969364668785,-0.9726747210626172,-0.0009831601042030627,-0.0634751964900524,0.019287986788611988],"jaw_actuator_force":[0.005674385291657202,-0.005875274052156598],"end_effector_position":[0.370185040748204,-0.10167434382293368,0.4735795996706902],"end_effector_quaternion":[0.9999976489036766,-2.7923247027808257e-05,-9.667142130219874e-05,-0.002166116813044767],"end_effector_velocity":[-0.017783419973687566,0.06823442396370313,-0.009803959889887385],"object_position":[0.34000000290751065,0.07000000065467209,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.599152370800717e-14,8.258585231553548e-14,1.2838023084187128e-21],"object_velocity":[-2.2903732044900486e-13,-2.1075305031260397e-13,-1.8905465961196946e-14],"object_angular_velocity":[5.49465745266723e-12,-5.97101987059018e-12,8.78629896304246e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03272778405194728,-0.008988941502641554,0.5079354081107896],[0.2641151163398913,-0.07254127951267121,0.5125182882234985],[0.3171413799892118,-0.087105356973303,0.513568531582661],[0.37017731189148373,-0.1016720932162962,0.5135795988606845],[0.370185040748204,-0.10167434382293368,0.4735795996706902]],"gripper_points":[[0.41617726823148654,-0.10187315062948775,0.4815884977021812],[0.32418286913622735,-0.10147460708654873,0.48157069998946017]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999526410969215,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.0399999999998863,"stage":"approach","target_distance":0.12560254611522595,"dwell_elapsed":0.0},{"joint_position":[-0.26440382936081214,-1.4522025066991193,1.4342709863212164,-3.7770895173318986e-06,0.017738435667654165,0.26005569480926394],"joint_velocity":[0.1596577441986324,-0.1268371647492714,0.17386316838719265,0.00016490355245262224,-0.04561843803869164,-0.14563021021746456],"joint_actuator_torque":[-0.15296781503765544,-0.9423034638000445,-0.9724717693068214,-0.0009297424402537511,-0.06372670040462203,0.019359766804175393],"jaw_actuator_force":[0.005674145503883565,0.0021983615540506207],"end_effector_position":[0.36977582167935413,-0.10011422036836637,0.47333341295971476],"end_effector_quaternion":[0.9999976319814625,-2.685082493824688e-05,-9.275249307174806e-05,-0.0021740992332817265],"end_effector_velocity":[-0.017867894139601437,0.06820973447947051,-0.00974594457953441],"object_position":[0.3400000029075058,0.07000000065466766,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.584904585956751e-14,8.242275427157519e-14,1.283802555061152e-21],"object_velocity":[-2.7910173851534147e-13,-2.5683981250461713e-13,-1.8927670421689447e-14],"object_angular_velocity":[-7.521697535253822e-12,8.172896221683177e-12,-4.5357735004611045e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03197722060191184,-0.008657595212997346,0.5080332775185457],[0.26359961102301105,-0.07136763882488081,0.5123366117853214],[0.3166797421611796,-0.08573869048593745,0.5133227925547909],[0.3697684061675882,-0.10011205617520805,0.5133334122137955],[0.36977582167935413,-0.10011422036836637,0.47333341295971476]],"gripper_points":[[0.4157681018190124,-0.10031377873190274,0.48134195031349186],[0.3237740148341606,-0.0999137678010371,0.4813248740897898]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999495823423536,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.059999999999884,"stage":"approach","target_distance":0.12560254611522711,"dwell_elapsed":0.0},{"joint_position":[-0.26074628493764784,-1.4551045033712644,1.4383245459869087,-4.396542116109383e-06,0.016594753897104048,0.2563823421167175],"joint_velocity":[0.16023275549951624,-0.12611609660244552,0.17258731473106864,0.0001662278784922599,-0.04509439923222882,-0.14616539320721322],"joint_actuator_torque":[-0.15328048543710793,-0.9396219337077127,-0.972081127756212,-0.0009409157846094647,-0.06372760225462404,0.019430554686191925],"jaw_actuator_force":[0.005693045537160657,-0.0038341763694980102],"end_effector_position":[0.36936519306490373,-0.09855450177441936,0.4730882874134359],"end_effector_quaternion":[0.9999976151313407,-2.5802504507429216e-05,-8.896147879407641e-05,-0.002182006351252137],"end_effector_velocity":[-0.017928321418401297,0.06818864381481007,-0.009706553733630618],"object_position":[0.34000000290750093,0.07000000065466312,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.854028996685762e-14,7.448742174255999e-14,1.283801937537346e-21],"object_velocity":[-2.1296653111076682e-13,-1.9596559844610028e-13,-1.890546596119695e-14],"object_angular_velocity":[7.540282149969946e-12,-8.194132399514223e-12,-2.974270775124086e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.031228960164624002,-0.008332536077360881,0.5081282454004911],[0.263083799889787,-0.07019622947401567,0.5121552461881268],[0.3162172006601368,-0.08437332587741574,0.5130781005352933],[0.3693580806676714,-0.09855242204982068,0.5130882867270428],[0.36936519306490373,-0.09855450177441936,0.4730882874134359]],"gripper_points":[[0.41535747765380093,-0.09875480417602461,0.48109647585014126],[0.323363450770994,-0.09835333862469049,0.4810800975248609]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999490434232248,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.079999999999882,"stage":"approach","target_distance":0.12560254611522825,"dwell_elapsed":0.0},{"joint_position":[-0.2570756949108916,-1.4579898313327397,1.4423473545399959,-5.064010115952952e-06,0.015465388799585797,0.25269580849825635],"joint_velocity":[0.1607928242334283,-0.12539758119535593,0.1712562832816671,0.00016227522023691974,-0.04452260076495941,-0.14670182453090774],"joint_actuator_torque":[-0.1531507071567546,-0.9359802553351528,-0.9715879276733403,-0.0009175469161154306,-0.06386602031354394,0.019502129446898664],"jaw_actuator_force":[0.0057122727833540665,0.00015481046452592295],"end_effector_position":[0.36895314872732193,-0.09699530924495828,0.4728444286006665],"end_effector_quaternion":[0.9999975980658767,-2.4774932477332495e-05,-8.50449970846165e-05,-0.0021899808282402843],"end_effector_velocity":[-0.017990833968482216,0.06816165831335791,-0.00964776687147203],"object_position":[0.34000000290749566,0.07000000065465833,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.207803795601837e-14,8.921865509622556e-14,1.2838039318536926e-21],"object_velocity":[-2.4961605182609157e-13,-2.296403242172782e-13,-1.891101707632008e-14],"object_angular_velocity":[2.295896477629103e-12,-2.4956615073944473e-12,9.536935749914719e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0304830865626107,-0.008013781420780599,0.5082203456632106],[0.2625677200824645,-0.06902714108598351,0.5119743869948632],[0.3157537819307643,-0.08300936934259251,0.512834688133367],[0.3689463494844271,-0.09699331235536766,0.5128444279729506],[0.36895314872732193,-0.09699530924495828,0.4728444286006665]],"gripper_points":[[0.4149454768060735,-0.09719636171416164,0.48085225658856967],[0.3229508668048546,-0.09679342633443633,0.4808365991304271]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999549375568671,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.0999999999998797,"stage":"approach","target_distance":0.12560254611522959,"dwell_elapsed":0.0},{"joint_position":[-0.2533919673687277,-1.460857702960057,1.4463388775107728,-5.691396868158812e-06,0.014349710689812452,0.24899623190332448],"joint_velocity":[0.16135751301868195,-0.12464052446549219,0.1699157281601575,0.0001616359674905241,-0.04397555899674938,-0.14723174351385285],"joint_actuator_torque":[-0.1532948946585293,-0.9330102216699743,-0.9711357044108695,-0.0009159482619481178,-0.06391720466090045,0.019572433333099326],"jaw_actuator_force":[0.005727369972101215,-0.0018395075083308399],"end_effector_position":[0.36853992713188805,-0.09543667192759495,0.4726017983977991],"end_effector_quaternion":[0.9999975810203959,-2.3773749359487942e-05,-8.119640142629425e-05,-0.0021979070293727367],"end_effector_velocity":[-0.018042480577421426,0.06813356500809221,-0.0095972047357544],"object_position":[0.3400000029074909,0.07000000065465398,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.691151249552764e-14,7.274439587544614e-14,1.2838038243886985e-21],"object_velocity":[-3.646206228116116e-13,-3.3535446522991133e-13,-1.8906853739977738e-14],"object_angular_velocity":[-2.036999673519067e-11,2.2152358033319407e-11,-1.967530423583171e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.02973985442292045,-0.007701378845907759,0.5083095934795911],[0.2620516062326575,-0.06786040940472617,0.5117939891681266],[0.3152897160223889,-0.08164685390778871,0.512592496513416],[0.3685334356156862,-0.09543475575527553,0.5126017978251554],[0.36853992713188805,-0.09543667192759495,0.4726017983977991]],"gripper_points":[[0.4145322799287345,-0.09563846952066893,0.4806092721819925],[0.32253804342590886,-0.09523407738349371,0.4805943232577346]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999512653509834,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.1199999999998775,"stage":"approach","target_distance":0.12560254611523072,"dwell_elapsed":0.0},{"joint_position":[-0.249695262762724,-1.4637077167164994,1.4502982943926914,-6.319384218761425e-06,0.01324824611465281,0.24528370336519012],"joint_velocity":[0.1619178996540453,-0.12386252371289166,0.16852989317040748,0.00016113334041755064,-0.04341495754629288,-0.14775834528010567],"joint_actuator_torque":[-0.15337220996056544,-0.9299073073334512,-0.9705973816416531,-0.0009100729516303247,-0.06398452996154202,0.01964253919776482],"jaw_actuator_force":[0.00574685851453971,-0.0018945373612524463],"end_effector_position":[0.36812561615811784,-0.09387868120265533,0.47236054413901485],"end_effector_quaternion":[0.9999975639238478,-2.2804870953786597e-05,-7.735866032143056e-05,-0.0022058200165662777],"end_effector_velocity":[-0.018088502319715802,0.06810222245157788,-0.009537680345936373],"object_position":[0.3400000029074857,0.0700000006546492,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.747770261435648e-14,8.425796523499844e-14,1.2838018553533367e-21],"object_velocity":[-2.337490761266001e-13,-2.1494615238864576e-13,-1.8905465961196955e-14],"object_angular_velocity":[6.634591894401474e-12,-7.214303745855407e-12,-6.000968313216981e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.02899941331976511,-0.007395353261317507,0.508396017890432],[0.2615355700677098,-0.06669610552888375,0.5116141828016856],[0.3148251059891138,-0.08028586125686768,0.5123516789271811],[0.36811943150464355,-0.09387684316628087,0.5123605436186609],[0.36812561615811784,-0.09387868120265533,0.47236054413901485]],"gripper_points":[[0.4141180023117504,-0.09408122222466074,0.4803676647243928],[0.3221230480233071,-0.093675370960429,0.48035342215213145]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999585062725548,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.1399999999998753,"stage":"approach","target_distance":0.12560254611523194,"dwell_elapsed":0.0},{"joint_position":[-0.24598565072206371,-1.4665392382435123,1.4542249411929433,-6.933714668998767e-06,0.012161037081230286,0.24155836014433343],"joint_velocity":[0.16247367689829298,-0.12305843575501502,0.1671184360871924,0.0001604542395817143,-0.04284954111501392,-0.14827912458095002],"joint_actuator_torque":[-0.15344842657165714,-0.926864520208369,-0.9700507416873165,-0.0009043525138932543,-0.06405228648275973,0.01971184197561726],"jaw_actuator_force":[0.005762553542286497,-0.0019073068712316399],"end_effector_position":[0.3677103823146592,-0.09232140777705995,0.47212069779706656],"end_effector_quaternion":[0.999997546852274,-2.1859888223468238e-05,-7.352766231563326e-05,-0.002213685899542296],"end_effector_velocity":[-0.018128012008538915,0.06806740790696093,-0.00947748162441146],"object_position":[0.3400000029074805,0.07000000065464441,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.48842124571089e-14,9.232006048372762e-14,1.2838037790711777e-21],"object_velocity":[-2.823532654279993e-13,-2.596131410980347e-13,-1.891795597022399e-14],"object_angular_velocity":[-3.7978986779104296e-12,4.129607091398436e-12,3.841962030118114e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.028261977067719143,-0.007095740068032943,0.5084796422094632],[0.261019794739614,-0.0655342905291334,0.5114349988076242],[0.3143601279560899,-0.07892645834313558,0.5121122680280361],[0.367704503987378,-0.09231964596892017,0.5121206973263328],[0.3677103823146592,-0.09232140777705995,0.47212069779706656]],"gripper_points":[[0.41370280173232277,-0.092524687511815,0.480127465807135],[0.32170762591212504,-0.09211738796335536,0.4801139284235902]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799960784510515,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.159999999999873,"stage":"approach","target_distance":0.1256025461152332,"dwell_elapsed":0.0},{"joint_position":[-0.24226328970168087,-1.4693518072134009,1.4581182118963778,-7.542669124672601e-06,0.011088199420221097,0.23782036478674856],"joint_velocity":[0.1630210512998173,-0.12223834262036849,0.16567718437827741,0.00015906413444464378,-0.04227844605668992,-0.14879327165264733],"joint_actuator_torque":[-0.15346075234603518,-0.9237191464682155,-0.9694505688919435,-0.0008943694994015343,-0.0641380033720067,0.0197803978756248],"jaw_actuator_force":[0.005777588995043104,3.0123584279451165e-05],"end_effector_position":[0.3672943389855425,-0.09076494139461135,0.4718823345692739],"end_effector_quaternion":[0.9999975298101863,-2.09464216655016e-05,-6.971700154545995e-05,-0.0022215027149667397],"end_effector_velocity":[-0.018163561344411907,0.06802839149568055,-0.009411315738623968],"object_position":[0.3400000029074756,0.07000000065463996,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.157368946413599e-14,6.695735246973004e-14,1.2838069941317579e-21],"object_velocity":[-1.9482909919135585e-13,-1.7916100330608974e-13,-1.890824151875853e-14],"object_angular_velocity":[7.089899312543802e-12,-7.710170251074414e-12,7.676899392587973e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027527712690707806,-0.0068025620840417985,0.5085604964511491],[0.2605044112444207,-0.06437503364582539,0.5112565026232504],[0.3138949046629799,-0.0775687250454008,0.5118743373710236],[0.3672887653617986,-0.09076325329489678,0.5118823341453369],[0.3672943389855425,-0.09076494139461135,0.4718823345692739]],"gripper_points":[[0.41328680287059566,-0.09096895487402261,0.47988875188122554],[0.3212926771121839,-0.09056022171384942,0.4798759161154405]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999503465735297,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.179999999999871,"stage":"approach","target_distance":0.12560254611523441,"dwell_elapsed":0.0},{"joint_position":[-0.238528254096444,-1.4721446827267324,1.4619774326307795,-8.106256733028301e-06,0.010029610074364754,0.2340699036523579],"joint_velocity":[0.16357072016337054,-0.12137172503017254,0.16421233668709764,0.00016169037988994083,-0.041722789958276954,-0.14929959705825313],"joint_actuator_torque":[-0.15371223690206648,-0.9211981679392238,-0.9688520358898813,-0.0009040010637696738,-0.06413682070296889,0.019847644432847034],"jaw_actuator_force":[0.005794907269727645,-0.003987980374390077],"end_effector_position":[0.366877686520319,-0.0892093552915434,0.4716454617682665],"end_effector_quaternion":[0.9999975129223996,-2.005148377107802e-05,-6.595876022972646e-05,-0.002229214299971186],"end_effector_velocity":[-0.01818632031496641,0.06798751377045228,-0.00935166330148191],"object_position":[0.3400000029074702,0.07000000065463502,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.552214614186773e-14,9.298375490948759e-14,1.2838108130428407e-21],"object_velocity":[-2.5523434650610744e-13,-2.3475084234783194e-13,-1.89026904036354e-14],"object_angular_velocity":[4.2192912055768135e-12,-4.5876703524331766e-12,2.2761542598403877e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.026796864435251862,-0.006515855346346189,0.5086386040833973],[0.25998963354886595,-0.0632183981020331,0.5110787020658879],[0.3134296431374025,-0.07621273081687802,0.5116378911868753],[0.36687241340854854,-0.08920773941393437,0.5116454613880569],[0.366877686520319,-0.0892093552915434,0.4716454617682665]],"gripper_points":[[0.41287017333303483,-0.08941409244474782,0.47965153320320975],[0.32087529507563073,-0.08900393703187919,0.4796393891521866]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999579338499824,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.1999999999998687,"stage":"approach","target_distance":0.12560254611523575,"dwell_elapsed":0.0},{"joint_position":[-0.23478085207618113,-1.474917682858497,1.465802124604419,-8.687008327137587e-06,0.008985708559015478,0.23030715177691305],"joint_velocity":[0.16409913078573096,-0.12051639905800944,0.16272053625224547,0.00015841991454371965,-0.04113441274485379,-0.14979903744664322],"joint_actuator_torque":[-0.15358654433363483,-0.9178326079642147,-0.9682699882214365,-0.000883208267085041,-0.06427301511273831,0.0199142487048114],"jaw_actuator_force":[0.00580077746524843,-8.212587242795166e-05],"end_effector_position":[0.3664604445312729,-0.08765477037049557,0.4714102001065438],"end_effector_quaternion":[0.9999974960467688,-1.9188595444506635e-05,-6.217634686033026e-05,-0.0022368875903817447],"end_effector_velocity":[-0.018213752598725857,0.06793959522971073,-0.009278112688776152],"object_position":[0.34000000290746496,0.07000000065463023,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.05864850966269e-14,8.763568506925417e-14,1.2838147521261504e-21],"object_velocity":[-3.4667415082133774e-13,-3.187805691989528e-13,-1.8922119306566343e-14],"object_angular_velocity":[-1.4721318233627836e-11,1.6012858423940775e-11,1.1160220610005048e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.026069524504380208,-0.006235621850378908,0.5087140055904162],[0.259475509728601,-0.06206446756748536,0.5109017092738108],[0.31296438134248494,-0.07485857804432226,0.5114030580345887],[0.3664554738697975,-0.0876532241601839,0.5114101997678158],[0.3664604445312729,-0.08765477037049557,0.4714102001065438]],"gripper_points":[[0.41245298766593175,-0.08786022730972218,0.47941592345038675],[0.32045807319544206,-0.08744865987278584,0.47940447565161204]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999583581467129,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.2199999999998665,"stage":"approach","target_distance":0.125602546115237,"dwell_elapsed":0.0},{"joint_position":[-0.23102114869515475,-1.4776700211207214,1.4695917201266935,-9.21889957471747e-06,0.007956048006855836,0.2265323686241229],"joint_velocity":[0.16462666653472635,-0.11961975547483016,0.16121416047125878,0.00015830644771724147,-0.0405659625317926,-0.1502873663466277],"joint_actuator_torque":[-0.15369206730980522,-0.9151120204244307,-0.9677128003144162,-0.0008813112641532924,-0.06432490419266068,0.019979023510789062],"jaw_actuator_force":[0.005804134600959188,-0.0020304097525105647],"end_effector_position":[0.36604283654680486,-0.0861012540719279,0.4711765230797692],"end_effector_quaternion":[0.9999974793959587,-1.8351856955655747e-05,-5.8488487939108734e-05,-0.0022444251013011996],"end_effector_velocity":[-0.018229952097498805,0.06788922329477083,-0.00921189615971908],"object_position":[0.34000000290745974,0.07000000065462553,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.008826115499473e-14,7.620982523756474e-14,1.2838191781291403e-21],"object_velocity":[-2.1585922229084214e-13,-1.9851569646162738e-13,-1.8906853739977754e-14],"object_angular_velocity":[6.521485857735699e-12,-7.092194897240152e-12,1.496393059696957e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.025345951058844896,-0.00596189365734686,0.5087867259912874],[0.2589622693027021,-0.06091329961394987,0.5107254971426664],[0.31249934223358605,-0.07350633014567139,0.5111697988648574],[0.3660381607747133,-0.08609977542522963,0.5111765227791537],[0.36604283654680486,-0.0861012540719279,0.4711765230797692]],"gripper_points":[[0.41203541380134395,-0.08630741779241681,0.47918190703124397],[0.3200410197557027,-0.085894465813166,0.4791711381454046]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999532151762276,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.2399999999998643,"stage":"approach","target_distance":0.1256025461152383,"dwell_elapsed":0.0},{"joint_position":[-0.2272494244557424,-1.480401387084289,1.4733456871100172,-9.737995767631203e-06,0.006940972499147343,0.22274576092406354],"joint_velocity":[0.16514419908478045,-0.11870593429662969,0.15967675299965378,0.00015829867535028573,-0.0399912117874268,-0.15076765590084207],"joint_actuator_torque":[-0.1537362051767701,-0.9122702634725783,-0.9670814268296226,-0.0008757431340964762,-0.06439157735687728,0.020042954283304937],"jaw_actuator_force":[0.00581211962854411,-0.0020828291057757298],"end_effector_position":[0.3656249237314968,-0.08454891926303493,0.4709445289436491],"end_effector_quaternion":[0.9999974628940418,-1.7544237018583905e-05,-5.483159773499669e-05,-0.002251863933550139],"end_effector_velocity":[-0.018241776463769253,0.06783451985283051,-0.00913954729388791],"object_position":[0.3400000029074547,0.07000000065462086,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.62840754605188e-14,8.295353023914832e-14,1.2838217572763756e-21],"object_velocity":[-2.549328826778023e-13,-2.3443913174407685e-13,-1.8915180412662445e-14],"object_angular_velocity":[-2.017962885016425e-12,2.1946294266087156e-12,2.0346404655670628e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02462627258418844,-0.005694674126536816,0.5088568044448654],[0.25844999954774234,-0.05976497337940444,0.5105501583885967],[0.3120346036435568,-0.07215608362485328,0.5109382186673685],[0.3656205403753858,-0.08454750584977058,0.5109445286785047],[0.3656249237314968,-0.08454891926303493,0.4709445289436491]],"gripper_points":[[0.41161754480278184,-0.08475578026589091,0.47894957635712926],[0.31962248792173803,-0.08434145658827845,0.478939480539429]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999599043752859,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.259999999999862,"stage":"approach","target_distance":0.1256025461152395,"dwell_elapsed":0.0},{"joint_position":[-0.2234658976825312,-1.483111281421217,1.4770635522930322,-1.024131133762137e-05,0.005940425076782849,0.21894757186526095],"joint_velocity":[0.16564971531883346,-0.11777541557212422,0.15811829376300987,0.00015741112774198674,-0.03941437326355139,-0.151237916844488],"joint_actuator_torque":[-0.15372436010113688,-0.909353244795966,-0.9664103524597749,-0.0008665803174164588,-0.06447514388585024,0.020105654361749714],"jaw_actuator_force":[0.0058181273294692915,-0.0001804977434094468],"end_effector_position":[0.365206832465352,-0.08299786547914703,0.47071424727238104],"end_effector_quaternion":[0.9999974465708433,-1.676742899461535e-05,-5.122121978521011e-05,-0.0022591916769715372],"end_effector_velocity":[-0.01824964635247825,0.0677749024733357,-0.009064107302038361],"object_position":[0.34000000290745,0.07000000065461659,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.91451877231292e-14,6.431772516917769e-14,1.2838223753188024e-21],"object_velocity":[-1.882158756462549e-13,-1.730802304375313e-13,-1.8906853739977757e-14],"object_angular_velocity":[7.139083735910486e-12,-7.763288491480037e-12,-1.2222640725387122e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.02391066977191098,-0.0054339739844201955,0.5089242760997961],[0.25793884459668176,-0.058619561245262096,0.5103757222427422],[0.3115703013273584,-0.07080792499253837,0.5107083453171674],[0.3652027378086993,-0.08299651483076835,0.5107142470400002],[0.365206832465352,-0.08299786547914703,0.47071424727238104]],"gripper_points":[[0.4111995035775906,-0.08320541308209893,0.4787189624318991],[0.3192053186878623,-0.0827897450625466,0.47870953128128163]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999512444893259,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.27999999999986,"stage":"approach","target_distance":0.12560254611524063,"dwell_elapsed":0.0},{"joint_position":[-0.21967075497386745,-1.4857991202387406,1.4807448416426032,-1.070182944356533e-05,0.004954233302603754,0.21513806225043228],"joint_velocity":[0.16614797437832676,-0.11681618684320332,0.15654604050409285,0.00015769428142158623,-0.03884440010342677,-0.15169737847658163],"joint_actuator_torque":[-0.15380216184250628,-0.906752709712805,-0.9658039808238073,-0.0008645257310904786,-0.06452585500398317,0.020166621883962677],"jaw_actuator_force":[0.005817836164835555,-0.0021379758890578415],"end_effector_position":[0.3647887177443131,-0.08144818212159892,0.4704856837948124],"end_effector_quaternion":[0.9999974305120517,-1.601456975562007e-05,-4.769098776797142e-05,-0.002266371195900883],"end_effector_velocity":[-0.018250187582362323,0.06771166530008284,-0.008992073123372236],"object_position":[0.34000000290744464,0.07000000065461166,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.680401720950164e-14,8.351382287825084e-14,1.2838239648586215e-21],"object_velocity":[-2.3345623584558637e-13,-2.1469641331567501e-13,-1.8901302624854624e-14],"object_angular_velocity":[4.552107478402969e-12,-4.950077509744445e-12,1.7530473375791706e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02319934711427523,-0.0051798049452134965,0.5089891752634875],[0.25742897468737,-0.057477129401903804,0.5102021969619572],[0.3111065976728709,-0.06946193292322866,0.5104801811011899],[0.36478490537869174,-0.08144689231247193,0.5104856835923407],[0.3647887177443131,-0.08144818212159892,0.4704856837948124]],"gripper_points":[[0.41078142730401324,-0.08165640225688789,0.47849007407505373],[0.3187872011618822,-0.08123941305463907,0.4784812927384696]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999517161566805,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.2999999999998577,"stage":"approach","target_distance":0.12560254611524194,"dwell_elapsed":0.0},{"joint_position":[-0.21586428631571533,-1.4884645479639598,1.4843891427864297,-1.1144717547393943e-05,0.0039825505571078074,0.21131746858963255],"joint_velocity":[0.16663471011679526,-0.11583906461449585,0.15495050117552678,0.0001578581536507572,-0.038272913504359386,-0.15214741533114057],"joint_actuator_torque":[-0.15382447246086883,-0.9040544126505665,-0.9651364157572289,-0.0008591905393788687,-0.06459058279357563,0.02022653005799313],"jaw_actuator_force":[0.005820629534568411,-0.0021694448502067587],"end_effector_position":[0.36437065840505295,-0.07989997984939792,0.47025889126872905],"end_effector_quaternion":[0.9999974146628735,-1.5286910505598e-05,-4.4191132337607965e-05,-0.0022734293530380645],"end_effector_velocity":[-0.018246211080870774,0.06764389786563238,-0.008916489674923806],"object_position":[0.3400000029074396,0.070000000654607,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.378654923962733e-14,8.021277901885191e-14,1.283825407834296e-21],"object_velocity":[-3.098278349010178e-13,-2.850136563713514e-13,-1.888464927948524e-14],"object_angular_velocity":[-1.0839755225360234e-11,1.1780696346369926e-11,1.1236746605927132e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.022492446990808154,-0.004932163714691509,0.5090515428903004],[0.25692049283514984,-0.05633775341740422,0.5100296374253855],[0.31064358667447817,-0.06811820105760921,0.5102537840896759],[0.36436712590390274,-0.07989874886248582,0.5102588910938054],[0.36437065840505295,-0.07989997984939792,0.47025889126872905]],"gripper_points":[[0.4103634134367289,-0.08010886098276049,0.4782629594684814],[0.3183683574865613,-0.07969056934190956,0.47825482227963345]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799960072687132,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.3199999999998555,"stage":"approach","target_distance":0.12560254611524313,"dwell_elapsed":0.0},{"joint_position":[-0.21204674454281525,-1.4911071830186862,1.487996145426063,-1.1567748064375828e-05,0.0030252437123177117,0.2074860777245958],"joint_velocity":[0.16710808454924864,-0.114851318594045,0.1533404737231192,0.0001571755337376591,-0.037702484879242965,-0.1525855994808541],"joint_actuator_torque":[-0.15379329823296928,-0.9012779021302322,-0.9644337263115403,-0.0008504594722537996,-0.06467187252423917,0.020284952456773198],"jaw_actuator_force":[0.005821655519001823,-0.0002945012772102018],"end_effector_position":[0.363952751572203,-0.07835335508133151,0.4700338934565737],"end_effector_quaternion":[0.9999973990636344,-1.458955395823761e-05,-4.07522425455085e-05,-0.0022803491763803666],"end_effector_velocity":[-0.01823973694492233,0.06757144160412784,-0.008837554000311694],"object_position":[0.3400000029074347,0.07000000065460253,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.768446448976577e-14,7.357383523634219e-14,1.2838254885855022e-21],"object_velocity":[-2.084640996125148e-13,-1.9177708547422143e-13,-1.8905465961196952e-14],"object_angular_velocity":[6.829361040911373e-12,-7.4235568462218e-12,-2.3960292444082233e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021790119473533265,-0.004691044660717384,0.5091114200338646],[0.25641351261200623,-0.05520149812557684,0.5098580678516808],[0.310181373539573,-0.06677681037794048,0.5100291746432636],[0.36394949406282107,-0.07835218048570315,0.5100338933066857],[0.363952751572203,-0.07835335508133151,0.4700338934565737]],"gripper_points":[[0.4099455612028605,-0.0785628840465988,0.47803764518958236],[0.31795131490012934,-0.07814332287483444,0.4780301410661759]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999520335700276,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.3399999999998533,"stage":"approach","target_distance":0.12560254611524432,"dwell_elapsed":0.0},{"joint_position":[-0.20821834166373632,-1.4937264857689754,1.4915654163951393,-1.1946529267202665e-05,0.002082101599411559,0.20364415527784957],"joint_velocity":[0.16757305135518855,-0.11383654442531943,0.1517179604938177,0.0001575549844727347,-0.03714045318331865,-0.153012969325532],"joint_actuator_torque":[-0.1538429593382773,-0.8988115790278925,-0.9637929586976952,-0.0008482706300208005,-0.0647206587291437,0.020341660156692143],"jaw_actuator_force":[0.005816678094056726,-0.0022107195369454047],"end_effector_position":[0.3635351439322657,-0.0768083952958129,0.46981070339612685],"end_effector_quaternion":[0.9999973837771929,-1.3920660982304262e-05,-3.742822833263854e-05,-0.002287103869983223],"end_effector_velocity":[-0.01822623941881552,0.06749542350590677,-0.008761636149478572],"object_position":[0.34000000290742927,0.07000000065459755,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.237471623613303e-14,8.954926701465588e-14,1.283827748180792e-21],"object_velocity":[-2.597425908319131e-13,-2.389339215437075e-13,-1.890269040363539e-14],"object_angular_velocity":[6.434170887235915e-13,-7.003291529303005e-13,2.327839056002164e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021092558361450662,-0.004456447350882096,0.5091688450718985],[0.25590819401470505,-0.05406842421591469,0.5096875013179124],[0.30972011051857584,-0.06543783558081799,0.5098063600409573],[0.3635321522288726,-0.07680727479766822,0.5098107032685543],[0.3635351439322657,-0.0768083952958129,0.46981070339612685]],"gripper_points":[[0.40952799460646233,-0.07701855638989143,0.4778141492329659],[0.31753369553499444,-0.07659775214831621,0.4778072569537674]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999526175496172,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.359999999999851,"stage":"approach","target_distance":0.12560254611524566,"dwell_elapsed":0.0},{"joint_position":[-0.2043793848600453,-1.4963221328185659,1.4950965829531533,-1.2312840262410766e-05,0.0011533150230688843,0.19979193818094965],"joint_velocity":[0.1680248833561244,-0.11280795452923599,0.1500714547277636,0.0001571994097272742,-0.03657380454968526,-0.15343094213766742],"joint_actuator_torque":[-0.1537980118998945,-0.8961207582872248,-0.9630618727520641,-0.0008397864122133571,-0.06480016510962539,0.020397413440019108],"jaw_actuator_force":[0.005816068351970571,-0.0003905748601660264],"end_effector_position":[0.3631179069528798,-0.07526520713306845,0.46958937219475944],"end_effector_quaternion":[0.9999973687297949,-1.3280368655385104e-05,-3.414676229264533e-05,-0.002293728649356902],"end_effector_velocity":[-0.01820920335855555,0.06741485430440772,-0.008680474737425383],"object_position":[0.34000000290742427,0.07000000065459298,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.111843956509915e-14,6.644199545227277e-14,1.2838302128332636e-21],"object_velocity":[-1.974989617220659e-13,-1.816741300243363e-13,-1.89096292975393e-14],"object_angular_velocity":[7.829190678862547e-12,-8.51108059568642e-12,2.2446575586987033e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.020399898396737733,-0.004228357433979429,0.509223862051246],[0.2554046337890003,-0.052938601014170486,0.5095179939453154],[0.3092598856497271,-0.06410136516796427,0.5095853991710396],[0.3631151776560093,-0.07526413844049899,0.5095893720873699],[0.3631179069528798,-0.07526520713306845,0.46958937219475944]],"gripper_points":[[0.4091108099736752,-0.07547598800107694,0.47759251605490144],[0.31711674020273717,-0.0750539658864866,0.47758622780141885]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999503799242413,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.379999999999849,"stage":"approach","target_distance":0.12560254611524688,"dwell_elapsed":0.0},{"joint_position":[-0.20053007118153152,-1.498893595192783,1.4985893160517256,-1.2634472733976523e-05,0.00023854828890255568,0.1959297073213585],"joint_velocity":[0.16846766783784714,-0.1117560390166578,0.14841886466382875,0.00015762190245972586,-0.03601774940694589,-0.1538371622330924],"joint_actuator_torque":[-0.15383082377506696,-0.8937513968036228,-0.962400389263621,-0.0008376060433909216,-0.06484725598180292,0.02045131870971595],"jaw_actuator_force":[0.005807785908213958,-0.0022605536496040912],"end_effector_position":[0.36270118959232406,-0.07372386599963383,0.46936988902180987],"end_effector_quaternion":[0.9999973540187465,-1.2665850056586714e-05,-3.0977733060010465e-05,-0.002300181615064332],"end_effector_velocity":[-0.018186116523287266,0.06733096166759725,-0.008602994194150245],"object_position":[0.340000002907419,0.07000000065458817,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.592081258096888e-14,8.250526199159622e-14,1.2838338175294e-21],"object_velocity":[-2.2881787431461605e-13,-2.1055428431664617e-13,-1.8902690403635388e-14],"object_angular_velocity":[5.489705007309299e-12,-5.966271140803595e-12,1.0904947077056294e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.019712331297956614,-0.004006766847223219,0.5092765113901125],[0.25490299191556465,-0.05181207853234312,0.5093495383828395],[0.30880085164043314,-0.0627674624601831,0.5093662737353394],[0.36269871371093704,-0.07372284703395743,0.5093698889322064],[0.36270118959232406,-0.07372386599963383,0.46936988902180987]],"gripper_points":[[0.40869413450139275,-0.07393525038051092,0.4773727412514786],[0.31669983635660376,-0.07351203990684585,0.4773670362962798]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999527178504262,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.3999999999998467,"stage":"approach","target_distance":0.12560254611524815,"dwell_elapsed":0.0},{"joint_position":[-0.1966707098007264,-1.5014405846293053,1.5020432809975919,-1.2942092989603221e-05,-0.0006620513209396303,0.19205769099817918],"joint_velocity":[0.16889726109374878,-0.1106919497208828,0.14674359822863503,0.0001573275122512327,-0.03545878049233866,-0.15423446667414598],"joint_actuator_torque":[-0.15377377163565598,-0.8911585131542097,-0.9616512970679878,-0.000829410828011729,-0.0649247699052124,0.020504318180936565],"jaw_actuator_force":[0.005803912177569259,-0.0004588511031986542],"end_effector_position":[0.3622850579948332,-0.0721844720807298,0.4691523084247964],"end_effector_quaternion":[0.9999973395564963,-1.2081189016769684e-05,-2.7868833824749892e-05,-0.0023065032630012828],"end_effector_velocity":[-0.018159737963857385,0.06724281327118432,-0.008519972279283895],"object_position":[0.34000000290741417,0.07000000065458375,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.578168486338824e-14,8.233075959585039e-14,1.283834517900476e-21],"object_velocity":[-2.787875291525842e-13,-2.566101649474372e-13,-1.8901302624854608e-14],"object_angular_velocity":[-7.515387238068652e-12,8.161329758653713e-12,4.9628271822736675e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.019029982768443282,-0.0037916529912600497,0.509326839246476],[0.2544033575075205,-0.05068891880866896,0.5091821921268442],[0.308343089218559,-0.06143620889182516,0.5091490438285953],[0.3622828307232828,-0.07218350044581527,0.5091523083509862],[0.3622850579948332,-0.0721844720807298,0.4691523084247964]],"gripper_points":[[0.40827805595405786,-0.07239644747073203,0.4771548745610272],[0.31628393931799054,-0.07197207468534435,0.4771497418556628]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999509559892853,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.4199999999998445,"stage":"approach","target_distance":0.12560254611524932,"dwell_elapsed":0.0},{"joint_position":[-0.19280149440231453,-1.5039625155786327,1.505458164127913,-1.3205697514795288e-05,-0.0015488056688138677,0.1881761456023976],"joint_velocity":[0.16931802649232672,-0.10960137519209488,0.14506314876657408,0.000157753334257413,-0.03490964611606265,-0.15462107421992743],"joint_actuator_torque":[-0.15378953986400745,-0.8888877499100545,-0.960971601280562,-0.000827145379088814,-0.0649705850527485,0.020555624574171816],"jaw_actuator_force":[0.00579233565961168,-0.002298728444676712],"end_effector_position":[0.36186967585527213,-0.07064709611438184,0.46893659411685035],"end_effector_quaternion":[0.999997325417989,-1.1515762750481454e-05,-2.4847626809011322e-05,-0.0023126622865449007],"end_effector_velocity":[-0.018126517643422154,0.06715154371104784,-0.008442084600120645],"object_position":[0.3400000029074093,0.07000000065457922,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.848010998309819e-14,7.43957630821699e-14,1.2838341399860998e-21],"object_velocity":[-2.1270708626509744e-13,-1.9579371110942724e-13,-1.890685373997773e-14],"object_angular_velocity":[7.533805039089258e-12,-8.184501337394049e-12,-1.778501855640971e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01835306059254437,-0.003583004229462627,0.5093748865728237],[0.2539059079565401,-0.04956916790561902,0.5090159310548249],[0.30788676881078914,-0.06010766374807153,0.5089336704152835],[0.3618676901810096,-0.07064617025869224,0.508936594056849],[0.36186967585527213,-0.07064709611438184,0.46893659411685035]],"gripper_points":[[0.40786271467016466,-0.07085964719330871,0.4769388822284804],[0.3158683614221703,-0.07043414008924069,0.47693430560903066]],"object_size":[0.04,0.04,0.04],"gripper_width":0.079995337418577,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.4399999999998423,"stage":"approach","target_distance":0.12560254611525046,"dwell_elapsed":0.0},{"joint_position":[-0.18892272369470375,-1.506459221115683,1.5088337215927243,-1.3454696118830854e-05,-0.002421638534585039,0.1842853119710932],"joint_velocity":[0.16972608132714456,-0.10850505815810436,0.14336364884428557,0.00015749246576276333,-0.03436078873455217,-0.1549980819772515],"joint_actuator_torque":[-0.15372131377579024,-0.886391719248536,-0.9602068825672632,-0.0008192129195258523,-0.06504593480495802,0.020605917951913355],"jaw_actuator_force":[0.0057852549297638944,-0.0005214854111486034],"end_effector_position":[0.3614550834230817,-0.06911182330040318,0.4687228186785755],"end_effector_quaternion":[0.9999973115397972,-1.0983137429348862e-05,-2.191179501962542e-05,-0.002318687650806116],"end_effector_velocity":[-0.018091381917554366,0.06705672446506415,-0.008357331194021626],"object_position":[0.340000002907404,0.07000000065457443,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.204488126571672e-14,8.912813321275838e-14,1.2838358168316716e-21],"object_velocity":[-2.493590061166763e-13,-2.29540042362199e-13,-1.8898527067293032e-14],"object_angular_velocity":[2.2928859636840703e-12,-2.4919034585071478e-12,1.0464317880591117e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.017681657624781823,-0.0033807850472027737,0.5094207030198454],[0.25341070150625555,-0.048452872950823525,0.5088508234408767],[0.3074319407290933,-0.058781893095403284,0.5087202260373631],[0.3614533325215101,-0.06911094058724236,0.508722818630515],[0.3614550834230817,-0.06911182330040318,0.4687228186785755]],"gripper_points":[[0.4074481777212526,-0.0693249373193136,0.47672483662568105],[0.31545399899735216,-0.06889832239057417,0.4767208003924082]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999516800176806,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.45999999999984,"stage":"approach","target_distance":0.12560254611525176,"dwell_elapsed":0.0},{"joint_position":[-0.18503457148615646,-1.5089301087807154,1.512169627665509,-1.3661085351501833e-05,-0.003280837040572465,0.18038542258278029],"joint_velocity":[0.1701262745724088,-0.10738120564329084,0.14165838211919282,0.00015789873708257443,-0.03382010833240406,-0.15536554677427136],"joint_actuator_torque":[-0.153721992346874,-0.8842151614550176,-0.9595092049713685,-0.0008168666206211592,-0.06509022343252657,0.020654685331130906],"jaw_actuator_force":[0.005770702544602102,-0.0023318319135192667],"end_effector_position":[0.36104144858237514,-0.06757871160747567,0.46851094697221446],"end_effector_quaternion":[0.9999972979930649,-1.0470465754402088e-05,-1.907413598020119e-05,-0.0023245500889235663],"end_effector_velocity":[-0.01804904792506414,0.0669593430653243,-0.008277924598284993],"object_position":[0.34000000290739923,0.07000000065457007,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.690186926050264e-14,7.26754151835691e-14,1.2838369297440903e-21],"object_velocity":[-3.642783671353973e-13,-3.353457851892674e-13,-1.8938772651935686e-14],"object_angular_velocity":[-2.0375869464846807e-11,2.21331668701163e-11,2.916092198219993e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01701598394855283,-0.003184977402083998,0.5094643308352801],[0.2529179198858302,-0.04734006930507063,0.5086868476628118],[0.3069787802047896,-0.057458944532838396,0.5085086744357878],[0.3610399246027496,-0.06757787042537586,0.5085109469343382],[0.36104144858237514,-0.06757871160747567,0.46851094697221446]],"gripper_points":[[0.4070345834922718,-0.0677923731946643,0.47651270378801186],[0.315040169660909,-0.06736467851889412,0.4765091898534723]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999540809877123,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.479999999999838,"stage":"approach","target_distance":0.12560254611525293,"dwell_elapsed":0.0},{"joint_position":[-0.18113732483479672,-1.511374927420773,1.5154655949643512,-1.385283693402776e-05,-0.00412632207332116,0.17647668943792263],"joint_velocity":[0.17051420463243586,-0.10624759619696236,0.13993238309849948,0.00015765034320430884,-0.033279561867422126,-0.1557245839148919],"joint_actuator_torque":[-0.1536443027695782,-0.8818232489282991,-0.958728699272001,-0.0008091971806652967,-0.06516370290898754,0.020702584467256813],"jaw_actuator_force":[0.005760157268545285,-0.0005804530323345602],"end_effector_position":[0.360628836045476,-0.06604784094037311,0.4683010365244568],"end_effector_quaternion":[0.999997284694362,-9.986611266286063e-06,-1.6311144384700976e-05,-0.002330287131929075],"end_effector_velocity":[-0.018003662503557172,0.06685860955233858,-0.008192510506754788],"object_position":[0.34000000290739407,0.0700000006545653,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.749678582538702e-14,8.418013061023546e-14,1.2838370440183847e-21],"object_velocity":[-2.3353371717525884e-13,-2.149920249197934e-13,-1.8905465961196936e-14],"object_angular_velocity":[6.6352978633683355e-12,-7.207536331413973e-12,5.7469575806113714e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01635615569138335,-0.002995544171649092,0.5095058190559099],[0.25242764653863065,-0.04623080017208744,0.5085240615835062],[0.30652736319112484,-0.05613887967218789,0.5082990754960803],[0.36062753301920214,-0.06604703897286915,0.508301036495194],[0.360628836045476,-0.06604784094037311,0.4683010365244568]],"gripper_points":[[0.4066220239467259,-0.06626203816040187,0.4763025390830971],[0.3146277796730764,-0.06583328869061236,0.4762995337140831]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999524343475584,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.4999999999998357,"stage":"approach","target_distance":0.12560254611525415,"dwell_elapsed":0.0},{"joint_position":[-0.1772311492561948,-1.5137931726724494,1.5187213411325484,-1.4003889890606765e-05,-0.0049583986751691915,0.17255932717347258],"joint_velocity":[0.1708946688831335,-0.10509128947300365,0.13820212342794544,0.00015801763915505038,-0.03274816764719861,-0.1560747611245321],"joint_actuator_torque":[-0.1536313298865366,-0.8797424064198367,-0.9580128635928986,-0.0008067800265817609,-0.0652063312561223,0.020749062013821984],"jaw_actuator_force":[0.005742311835023273,-0.0023599228319834964],"end_effector_position":[0.3602173943508993,-0.06451925643828685,0.46809307169908454],"end_effector_quaternion":[0.999997271703149,-9.52514835113941e-06,-1.3666164774703033e-05,-0.002335874304364781],"end_effector_velocity":[-0.017952135842828527,0.06675592121954112,-0.00811108302328598],"object_position":[0.34000000290738885,0.07000000065456051,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.489448483985296e-14,9.221894398072569e-14,1.283837953395591e-21],"object_velocity":[-2.820414329257947e-13,-2.5964295959332977e-13,-1.891379263388162e-14],"object_angular_velocity":[-3.796463196465243e-12,4.123738085032747e-12,-5.325596616730213e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.015702358933750202,-0.002812456210930434,0.509545212826078],[0.2519400406481517,-0.04512508821715816,0.5083624571832348],[0.306077842707702,-0.05482173305191868,0.5080914090150832],[0.3602163028406641,-0.0645184918747023,0.5080930716768851],[0.3602173943508993,-0.06451925643828685,0.46809307169908454]],"gripper_points":[[0.4062106241733774,-0.06473397509954511,0.47609433085970443],[0.3142161467932756,-0.0643041965341684,0.4760918123220359]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999548132596701,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.5199999999998335,"stage":"approach","target_distance":0.1256025461152554,"dwell_elapsed":0.0},{"joint_position":[-0.17331629256819653,-1.5161845520162043,1.5219365980098116,-1.4140883087861846e-05,-0.0057769611399401035,0.16863351463939488],"joint_velocity":[0.1712647452444455,-0.10392241214624776,0.1364526110269527,0.000157763068032945,-0.03221545326500439,-0.15641792217274222],"joint_actuator_torque":[-0.15354670218899003,-0.8774550364339575,-0.9572180718215577,-0.0007993792239826315,-0.06527804974128848,0.02079484518695729],"jaw_actuator_force":[0.005728478236781243,-0.000635418120026543],"end_effector_position":[0.3598072006228333,-0.06299302012116507,0.46788708747059476],"end_effector_quaternion":[0.9999972589429489,-9.086804584679283e-06,-1.1072966814810155e-05,-0.0023413460676241604],"end_effector_velocity":[-0.01789680719679475,0.06665068348250316,-0.008025242652522717],"object_position":[0.34000000290738397,0.07000000065455605,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.154962820655368e-14,6.687853094030361e-14,1.2838375688670976e-21],"object_velocity":[-1.946009890192222e-13,-1.7910118525845733e-13,-1.8905465961196933e-14],"object_angular_velocity":[7.088068687223985e-12,-7.701130598647831e-12,-1.807646403339555e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.015054721243972625,-0.0026356720499573325,0.509582561332268],[0.25145520004800315,-0.0440229634174259,0.508202077906285],[0.3056303097739268,-0.053507551022470776,0.5078857171211639],[0.35980631648994454,-0.06299229110473911,0.5078870874541803],[0.3598072006228333,-0.06299302012116507,0.46788708747059476]],"gripper_points":[[0.40580048225586973,-0.0632082492858573,0.4758881080008418],[0.3138061695569733,-0.06277746471745987,0.4758860667696795]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999532134001885,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.5399999999998313,"stage":"approach","target_distance":0.1256025461152566,"dwell_elapsed":0.0},{"joint_position":[-0.16939291389335104,-1.5185485758008288,1.5251110786624296,-1.4239547385550643e-05,-0.006582345178065978,0.16469947353890405],"joint_velocity":[0.17162749432915317,-0.10273214093388952,0.13469797630474367,0.00015807462016862754,-0.03169349619923919,-0.15675176201790667],"joint_actuator_torque":[-0.15352246814778425,-0.8754740393435441,-0.9564850869417114,-0.0007969025837729742,-0.06531906432754908,0.02083915709235562],"jaw_actuator_force":[0.005707216703994433,-0.0023831013944750623],"end_effector_position":[0.35939840316220595,-0.06146916891358465,0.46768307797460845],"end_effector_quaternion":[0.9999972464887205,-8.670111057776113e-06,-8.599275707007296e-06,-0.0023466712294078367],"end_effector_velocity":[-0.01783547862309552,0.06654381770208406,-0.007942474495251407],"object_position":[0.3400000029073786,0.07000000065455111,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.545736196910979e-14,9.288055604755308e-14,1.2838371770288235e-21],"object_velocity":[-2.5495252437472495e-13,-2.345807392598252e-13,-1.8902690403635376e-14],"object_angular_velocity":[4.2175104574545534e-12,-4.58317642057857e-12,4.287434786772722e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.014413424612930012,-0.002465155579680063,0.5096179110838491],[0.2509732810743961,-0.042924440291320344,0.508042921701987],[0.3051849148468154,-0.052196359704404574,0.5076819866353102],[0.35939771684971566,-0.061468473692236056,0.507683077962679],[0.35939840316220595,-0.06146916891358465,0.46768307797460845]],"gripper_points":[[0.4053917268405586,-0.06168489470864624,0.47568387087123687],[0.3133971832005456,-0.06125312925816738,0.47568228494181386]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999555686800125,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.559999999999829,"stage":"approach","target_distance":0.1256025461152579,"dwell_elapsed":0.0},{"joint_position":[-0.16546124497051595,-1.5208849700195424,1.5282445332995986,-1.432507779995529e-05,-0.007374447541395343,0.1607573498556094],"joint_velocity":[0.17198060980555527,-0.10152993238119629,0.13292525816587408,0.0001577986654237839,-0.031170114657338755,-0.15708010974153697],"joint_actuator_torque":[-0.15343216252921366,-0.8732911648114623,-0.9556756195083835,-0.000789772384170913,-0.06538873866289785,0.020882965964345246],"jaw_actuator_force":[0.0056899978632589665,-0.0006862100186211251],"end_effector_position":[0.358991076675417,-0.05994775303446634,0.46748107937390143],"end_effector_quaternion":[0.9999972342433777,-8.275785153384797e-06,-6.180280595280489e-06,-0.002351892623127481],"end_effector_velocity":[-0.017770432382517094,0.06643493210837756,-0.007855447094185937],"object_position":[0.34000000290737337,0.07000000065454633,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.050089450597431e-14,8.752252862293714e-14,1.2838392544631329e-21],"object_velocity":[-3.462092038497105e-13,-3.1842802691485744e-13,-1.8881873721923645e-14],"object_angular_velocity":[-1.4699750320505368e-11,1.5987301921210557e-11,6.609256704079521e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013778591331400008,-0.0023008584916127403,0.509651312300021],[0.2504943781139196,-0.04182953852990879,0.5078850330574559],[0.30474174591824704,-0.0508881943720183,0.5074802607310347],[0.3589905838114375,-0.05994708981065667,0.5074810793653667],[0.358991076675417,-0.05994775303446634,0.46748107937390143]],"gripper_points":[[0.4049844523426425,-0.06016396560560045,0.4754816496724957],[0.31299006838905835,-0.059731240198648186,0.47548050897969646]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999540168714127,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.579999999999827,"stage":"approach","target_distance":0.12560254611525914,"dwell_elapsed":0.0},{"joint_position":[-0.1615214198962201,-1.523193262801561,1.5313365650075732,-1.4375000121526025e-05,-0.00815358405411123,0.15680733639260785],"joint_velocity":[0.17232758893690175,-0.10030714787379273,0.13114813845859244,0.00015804387261643524,-0.03065667885995714,-0.1574002783343748],"joint_actuator_torque":[-0.15339895803981562,-0.8714075475803611,-0.9549246817896346,-0.0007872486122666839,-0.06542809062893196,0.020925468483769194],"jaw_actuator_force":[0.005665692911343001,-0.002401472408317673],"end_effector_position":[0.3585853717741503,-0.05842879495022568,0.46728113057294496],"end_effector_quaternion":[0.9999972222773746,-7.911216470556152e-06,-3.936811038138094e-06,-0.0023569810031084802],"end_effector_velocity":[-0.0176995222315775,0.0663251206486643,-0.007771453037100675],"object_position":[0.34000000290736815,0.07000000065454162,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.99992585496041e-14,7.610633156262455e-14,1.2838425191578903e-21],"object_velocity":[-2.1556679063212335e-13,-1.9826810778869737e-13,-1.890962929753927e-14],"object_angular_velocity":[6.513727595638652e-12,-7.0823343816830085e-12,1.1293797183834955e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.013150398290884689,-0.0021427375757019397,0.5096828126654779],[0.2500186445487557,-0.04073825997133687,0.5077284417363561],[0.30430095098285115,-0.04958306718700321,0.507280565065099],[0.35858505832186904,-0.058428161312346946,0.5072811305666981],[0.3585853717741503,-0.05842879495022568,0.46728113057294496]],"gripper_points":[[0.40457878954694204,-0.05864548154593879,0.47528149442525847],[0.31258417700072955,-0.05821181882961636,0.475280766657601]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799956346867009,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.5999999999998247,"stage":"approach","target_distance":0.12560254611526048,"dwell_elapsed":0.0},{"joint_position":[-0.15757361791005828,-1.5254730757448243,1.5343863041310895,-1.4413150267320863e-05,-0.008919555800595919,0.15284951622023618],"joint_velocity":[0.1726673624672281,-0.09906704125169315,0.12935408719935046,0.00015773314377924243,-0.030137344933080675,-0.15771765869933851],"joint_actuator_torque":[-0.15330654635306473,-0.869321227382784,-0.9540943170335368,-0.0007804066147115605,-0.065495514015113,0.020967815121146316],"jaw_actuator_force":[0.0056461289036064954,-0.0007339831358308402],"end_effector_position":[0.35818141426239875,-0.05691232850276653,0.4670834420891223],"end_effector_quaternion":[0.9999972104800037,-7.608735494814204e-06,-2.011661886476202e-06,-0.002361984392794128],"end_effector_velocity":[-0.01762366133206536,0.06621421778294734,-0.007685776405583077],"object_position":[0.3400000029073631,0.07000000065453696,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.621578190066276e-14,8.282411485359795e-14,1.2838451993974333e-21],"object_velocity":[-2.5453850738697287e-13,-2.3422317330016747e-13,-1.8906853739977704e-14],"object_angular_velocity":[-2.017355758688725e-12,2.1894905477604615e-12,1.2770860277146165e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012528996315607346,-0.001990742963807475,0.5097124616347573],[0.2495462075177583,-0.039650610810857745,0.5075733151466265],[0.30386265175158456,-0.04828099719247343,0.5070830940764299],[0.3581812547676339,-0.056911719425503805,0.5070834420841671],[0.35818141426239875,-0.05691232850276653,0.4670834420891223]],"gripper_points":[[0.4041748797000095,-0.05712948034990818,0.47508362878959354],[0.31218042190859624,-0.05669489776888715,0.47508325535637386]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999548427230163,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.6199999999998225,"stage":"approach","target_distance":0.12560254611526164,"dwell_elapsed":0.0},{"joint_position":[-0.15361780347900433,-1.5277234244253566,1.5373927123259454,-1.4419687412672839e-05,-0.00967219928827556,0.1488838242419995],"joint_velocity":[0.17300914381245955,-0.0977836595503843,0.1275213803046333,0.00015789278000818911,-0.029608893164201688,-0.15803818002114634],"joint_actuator_torque":[-0.153274135279311,-0.8675520726803825,-0.953304902660534,-0.0007778929075155275,-0.06553559076423454,0.02101038311699277],"jaw_actuator_force":[0.00561718575251291,-0.002415882608248765],"end_effector_position":[0.35777949358982764,-0.05539832957395322,0.4668880663140336],"end_effector_quaternion":[0.9999971988193651,-7.346534760682798e-06,-3.527839043790655e-07,-0.0023669176849395765],"end_effector_velocity":[-0.01753545112404953,0.06610463154443487,-0.00760035648723053],"object_position":[0.3400000029073585,0.07000000065453268,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.910264107189657e-14,6.422431261238492e-14,1.283845434881413e-21],"object_velocity":[-1.8794050381060918e-13,-1.7295231632833746e-13,-1.8904078182416137e-14],"object_angular_velocity":[7.133635442705224e-12,-7.751974639015373e-12,9.340973081460383e-29],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01191470391608292,-0.001844845344156025,0.5097403016661137],[0.24907736964179844,-0.038566566903776564,0.5074197087310559],[0.3034271472039416,-0.04698196142785627,0.5068879061834385],[0.35777946675828576,-0.05539774178601785,0.506888066309706],[0.35777949358982764,-0.05539832957395322,0.4668880663140336]],"gripper_points":[[0.4037729848443484,-0.055615939486875966,0.4748881003645184],[0.3117783006112131,-0.05518044813766293,0.4748880322561238]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999571500822286,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.6399999999998203,"stage":"approach","target_distance":0.12560254611526275,"dwell_elapsed":0.0},{"joint_position":[-0.14965402718515433,-1.529943654327492,1.5403550085251563,-1.4417491315817057e-05,-0.010411132793770915,0.1449102289051536],"joint_velocity":[0.17334910946109192,-0.09647193559082269,0.12564916898794126,0.00015751200422854523,-0.02906810951642644,-0.15835986379747685],"joint_actuator_torque":[-0.15319196274764124,-0.8656076243352118,-0.9524327143420805,-0.0007714010003957477,-0.06560464817604506,0.021053305986374227],"jaw_actuator_force":[0.0055902003620467156,-0.0007773177854453195],"end_effector_position":[0.35737979725471763,-0.053886787087553074,0.4666950746008422],"end_effector_quaternion":[0.999997187200577,-7.114068748681463e-06,1.1673311952291057e-06,-0.002371821865486573],"end_effector_velocity":[-0.017438704430260025,0.06599568766422012,-0.007509607996812963],"object_position":[0.3400000029073531,0.07000000065452776,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.673660727015949e-14,8.340699861655438e-14,1.2838451183560551e-21],"object_velocity":[-2.331530679034353e-13,-2.1451119928557777e-13,-1.8906853739977697e-14],"object_angular_velocity":[4.5489928041231625e-12,-4.943946814269565e-12,5.952394742603682e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011307748261996086,-0.001704997673597346,0.5097663807754182],[0.24861233908126856,-0.03748610686583604,0.5072677009098235],[0.30299464114401853,-0.045685944389057404,0.506695086773958],[0.3573798919908149,-0.053886218185150145,0.5066950745966844],[0.35737979725471763,-0.053886787087553074,0.4666950746008422]],"gripper_points":[[0.40337332412562554,-0.054104851964422114,0.4746949687719337],[0.3113787874198563,-0.053668458973148925,0.47469518044539266]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999557175536637,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.659999999999818,"stage":"approach","target_distance":0.12560254611526406,"dwell_elapsed":0.0},{"joint_position":[-0.14568230720438932,-1.532133085623198,1.5432725703744985,-1.438794297709987e-05,-0.011136493855936668,0.14092878206178153],"joint_velocity":[0.1736878509071384,-0.0951313269029943,0.12375694511043336,0.00015754599397883108,-0.028530611538647457,-0.15867902027350003],"joint_actuator_torque":[-0.15316293720768925,-0.863965340302002,-0.9516082756202877,-0.00076891091246219,-0.06564528164401429,0.021095702605666844],"jaw_actuator_force":[0.005555124438274106,-0.00242132322564359],"end_effector_position":[0.35698253440019306,-0.05237767624453933,0.4665045030630656],"end_effector_quaternion":[0.9999971756646119,-6.9062135703685135e-06,2.507465592167201e-06,-0.0023766802090237848],"end_effector_velocity":[-0.017333474528882044,0.06588780287793787,-0.007419651527217591],"object_position":[0.34000000290734805,0.07000000065452312,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.367649878078317e-14,8.010075633342433e-14,1.2838447718580544e-21],"object_velocity":[-3.093782829975017e-13,-2.8455874817503397e-13,-1.8901302624854567e-14],"object_angular_velocity":[-1.0811839025785785e-11,1.1759620073689043e-11,-1.8692792169656525e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0107083633954864,-0.001571149857261492,0.5097907475981225],[0.24815133166603284,-0.036409198579371416,0.5071173265485763],[0.3025653452280331,-0.04439291807818827,0.5065046675580553],[0.3569827363099828,-0.05237712422576965,0.506504503058747],[0.35698253440019306,-0.05237767624453933,0.4665045030630656]],"gripper_points":[[0.40297609247298716,-0.05259619146125386,0.4745042739158009],[0.31098133051962695,-0.052158903492825454,0.4745047322470977]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999580125110496,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.679999999999816,"stage":"approach","target_distance":0.12560254611526528,"dwell_elapsed":0.0},{"joint_position":[-0.141702720466613,-1.5342912406077807,1.5461448913216937,-1.4352522585757785e-05,-0.011848058001359026,0.13693950395082277],"joint_velocity":[0.17402381717964632,-0.09376948742374354,0.12183702560443567,0.00015707652023053218,-0.027986654894354288,-0.1589976030855836],"joint_actuator_torque":[-0.15308775507625683,-0.862148466427243,-0.9507090208091995,-0.0007627429343332495,-0.06571369043445618,0.021138207582092505],"jaw_actuator_force":[0.005523126138555767,-0.0008145568885264964],"end_effector_position":[0.3565878440117649,-0.05087098154124172,0.46631640106682565],"end_effector_quaternion":[0.9999971641452728,-6.717895549339328e-06,3.7657644209912565e-06,-0.002381520963792893],"end_effector_velocity":[-0.01722170578607075,0.06578079671625563,-0.00732554588061898],"object_position":[0.34000000290734317,0.07000000065451867,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.754545047730307e-14,7.344415075363508e-14,1.2838436328498735e-21],"object_velocity":[-2.0810485639108866e-13,-1.9139281684950697e-13,-1.890546596119691e-14],"object_angular_velocity":[6.816277476182951e-12,-7.41145619675753e-12,-5.908653188367855e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010116727058244642,-0.001443240629878692,0.5098134537332208],[0.24769450508046545,-0.035335812805040674,0.5069686441832147],[0.30213941254389104,-0.043102860595181966,0.5063167086613384],[0.35658814655196897,-0.05087044482858161,0.5063164010620808],[0.3565878440117649,-0.05087098154124172,0.46631640106682565]],"gripper_points":[[0.40258144398565365,-0.05108994522165348,0.474316056132961],[0.31058682269451743,-0.05065176725088566,0.474316746055357]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999566482671691,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.6999999999998137,"stage":"approach","target_distance":0.12560254611526647,"dwell_elapsed":0.0},{"joint_position":[-0.1377153036422885,-1.5364175051134747,1.548971508536029,-1.429414674134491e-05,-0.012546048005037135,0.13294249549636492],"joint_velocity":[0.1743578048619006,-0.0923812221207051,0.11990372997795025,0.00015698494004163586,-0.027449296644357263,-0.15931163768070175],"joint_actuator_torque":[-0.15306104641116747,-0.860629058509744,-0.9498595958184524,-0.0007602666095663013,-0.0657539073540867,0.021179927428688572],"jaw_actuator_force":[0.005483442630849211,-0.0024201519858362275],"end_effector_position":[0.35619591492366703,-0.04936667549996006,0.4661307785487834],"end_effector_quaternion":[0.9999971527197453,-6.544512673788098e-06,4.905520732048556e-06,-0.0023863121144728568],"end_effector_velocity":[-0.017102247445498295,0.06567496458978309,-0.007233433751438467],"object_position":[0.34000000290733773,0.0700000006545137,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.217815919507771e-14,8.9369954546486e-14,1.2838449473501942e-21],"object_velocity":[-2.5923106036736975e-13,-2.3837079511161035e-13,-1.8897139288512223e-14],"object_angular_velocity":[6.44033390124549e-13,-6.995282834653571e-13,2.1450778085585445e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00953305448995958,-0.0013212105484529052,0.509834549823245],[0.2472420554814664,-0.03426591257475083,0.5068216681431534],[0.3017170348753534,-0.04181574012244411,0.5061312160914657],[0.3561963086135882,-0.04936615287692516,0.5061307785434318],[0.35619591492366703,-0.04936667549996006,0.4661307785487834]],"gripper_points":[[0.40218955054254624,-0.04958608281726958,0.47413032873576716],[0.3101947061841222,-0.04914702223788812,0.4741312284352634]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999589210140028,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.7199999999998115,"stage":"approach","target_distance":0.12560254611526778,"dwell_elapsed":0.0},{"joint_position":[-0.13372016878279808,-1.5385116197764073,1.5517521711111788,-1.4232554360070185e-05,-0.013230342245568173,0.12893782764070846],"joint_velocity":[0.1746873371165061,-0.09098204073375414,0.11795347676563435,0.00015643076377585074,-0.026909644404774453,-0.15962302848214974],"joint_actuator_torque":[-0.15299108910386394,-0.85893241881422,-0.9489420228859444,-0.000754407982422313,-0.06582082746276718,0.021221465764948988],"jaw_actuator_force":[0.005447418955068173,-0.0008468396319347704],"end_effector_position":[0.3558068259068519,-0.04786474119262442,0.46594768033968753],"end_effector_quaternion":[0.999997141339874,-6.3859297367895215e-06,5.992395780858944e-06,-0.002391074108200256],"end_effector_velocity":[-0.016979063427275627,0.06557003519846827,-0.007136965677571315],"object_position":[0.34000000290733273,0.07000000065450913,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.097481669280907e-14,6.629921274253728e-14,1.2838471817529302e-21],"object_velocity":[-1.97077738582718e-13,-1.8124756571449804e-13,-1.890546596119692e-14],"object_angular_velocity":[7.81069661812838e-12,-8.493095895758937e-12,2.0035888242505581e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00895746209328592,-0.001204984059425925,0.5098540903511397],[0.2467940781418056,-0.0331994628639841,0.5066764508791879],[0.3012983026529247,-0.040531530923362015,0.5059482418335323],[0.3558073065186825,-0.04786423146596688,0.5059476803335524],[0.3558068259068519,-0.04786474119262442,0.46594768033968753]],"gripper_points":[[0.40180051121845606,-0.048084589297591344,0.4739471305147432],[0.30980580122567924,-0.047644653179389124,0.4739482302522134]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999576192223548,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.7399999999998093,"stage":"approach","target_distance":0.125602546115269,"dwell_elapsed":0.0},{"joint_position":[-0.12971737371528339,-1.5405731212595588,1.5544865589697965,-1.4152067188087706e-05,-0.013901201637780832,0.12492561552911363],"joint_velocity":[0.17501408521878076,-0.0895627586862938,0.11599566510599582,0.00015622387447729167,-0.026378065350855847,-0.15992945517323967],"joint_actuator_torque":[-0.1529650188864622,-0.857522133541238,-0.9480742372122677,-0.0007519382887502036,-0.0658599322487341,0.021262177232522106],"jaw_actuator_force":[0.005404542936767953,-0.002413411481287042],"end_effector_position":[0.3554207241976574,-0.04636514775318878,0.46576712315609503],"end_effector_quaternion":[0.9999971300750761,-6.241223689958444e-06,6.9669262895391146e-06,-0.0023957783956220077],"end_effector_velocity":[-0.01684993043537892,0.06546644844531646,-0.007042159725596464],"object_position":[0.34000000290732746,0.07000000065450433,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.572945925181201e-14,8.233740538320885e-14,1.2838503387117704e-21],"object_velocity":[-2.283499442132134e-13,-2.100245164176069e-13,-1.8911017076320057e-14],"object_angular_velocity":[5.475936793377756e-12,-5.953507492148655e-12,6.997903562014247e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.008390122358744739,-0.0010944903845332555,0.5098721278327006],[0.24635072595878169,-0.0321364205736104,0.5065330105178181],[0.30088336428379014,-0.03925019624194059,0.5057677961331575],[0.35542128274636814,-0.04636464979202345,0.5057671231490958],[0.3554207241976574,-0.04636514775318878,0.46576712315609503]],"gripper_points":[[0.40141445145684584,-0.046585431083327314,0.47376648365638185],[0.3094195213958414,-0.046144628348251636,0.4737677627600554]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999598613861619,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.759999999999807,"stage":"approach","target_distance":0.12560254611527027,"dwell_elapsed":0.0},{"joint_position":[-0.12570703102653505,-1.542601755241093,1.5571743796409396,-1.4070886494296784e-05,-0.01455850647655093,0.12090592790548149],"joint_velocity":[0.17533640864281028,-0.08813242681182393,0.11401911436610582,0.0001555945017939557,-0.025844213611947456,-0.16023337526715226],"joint_actuator_torque":[-0.15289983164581145,-0.8559399430700978,-0.9471386627843685,-0.000746380452505312,-0.06592503763854896,0.0213027130760981],"jaw_actuator_force":[0.00536518012231646,-0.0008750648667614769],"end_effector_position":[0.3550376888049655,-0.04486787398187131,0.46558916810785034],"end_effector_quaternion":[0.9999971188738113,-6.113073518176373e-06,7.87059292302046e-06,-0.002400446783529029],"end_effector_velocity":[-0.016716978493746832,0.06536395797346455,-0.006942430607989505],"object_position":[0.3400000029073221,0.07000000065449936,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.310780297107296e-14,9.037733201018933e-14,1.2838524667169245e-21],"object_velocity":[-3.024267544556458e-13,-2.781012819375805e-13,-1.890685373997772e-14],"object_angular_velocity":[-6.699887530407419e-12,7.28727688618574e-12,1.0074399440393598e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.007831149190086966,-0.000989648909876507,0.5098887166310886],[0.24591209223458588,-0.031076745966412425,0.5063914105603173],[0.3004723083489502,-0.03797170570853524,0.5055899445857656],[0.3550383196245139,-0.044867386448834014,0.5055891680999051],[0.3550376888049655,-0.04486787398187131,0.46558916810785034]],"gripper_points":[[0.4010314672503723,-0.045088589017605166,0.4735884454552224],[0.3090366658493001,-0.044646927941089015,0.4735898908750903]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799958615994136,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.779999999999805,"stage":"approach","target_distance":0.12560254611527158,"dwell_elapsed":0.0},{"joint_position":[-0.12168919052793722,-1.5445970657641441,1.559815350020972,-1.3974775614185549e-05,-0.015202477654583782,0.11687886635894781],"joint_velocity":[0.17565638524288799,-0.08668211399544637,0.11203670544046847,0.00015527874928299393,-0.025316695856355983,-0.16053293088021311],"joint_actuator_torque":[-0.15287517418463636,-0.8546401260136918,-0.9462523529987266,-0.0007439243438142278,-0.06596326115603834,0.021342514908086585],"jaw_actuator_force":[0.005319070924148406,-0.0024018015650071334],"end_effector_position":[0.35465786172833474,-0.04337288064192261,0.4654138193932553],"end_effector_quaternion":[0.9999971077990378,-5.996430010710876e-06,8.678553414690346e-06,-0.002405053489037767],"end_effector_velocity":[-0.016578261601007983,0.06526319620696025,-0.006845013377413296],"object_position":[0.34000000290731686,0.07000000065449456,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.032921951408312e-14,7.648506439296329e-14,1.2838544450885189e-21],"object_velocity":[-2.1983314475069995e-13,-2.0214085348484015e-13,-1.8905465961196933e-14],"object_angular_velocity":[7.832930276137995e-12,-8.518469194517726e-12,6.850351149372076e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.007280711937567609,-0.0008903832959521977,0.5099039093175879],[0.24547832711953743,-0.03002038864602389,0.506251662074174],[0.3000652805987388,-0.03669601487208199,0.5054146887475583],[0.3546585571643387,-0.0433724025987,0.5054138193843534],[0.35465786172833474,-0.04337288064192261,0.4654138193932553]],"gripper_points":[[0.40065168313046573,-0.04359402148988241,0.4734130223939235],[0.3086566649530614,-0.043151511761971094,0.4734146165216501]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799960824538822,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.7999999999998026,"stage":"approach","target_distance":0.12560254611527283,"dwell_elapsed":0.0},{"joint_position":[-0.11766396890910638,-1.5465588553260163,1.562409277125601,-1.3880338441282733e-05,-0.01583301323992233,0.11284450772009395],"joint_velocity":[0.17597164865674042,-0.0852234202422737,0.1100399452932496,0.00015457818669201292,-0.02478764624813303,-0.16082954845291358],"joint_actuator_torque":[-0.1528151009990495,-0.853173254095509,-0.945302854209217,-0.0007386622691622042,-0.06602687484095204,0.0213820707382677],"jaw_actuator_force":[0.005276569035352452,-0.000899217206537628],"end_effector_position":[0.35428130426802157,-0.04188014150274563,0.4652411242198212],"end_effector_quaternion":[0.9999970968035954,-5.892274563295163e-06,9.444546042107316e-06,-0.0024096183229370895],"end_effector_velocity":[-0.01643655081912331,0.0651637134260745,-0.006743232239441135],"object_position":[0.3400000029073115,0.07000000065448975,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.234099751470837e-14,8.9550806074244e-14,1.2838610336775277e-21],"object_velocity":[-2.510510793347852e-13,-2.308405365543848e-13,-1.8898527067293013e-14],"object_angular_velocity":[2.3617723527586636e-12,-2.569487205199815e-12,5.167194852705481e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.006738907496505145,-0.0007966062872493013,0.5099177603228789],[0.24504950703050232,-0.028967303392883212,0.5061138183767588],[0.29966235275704334,-0.03542308814625765,0.505242081680773],[0.354282060965362,-0.041879671942769175,0.5052411242099077],[0.35428130426802157,-0.04188014150274563,0.4652411242198212]],"gripper_points":[[0.4002751792161234,-0.042101704164688565,0.47324025673665643],[0.3082802839929243,-0.041658355122795546,0.4732419918394964]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999596354466262,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.8199999999998004,"stage":"approach","target_distance":0.12560254611527416,"dwell_elapsed":0.0},{"joint_position":[-0.11363143943766853,-1.5484867800375215,1.56495595350099,-1.3774564722494969e-05,-0.016450362523861315,0.10880296293667069],"joint_velocity":[0.1762834890014363,-0.0837500510046689,0.10804008079870973,0.00015416307487209992,-0.024266275060605393,-0.1611214329428572],"joint_actuator_torque":[-0.15279106179374224,-0.8519780495594205,-0.9444009966622389,-0.0007362191108645228,-0.06606397925578711,0.021420857411236227],"jaw_actuator_force":[0.005227851434870701,-0.002385529842211298],"end_effector_position":[0.3539081282085142,-0.04038961778429171,0.4650711015289502],"end_effector_quaternion":[0.9999970859339746,-5.79990887385973e-06,1.0111662947945826e-05,-0.0024141225474649496],"end_effector_velocity":[-0.016290465161289885,0.06506592001431927,-0.006642777822666993],"object_position":[0.34000000290730675,0.07000000065448539,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.683686079228286e-14,7.269135990887542e-14,1.2838645211728354e-21],"object_velocity":[-3.643636412752914e-13,-3.349936838381989e-13,-1.885689370386956e-14],"object_angular_velocity":[-2.0304470973471212e-11,2.2087305363059193e-11,1.0791175331834514e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.006205872797717852,-0.000708233146186077,0.5099303226673189],[0.244625749416984,-0.027917437207451157,0.5059778997134406],[0.29926363780889914,-0.034152879804824406,0.5050721361198436],[0.353908938259328,-0.040389155745797385,0.5050711015180794],[0.3539081282085142,-0.04038961778429171,0.4650711015289502]],"gripper_points":[[0.399902049934186,-0.04061159646810783,0.47307017265984835],[0.30790694155267234,-0.04016741764344363,0.4730720305469664]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999618070554058,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.8399999999997982,"stage":"approach","target_distance":0.12560254611527533,"dwell_elapsed":0.0},{"joint_position":[-0.1095917074104218,-1.5503806939436962,1.5674551970821,-1.3672660825673171e-05,-0.017054407855429974,0.10475430589884244],"joint_velocity":[0.17659125996817943,-0.0822703070810861,0.10602649908376734,0.00015340030249524127,-0.023742572617744845,-0.16141054269893876],"joint_actuator_torque":[-0.15273590611386823,-0.8506192329491569,-0.9434374980934308,-0.000731245666549641,-0.06612591360999986,0.021459406414215287],"jaw_actuator_force":[0.005182902186369631,-0.0009196419592871763],"end_effector_position":[0.3535383815411127,-0.03890127398878861,0.4649038113850734],"end_effector_quaternion":[0.9999970751530554,-5.72134143132157e-06,1.0721154665133173e-05,-0.002418581745079601],"end_effector_velocity":[-0.01614191456631705,0.06496985266347088,-0.0065375488012514305],"object_position":[0.3400000029073016,0.07000000065448062,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.73109223092754e-14,8.409278395147195e-14,1.2838666463953557e-21],"object_velocity":[-2.333145619874672e-13,-2.14499964722746e-13,-1.8905465961196908e-14],"object_angular_velocity":[6.621355427489208e-12,-7.202094611572632e-12,5.016971319970129e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.005681689013107749,-0.0006251708448341512,0.5099416502976525],[0.24420711592350383,-0.026870736610925653,0.5058439686566419],[0.29886919292380293,-0.03288534543232162,0.5049049166139103],[0.35353924033797984,-0.038900818357211944,0.5049038113732592],[0.3535383815411127,-0.03890127398878861,0.4649038113850734]],"gripper_points":[[0.3995323586532599,-0.03912366437630215,0.47290282643355175],[0.3075373679136862,-0.038678665649899115,0.47290479648991146]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999606702963921,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.859999999999796,"stage":"approach","target_distance":0.12560254611527655,"dwell_elapsed":0.0},{"joint_position":[-0.10554483479287385,-1.5522401738714784,1.5699067706802143,-1.3562958925723184e-05,-0.0176453546685705,0.10069863361175468],"joint_velocity":[0.17689613862029252,-0.08077167608992536,0.1040087457319022,0.0001528916583771157,-0.023224663844073314,-0.1616955345154825],"joint_actuator_torque":[-0.15271377593093405,-0.8495320595359317,-0.9425204938125944,-0.0007288239767564885,-0.06616233242243186,0.021497280661849416],"jaw_actuator_force":[0.005131632886651971,-0.00236533162457242],"end_effector_position":[0.3531721937428061,-0.03741506540369311,0.46473925180170245],"end_effector_quaternion":[0.9999970645039139,-5.651079591948952e-06,1.1262617732637747e-05,-0.0024229784921311307],"end_effector_velocity":[-0.01598805173121879,0.06487572747687594,-0.006434905062355858],"object_position":[0.3400000029072964,0.07000000065447583,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.466116393130666e-14,9.210065655798824e-14,1.2838706209734605e-21],"object_velocity":[-2.8168678847796543e-13,-2.589361906316341e-13,-1.8908241518758468e-14],"object_angular_velocity":[-3.784247884258749e-12,4.1170969050490124e-12,6.557523428093355e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.005166513734794305,-0.0005473327258753255,0.5099517950696429],[0.24379374509378857,-0.025827144163945704,0.5057120323880065],[0.29847915228022476,-0.03162043428517017,0.5047404201067982],[0.35317309584497536,-0.0374146155017793,0.5047392517889999],[0.3531721937428061,-0.03741506540369311,0.46473925180170245]],"gripper_points":[[0.39916621649150835,-0.03763786157346069,0.4727382170274608],[0.30717101643101674,-0.03719205285351404,0.4727402867399449]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999628027191294,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.879999999999794,"stage":"approach","target_distance":0.1256025461152778,"dwell_elapsed":0.0},{"joint_position":[-0.10149094294512075,-1.5540651177628542,1.572310582333012,-1.3459067883275642e-05,-0.018223126425885482,0.09663603353643183],"joint_velocity":[0.17719605925985224,-0.07926917036712727,0.10198116799598536,0.0001520722898832173,-0.02270619609071332,-0.16197707352427415],"joint_actuator_torque":[-0.152663353685071,-0.8482865558606818,-0.9415462509773533,-0.0007241327100740001,-0.0662227881770292,0.02153481536079571],"jaw_actuator_force":[0.00508403524564649,-0.0009365326472483559],"end_effector_position":[0.3528095987591943,-0.03593095722544468,0.46457746823828766],"end_effector_quaternion":[0.9999970539461108,-5.590788877278045e-06,1.1779763304493666e-05,-0.0024273296190121],"end_effector_velocity":[-0.015832478429015272,0.06478324367765463,-0.0063279052683264825],"object_position":[0.3400000029072915,0.07000000065447139,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.138493777326361e-14,6.677648393847157e-14,1.283874914762164e-21],"object_velocity":[-1.9430909518874432e-13,-1.7862019650226917e-13,-1.8906853739977688e-14],"object_angular_velocity":[7.069104913460299e-12,-7.689925716710081e-12,8.976852064212262e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.004660414423361723,-0.0004746205702011508,0.5099608102444285],[0.24338568469114266,-0.02478660521430228,0.505582141697947],[0.2980935591275091,-0.030358101695242123,0.5045786968227117],[0.35281054222313735,-0.035930512251121635,0.5045774682246861],[0.3528095987591943,-0.03593095722544468,0.46457746823828766]],"gripper_points":[[0.3988036786667434,-0.03615415487894813,0.4725763858800386],[0.30680859076760375,-0.03570754611633203,0.4725785507630127]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999617199451285,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.8999999999997916,"stage":"approach","target_distance":0.125602546115279,"dwell_elapsed":0.0},{"joint_position":[-0.09743011199362314,-1.5558552745604244,1.5746665324811235,-1.3350462925607979e-05,-0.018787958926210345,0.09256662715991812],"joint_velocity":[0.17749233922505528,-0.07775589951310115,0.09995483814692022,0.00015148324796932696,-0.022194880186479516,-0.16225346825488518],"joint_actuator_torque":[-0.15264209434337772,-0.8472990572018944,-0.9406181304857455,-0.0007217323238630152,-0.06625815962353276,0.02157154963264407],"jaw_actuator_force":[0.005030936280808973,-0.002341112268730683],"end_effector_position":[0.35245067931543267,-0.03444890268041556,0.4644184724363907],"end_effector_quaternion":[0.999997043530877,-5.538939499538937e-06,1.223004104727156e-05,-0.0024316145360266917],"end_effector_velocity":[-0.015673747097114506,0.0646928078492667,-0.006222472265346433],"object_position":[0.3400000029072861,0.07000000065446647,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.522101889785015e-14,9.271426337532814e-14,1.283879606081754e-21],"object_velocity":[-2.5450060308983954e-13,-2.339342174517976e-13,-1.8908241518758468e-14],"object_angular_velocity":[4.206800009394901e-12,-4.5758477314214815e-12,2.625172240947689e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0041634992409934814,-0.0004069386518515253,0.5099687476755288],[0.2429830238702795,-0.02374905780767831,0.5054543120344959],[0.29771249826449087,-0.029098293447555282,0.5044197538667592],[0.3524516587933091,-0.0344484619456653,0.5044184724219704],[0.35245067931543267,-0.03444890268041556,0.4644184724363907]],"gripper_points":[[0.39844481024326767,-0.034672495565590364,0.47241734864706103],[0.3064495170744815,-0.03422509740076298,0.47241959640132364]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999638109937376,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.9199999999997894,"stage":"approach","target_distance":0.12560254611528032,"dwell_elapsed":0.0},{"joint_position":[-0.09336246179119174,-1.5576105478302191,1.5769744788226563,-1.324937966670925e-05,-0.019339766317790063,0.08849050329631573],"joint_velocity":[0.1777837800239004,-0.07623840745011473,0.09791666115215131,0.00015061858638968265,-0.02168249969774472,-0.1625264529699664],"joint_actuator_torque":[-0.152595987818259,-0.8461583521914235,-0.9396328710216721,-0.0007173146977708682,-0.06631688929541779,0.021607938286081207],"jaw_actuator_force":[0.004981554448628245,-0.000950214190044818],"end_effector_position":[0.3520954692597646,-0.032968863615209766,0.46426232757996133],"end_effector_quaternion":[0.9999970332213585,-5.4989969275925535e-06,1.2633843048668772e-05,-0.0024358486464129067],"end_effector_velocity":[-0.015513179556225904,0.06460416383265863,-0.006112187050673989],"object_position":[0.3400000029072809,0.07000000065446169,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.030039693781045e-14,8.735919432532303e-14,1.2838831046885029e-21],"object_velocity":[-3.455725064724446e-13,-3.1764835287521793e-13,-1.888881261582753e-14],"object_angular_velocity":[-1.4669511926491088e-11,1.5958442582768983e-11,1.2613596204150694e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.003675832447419174,-0.00034418538431720604,0.5099756592853024],[0.242585808037399,-0.0227144438065654,0.5053286062710675],[0.29733601077676935,-0.027840961361663943,0.5042636566219719],[0.3520964810357879,-0.03296842615869106,0.5042623275647731],[0.3520954692597646,-0.032968863615209766,0.46426232757996133]],"gripper_points":[[0.3980896583749704,-0.03319284690537538,0.47226116663712825],[0.306094472412615,-0.03274467020528705,0.4722634886987691]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999627768553907,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.9399999999997872,"stage":"approach","target_distance":0.12560254611528157,"dwell_elapsed":0.0},{"joint_position":[-0.08928806581697056,-1.5593305984775503,1.5792342832286514,-1.314654474193249e-05,-0.01987874306695589,0.08440776276509152],"joint_velocity":[0.17807193926001832,-0.0747056980753232,0.09587832053407215,0.00014995604185043368,-0.021175469930601248,-0.16279522367409005],"joint_actuator_torque":[-0.15257621452727577,-0.8452756989405543,-0.9386925641526886,-0.0007149421898667236,-0.06635153254936865,0.021643663260764612],"jaw_actuator_force":[0.004926460826725432,-0.002313749086987116],"end_effector_position":[0.35174407127154717,-0.031490789653864655,0.46410902428398637],"end_effector_quaternion":[0.9999970230514071,-5.46549722822046e-06,1.2993885419402048e-05,-0.0024400183627603877],"end_effector_velocity":[-0.015348452651277347,0.06451773700149875,-0.006004699740962791],"object_position":[0.34000000290727567,0.070000000654457,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.98415818090256e-14,7.59629868743677e-14,1.283887418162554e-21],"object_velocity":[-2.1516139610249907e-13,-1.97817283384451e-13,-1.8905465961196898e-14],"object_angular_velocity":[6.498614424637722e-12,-7.069024762765282e-12,1.3863305361857972e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.00319754512192789,-0.00028626375637809734,0.5099815953920097],[0.24219414962984862,-0.021682698570970237,0.5052050264445943],[0.29696420482958047,-0.026586048215980936,0.5041103960608116],[0.35174511184615925,-0.03149035495181356,0.5041090242680893],[0.35174407127154717,-0.031490789653864655,0.46410902428398637]],"gripper_points":[[0.3977383098916111,-0.0317151572825648,0.47210783021456676],[0.3057429228666406,-0.03126621239280301,0.4721102185372403]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999648249304007,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.959999999999785,"stage":"approach","target_distance":0.12560254611528288,"dwell_elapsed":0.0},{"joint_position":[-0.08520704643464692,-1.5610154296353025,1.581445890451309,-1.3052769422498438e-05,-0.02040482183251468,0.08031850884595781],"joint_velocity":[0.17835505649237063,-0.07317410539218831,0.09383167273858853,0.00014905208707263057,-0.020668301833555367,-0.16305983003681887],"joint_actuator_torque":[-0.15253466394110404,-0.8442412557096759,-0.9376982493157584,-0.0007107941959794953,-0.06640876355747904,0.021678929489872267],"jaw_actuator_force":[0.004875163123625015,-0.0009607598518037719],"end_effector_position":[0.3513964918711277,-0.030014638184117207,0.4639586300778395],"end_effector_quaternion":[0.9999970129987357,-5.442924060813115e-06,1.331502495968258e-05,-0.002444133116506228],"end_effector_velocity":[-0.01518329928573066,0.06443327785014542,-0.005891725119182025],"object_position":[0.3400000029072706,0.07000000065445233,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.603006180410576e-14,8.266141085754133e-14,1.2838904466384537e-21],"object_velocity":[-2.5403641455270887e-13,-2.336549292187577e-13,-1.8894363730950644e-14],"object_angular_velocity":[-2.0121730743597166e-12,2.1826447755896372e-12,1.9535008486243598e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0027286720772442454,-0.0002330664009785913,0.5099866068738782],[0.24180806517472794,-0.020653759001626457,0.505083637380939],[0.29659709275956797,-0.025333501055941593,0.5039600402054737],[0.3513975581342012,-0.03001420535498846,0.5039586300612863],[0.3513964918711277,-0.030014638184117207,0.4639586300778395]],"gripper_points":[[0.3973907913312289,-0.030239384978205705,0.47195740646249595],[0.3053955063853648,-0.029789683490120043,0.4719598538757813]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999638411203425,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.979999999999783,"stage":"approach","target_distance":0.1256025461152841,"dwell_elapsed":0.0},{"joint_position":[-0.08111948709683131,-1.56266482715112,1.583609166432284,-1.2962011336889585e-05,-0.020918160255742755,0.0762228423791029],"joint_velocity":[0.17863430517882325,-0.07163494316918083,0.09178287702826748,0.00014816890838485164,-0.02016412693102758,-0.1633203200335915],"joint_actuator_torque":[-0.15250596382531256,-0.8433584341040614,-0.9367264639734003,-0.0007076001857458854,-0.06645469112840807,0.021713582529028663],"jaw_actuator_force":[0.0048198764039213415,-0.0009579205504746113],"end_effector_position":[0.35105280167534414,-0.028540356750996917,0.46381117486512036],"end_effector_quaternion":[0.9999970030857456,-5.430839459600914e-06,1.355825801792503e-05,-0.0024481842673779583],"end_effector_velocity":[-0.01501583276655915,0.06435109739402385,-0.005778348307427842],"object_position":[0.340000002907266,0.0700000006544481,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.895790154605232e-14,6.407817355084598e-14,1.2838912676563823e-21],"object_velocity":[-1.875192407721693e-13,-1.7253010955444716e-13,-1.8908241518758465e-14],"object_angular_velocity":[7.1159416073058395e-12,-7.734442213869097e-12,1.3146927150089734e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0022693078387543983,-0.00018448993633526814,0.509990743070903],[0.2414276313902754,-0.019627556730784312,0.5049644691375983],[0.29623474720416565,-0.024083259537845552,0.5038126146945493],[0.3510538873963906,-0.02853992494059133,0.5038111748480547],[0.35105280167534414,-0.028540356750996917,0.46381117486512036]],"gripper_points":[[0.3970471575428634,-0.028765476674077695,0.4718099288727564],[0.3050524277712226,-0.0283150325105077,0.4718124210254525]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999583257904966,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":2.9999999999997806,"stage":"approach","target_distance":0.12560254611528518,"dwell_elapsed":0.0},{"joint_position":[-0.07702547668275996,-1.5642785249920719,1.5857239438795065,-1.2875888279897472e-05,-0.021418766981049372,0.072120839614243],"joint_velocity":[0.17891034427011449,-0.07007938497214025,0.08972792830741812,0.00014747002352613782,-0.01966335288923774,-0.16357780181372292],"joint_actuator_torque":[-0.15248882863309632,-0.8426206145243214,-0.9357634613123764,-0.0007052897293361358,-0.06648782161200018,0.021747825272493415],"jaw_actuator_force":[0.004763477388669557,-0.0022858940241690107],"end_effector_position":[0.3507130782682168,-0.0270678940487714,0.46366667308180287],"end_effector_quaternion":[0.9999969932972378,-5.425739212632662e-06,1.3768459319592975e-05,-0.0024521781083652987],"end_effector_velocity":[-0.0148438004558634,0.06427132257331676,-0.005666280131714621],"object_position":[0.3400000029072606,0.07000000065444317,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.655944170171348e-14,8.321106428258013e-14,1.2838930955326905e-21],"object_velocity":[-2.3260665866763955e-13,-2.1401235615184363e-13,-1.8901302624854548e-14],"object_angular_velocity":[4.5372556115162955e-12,-4.931862846621887e-12,1.2412967190242486e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0018195605505567155,-0.00014043034953475643,0.5099940525774072],[0.24105293861403929,-0.018604024150552134,0.5048475465504162],[0.29587725442025403,-0.022835264396618617,0.5036681389192308],[0.3507141808060409,-0.02706746269195664,0.5036666730642821],[0.3507130782682168,-0.0270678940487714,0.46366667308180287]],"gripper_points":[[0.39670748306210407,-0.02729338168260826,0.4716654077526727],[0.30471212971422734,-0.026842199616072766,0.47166793859607986]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999645976483563,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.0199999999997784,"stage":"approach","target_distance":0.1256025461152865,"dwell_elapsed":0.0},{"joint_position":[-0.07292512542860959,-1.5658564797338586,1.5877901859865031,-1.2800847889832968e-05,-0.021906611641987893,0.06801260320574296],"joint_velocity":[0.17918153319702057,-0.06852493335390157,0.08766682288370549,0.00014651952679781326,-0.019161623585621217,-0.1638310156921659],"joint_actuator_torque":[-0.1524549370163797,-0.8417507851095252,-0.9347546528252906,-0.0007015637832506395,-0.0665427696421017,0.021781569462678618],"jaw_actuator_force":[0.004709452536381775,-0.0009773070135423723],"end_effector_position":[0.35037733870570337,-0.025597200331955686,0.4635251689799559],"end_effector_quaternion":[0.999996983624527,-5.429131613635248e-06,1.3964231370704158e-05,-0.0024561183546464196],"end_effector_velocity":[-0.014671521041536767,0.06419375227796505,-0.00554963350280527],"object_position":[0.34000000290725557,0.07000000065443855,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.352746426236719e-14,7.991214534853347e-14,1.2838944654165286e-21],"object_velocity":[-3.086418666213962e-13,-2.8398281501254826e-13,-1.88818737219236e-14],"object_angular_velocity":[-1.0792073231048443e-11,1.1729717759563095e-11,8.405837782676204e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0013794753303149635,-0.00010077712158539089,0.5099965837144891],[0.24068401448040433,-0.01758309239601545,0.5047329162849515],[0.2955246380356331,-0.021589456313072342,0.5035266591656825],[0.3503784569076105,-0.025596768746561097,0.5035251689619978],[0.35037733870570337,-0.025597200331955686,0.4635251689799559]],"gripper_points":[[0.3963718040891579,-0.025823050669075268,0.47152388564291686],[0.3043764117499297,-0.02537114342244838,0.4715264525025828]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999650231610358,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.039999999999776,"stage":"approach","target_distance":0.1256025461152877,"dwell_elapsed":0.0},{"joint_position":[-0.06881853448542469,-1.567398492920269,1.5898077912425679,-1.273198667179987e-05,-0.022381869409522255,0.06389825540678838],"joint_velocity":[0.17944805901253874,-0.06696367223448482,0.08560473064687393,0.0001455845601151578,-0.018663787628769864,-0.16407916339387035],"joint_actuator_torque":[-0.1524310210454516,-0.8410267338547328,-0.9337681260843738,-0.0006986080720230623,-0.06658703898256535,0.021814580402842232],"jaw_actuator_force":[0.004651637590812996,-0.000968248208353728],"end_effector_position":[0.3500456471816457,-0.02412822469284224,0.4633866853655282],"end_effector_quaternion":[0.9999969740946568,-5.44098790887252e-06,1.4106293378807591e-05,-0.00245999449967087],"end_effector_velocity":[-0.01449720845313194,0.06411837523457922,-0.0054327728376017854],"object_position":[0.3400000029072507,0.07000000065443411,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.742439339850866e-14,7.327686630482949e-14,1.2838946314221508e-21],"object_velocity":[-2.076286300400746e-13,-1.9104526417814627e-13,-1.8899914846073752e-14],"object_angular_velocity":[6.8036560158627075e-12,-7.39411864965855e-12,-7.369795901446672e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0009491396522046338,-6.542171138194358e-05,0.5099983836630495],[0.24032092898980448,-0.016564692475856926,0.5046206021914511],[0.29517696404633775,-0.020345775359382444,0.5033881939375431],[0.3500467767524853,-0.02412779219123897,0.5033866853472408],[0.3500456471816457,-0.02412822469284224,0.4633866853655282]],"gripper_points":[[0.3960401700434792,-0.024354431688813676,0.47138538896326215],[0.3040452724673371,-0.023901813681906747,0.4713879819381553]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999601105389609,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.059999999999774,"stage":"approach","target_distance":0.12560254611528893,"dwell_elapsed":0.0},{"joint_position":[-0.06470579795046208,-1.5689044581815033,1.5917766539631117,-1.2670724199223172e-05,-0.022844564801449307,0.05977788833104278],"joint_velocity":[0.17971110859978454,-0.0653940460517603,0.08353858318039613,0.0001447994904940444,-0.01817005190374297,-0.16432369093343574],"joint_actuator_torque":[-0.15241654388747605,-0.8404343945029495,-0.9327886816271302,-0.0006963620997226399,-0.06661890960042349,0.02184710343215812],"jaw_actuator_force":[0.004593249455997039,-0.0022317394727231488],"end_effector_position":[0.34971804030004067,-0.02266091067817051,0.4632512697541972],"end_effector_quaternion":[0.9999969647061706,-5.462096004021203e-06,1.4182704898557648e-05,-0.002463807513218383],"end_effector_velocity":[-0.014320342732629807,0.06404563187942265,-0.005315194494720477],"object_position":[0.34000000290724525,0.07000000065442914,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.205169197947337e-14,8.918809078971732e-14,1.2838946090622283e-21],"object_velocity":[-2.5869457443222946e-13,-2.3799858428825543e-13,-1.889852706729296e-14],"object_angular_velocity":[6.419228392831932e-13,-6.974088978851133e-13,8.732624586612702e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0005286143500310719,-3.4252229546555825e-05,0.5099994989167904],[0.2399637264091467,-0.015548750500871742,0.5045106505286718],[0.29483427292269404,-0.019104156354717097,0.503252789439728],[0.3497191759895929,-0.022660476507292904,0.5032512697357185],[0.34971804030004067,-0.02266091067817051,0.4632512697541972]],"gripper_points":[[0.3957126164921845,-0.022887468360438614,0.47124996632801996],[0.30371711376670996,-0.022434145796711966,0.4712525733658174]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999661966537797,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.079999999999772,"stage":"approach","target_distance":0.12560254611529026,"dwell_elapsed":0.0},{"joint_position":[-0.06058701381969729,-1.5703742202930928,1.5936966916045379,-1.2622363318564535e-05,-0.023294626383256457,0.05565158112619688],"joint_velocity":[0.17996994734140984,-0.06381892619121504,0.08146527299036492,0.00014381139085638085,-0.017673270202556282,-0.16456506734930207],"joint_actuator_torque":[-0.15238973671684874,-0.8397259744015173,-0.9317671350955834,-0.0006930122277417975,-0.06667204625079748,0.02187926320638489],"jaw_actuator_force":[0.0045370481032023235,-0.0009820108124625193],"end_effector_position":[0.34939456052284873,-0.021195202654784025,0.46311893827624506],"end_effector_quaternion":[0.9999969554357074,-5.490105744537013e-06,1.4265452094986152e-05,-0.00246756675116677],"end_effector_velocity":[-0.014141773656828989,0.06397536014585485,-0.005195233155213699],"object_position":[0.34000000290724025,0.07000000065442458,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.087300982270298e-14,6.616709516817333e-14,1.2838963222032593e-21],"object_velocity":[-1.966837081944496e-13,-1.80945661587096e-13,-1.8905465961196867e-14],"object_angular_velocity":[7.797855704841171e-12,-8.476306781964757e-12,2.3997547316315947e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00011797295856706881,-7.156387938156706e-06,0.5099999750556545],[0.23961246353668947,-0.014535193189303785,0.5044030893659335],[0.29449661762750917,-0.017864534956283408,0.5031204697287057],[0.349395702839318,-0.021194766263738084,0.5031189382575535],[0.34939456052284873,-0.021195202654784025,0.46311893827624506]],"gripper_points":[[0.39538919548090706,-0.021422105993442575,0.47111762724472217],[0.3033936506993857,-0.02096809153711041,0.4711202494921748]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999666513331696,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.0999999999997696,"stage":"approach","target_distance":0.12560254611529148,"dwell_elapsed":0.0},{"joint_position":[-0.05646229446038921,-1.5718076599686361,1.595567862115857,-1.2582988807401645e-05,-0.023732240656813786,0.05151946898801801],"joint_velocity":[0.1802236000406358,-0.062241527203488294,0.07939287335548585,0.0001428389160756063,-0.01718133065506448,-0.1648006803838761],"joint_actuator_torque":[-0.1523707075537537,-0.8391552677766185,-0.9307669568382835,-0.0006902858504558156,-0.06671481139225177,0.021910605317000176],"jaw_actuator_force":[0.004477197239999953,-0.000971352352609145],"end_effector_position":[0.34907524957241837,-0.019731048467975833,0.4629897188030791],"end_effector_quaternion":[0.9999969463127684,-5.526089474965122e-06,1.4299795713275392e-05,-0.0024712608353241764],"end_effector_velocity":[-0.013962351308366257,0.06390732340938823,-0.005074195067605384],"object_position":[0.34000000290723503,0.07000000065441978,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.558433212972158e-14,8.218074532841775e-14,1.2838986109494627e-21],"object_velocity":[-2.279160272705033e-13,-2.0962720070952655e-13,-1.890407818241608e-14],"object_angular_velocity":[5.4655168378613896e-12,-5.9420157078139185e-12,3.238319557940055e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.000282721983450614,1.5980116978312615e-05,0.5099998568087418],[0.23926718622996546,-0.013523948786580735,0.5042979448284931],[0.29416404019554,-0.01662684916031302,0.5029912566663528],[0.34907639464509477,-0.01973060920924984,0.5029897187842773],[0.34907524957241837,-0.019731048467975833,0.4629897188030791]],"gripper_points":[[0.39506994399710904,-0.019958291348098477,0.4709884046206031],[0.3030748673783459,-0.019503599508341515,0.47099103315363544]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999620032191782,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.1199999999997674,"stage":"approach","target_distance":0.12560254611529273,"dwell_elapsed":0.0},{"joint_position":[-0.05233173949246569,-1.5732046240803002,1.5973900525468936,-1.2553850356943545e-05,-0.02415743572423145,0.04738164895564599],"joint_velocity":[0.18047347139712752,-0.060653101852473,0.07731640988574427,0.00014198100661187168,-0.01669328639985411,-0.16503252830985554],"joint_actuator_torque":[-0.1523591104304991,-0.8387160581513626,-0.9297740413386464,-0.0006881132872565832,-0.06674584316642784,0.021941445805696347],"jaw_actuator_force":[0.004416820830986268,-0.00217160475390088],"end_effector_position":[0.34876015382564096,-0.018268390783534,0.46286364257091284],"end_effector_quaternion":[0.9999969373348572,-5.569770501627239e-06,1.4291705192393616e-05,-0.0024748910341281546],"end_effector_velocity":[-0.013779838137050355,0.06384193910436159,-0.004953489313566739],"object_position":[0.34000000290722965,0.07000000065441483,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.295147822944175e-14,9.017941432102325e-14,1.2839010271526342e-21],"object_velocity":[-3.017638668724435e-13,-2.7757283259837686e-13,-1.8929058200470142e-14],"object_angular_velocity":[-6.685908276479248e-12,7.267423481457749e-12,3.465308551627683e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0006733994451708136,3.5272369318350984e-05,0.5099991880149785],[0.23892794954823365,-0.012514941818527772,0.5041952510425419],[0.29383659202588885,-0.015391032569909174,0.5028651821530252],[0.3487612982613207,-0.01826794803289158,0.5028636425520908],[0.34876015382564096,-0.018268390783534,0.46286364257091284]],"gripper_points":[[0.3947549015480466,-0.01849596717706937,0.47086232914290715],[0.3027592461643607,-0.01804060453320178,0.47086495618036583]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999678239760695,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.139999999999765,"stage":"approach","target_distance":0.125602546115294,"dwell_elapsed":0.0},{"joint_position":[-0.04819545442598284,-1.5745650558280424,1.5991632206862672,-1.2538959505207552e-05,-0.024570169912909747,0.0432382180777889],"joint_velocity":[0.18071880189709416,-0.05906434200071383,0.07523424561588003,0.0001409723924767404,-0.016203647232241977,-0.16526042881900135],"joint_actuator_torque":[-0.15233856166899784,-0.8381639419725389,-0.9287409828849604,-0.0006851250297149739,-0.06679683594764763,0.021971802239254323],"jaw_actuator_force":[0.0043586859435045255,-0.0009809481213007842],"end_effector_position":[0.34844929053265145,-0.01680717181201841,0.46274074495638934],"end_effector_quaternion":[0.9999969284919188,-5.621339412637705e-06,1.4269282010662884e-05,-0.002478461521946732],"end_effector_velocity":[-0.013596899936729991,0.06377912032889714,-0.004829149870990964],"object_position":[0.34000000290722443,0.07000000065441003,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.019829585178857e-14,7.630368029081937e-14,1.283904244543128e-21],"object_velocity":[-2.1931655525052522e-13,-2.0176414413337586e-13,-1.8906853739977647e-14],"object_angular_velocity":[7.81812118101143e-12,-8.49864824377701e-12,8.323209396482462e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.001054016309902227,5.083816345119827e-05,0.50999801153776],[0.23859478102286655,-0.011508095617010196,0.5040950472979585],[0.29351429707829274,-0.014157017941699266,0.5027422846596706],[0.34845043318628793,-0.01680672493551599,0.5027407449375724],[0.34844929053265145,-0.01680717181201841,0.46274074495638934]],"gripper_points":[[0.39444409951638604,-0.017035076140679607,0.4707394336028857],[0.30244840081047714,-0.016579056325085627,0.4707420564887651]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999682897437346,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.159999999999763,"stage":"approach","target_distance":0.12560254611529525,"dwell_elapsed":0.0},{"joint_position":[-0.04405354779994885,-1.575888782136136,1.6008872729641734,-1.2535508638785361e-05,-0.02497059402232965,0.03908929360918137],"joint_velocity":[0.18095926079862826,-0.05746995373342879,0.07315099268247345,0.0001399751178394657,-0.0157172933846472,-0.16548346088325003],"joint_actuator_torque":[-0.1523243825029219,-0.837748599542465,-0.9277274562838329,-0.0006826258654294602,-0.06683814978907021,0.02200146985445217],"jaw_actuator_force":[0.004297071173063216,-0.0009692833104644194],"end_effector_position":[0.3481427135699466,-0.015347335432999494,0.4626210483397113],"end_effector_quaternion":[0.9999969197958544,-5.680696804241971e-06,1.4196755004904229e-05,-0.002481967966182277],"end_effector_velocity":[-0.013412353162653611,0.0637187402916596,-0.004704412592505019],"object_position":[0.3400000029072191,0.07000000065440523,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.216415860819792e-14,8.932440455362946e-14,1.2839087385003151e-21],"object_velocity":[-2.504231114440513e-13,-2.3035376366378625e-13,-1.8902690403635297e-14],"object_angular_velocity":[2.358707502323232e-12,-2.5631296252535514e-12,1.3522910108583988e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0014244979416620457,6.279481570245785e-05,0.5099963693736498],[0.23826773962325626,-0.010503334795995802,0.5039973564422147],[0.2931972107318834,-0.012924739498676653,0.5026225826454275],[0.3481438504347933,-0.015346883797526262,0.5026210483210058],[0.3481427135699466,-0.015347335432999494,0.4626210483397113]],"gripper_points":[[0.39413758111649966,-0.015575561670149717,0.47061974367162746],[0.302142324393244,-0.01511889887503687,0.4706223531698364]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999639018622212,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.179999999999761,"stage":"approach","target_distance":0.1256025461152966,"dwell_elapsed":0.0},{"joint_position":[-0.0399061172905158,-1.5771756515780306,1.602562134909496,-1.2544598043304117e-05,-0.025358733877541936,0.03493497332540001],"joint_velocity":[0.18119591622760647,-0.05586505129518569,0.0710653101894841,0.00013905900957614318,-0.015234645089559153,-0.16570260196252254],"joint_actuator_torque":[-0.15231607604937025,-0.8374619610930267,-0.9267220463956392,-0.0006805395243237153,-0.06686841202650085,0.022030623627748103],"jaw_actuator_force":[0.004234851506486947,-0.002106128402354912],"end_effector_position":[0.3478404655497315,-0.013888820096436532,0.4625045682109696],"end_effector_quaternion":[0.9999969112471482,-5.746811872577491e-06,1.4099596270715473e-05,-0.00248541029591],"end_effector_velocity":[-0.013224988550587862,0.06366117273807446,-0.004580526470869784],"object_position":[0.3400000029072143,0.07000000065440087,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.669602185437896e-14,7.249488198151807e-14,1.2839092096377387e-21],"object_velocity":[-3.633397458207157e-13,-3.3431740549049527e-13,-1.888881261582748e-14],"object_angular_velocity":[-2.0266962446401345e-11,2.2018897941615808e-11,-2.5242906089549196e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0017847767536246816,7.126134233726171e-05,0.5099943026094653],[0.23794687771882753,-0.009500579765378138,0.5039022010254927],[0.2928853818687645,-0.01169412668589625,0.5025060944124989],[0.347841594656604,-0.013888363156369304,0.5025045681924236],[0.3478404655497315,-0.013888820096436532,0.4625045682109696]],"gripper_points":[[0.39383538694540743,-0.014117362214316292,0.4705032724958833],[0.3018395779812627,-0.013660063300423582,0.47050586409943307]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999694557962492,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.1999999999997586,"stage":"approach","target_distance":0.12560254611529775,"dwell_elapsed":0.0},{"joint_position":[-0.035753277081209095,-1.5784256095431013,1.6041877903865798,-1.256906040461619e-05,-0.025734569792393327,0.030775367617020277],"joint_velocity":[0.18142761122354625,-0.05425980204952329,0.06897523424098831,0.0001380383886944614,-0.014751315465312722,-0.1659172040365809],"joint_actuator_torque":[-0.15230172880805348,-0.8370718530679824,-0.9256799342442719,-0.0006778997243327398,-0.06691754003295758,0.022059201616952517],"jaw_actuator_force":[0.004174802755745333,-0.000974966727028459],"end_effector_position":[0.3475425612450185,-0.01243156793004875,0.46239132989617526],"end_effector_quaternion":[0.9999969028414353,-5.819824805788479e-06,1.4006831040880256e-05,-0.0024887903639447596],"end_effector_velocity":[-0.013037289632552592,0.0636061527566148,-0.004453547165846554],"object_position":[0.34000000290720916,0.07000000065439611,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.715698834321471e-14,8.385021411757976e-14,1.283908344265643e-21],"object_velocity":[-2.326443547719729e-13,-2.1407222867257515e-13,-1.89013026248545e-14],"object_angular_velocity":[6.608176819205718e-12,-7.181550922486571e-12,-8.588770824229732e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0021348132566814965,7.635910919140454e-05,0.5099918512057906],[0.2376322199690621,-0.008499752648257307,0.5038096117046932],[0.2925788317499617,-0.010465111592672636,0.5023928484856917],[0.3475436829467772,-0.012431105134311572,0.5023913298777704],[0.3475425612450185,-0.01243156793004875,0.46239132989617526]],"gripper_points":[[0.3935375445747157,-0.012660420131550732,0.47039004273130897],[0.3015416910062546,-0.012202499074048311,0.47039261723098075]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999699327756685,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.2199999999997564,"stage":"approach","target_distance":0.125602546115299,"dwell_elapsed":0.0},{"joint_position":[-0.031595145198501984,-1.5796385228716696,1.605764168591546,-1.2606946837723105e-05,-0.026098275869528377,0.02661061190952257],"joint_velocity":[0.181654099535613,-0.05265079526939638,0.06688474425765394,0.00013703050806975224,-0.014272423474931989,-0.16612618461602482],"joint_actuator_torque":[-0.15229201527161607,-0.836812520102967,-0.9246560903485488,-0.0006756249403103531,-0.06695725901782312,0.022086997312605883],"jaw_actuator_force":[0.0041115493626762145,-0.0009621650662818837],"end_effector_position":[0.34724904352502894,-0.010975522403067558,0.4622813601520113],"end_effector_quaternion":[0.9999968946017591,-5.9004417295938365e-06,1.3862490967893894e-05,-0.0024920994872972696],"end_effector_velocity":[-0.012848469686386147,0.06355360586781708,-0.0043258179524520175],"object_position":[0.34000000290720395,0.07000000065439135,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.450360882738568e-14,9.181544643215263e-14,1.2839080496759619e-21],"object_velocity":[-2.808163512457736e-13,-2.584541499912961e-13,-1.8883261500704336e-14],"object_angular_velocity":[-3.778442986508239e-12,4.10311293489811e-12,-1.0129338486010618e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.0024745470137483394,7.820969829252374e-05,0.5099890542509115],[0.237323812177617,-0.007500776362267375,0.5037196125355141],[0.2922776028256382,-0.009237627334479019,0.5022828654757355],[0.3472501536972215,-0.01097505313293158,0.5022813601338526],[0.34724904352502894,-0.010975522403067558,0.4622813601520113]],"gripper_points":[[0.3932440869423497,-0.01120467803385697,0.4702800862835848],[0.30124864909296584,-0.010746150180103884,0.47028263417367394]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999658058528186,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.239999999999754,"stage":"approach","target_distance":0.12560254611530028,"dwell_elapsed":0.0},{"joint_position":[-0.02743182753181864,-1.5808142594033991,1.6072911491057646,-1.2659704000994196e-05,-0.026449854942848117,0.02244080192322099],"joint_velocity":[0.18187630705065444,-0.05103388987789828,0.06478837462815257,0.0001360367510826382,-0.01379535177895474,-0.16633145238709185],"joint_actuator_torque":[-0.15228407831862079,-0.8366019301411143,-0.923624047024191,-0.0006734276032910404,-0.06699626386691238,0.02211430796125491],"jaw_actuator_force":[0.004048616489207291,-0.000973767048586538],"end_effector_position":[0.34695995022335935,-0.009520621598184726,0.46217469305443526],"end_effector_quaternion":[0.9999968865161168,-5.988629773775068e-06,1.3670948851748286e-05,-0.002495342724694322],"end_effector_velocity":[-0.012657421567351383,0.06350386342028376,-0.004197052022036774],"object_position":[0.3400000029071992,0.07000000065438693,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.128928382505193e-14,6.657531406483903e-14,1.2839079011044056e-21],"object_velocity":[-1.9372187737520218e-13,-1.783354114907004e-13,-1.890685373997762e-14],"object_angular_velocity":[7.057270343750851e-12,-7.666647953553868e-12,-9.644017956842965e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.002803918899835641,7.693591886705744e-05,0.5099859498611806],[0.23702169962260541,-0.006503569790469326,0.503632238745783],[0.29198173720066484,-0.008011602348858914,0.5021761799485044],[0.34696104509135706,-0.009520145238390685,0.5021746930366146],[0.34695995022335935,-0.009520621598184726,0.46217469305443526]],"gripper_points":[[0.39295505131570174,-0.009750074466762591,0.47017343682644597],[0.3009596903941818,-0.009290950254137861,0.47017594942815444]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999650663170044,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.259999999999752,"stage":"approach","target_distance":0.1256025461153014,"dwell_elapsed":0.0},{"joint_position":[-0.02326342635974867,-1.5819526800046912,1.6087686384332345,-1.272784944844594e-05,-0.02678934366729931,0.018266036102640108],"joint_velocity":[0.1820941911397467,-0.04941104897727332,0.06268795569544704,0.00013503705768062085,-0.013319790441818842,-0.16653268546705183],"joint_actuator_torque":[-0.15227805418841545,-0.8364468894078527,-0.9225877327544367,-0.0006713121101153528,-0.06703459217205943,0.022141084114823295],"jaw_actuator_force":[0.003984978816612639,-0.0009741221691097479],"end_effector_position":[0.34667532038919413,-0.008066801279502649,0.4620713517178245],"end_effector_quaternion":[0.9999968785803098,-6.083963233499904e-06,1.3436600057021558e-05,-0.002498521979092592],"end_effector_velocity":[-0.012464724382706327,0.06345697631192698,-0.004067266827266952],"object_position":[0.3400000029071938,0.07000000065438201,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.510486567728769e-14,9.241006193058546e-14,1.2839064883236146e-21],"object_velocity":[-2.5366965836181404e-13,-2.336128145249335e-13,-1.8906853739977615e-14],"object_angular_velocity":[4.2007426638900876e-12,-4.561669495003475e-12,-1.1276501769817567e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.0031228688807423016,7.266173857416077e-05,0.5099825751903597],[0.2367259286504678,-0.005508049872794216,0.5035475164693138],[0.2916912780847034,-0.00678696295039947,0.5020728155124075],[0.34667639652991666,-0.008066317249694463,0.5020713517004199],[0.34667532038919413,-0.008066801279502649,0.4620713517178245]],"gripper_points":[[0.392670479118055,-0.00829654538786342,0.4700701170697961],[0.3006750879874356,-0.007836836054584649,0.4700725865066387]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999653976125878,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.27999999999975,"stage":"approach","target_distance":0.1256025461153027,"dwell_elapsed":0.0},{"joint_position":[-0.019090042671227117,-1.5830536538261346,1.610196569944703,-1.281189535446054e-05,-0.02711678485361117,0.014086413817501788],"joint_velocity":[0.18230781856677494,-0.04778250816366028,0.06058471327609868,0.00013403158475548338,-0.012845920480119403,-0.16672987517409155],"joint_actuator_torque":[-0.15227396247746716,-0.8363463591406344,-0.9215483654355694,-0.0006692721699757533,-0.06707246918202392,0.022167322395518108],"jaw_actuator_force":[0.003920761858498878,-0.0009704682154989541],"end_effector_position":[0.3463951895787932,-0.006613995626981929,0.46197135207656026],"end_effector_quaternion":[0.9999968707927885,-6.185983571243478e-06,1.3170054235155259e-05,-0.0025016380462174427],"end_effector_velocity":[-0.012270507542147237,0.06341301518192566,-0.003936843085131488],"object_position":[0.3400000029071886,0.07000000065437724,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.017200072660189e-14,8.707382515207368e-14,1.2839071652389554e-21],"object_velocity":[-3.444508924124336e-13,-3.171420852507072e-13,-1.8927670421689337e-14],"object_angular_velocity":[-1.4644439012840138e-11,1.5907892330846406e-11,4.0549413500015632e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0034313402934780463,6.551239103632514e-05,0.5099789663741136],[0.23643654245521026,-0.004514132059138386,0.5034654663647882],[0.291406265585118,-0.005563633912303424,0.5019727892793178],[0.3463962444178424,-0.0066135033855815074,0.501971352059623],[0.3463951895787932,-0.006613995626981929,0.46197135207656026]],"gripper_points":[[0.3923904062572088,-0.006844025058977659,0.4699701419719317],[0.300394958606376,-0.006383742099212114,0.46997256231743784]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999659914767634,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.2999999999997476,"stage":"approach","target_distance":0.12560254611530394,"dwell_elapsed":0.0},{"joint_position":[-0.014911785970682144,-1.5841170523519525,1.6115748636886313,-1.2912292418687281e-05,-0.027432235164448447,0.009902047040064756],"joint_velocity":[0.18251676704932904,-0.04614845506098404,0.05847793362140666,0.00013302177925416213,-0.012374392681218932,-0.16692245543459677],"joint_actuator_torque":[-0.152271461051664,-0.8362995460830689,-0.9205054210260641,-0.0006673045595497711,-0.06710982484447481,0.02219294666169258],"jaw_actuator_force":[0.0038559571830063533,-0.0009654552514053449],"end_effector_position":[0.3461195934000248,-0.005162140759438004,0.46187471528357027],"end_effector_quaternion":[0.9999968631572923,-6.294561527549441e-06,1.2867170529520237e-05,-0.002504689679355239],"end_effector_velocity":[-0.012074780221433965,0.06337187739684742,-0.003805474561710442],"object_position":[0.3400000029071834,0.07000000065437255,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.971900792402446e-14,7.572334108879701e-14,1.2839091692882571e-21],"object_velocity":[-2.1448150180961934e-13,-1.974743916987002e-13,-1.8909629297539182e-14],"object_angular_velocity":[6.487776423674115e-12,-7.04663043913377e-12,9.672927387511904e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.003729278191061945,5.561432043001493e-05,0.5099751585252181],[0.23615358291354901,-0.0035217327209130064,0.5033861118254505],[0.2911267385833557,-0.004341541417887449,0.5018761219567537],[0.346120624031712,-0.005161639774356942,0.5018747152671554],[0.3461195934000248,-0.005162140759438004,0.46187471528357027]],"gripper_points":[[0.3921148681141166,-0.005392449485312018,0.4698735330666941],[0.3001193577732199,-0.004931604723053614,0.46987589763198734]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999666464806268,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.3199999999997454,"stage":"approach","target_distance":0.12560254611530525,"dwell_elapsed":0.0},{"joint_position":[-0.010728766557107292,-1.5851426903617112,1.6129034247592602,-1.3029489753754204e-05,-0.027735757681699134,0.005713047409180069],"joint_velocity":[0.18272104449366802,-0.04450599802596779,0.056367227442470164,0.00013200865342120142,-0.011905337947326476,-0.16711050088009213],"joint_actuator_torque":[-0.15227055958393543,-0.8363100311961489,-0.9194596328228499,-0.0006654086560688887,-0.06714671968163399,0.022217966888522588],"jaw_actuator_force":[0.0037904079418709102,-0.0009598011830149744],"end_effector_position":[0.3458485810693948,-0.0037111722000042306,0.4617814474358607],"end_effector_quaternion":[0.9999968556759206,-6.40935244397934e-06,1.254147181588334e-05,-0.002507676195932422],"end_effector_velocity":[-0.011876870283145042,0.06333360454220317,-0.003674062265912691],"object_position":[0.34000000290717836,0.07000000065436789,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.58730933315584e-14,8.241292943906209e-14,1.2839112937053373e-21],"object_velocity":[-2.5327301221491366e-13,-2.331774078639484e-13,-1.8904078182416052e-14],"object_angular_velocity":[-2.0060508079417837e-12,2.1798341030997325e-12,1.6758389427973774e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0040166128254277966,4.309495486914849e-05,0.509971185953547],[0.2358771067913932,-0.002530767518215484,0.5033094654268584],[0.29085275087024803,-0.0031206110016307126,0.5017828211394922],[0.3458495856697918,-0.0037106619694169856,0.5017814474199912],[0.3458485810693948,-0.0037111722000042306,0.4617814474358607]],"gripper_points":[[0.3918439126551076,-0.003941754125898083,0.46978029520707365],[0.29984833802304484,-0.0034803595335473987,0.4697825997914037]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999673169284002,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.339999999999743,"stage":"approach","target_distance":0.12560254611530644,"dwell_elapsed":0.0},{"joint_position":[-0.006541098146883039,-1.5861304544261958,1.6141821913545236,-1.316385097019634e-05,-0.02802742924610188,0.0015195322063155986],"joint_velocity":[0.1829204839766008,-0.042859025910788585,0.05425366367563697,0.0001309951404499889,-0.011439481739976883,-0.16729374968154437],"joint_actuator_torque":[-0.15227117933890666,-0.836373796757016,-0.9184107471606922,-0.0006635839442477004,-0.06718299926179627,0.022242347861273104],"jaw_actuator_force":[0.003724257649883711,-0.000953458455528633],"end_effector_position":[0.34558218359249887,-0.002261025288815208,0.46169156763585406],"end_effector_quaternion":[0.9999968483538901,-6.530301126550143e-06,1.2180259137366285e-05,-0.002510595802353251],"end_effector_velocity":[-0.01167772433235535,0.06329819626388604,-0.0035416397739168617],"object_position":[0.34000000290717375,0.07000000065436367,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.882613230567367e-14,6.390340057122284e-14,1.283912191933036e-21],"object_velocity":[-1.870028209176553e-13,-1.7214588343189813e-13,-1.890685373997762e-14],"object_angular_velocity":[7.100280270738442e-12,-7.713251662953576e-12,1.9073033551844913e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.004293295629498506,2.808326861052533e-05,0.5099670816791999],[0.2356071502915578,-0.001541151474111525,0.5032355477380714],[0.2905843358151332,-0.0019007677693186615,0.5016929045432296],[0.34558315932175454,-0.002260505312748177,0.5016915676205738],[0.34558218359249887,-0.002261025288815208,0.46169156763585406]],"gripper_points":[[0.3915775736603516,-0.0024918741711458144,0.46969044866361415],[0.2995819342078458,-0.0020299420565175873,0.46969268672969405]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999679920824918,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.359999999999741,"stage":"approach","target_distance":0.12560254611530758,"dwell_elapsed":0.0},{"joint_position":[-0.0023488947037388266,-1.5870802063168055,1.615411081108286,-1.33157706583255e-05,-0.02830731997134261,-0.0026783823087726186],"joint_velocity":[0.18311509225305347,-0.04120587784180571,0.05213659457615313,0.0001299800861453819,-0.010976403788705173,-0.16747227553029168],"joint_actuator_torque":[-0.15227333641964602,-0.8364924765357955,-0.9173587134479249,-0.0006618297400649826,-0.06721873462309302,0.022266099583481247],"jaw_actuator_force":[0.003657579693461699,-0.0009467545835999402],"end_effector_position":[0.3453204379469342,-0.0008116345297876788,0.4616050921717769],"end_effector_quaternion":[0.9999968411947471,-6.657155956127089e-06,1.1776313503069237e-05,-0.002513447339499475],"end_effector_velocity":[-0.011476964673296241,0.06326569417797019,-0.00340862409738543],"object_position":[0.34000000290716836,0.07000000065435874,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.636091161995228e-14,8.296727970102604e-14,1.2839154739207927e-21],"object_velocity":[-2.319288333567227e-13,-2.1346551563934322e-13,-1.8913792633881526e-14],"object_angular_velocity":[4.527675375506328e-12,-4.918496703771648e-12,2.443333286820876e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.004559272188833948,1.0709269992704069e-05,0.5099628777577836],[0.23534375582653583,-0.0005527987182726166,0.5031643773493216],[0.2903215330800581,-0.0006819359655834193,0.5016063876723824],[0.34532138138763135,-0.0008111043269249888,0.501605092157137],[0.3453204379469342,-0.0008116345297876788,0.4616050921717769]],"gripper_points":[[0.39131588603218576,-0.00104274401222568,0.46960401038863697],[0.29932018153046386,-0.00058028689795133,0.46960617407102556]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999686689247734,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.3799999999997388,"stage":"approach","target_distance":0.12560254611530888,"dwell_elapsed":0.0},{"joint_position":[0.0018477339119432337,-1.5879917793900187,1.6165900010014953,-1.3485649944276788e-05,-0.02857549981407365,-0.006880587412885731],"joint_velocity":[0.18330507036870475,-0.03954534192099888,0.05001557330034679,0.00012896379103074818,-0.010516118244643808,-0.16764640964080274],"joint_actuator_torque":[-0.15227721695210317,-0.8366678829977445,-0.916303768542889,-0.0006601463449910797,-0.06725395142632395,0.022289266446776423],"jaw_actuator_force":[0.0035902113159398397,-0.000939593155298013],"end_effector_position":[0.34506338769415396,0.0006370680340217966,0.46152203018348803],"end_effector_quaternion":[0.9999968341975982,-6.789586456987227e-06,1.1331375856858436e-05,-0.0025162313650787197],"end_effector_velocity":[-0.01127431097232474,0.06323621414131725,-0.003275322238810015],"object_position":[0.3400000029071633,0.07000000065435415,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.331941406915051e-14,7.968353326963798e-14,1.2839181456718874e-21],"object_velocity":[-3.0779140466721933e-13,-2.8320348676883877e-13,-1.8901302624854507e-14],"object_angular_velocity":[-1.0764517498914785e-11,1.1703882218599393e-11,4.0478341460216953e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.004814481238906682,-8.895890377425559e-06,0.5099586053173993],[0.23508697292947983,0.0004343786664783791,0.5030959676640803],[0.29006438950973507,0.0005359624190911678,0.501523279868528],[0.3450642955680863,0.0006376089182297292,0.5015220301695281],[0.34506338769415396,0.0006370680340217966,0.46152203018348803]],"gripper_points":[[0.3910588929952573,0.00040570425300739266,0.4695209893617983],[0.2990631231750419,0.0008686739470889323,0.46952307111550673]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999693478635789,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.3999999999997366,"stage":"approach","target_distance":0.1256025461153101,"dwell_elapsed":0.0},{"joint_position":[0.006048675334322225,-1.5888650477055246,1.617718887039076,-1.3673859892935788e-05,-0.02883204198988333,-0.011086969778006921],"joint_velocity":[0.18349027533393275,-0.03787951490769982,0.04789173695374093,0.00012794645200318557,-0.010058803966042511,-0.16781590984296407],"joint_actuator_torque":[-0.1522827469143131,-0.8368981388647398,-0.9152462572384366,-0.0006585328940893844,-0.0672886223072422,0.02231181595912024],"jaw_actuator_force":[0.0035222811465676074,-0.0009319118211816857],"end_effector_position":[0.344811065165169,0.0020851505645755556,0.46144239382179014],"end_effector_quaternion":[0.9999968273642525,-6.927212179090248e-06,1.0839719291305873e-05,-0.0025189473879751565],"end_effector_velocity":[-0.0110703196635547,0.06320975065676307,-0.00314144538738418],"object_position":[0.3400000029071584,0.0700000006543497,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.723640701533847e-14,7.309260099438192e-14,1.2839193212347526e-21],"object_velocity":[-2.071003847208e-13,-1.905126594540151e-13,-1.8902690403635284e-14],"object_angular_velocity":[6.784438156309591e-12,-7.374807437355416e-12,1.7590321212704405e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.005058874025782576,-3.059985972042163e-05,0.5099542942289685],[0.2348368390840549,0.0014204691195186785,0.5030303336326017],[0.2898129400050593,0.0017530057605943056,0.5014435926626011],[0.34481193373590374,0.0020857025554170735,0.5014423938085513],[0.344811065165169,0.0020851505645755556,0.46144239382179014]],"gripper_points":[[0.39080662842590974,0.0018535388176317772,0.4694413982606223],[0.2988107930511154,0.002317008581113843,0.46944338948710435]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999700285603281,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.4199999999997344,"stage":"approach","target_distance":0.1256025461153113,"dwell_elapsed":0.0},{"joint_position":[0.010253819479314396,-1.5896997987492312,1.618797620876155,-1.3880778832862126e-05,-0.02907702008899664,-0.015297420605236237],"joint_velocity":[0.18367083504785706,-0.03620398403088429,0.045762974404378105,0.000126928367905904,-0.009604379316368584,-0.16798100551350853],"joint_actuator_torque":[-0.1522900271725458,-0.8371881184863241,-0.9141859936270293,-0.0006569892523737821,-0.06732279213707537,0.022333778967568607],"jaw_actuator_force":[0.003453566455105417,-0.0009238853529609514],"end_effector_position":[0.34456352484342323,0.0035326831832217364,0.4613661833374071],"end_effector_quaternion":[0.9999968206934943,-7.069763273786369e-06,1.0311542305894933e-05,-0.002521596040953839],"end_effector_velocity":[-0.010863894076354559,0.06318640322454269,-0.0030078274426144163],"object_position":[0.340000002907153,0.07000000065434475,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.183511065663235e-14,8.897118339713763e-14,1.2839200430033786e-21],"object_velocity":[-2.580652642305193e-13,-2.373686586306953e-13,-1.8897139288512154e-14],"object_angular_velocity":[6.396747954666124e-13,-6.951438653596106e-13,1.7794265849482592e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.005292378685273348,-5.426899763048967e-05,0.5099499737144613],[0.2345934150466561,0.0024055628371267793,0.5029674818278288],[0.28956724277688994,0.0029692742992586535,0.5013673274371422],[0.344564351190352,0.0035332466823619433,0.5013661833249023],[0.34456352484342323,0.0035326831832217364,0.4613661833374071]],"gripper_points":[[0.3905591440835498,0.0033008297546211957,0.4693652363976705],[0.2985632428551952,0.003764787193824094,0.46936713037494165]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799970711648458,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.439999999999732,"stage":"approach","target_distance":0.12560254611531263,"dwell_elapsed":0.0},{"joint_position":[0.01446304804079952,-1.5904958672806957,1.6198261222929378,-1.4106708606775405e-05,-0.029310532341635116,-0.019511817812975476],"joint_velocity":[0.18384633518041518,-0.03452149232397844,0.04363071169501234,0.00012591094156830894,-0.009153970262467195,-0.16814107492982333],"joint_actuator_torque":[-0.15229877006196801,-0.8375355547143499,-0.9131234203107397,-0.000655513483504014,-0.06735629073621396,0.02235507217463706],"jaw_actuator_force":[0.0033840950203494202,-0.0009152348976524394],"end_effector_position":[0.3443208088940956,0.004979734318225661,0.4612934022358204],"end_effector_quaternion":[0.9999968141906532,-7.2168161611276315e-06,9.740151356764925e-06,-0.0025241754279523355],"end_effector_velocity":[-0.010655714887566838,0.0631660749894203,-0.0028740065371353537],"object_position":[0.340000002907148,0.07000000065434019,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.071415284340921e-14,6.600727605685256e-14,1.283921921950242e-21],"object_velocity":[-1.962083471428475e-13,-1.8047408029748746e-13,-1.890685373997761e-14],"object_angular_velocity":[7.777527271394696e-12,-8.45567328070476e-12,1.3313731041102003e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.005514937726889755,-7.97683713398104e-05,0.5099456716916257],[0.23435674767289513,0.0033897492592186865,0.5029074197156111],[0.2893273422436792,0.004184847049555009,0.5012944869711078],[0.34432158956104253,0.004980309694811181,0.5012934022240642],[0.3443208088940956,0.004979734318225661,0.4612934022358204]],"gripper_points":[[0.3903164849064452,0.00474764564567892,0.469292507894032],[0.2983205174579229,0.005212078018356128,0.4692942966687207]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999713977846318,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.45999999999973,"stage":"approach","target_distance":0.12560254611531385,"dwell_elapsed":0.0},{"joint_position":[0.018676245106572696,-1.5912531037012292,1.6208042994037892,-1.4351969090426345e-05,-0.029532676613109807,-0.023730044511381148],"joint_velocity":[0.18401693812616374,-0.03283256998945053,0.041494439217890644,0.00012489467165102688,-0.008707513356116825,-0.16829641728627878],"joint_actuator_torque":[-0.15230914294446585,-0.837939546866096,-0.9120579110291374,-0.0006541055865644721,-0.06738908484968098,0.022375735638214156],"jaw_actuator_force":[0.003314028827874793,-0.0009061641504963802],"end_effector_position":[0.3440829558938448,0.0064263742643602155,0.4612240623634298],"end_effector_quaternion":[0.9999968078576342,-7.367557894385823e-06,9.105387725552212e-06,-0.00252668505212901],"end_effector_velocity":[-0.010445905591174707,0.06314886603332333,-0.00273967394318135],"object_position":[0.34000000290714283,0.0700000006543354,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.538602032834302e-14,8.196776092873161e-14,1.2839234570763792e-21],"object_velocity":[-2.2732943641221027e-13,-2.0907642685599406e-13,-1.890130262485448e-14],"object_angular_velocity":[5.451809269705879e-12,-5.927681202964196e-12,4.563494640280615e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.005726499187910507,-0.00010696193890928575,0.5099414148821044],[0.23412687889280648,0.004373119439189476,0.5028501601190701],[0.28909327803630414,0.005399804755003776,0.5012250809025415],[0.34408368581177745,0.006426961826594538,0.5012240623524546],[0.3440829558938448,0.0064263742643602155,0.4612240623634298]],"gripper_points":[[0.3900786888152139,0.006194056820803144,0.46922322645039133],[0.2980826548708766,0.0066589512927731,0.46922489836040376]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999720860522347,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.4799999999997278,"stage":"approach","target_distance":0.12560254611531507,"dwell_elapsed":0.0},{"joint_position":[0.022893300793131385,-1.5919713373898436,1.621732050324761,-1.4616950667913117e-05,-0.02974353470064234,-0.027951994054917315],"joint_velocity":[0.18418292232321926,-0.031136079763046085,0.03935386582654945,0.00012387697692450584,-0.008264280484180283,-0.16844746178025471],"joint_actuator_torque":[-0.1523213954981646,-0.8384016351375294,-0.9109897111757164,-0.0006527656199198206,-0.0674213086378348,0.022395826877082747],"jaw_actuator_force":[0.003243330579035586,-0.0008967306949223541],"end_effector_position":[0.3438500085529235,0.007872676526501634,0.4611581698164352],"end_effector_quaternion":[0.9999968016908288,-7.521214856556543e-06,8.400643107491412e-06,-0.002529126523887963],"end_effector_velocity":[-0.010234243806062873,0.06313492252762247,-0.00260520841241843],"object_position":[0.34000000290713744,0.07000000065433046,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.27148580145446e-14,8.994365423646607e-14,1.2839266696914868e-21],"object_velocity":[-3.0097458129001345e-13,-2.767796846446992e-13,-1.8906853739977596e-14],"object_angular_velocity":[-6.663123896174917e-12,7.248050552975892e-12,2.3822083717049826e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.005927006380247311,-0.00013571244980495301,0.5099372289951793],[0.23390385566891106,0.0053557670154435735,0.5027957122066866],[0.28886509488850987,0.006614231059563028,0.5011591146093237],[0.343850682123991,0.007873276522062602,0.501158169806264],[0.3438500085529235,0.007872676526501634,0.4611581698164352]],"gripper_points":[[0.3898457974939916,0.007640136629293187,0.4691573987707255],[0.29784969675305895,0.008105480662769116,0.4691589409384115]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999727767158979,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.4999999999997256,"stage":"approach","target_distance":0.12560254611531635,"dwell_elapsed":0.0},{"joint_position":[0.027114107090253824,-1.5926502873162562,1.6226092303492698,-1.4902051743521794e-05,-0.02994319540438087,-0.03217756131628445],"joint_velocity":[0.18434435086156317,-0.029426732936058506,0.03720738419907423,0.00012285701086023427,-0.00782450505068865,-0.168594231286792],"joint_actuator_torque":[-0.15233557487123228,-0.8389283993747085,-0.9099194809979281,-0.0006514928254980552,-0.067453019696595,0.02241534898401465],"jaw_actuator_force":[0.0031716026124524177,-0.0008869048711481753],"end_effector_position":[0.34362203687242476,0.009318717100221495,0.4610957069711456],"end_effector_quaternion":[0.9999967956867782,-7.677803137929649e-06,7.64959405072154e-06,-0.002531501276177735],"end_effector_velocity":[-0.01001944605096128,0.06312435392713081,-0.0024719013349081445],"object_position":[0.3400000029071322,0.0700000006543257,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.999404700026733e-14,7.611288965408124e-14,1.2839283873391156e-21],"object_velocity":[-2.1876435269248118e-13,-2.011769001037992e-13,-1.8902690403635246e-14],"object_angular_velocity":[7.795542751330186e-12,-8.477007367202808e-12,4.6421524458881034e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.006116372890506397,-0.00016588064197237733,0.5099331392784301],[0.23368775458663943,0.006337788007020242,0.5027440684741528],[0.28864286713348536,0.007828212072414383,0.5010965730815059],[0.34362265039289736,0.009319329773307794,0.5010957069617484],[0.34362203687242476,0.009318717100221495,0.4610957069711456]],"gripper_points":[[0.38961787899372446,0.009085960946005434,0.4690950050533408],[0.2976217109682489,0.009551742267809237,0.46909640895736127]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799973471660037,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.5199999999997234,"stage":"approach","target_distance":0.12560254611531765,"dwell_elapsed":0.0},{"joint_position":[0.03133854382433444,-1.593289827361748,1.6234358143025192,-1.5207532873975748e-05,-0.03013178526913612,-0.03640662011653837],"joint_velocity":[0.18450062442019366,-0.027712581953923496,0.035059672114350265,0.0001218383263097965,-0.007389934178108532,-0.16873577645545504],"joint_actuator_torque":[-0.15235128569702994,-0.8395121842767139,-0.9088485088171865,-0.0006502848438803143,-0.06748394794420065,0.022434174587238065],"jaw_actuator_force":[0.003099254678600616,-0.0008763461870469058],"end_effector_position":[0.3433990702635154,0.01076456809799018,0.4610366686090681],"end_effector_quaternion":[0.9999967898535702,-7.836431200359973e-06,6.8393696214582185e-06,-0.002533806300352874],"end_effector_velocity":[-0.009803550258525832,0.06311695223945017,-0.002338574620633978],"object_position":[0.34000000290712695,0.07000000065432091,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.192177775862548e-14,8.910132609521426e-14,1.2839316610824426e-21],"object_velocity":[-2.497936882457803e-13,-2.2967122625828607e-13,-1.88985270672929e-14],"object_angular_velocity":[2.3513647105277155e-12,-2.556009658701886e-12,1.3422407062533413e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.00629455684904707,-0.00019732684841587448,0.5099291689270502],[0.23347860841417692,0.007319275856229416,0.50269522785491],[0.28842662545366576,0.009041830642710628,0.5010374496925446],[0.3433996189998086,0.010765193624102696,0.5010366686004132],[0.3433990702635154,0.01076456809799018,0.4610366686090681]],"gripper_points":[[0.38939496870582335,0.01053160211516849,0.46903604126348625],[0.29739873298458075,0.010997807898102325,0.4690372960147237]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999741700876647,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.539999999999721,"stage":"approach","target_distance":0.12560254611531896,"dwell_elapsed":0.0},{"joint_position":[0.03556649387672405,-1.593889722524259,1.6242116746063695,-1.553371562957559e-05,-0.030309426789505066,-0.04063905270106785],"joint_velocity":[0.18465195669999587,-0.025987639474095624,0.03290662801658904,0.00012082003778207329,-0.006960199637173006,-0.16887257669870331],"joint_actuator_torque":[-0.15236869011448562,-0.8401585635739366,-0.907775288325638,-0.0006491414102488071,-0.06751411878131819,0.02245236818564056],"jaw_actuator_force":[0.0030261494361560892,-0.0008656036771341746],"end_effector_position":[0.3431811675590426,0.012210304609794066,0.4609810465172983],"end_effector_quaternion":[0.9999967841924178,-7.99622074149298e-06,5.962369458095861e-06,-0.0025360412720255186],"end_effector_velocity":[-0.00958501382619863,0.06311288721146577,-0.0022059219188602093],"object_position":[0.3400000029071222,0.07000000065431655,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.65073773796195e-14,7.233945484078144e-14,1.2839320425659618e-21],"object_velocity":[-3.625693647408868e-13,-3.333948131437118e-13,-1.888603705826586e-14],"object_angular_velocity":[-2.0214792531886576e-11,2.197685022732566e-11,-3.0364771441052057e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.006461487114639609,-0.00022990939332263847,0.5099253406284223],[0.23327647955761482,0.00830032668021865,0.5026491872227635],[0.2882164302533398,0.010255172447071862,0.5009817354006334],[0.34318164616936503,0.01221094309573104,0.5009810465093392],[0.3431811675590426,0.012210304609794066,0.4609810465172983]],"gripper_points":[[0.3891771197588666,0.011977135271168381,0.4689804998873358],[0.2971808160012871,0.012443752627946612,0.46898159319863564]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999748712877874,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.559999999999719,"stage":"approach","target_distance":0.1256025461153201,"dwell_elapsed":0.0},{"joint_position":[0.03979784088675969,-1.5944497282388919,1.624936687276804,-1.5880920196324175e-05,-0.03047624535467945,-0.04487474003078203],"joint_velocity":[0.18479836372371328,-0.024251983342722414,0.030748354485420112,0.0001198015232818073,-0.0065354731440864944,-0.1690045232147818],"joint_actuator_torque":[-0.15238783762339025,-0.8408683673305859,-0.9067001992841597,-0.0006480611132510931,-0.06754353156916615,0.02246991501206086],"jaw_actuator_force":[0.002952051769735675,-0.0008542986138877495],"end_effector_position":[0.34296838916286543,0.01365600342500716,0.46092882694827325],"end_effector_quaternion":[0.9999967787070474,-8.156380872750759e-06,5.016128537170949e-06,-0.0025382048460292884],"end_effector_velocity":[-0.009363878209277634,0.06311222381873655,-0.0020739931729416663],"object_position":[0.340000002907117,0.07000000065431179,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.694357436921064e-14,8.366805989736495e-14,1.283931510619477e-21],"object_velocity":[-2.3214110271760914e-13,-2.1347988082545114e-13,-1.8901302624854454e-14],"object_angular_velocity":[6.5902166849741994e-12,-7.166379804478078e-12,-2.96574034721068e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.006617091089192198,-0.00026348506152309146,0.5099216759758696],[0.23308143220670363,0.009281038250354647,0.5026059392039571],[0.2880123437953464,0.011468324842659961,0.5009294161937272],[0.34296879210806097,0.01365665491481811,0.5009288269409382],[0.34296838916286543,0.01365600342500716,0.46092882694827325]],"gripper_points":[[0.38896439417680817,0.013422637306207418,0.46892836740390054],[0.2969680218329553,0.01388965310306258,0.46892928653490606]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799975577340406,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.5799999999997167,"stage":"approach","target_distance":0.12560254611532135,"dwell_elapsed":0.0},{"joint_position":[0.044032465912107695,-1.5949696626969596,1.6256107664128217,-1.624944217901969e-05,-0.030632386372312213,-0.04911355998695301],"joint_velocity":[0.18493971925272032,-0.022508652701372124,0.028586366257359472,0.00011878316514168553,-0.006116627899510857,-0.16913148925059945],"joint_actuator_torque":[-0.15240868583495626,-0.8416385754786688,-0.9056234677187831,-0.0006470426036392263,-0.06757203478783413,0.02248679809764198],"jaw_actuator_force":[0.0028772322146437546,-0.0008424741092234456],"end_effector_position":[0.34276077939537886,0.015101741139247584,0.46088000428838527],"end_effector_quaternion":[0.9999967734018874,-8.31502579679838e-06,3.975867090472319e-06,-0.00254029542910501],"end_effector_velocity":[-0.009140907004846219,0.06311494264948252,-0.0019422794400417538],"object_position":[0.3400000029071118,0.07000000065430703,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.423893696025336e-14,9.164132172440943e-14,1.283933989483636e-21],"object_velocity":[-2.8028225846669605e-13,-2.576499232734275e-13,-1.8894363730950537e-14],"object_angular_velocity":[-3.7625077136780124e-12,4.09733809050096e-12,4.191338793553669e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.00676131495847914,-0.0002979099303440268,0.5099181949600734],[0.23289351240527045,0.010261508372897334,0.5025654807436397],[0.2878144103427964,0.012681375067390145,0.500880483735707],[0.3427610991535296,0.015102405531174829,0.5008800042815895],[0.34276077939537886,0.015101741139247584,0.46088000428838527]],"gripper_points":[[0.38875683788356363,0.01486818492320263,0.4688796404787009],[0.2967603964870141,0.01533558573271646,0.4688803681305673]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999762873941367,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.5999999999997145,"stage":"approach","target_distance":0.1256025461153226,"dwell_elapsed":0.0},{"joint_position":[0.048270252583785436,-1.5954492135445293,1.6262337751359544,-1.663966305666001e-05,-0.030777982606841583,-0.053355404213413206],"joint_velocity":[0.1850761632611042,-0.020750896344195368,0.02641893173820542,0.00011776209687561937,-0.00570289368093538,-0.16925410796562348],"joint_actuator_torque":[-0.15243133743212667,-0.8424772112937262,-0.9045460038437341,-0.0006460852185139782,-0.0675998621836893,0.022503102964060773],"jaw_actuator_force":[0.0028013884996944682,-0.0008303873569488474],"end_effector_position":[0.3425584140701608,0.016547597875917558,0.4608345440564314],"end_effector_quaternion":[0.9999967682668717,-8.47223359320553e-06,2.8628744647324394e-06,-0.002542317021486945],"end_effector_velocity":[-0.008914516718741503,0.06312122176656743,-0.0018125860310861267],"object_position":[0.340000002907107,0.0700000006543026,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.106879714498118e-14,6.645090396661504e-14,1.2839369252716826e-21],"object_velocity":[-1.933591162041219e-13,-1.777032864878818e-13,-1.8906853739977568e-14],"object_angular_velocity":[7.033069208445035e-12,-7.652246785192934e-12,6.911678726368141e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.006894069641572341,-0.00033303718391506607,0.5099149172338111],[0.2327128012946102,0.01124183828036689,0.5025277893644758],[0.2876227092174854,0.013894413907598172,0.5008349058944198],[0.3425586448225061,0.016548275070147857,0.5008345440500335],[0.3425584140701608,0.016547597875917558,0.4608345440564314]],"gripper_points":[[0.3885545227064971,0.016313857899936307,0.4688342826721465],[0.29655801169919827,0.016781631031193105,0.4688348054630818]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999770024023264,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.6199999999997123,"stage":"approach","target_distance":0.12560254611532373,"dwell_elapsed":0.0},{"joint_position":[0.05251107931118968,-1.5958881683834285,1.6268056927417789,-1.7051873282646727e-05,-0.030913203158099683,-0.05760014544122765],"joint_velocity":[0.18520742848109967,-0.018984195402848066,0.024250698358073423,0.00011674067893823541,-0.005295955265429586,-0.1693714602311754],"joint_actuator_torque":[-0.1524556581761516,-0.8433801609047578,-0.9034700542896417,-0.0006451869706538334,-0.06762683494858157,0.022518705706123576],"jaw_actuator_force":[0.0027246889586489687,-0.0008175994742174453],"end_effector_position":[0.3423613411902078,0.017993652165835542,0.46079240620181816],"end_effector_quaternion":[0.999996763309394,-8.627843536876763e-06,1.6883870548309927e-06,-0.00254426677950067],"end_effector_velocity":[-0.008686153411505021,0.06313096205994907,-0.0016846196517973503],"object_position":[0.34000000290710164,0.07000000065429769,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.476257593993823e-14,9.225146320352589e-14,1.2839409160772155e-21],"object_velocity":[-2.5323017753115795e-13,-2.3267772338014456e-13,-1.8902690403635227e-14],"object_angular_velocity":[4.184332200423778e-12,-4.552964045626149e-12,1.8962506726721282e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007015295275965445,-0.00036871969315772083,0.5099118605525299],[0.23253935117447352,0.012222128198352621,0.5024928368042173],[0.28743729098603243,0.015107530840157075,0.5007926438618957],[0.34236147801685785,0.01799434204742787,0.5007924061956349],[0.3423613411902078,0.017993652165835542,0.46079240620181816]],"gripper_points":[[0.3883575018456712,0.017759735000322952,0.4687922528999189],[0.29636092063985126,0.01822786723931529,0.46879255951562426]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999777226349683,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.63999999999971,"stage":"approach","target_distance":0.12560254611532504,"dwell_elapsed":0.0},{"joint_position":[0.0567548124396968,-1.596286282038489,1.6273264016061317,-1.7486260471557583e-05,-0.031038253848480996,-0.06184764245076005],"joint_velocity":[0.18533295455080337,-0.017206744956890237,0.02207731081014198,0.00011572111704422007,-0.004897378222479896,-0.16948301677951869],"joint_actuator_torque":[-0.15248121252537317,-0.8443478759082836,-0.9023925132096338,-0.0006443441447547293,-0.06765255771672685,0.022533535950066685],"jaw_actuator_force":[0.002647096673539906,-0.0008044462974154953],"end_effector_position":[0.3421696221921384,0.019439980350296444,0.4607535740969725],"end_effector_quaternion":[0.9999967585393389,-8.77884487857871e-06,4.132948656472636e-07,-0.0025461409183126496],"end_effector_velocity":[-0.00845513836835525,0.06314406239572788,-0.0015574446688609704],"object_position":[0.3400000029070965,0.07000000065429293,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.98453715308649e-14,8.690502115310861e-14,1.2839445521978367e-21],"object_velocity":[-3.4377048639508354e-13,-3.1584335494896295e-13,-1.892628264290852e-14],"object_angular_velocity":[-1.4582275055794396e-11,1.587255773757656e-11,1.2795288189427841e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.007124924111002198,-0.0004048084689631597,0.5099090416305195],[0.23237322333039495,0.013202477289428988,0.5024606091492356],[0.2872582154523818,0.01632081360906052,0.5007536767056081],[0.3421696570437946,0.01944068257142567,0.5007535740907934],[0.3421696221921384,0.019439980350296444,0.4607535740969725]],"gripper_points":[[0.3881658333926843,0.01920589288114523,0.46875353813163395],[0.2961691814976776,0.019674370316874336,0.46875361006315724]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999784470847127,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.659999999999708,"stage":"approach","target_distance":0.12560254611532629,"dwell_elapsed":0.0},{"joint_position":[0.061001329541000036,-1.596643281211805,1.6277957787223019,-1.794317630517584e-05,-0.031153320310127047,-0.06609777310193264],"joint_velocity":[0.18545335112285596,-0.015417119505367699,0.0198988702767196,0.00011469978353126444,-0.00450610149408154,-0.16958969122948775],"joint_actuator_torque":[-0.1525085297345221,-0.8453826193979239,-0.9013140725802486,-0.0006435568644831415,-0.06767724017651222,0.02254771590364335],"jaw_actuator_force":[0.0025685100057817323,-0.0007908613296248035],"end_effector_position":[0.3419833236981549,0.020886664345743548,0.46071802096872144],"end_effector_quaternion":[0.9999967539563958,-8.923007144812701e-06,-9.800496357876594e-07,-0.0025479395776237877],"end_effector_velocity":[-0.008221226538076947,0.06316080896199064,-0.0014316993160035944],"object_position":[0.3400000029070913,0.07000000065428826,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.94356496621065e-14,7.556501589951889e-14,1.2839488857136304e-21],"object_velocity":[-2.1403526073700993e-13,-1.9667114229324867e-13,-1.8906853739977587e-14],"object_angular_velocity":[6.461265921021365e-12,-7.03198833832305e-12,1.245648873534738e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.007222881823868411,-0.00044115273045887697,0.5099064760994766],[0.23221448580426757,0.014182989139616181,0.5024310859509432],[0.2870855492190487,0.017534354984841717,0.500717975708571],[0.34198324711326117,0.020887378383766555,0.500718020962275],[0.3419833236981549,0.020886664345743548,0.46071802096872144]],"gripper_points":[[0.38797958359559065,0.020652413411546396,0.46871811321707957],[0.2959828603829629,0.021121222159358875,0.468717928709416]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999791771304882,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.6799999999997057,"stage":"approach","target_distance":0.12560254611532756,"dwell_elapsed":0.0},{"joint_position":[0.065250513764101,-1.5969588409971103,1.6282137686545088,-1.842300476397401e-05,-0.03125859512695075,-0.07035042340600048],"joint_velocity":[0.1855688279295326,-0.013612697159277999,0.017718618763420946,0.0001136748524651956,-0.004122286658052081,-0.1696917537969471],"joint_actuator_torque":[-0.15253781229934305,-0.8464895829760053,-0.9002384402969028,-0.0006428248890411959,-0.06770109333087282,0.02256128176529959],"jaw_actuator_force":[0.0024888496961832374,-0.0007768373589200905],"end_effector_position":[0.3418025204474116,0.022333790007648246,0.4606856778077291],"end_effector_quaternion":[0.9999967495569274,-9.061616405822645e-06,-2.4532826056312625e-06,-0.002549664183506714],"end_effector_velocity":[-0.007983999004798834,0.06318136766155265,-0.0013094637970413757],"object_position":[0.34000000290708626,0.0700000006542836,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.557733264875163e-14,8.22616363662956e-14,1.2839518329629398e-21],"object_velocity":[-2.5280345592137344e-13,-2.322627282790902e-13,-1.8906853739977584e-14],"object_angular_velocity":[-1.997559054285451e-12,2.1768655043440864e-12,9.760696149715858e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.007309080984688896,-0.00047759929548832266,0.5099041786649],[0.23206321924053525,0.01516377096521513,0.50240421724815],[0.28691937137548246,0.01874825164995967,0.5006854760901448],[0.3418023260337674,0.022334515435008112,0.5006856778006786],[0.3418025204474116,0.022333790007648246,0.4606856778077291]],"gripper_points":[[0.38779882736673404,0.02209938233707283,0.468685905618024],[0.2958020321259536,0.0225685087751624,0.46868544997428957]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999799136066298,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.6999999999997035,"stage":"approach","target_distance":0.12560254611532876,"dwell_elapsed":0.0},{"joint_position":[0.06950222537886133,-1.5972327067715744,1.628580241292784,-1.892593015259326e-05,-0.031354320317541116,-0.07460544352905102],"joint_velocity":[0.18567824691579368,-0.011797816565639947,0.015532340901883063,0.00011264871840322833,-0.0037484810435399083,-0.16978756377888046],"joint_actuator_torque":[-0.15256819816136868,-0.8476624686140894,-0.8991609345331426,-0.0006421407711279551,-0.06772344124027008,0.022574014012372245],"jaw_actuator_force":[0.0024080815541953626,-0.0007621248341322939],"end_effector_position":[0.34162727652977004,0.023781436236318575,0.4606565272012584],"end_effector_quaternion":[0.9999967453536687,-9.189513129420595e-06,-4.065012738236427e-06,-0.0025513096830004412],"end_effector_velocity":[-0.007744145867331688,0.06320536980900063,-0.0011876953527125292],"object_position":[0.34000000290708166,0.07000000065427942,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.859400111702394e-14,6.377646330912492e-14,1.2839523306267033e-21],"object_velocity":[-1.8663409292777217e-13,-1.714666945907525e-13,-1.8908241518758373e-14],"object_angular_velocity":[7.07225545824039e-12,-7.698115499976885e-12,-1.077771287699939e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.007383455141224214,-0.000513994456856306,0.509902162192213],[0.23191948522210465,0.01614492504675321,0.502379986015246],[0.28675974238870083,0.019962594099663722,0.5006561539746911],[0.3416269532054329,0.02378217222466475,0.5006565271931807],[0.34162727652977004,0.023781436236318575,0.4606565272012584]],"gripper_points":[[0.38762363045860226,0.023546878929538054,0.4686569033121763],[0.29562676250303893,0.024016308506113776,0.46865615105414987]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799980656227435,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.7199999999997013,"stage":"approach","target_distance":0.1256025461153299,"dwell_elapsed":0.0},{"joint_position":[0.07375634286737932,-1.5974645049810579,1.6288950913325146,-1.9451488350672317e-05,-0.0314407130585237,-0.07886271866426568],"joint_velocity":[0.18578251022986036,-0.009965192451295754,0.013341214978411097,0.00011159067351281509,-0.0033839556564267373,-0.16987886170582342],"joint_actuator_torque":[-0.15260038584312952,-0.8488995834326261,-0.8980683158604279,-0.0006414899784586451,-0.06774416476669565,0.022586119682252992],"jaw_actuator_force":[0.0023278808857174482,-0.00020198183491260124],"end_effector_position":[0.3414576802098252,0.025229691442105243,0.46063049959838076],"end_effector_quaternion":[0.9999967413379042,-9.306642347546312e-06,-5.789698940400564e-06,-0.0025528794406118925],"end_effector_velocity":[-0.007500124474583778,0.06323330336028246,-0.0010694006828706247],"object_position":[0.34000000290707627,0.07000000065427449,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.607650124982212e-14,8.27974919084291e-14,1.2839533082357058e-21],"object_velocity":[-2.314559820380616e-13,-2.1266613944586286e-13,-1.8908241518758383e-14],"object_angular_velocity":[4.509551514526866e-12,-4.908283303024657e-12,4.0388423536249555e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007445905969383311,-0.000550180816509783,0.5099004390588987],[0.23178337635876184,0.01712656160080669,0.5023583402613201],[0.28660675355896176,0.021177481738108385,0.5006299426202083],[0.3414572189361182,0.025230437153499142,0.50063049958877],[0.3414576802098252,0.025229691442105243,0.46063049959838076]],"gripper_points":[[0.38745407872623466,0.024994991302235762,0.46863103439899867],[0.29545755138635676,0.025464707970696353,0.4686299647526915]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999772648000425,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.739999999999699,"stage":"approach","target_distance":0.1256025461153312,"dwell_elapsed":0.0},{"joint_position":[0.07801272502140533,-1.5976539187260177,1.629158274732885,-2.0002561215115574e-05,-0.0315180866972469,-0.08312210345816405],"joint_velocity":[0.18588101743714674,-0.0081206761216583,0.011150818992052013,0.00011061370687196903,-0.0030291840948309294,-0.16996411184806343],"joint_actuator_torque":[-0.15263447500603178,-0.8502293842847166,-0.8970148884749278,-0.0006409608572542822,-0.06776531733807367,0.02259746402637486],"jaw_actuator_force":[0.0022425889917272457,-0.0007397658027397114],"end_effector_position":[0.3412938074172784,0.026678638040947222,0.460607527321893],"end_effector_quaternion":[0.9999967375146772,-9.41136465264812e-06,-7.647581674078478e-06,-0.0025543713399700523],"end_effector_velocity":[-0.007253547959138883,0.0632649232573579,-0.0009545625603892725],"object_position":[0.3400000029070712,0.0700000006542699,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.304877499327037e-14,7.948772858580878e-14,1.2839557946973218e-21],"object_velocity":[-3.0700548859313523e-13,-2.8215266173830563e-13,-1.888881261582744e-14],"object_angular_velocity":[-1.072510914180421e-11,1.1664121951670667e-11,9.24260375595297e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.007496352356821523,-0.0005860001537895288,0.5098990198360154],[0.23165496886102907,0.018108786902891683,0.50233922508604],[0.2864604799734532,0.022393008936714462,0.5006067721225039],[0.34129319753595005,0.026679392510444155,0.5006075273101283],[0.3412938074172784,0.026678638040947222,0.460607527321893]],"gripper_points":[[0.38729024889534336,0.026443802034733236,0.468608233062932],[0.2952935810439371,0.026913793924901848,0.4686068215218181]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999786839993223,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.759999999999697,"stage":"approach","target_distance":0.12560254611533245,"dwell_elapsed":0.0},{"joint_position":[0.08227124169166664,-1.5978005904626857,1.6293696762272503,-2.0576801657377458e-05,-0.031586690871212415,-0.08738346035621497],"joint_velocity":[0.18597366594411244,-0.006257736470785028,0.008953969218129406,0.00010954650574577382,-0.002687103436718874,-0.1700438088351357],"joint_actuator_torque":[-0.15266940218901226,-0.8516248264877504,-0.8959417931417875,-0.0006403963135887293,-0.06778333844284035,0.022608055103154],"jaw_actuator_force":[0.0021586661630124127,-0.0007265794068604947],"end_effector_position":[0.34113574350919396,0.02812836486631758,0.4605875487661242],"end_effector_quaternion":[0.9999967338929567,-9.50049416102026e-06,-9.642159068342959e-06,-0.002555781717647869],"end_effector_velocity":[-0.007002467272415602,0.06330041215698436,-0.0008428047609448027],"object_position":[0.3400000029070664,0.07000000065426547,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.699670645734268e-14,7.28882202978052e-14,1.2839583470086715e-21],"object_velocity":[-2.0652613772659094e-13,-1.8983017352902034e-13,-1.890962929753916e-14],"object_angular_velocity":[6.759860333722249e-12,-7.35467918690313e-12,6.677436179500888e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007534703237208332,-0.0006212917736708319,0.509897913968038],[0.23153434947250595,0.01909171232373487,0.50232259180093],[0.2863210073851488,0.023609275762723675,0.5005865804709677],[0.341134974081483,0.0281291268748284,0.5005875487514657],[0.34113574350919396,0.02812836486631758,0.4605875487661242]],"gripper_points":[[0.3871322252138293,0.027893400252105377,0.46858843801937283],[0.29513523020948074,0.0283636533186825,0.46858665943501915]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999819688961365,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.7799999999996947,"stage":"approach","target_distance":0.1256025461153336,"dwell_elapsed":0.0},{"joint_position":[0.08653174845685799,-1.597904197913024,1.6295292728697566,-2.1174630258982097e-05,-0.03164685496274996,-0.09164664240059321],"joint_velocity":[0.18606015245863397,-0.004381528372590397,0.006755736088920553,0.00010847282345624141,-0.0023580589039352666,-0.17011747365819904],"joint_actuator_torque":[-0.15270543366565903,-0.8530864996007494,-0.8948590863248,-0.0006398551514424557,-0.06779943680689193,0.022617813480293236],"jaw_actuator_force":[0.0020745871861560516,-0.0002265598642736677],"end_effector_position":[0.34098356418008563,0.029578956707102245,0.46057048501888515],"end_effector_quaternion":[0.9999967304753815,-9.571152393008918e-06,-1.1788312079803953e-05,-0.0025571093007601153],"end_effector_velocity":[-0.006748319491057451,0.06333963121540778,-0.0007341819664404409],"object_position":[0.34000000290706095,0.07000000065426054,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.154326944057265e-14,8.871277671557833e-14,1.2839630531024522e-21],"object_velocity":[-2.573163939234934e-13,-2.36521430137156e-13,-1.89068537399776e-14],"object_angular_velocity":[6.379328529688269e-13,-6.944086320689368e-13,4.244292487853359e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0075608788088866305,-0.0006558939361602645,0.5098971291649521],[0.23142159406614293,0.02007544679411111,0.502308376298956],[0.28618841076667056,0.0248263790447983,0.5005692871004985],[0.34098262307616123,0.029579724808310434,0.5005704850004394],[0.34098356418008563,0.029578956707102245,0.46057048501888515]],"gripper_points":[[0.38698008751492863,0.029343870792553007,0.4685715717245346],[0.2949833043023698,0.02981436704659514,0.4685693982264723]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999798635246153,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.7999999999996925,"stage":"approach","target_distance":0.12560254611533497,"dwell_elapsed":0.0},{"joint_position":[0.09079409836327956,-1.597964264122325,1.6296369305032483,-2.1798987731634944e-05,-0.03169895688015089,-0.09591149546977812],"joint_velocity":[0.1861407204962232,-0.0024850351543625,0.004554424582549397,0.00010748007847403438,-0.0020414910537724113,-0.1701848558544021],"joint_actuator_torque":[-0.15274346816126183,-0.8546473029235813,-0.8938109532381304,-0.0006394385819023269,-0.0678155657069115,0.02262677753102693],"jaw_actuator_force":[0.001985526295504414,-0.0006894354846114226],"end_effector_position":[0.3408373875758528,0.031030502878501582,0.46055624429759423],"end_effector_quaternion":[0.9999967272703664,-9.621223761190208e-06,-1.4103523464125585e-05,-0.0025583504605444164],"end_effector_velocity":[-0.006489464783942922,0.06338289276985057,-0.0006305996304378313],"object_position":[0.34000000290705595,0.070000000654256,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.049999968039533e-14,6.581551743246888e-14,1.2839671276299333e-21],"object_velocity":[-1.9563859649815384e-13,-1.798362289211051e-13,-1.8906853739977596e-14],"object_angular_velocity":[7.749895882817625e-12,-8.431117731333358e-12,5.397567906153734e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.007574757582959333,-0.0006896393570508405,0.5098966728010832],[0.23131682052002017,0.02106010411968164,0.5022965037132048],[0.28606280716861965,0.026044420333099498,0.5005547982972326],[0.3408362612668252,0.031031275460423925,0.500556244274276],[0.3408373875758528,0.031030502878501582,0.46055624429759423]],"gripper_points":[[0.38683394573350344,0.030795303312569747,0.4685575440034992],[0.2948370102882754,0.0312660287135217,0.46855494448717677]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799981397663781,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.8199999999996903,"stage":"approach","target_distance":0.1256025461153362,"dwell_elapsed":0.0},{"joint_position":[0.09505815063316188,-1.597980445055724,1.6296925846029884,-2.244656874323222e-05,-0.031743328294905934,-0.10017787559010458],"joint_velocity":[0.18621482073719187,-0.0005715663072459514,0.0023479945236316957,0.00010636636686781044,-0.0017414347918474225,-0.1702464131732934],"joint_actuator_torque":[-0.15278201261383373,-0.8562672189686964,-0.8927340311424814,-0.0006389612645534867,-0.06782790431681729,0.02263492631660924],"jaw_actuator_force":[0.0018987123341478451,-0.0002463600093207674],"end_effector_position":[0.34069729524204023,0.0324830939212997,0.4605447518606104],"end_effector_quaternion":[0.999996724280648,-9.644355127212128e-06,-1.6613436248100823e-05,-0.0025595036537738158],"end_effector_velocity":[-0.006226411105985471,0.06343004202469145,-0.0005300575845323115],"object_position":[0.3400000029070508,0.07000000065425126,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.510936356916212e-14,8.170858885684576e-14,1.2839725614683565e-21],"object_velocity":[-2.2661381237557314e-13,-2.0831244675333543e-13,-1.8902690403635246e-14],"object_angular_velocity":[5.4321940200040375e-12,-5.9094325347316515e-12,1.661759615626297e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007576256612792203,-0.0007223620210816715,0.5098965496908593],[0.2312201091168318,0.02204579832398298,0.5022869118003229],[0.28594427626320396,0.02726350173639363,0.5005430364504083],[0.340695968146275,0.03248386886895457,0.5005447518310888],[0.34069729524204023,0.0324830939212997,0.4605447518606104]],"gripper_points":[[0.38669388917052905,0.032247788352578834,0.46854628247237873],[0.2946969763523287,0.032718725819980726,0.468543221130744]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999811823917682,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.839999999999688,"stage":"approach","target_distance":0.12560254611533744,"dwell_elapsed":0.0},{"joint_position":[0.09932374760086367,-1.5979522474228518,1.6296961878391765,-2.312141315829365e-05,-0.03178042188745892,-0.10444562894831438],"joint_velocity":[0.18628263744829296,0.0013622710655673542,0.00014261001728220599,0.00010535264123264903,-0.0014561207035218085,-0.17030168079959837],"joint_actuator_torque":[-0.15282220248789713,-0.8579905798795835,-0.8916932838586717,-0.0006385896671144955,-0.06783997141242226,0.02264227808344721],"jaw_actuator_force":[0.0018068664864845374,-0.0006543583464093672],"end_effector_position":[0.340563406934549,0.03393681981590009,0.460535880923365],"end_effector_quaternion":[0.9999967215002394,-9.639716814499109e-06,-1.932137274453638e-05,-0.002560570743526725],"end_effector_velocity":[-0.005958785164148381,0.06348127842175978,-0.0004360412792295052],"object_position":[0.3400000029070454,0.07000000065424634,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.239718309954598e-14,8.962341548245288e-14,1.2839773150505212e-21],"object_velocity":[-2.9990955410123607e-13,-2.7572414335705213e-13,-1.893460931559322e-14],"object_angular_velocity":[-6.638111115009087e-12,7.21961305411787e-12,5.60529200343635e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007565252865821483,-0.0007538899917333978,0.5098967641809325],[0.2311315799569244,0.02303264517307465,0.5022794979230518],[0.2858329374788037,0.028483726148343158,0.5005338744056208],[0.3405618632044512,0.03393759494861629,0.5005358808860658],[0.340563406934549,0.03393681981590009,0.460535880923365]],"gripper_points":[[0.38656003121025223,0.03370141574080259,0.46853766065189373],[0.2945629227904793,0.03417255054891411,0.4685341010544609]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999831486651048,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.859999999999686,"stage":"approach","target_distance":0.12560254611533875,"dwell_elapsed":0.0},{"joint_position":[0.10359074221255628,-1.5978791992836734,1.6296476714864743,-2.382033452108304e-05,-0.03181064197377417,-0.10871459437233787],"joint_velocity":[0.18634373789407327,0.003318990122596039,-0.0020676564172743064,0.00010421845863722833,-0.0011898090168436944,-0.17035034893880557],"joint_actuator_torque":[-0.15286289718561363,-0.8597835006473815,-0.8906295564323727,-0.0006381601030408155,-0.06784832971793087,0.022648710605546185],"jaw_actuator_force":[0.0017165046150182661,-0.0002577348203658403],"end_effector_position":[0.3404358356575529,0.03539177613572483,0.46052951517916957],"end_effector_quaternion":[0.9999967189457936,-9.603126659564297e-06,-2.2227486011016326e-05,-0.0025615447226893084],"end_effector_velocity":[-0.005685561523325134,0.06353664510275402,-0.0003471757353754785],"object_position":[0.3400000029070402,0.07000000065424161,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.971929050956178e-14,7.583397765984327e-14,1.2839800241453149e-21],"object_velocity":[-2.1796440359581862e-13,-2.003896241596452e-13,-1.890824151875837e-14],"object_angular_velocity":[7.765334226586492e-12,-8.446254239637706e-12,4.6132264912518504e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.00754163080705353,-0.0007840496979490406,0.5098973187989504],[0.23105134636877514,0.02402076460196463,0.5022741678807753],[0.2857289036382359,0.029705201212361514,0.5005271957953602],[0.3404340594324135,0.03539254893827288,0.5005295151322671],[0.3404358356575529,0.03539177613572483,0.46052951517916957]],"gripper_points":[[0.38643248853695145,0.035156281609538334,0.4685315622486011],[0.29443537366343003,0.0356275956576168,0.46852746795307404]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999832226050144,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.8799999999996837,"stage":"approach","target_distance":0.12560254611534002,"dwell_elapsed":0.0},{"joint_position":[0.10785895540781971,-1.5977607818864645,1.6295469969927556,-2.4546273491101458e-05,-0.03183453631020349,-0.11298459203005662],"joint_velocity":[0.1863974220942817,0.00529707128206652,-0.004277789227849528,0.00010315488953908334,-0.000943238724301111,-0.17039163185305164],"joint_actuator_torque":[-0.15290440879829248,-0.8616731187872801,-0.8895879477175868,-0.000637806979488979,-0.06785524750151861,0.022654175561186207],"jaw_actuator_force":[0.0016223412032907447,-0.0002596899736850844],"end_effector_position":[0.340314709924884,0.03684805113039716,0.46052551791684293],"end_effector_quaternion":[0.9999967166161563,-9.529780192152362e-06,-2.5365241784138746e-05,-0.0025624251587612217],"end_effector_velocity":[-0.005407305896392778,0.06359595659503557,-0.0002647306502885894],"object_position":[0.3400000029070349,0.07000000065423684,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.161717680744316e-14,8.878742636226781e-14,1.2839831734228867e-21],"object_velocity":[-2.489124714772171e-13,-2.2881502828124074e-13,-1.8913792633881507e-14],"object_angular_velocity":[2.3413688709090166e-12,-2.545852999767192e-12,1.0542864764542463e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0075052634744932085,-0.0008126637143935049,0.5098982147100366],[0.23097953398107202,0.02501027268021578,0.5022708076448561],[0.285632300064639,0.03092802893731374,0.5005228601924189],[0.3403126826657519,0.03684881871003203,0.500525517858106],[0.340314709924884,0.03684805113039716,0.46052551791684293]],"gripper_points":[[0.3863113882300897,0.03661247417732361,0.4685278536288491],[0.2943143544377989,0.03708394980471483,0.4685231820357929]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999824203576339,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.8999999999996815,"stage":"approach","target_distance":0.12560254611534136,"dwell_elapsed":0.0},{"joint_position":[0.11212822162077396,-1.597596472202021,1.6293941490702015,-2.5298650348043265e-05,-0.031852655795097225,-0.11725544138747927],"joint_velocity":[0.18644395313617526,0.007299296616535498,-0.00648827484437655,0.00010205335542328628,-0.0007191804238478827,-0.17042557334367026],"joint_actuator_torque":[-0.15294665900415083,-0.86365270110241,-0.8885533008868833,-0.000637459189124035,-0.0678593156368188,0.022658664426712605],"jaw_actuator_force":[0.0015266638444551006,-0.00027035518869134023],"end_effector_position":[0.3402001571838325,0.03830574020371096,0.460523741212204],"end_effector_quaternion":[0.9999967145279953,-9.413947780883804e-06,-2.8755723083719045e-05,-0.0025632045765292435],"end_effector_velocity":[-0.005123280096498227,0.06365948382858498,-0.00018941439281257468],"object_position":[0.3400000029070302,0.07000000065423248,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.626067634241052e-14,7.209902693506516e-14,1.2839834586538228e-21],"object_velocity":[-3.613889901480706e-13,-3.3214308364990425e-13,-1.8879098164361968e-14],"object_angular_velocity":[-2.0136616915034185e-11,2.1910109283240533e-11,-3.0410815916566627e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.00745602432840959,-0.0008395521909130627,0.5098994513273167],[0.23091626819774802,0.026001291082729017,0.5022692948293324],[0.28554325190165913,0.032152317666271996,0.5005207172985443],[0.3401978586639338,0.03830649921360317,0.5005237411389629],[0.3402001571838325,0.03830574020371096,0.460523741212204]],"gripper_points":[[0.3861968571343392,0.03807008944619647,0.4685263888066413],[0.2941997579554957,0.03854170881607164,0.46852109342846027]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999830819201542,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.9199999999996793,"stage":"approach","target_distance":0.12560254611534247,"dwell_elapsed":0.0},{"joint_position":[0.11639835713279705,-1.5973856804217228,1.6291891139349908,-2.607792147247833e-05,-0.031865622034734815,-0.12152695117731066],"joint_velocity":[0.1864825482484795,0.009327909567206288,-0.008698745857391568,0.00010093764082564042,-0.0005197358370660992,-0.17045168850559586],"joint_actuator_torque":[-0.15298895670724733,-0.865728923820825,-0.8875281473799532,-0.0006371065122923454,-0.06786040533849969,0.02266211053224154],"jaw_actuator_force":[0.0014287588883199476,-0.0002735835764653416],"end_effector_position":[0.34009232304015485,0.03976493705984383,0.46052401578820196],"end_effector_quaternion":[0.9999967126879915,-9.249908192525501e-06,-3.2421204554605174e-05,-0.0025638791928077028],"end_effector_velocity":[-0.004832899528286556,0.06372714025905189,-0.0001220900617253471],"object_position":[0.3400000029070251,0.07000000065422775,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.664678286026438e-14,8.338122714113963e-14,1.283982825199314e-21],"object_velocity":[-2.313502744621462e-13,-2.1266020113313862e-13,-1.8905465961196813e-14],"object_angular_velocity":[6.565093659619177e-12,-7.1426714099767884e-12,-1.3279861412406345e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007393769927601535,-0.000864530590320147,0.50990102670965],[0.2308616920342846,0.026993941771386927,0.5022694893153721],[0.28546190206721683,0.0333781750209448,0.5005205953291834],[0.34008973124956854,0.03976568369999079,0.5005240156972663],[0.34009232304015485,0.03976493705984383,0.46052401578820196]],"gripper_points":[[0.3860890399698136,0.039529221380452007,0.46852700055271407],[0.2940919012781096,0.040000965076882736,0.46852103081418023]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999834838307432,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.939999999999677,"stage":"approach","target_distance":0.1256025461153437,"dwell_elapsed":0.0},{"joint_position":[0.12066917095938799,-1.5971277428554893,1.6289318787040479,-2.6885440182000243e-05,-0.03187412474527696,-0.12579892563961764],"joint_velocity":[0.18651305421311612,0.011386032864051111,-0.010908414601235789,9.983736688565098e-05,-0.00034694336208486285,-0.17046983141196198],"joint_actuator_torque":[-0.15303151768418388,-0.8679123871784213,-0.8865237105211463,-0.0006367835038666981,-0.06785888365557691,0.022664510014395844],"jaw_actuator_force":[0.0013272395824461825,-0.0005504806692062658],"end_effector_position":[0.3399913724337759,0.041225737971396274,0.4605261485587767],"end_effector_quaternion":[0.999996711098854,-9.032412578269847e-06,-3.6380634075264646e-05,-0.0025644465952992536],"end_effector_velocity":[-0.004535424781943137,0.0637990881520476,-6.407651950714381e-05],"object_position":[0.34000000290701987,0.07000000065422302,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.393666894776739e-14,9.131817663917106e-14,1.2839854358396108e-21],"object_velocity":[-2.7929460034780804e-13,-2.567233972630083e-13,-1.8883261500704308e-14],"object_angular_velocity":[-3.75332004714635e-12,4.083134802148738e-12,5.292604796121163e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007318338018885516,-0.0008874091712608962,0.509902937522285],[0.2308159677660306,0.027988350106330193,0.502271231652778],[0.28538841284174055,0.034605711607444814,0.5005222990576826],[0.33998846384567327,0.041226468025721455,0.5005261484463659],[0.3399913724337759,0.041225737971396274,0.4605261485587767]],"gripper_points":[[0.38598810041084763,0.04098996639631942,0.46852949752281364],[0.29399093371178,0.04146181463320973,0.4685227993643101]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999837697633597,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.959999999999675,"stage":"approach","target_distance":0.12560254611534497,"dwell_elapsed":0.0},{"joint_position":[0.12494045767463466,-1.5968220246913987,1.6286224439151626,-2.772068463447279e-05,-0.031878925355983065,-0.13007114108209367],"joint_velocity":[0.18653442545401583,0.01347316443046222,-0.013118182234503941,9.862473066033776e-05,-0.0002057696475731993,-0.17047875327578701],"joint_actuator_torque":[-0.1530703346797253,-0.8702068217125998,-0.8855221106662157,-0.0006361558116985237,-0.06785073649414697,0.02266567705109601],"jaw_actuator_force":[0.0012242837910712012,-0.0007811717587404843],"end_effector_position":[0.33989746594319725,0.04268823683296545,0.460529953539762],"end_effector_quaternion":[0.999996709778238,-8.749415141093953e-06,-4.0696011280245406e-05,-0.0025648976550195343],"end_effector_velocity":[-0.004230708287005668,0.06387511255732743,-1.4703566919914365e-05],"object_position":[0.3400000029070151,0.07000000065421862,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.087432965464674e-14,6.622008037711958e-14,1.2839891647284716e-21],"object_velocity":[-1.9268732943835267e-13,-1.7713016876219914e-13,-1.8902690403635243e-14],"object_angular_velocity":[7.009721032357099e-12,-7.625650267125363e-12,7.637737393720677e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.007229576162902381,-0.0009079961209086574,0.5099051781792349],[0.23077924924672713,0.028984640092388974,0.502274363848644],[0.2853229384031006,0.035835035891269684,0.5005256355645502],[0.3398942120683151,0.04268894513436205,0.5005299534011446],[0.33989746594319725,0.04268823683296545,0.460529953539762]],"gripper_points":[[0.3858942006771598,0.042452419024499935,0.4685336994337458],[0.2938969656908345,0.042924350601766394,0.4685262073896712]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999844575140108,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.9799999999996727,"stage":"approach","target_distance":0.1256025461153461,"dwell_elapsed":0.0},{"joint_position":[0.1292120078831352,-1.5964677432372438,1.6282607998228296,-2.8584126944309918e-05,-0.03188087274042035,-0.13434338347244656],"joint_velocity":[0.1865466188989955,0.01559641499146978,-0.01532799726767792,9.72826448080801e-05,-9.907158665877413e-05,-0.17047901709004362],"joint_actuator_torque":[-0.15310395137853305,-0.8726272364824581,-0.884520953125957,-0.0006350816144732757,-0.06783503795658286,0.02266567535508557],"jaw_actuator_force":[0.0011196608094525828,-0.0009570713473880943],"end_effector_position":[0.3398108016259312,0.044152533980591165,0.460535200363783],"end_effector_quaternion":[0.9999967087260183,-8.391596272014621e-06,-4.540436632749611e-05,-0.0025652300394800242],"end_effector_velocity":[-0.003917032895896964,0.0639555610956468,2.363671355631038e-05],"object_position":[0.3400000029070097,0.07000000065421372,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.454559725807535e-14,9.193810082481447e-14,1.2839936708351815e-21],"object_velocity":[-2.523711168458447e-13,-2.3207035617985433e-13,-1.8901302624854454e-14],"object_angular_velocity":[4.171164789151008e-12,-4.537532394288683e-12,2.2356470030561195e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007127292670232883,-0.0009260914707971136,0.509907742039731],[0.23075172957135623,0.02998294282487106,0.5022786938491142],[0.28526567216838705,0.03706626318429501,0.5005303703054311],[0.33980717101069,0.04415321462389496,0.500535200193225],[0.3398108016259312,0.044152533980591165,0.460535200363783]],"gripper_points":[[0.3858075352014651,0.043916679683489585,0.4685393793222777],[0.2938103198159445,0.04438867231460543,0.4685310211284684]],"object_size":[0.04,0.04,0.04],"gripper_width":0.079998426538681,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":3.9999999999996705,"stage":"approach","target_distance":0.12560254611534744,"dwell_elapsed":0.0},{"joint_position":[0.1334835974702692,-1.5960640629519993,1.627847046196204,-2.9476147703262947e-05,-0.031880911220041636,-0.13861540746361736],"joint_velocity":[0.1865488314413214,0.017758125608131184,-0.01753360677931346,9.575750277259748e-05,-3.087415933412943e-05,-0.17046914572102806],"joint_actuator_torque":[-0.15312994749761089,-0.8751859684334704,-0.8835150156983218,-0.0006333627145272136,-0.06781078413731123,0.022664286686845614],"jaw_actuator_force":[0.0010137273742962805,-0.0010795614829888223],"end_effector_position":[0.33973158815163645,0.04561872970312416,0.46054160521410814],"end_effector_quaternion":[0.9999967079638113,-7.953494952170735e-06,-5.050945287587438e-05,-0.002565433116902717],"end_effector_velocity":[-0.0035938996119683235,0.06404038458499337,4.877384087294408e-05],"object_position":[0.34000000290700455,0.07000000065420896,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.967954495925219e-14,8.66274115965063e-14,1.2839977780101028e-21],"object_velocity":[-3.426803304138875e-13,-3.151998327905739e-13,-1.888464927948507e-14],"object_angular_velocity":[-1.4560262227026523e-11,1.582570083611033e-11,1.2259954189341853e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.007011283116823641,-0.0009414897276230417,0.5099106205669026],[0.23073361474771847,0.030983391268433524,0.502283988756853],[0.28521682050834274,0.03829950983002982,0.5005362189670499],[0.33972754904104147,0.04561937634691553,0.5005416050049512],[0.33973158815163645,0.04561872970312416,0.46054160521410814]],"gripper_points":[[0.38572831466543994,0.045382849542248895,0.46854625371585984],[0.2937312310777444,0.045854878859880155,0.4685369564250648]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999829502092828,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.019999999999677,"stage":"approach","target_distance":0.12560254611534866,"dwell_elapsed":0.0},{"joint_position":[0.13775497130806552,-1.595610079799968,1.6273812603072026,-3.0396852055220096e-05,-0.031880156811548425,-0.14288693968349994],"joint_velocity":[0.186540581525257,0.01995743245732799,-0.019733357688722006,9.459536518975512e-05,-4.067368054265157e-06,-0.17044806029454937],"joint_actuator_torque":[-0.15317127475342573,-0.8777949981039228,-0.8825643548012749,-0.0006331710166961428,-0.06779413138106438,0.022661439815088613],"jaw_actuator_force":[0.0009010629386452251,-0.0009737442367576676],"end_effector_position":[0.3396600586704196,0.04708692072542951,0.46054887569721803],"end_effector_quaternion":[0.9999967075053664,-7.420659124183267e-06,-5.6077186153714085e-05,-0.002565497750926707],"end_effector_velocity":[-0.0032614736609289604,0.06412958745749997,6.047686143716094e-05],"object_position":[0.3400000029069994,0.0700000006542043,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.930436556966961e-14,7.534188486904498e-14,1.2840022352916958e-21],"object_velocity":[-2.1339862575718792e-13,-1.962960553238526e-13,-1.8908241518758348e-14],"object_angular_velocity":[6.448689901588324e-12,-7.010465388515407e-12,1.310632414238422e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.006881326098620493,-0.0009539788990975585,0.5099138032955584],[0.23072512944387422,0.0319861174759808,0.5022900027123175],[0.2851766088390293,0.03953488956193626,0.5005428817453248],[0.33965557403331276,0.04708752588547645,0.5005488754412407],[0.3396600586704196,0.04708692072542951,0.46054887569721803]],"gripper_points":[[0.3856567711033276,0.04685102593777808,0.4685540362813833],[0.2936599247994794,0.047323065928302877,0.4685437148280575]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799980579041695,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.039999999999684,"stage":"approach","target_distance":0.12560254611534996,"dwell_elapsed":0.0},{"joint_position":[0.1420258619443105,-1.5951048215129826,1.6268635708117252,-3.134179380549419e-05,-0.031879833612194514,-0.14715767305306515],"joint_velocity":[0.18652063522876547,0.022200193563350366,-0.021927267904348992,9.35260638255483e-05,-2.664648076091896e-05,-0.17041433885927487],"joint_actuator_torque":[-0.15322117340787855,-0.8804662249875719,-0.881630000765881,-0.0006338680531747742,-0.06777731628074779,0.02265690687646682],"jaw_actuator_force":[0.0007872535435655692,0.00024978677950926453],"end_effector_position":[0.3395964638218834,0.04855720631367135,0.460556681420877],"end_effector_quaternion":[0.9999967073899285,-6.776091746030226e-06,-6.216724033782529e-05,-0.0025654041827053494],"end_effector_velocity":[-0.0029180597563978937,0.0642231468017898,5.7068911011021764e-05],"object_position":[0.34000000290699434,0.07000000065419966,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.543203936281419e-14,8.201670194828613e-14,1.2840042830875114e-21],"object_velocity":[-2.5205599637311417e-13,-2.318231354146818e-13,-1.8890200394608193e-14],"object_angular_velocity":[-1.9955904193457215e-12,2.1715183333209574e-12,7.990875267755081e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.006737183379672711,-0.0009633402936723441,0.5099172776653619],[0.23072651581401488,0.03299125717327094,0.5022964590670956],[0.2851452802125683,0.04077251909277878,0.5005500214716596],[0.3395914918497049,0.04855776115795402,0.5005566811080225],[0.3395964638218834,0.04855720631367135,0.460556681420877]],"gripper_points":[[0.38559315575148956,0.04832130967627627,0.46856240211245465],[0.29359600350845855,0.048793334019628834,0.46855096038282856]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999836389154605,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.0599999999996905,"stage":"approach","target_distance":0.12560254611535115,"dwell_elapsed":0.0},{"joint_position":[0.14629593501869576,-1.594547070365588,1.6262941629129257,-3.232547827144323e-05,-0.03188150235555642,-0.1514272785571296],"joint_velocity":[0.18648675203188336,0.024496621400328926,-0.024109101822260018,9.229524257733656e-05,-0.00010731423381646976,-0.1703671747855261],"joint_actuator_torque":[-0.15324486553228667,-0.8834195697875202,-0.8807350602269253,-0.000632617430447346,-0.06774246586126065,0.02265057525181291],"jaw_actuator_force":[0.0006626416938679824,-0.0007498282653948252],"end_effector_position":[0.3395411238131169,0.05002967644302107,0.4605646037527826],"end_effector_quaternion":[0.9999967075961934,-6.008577492960764e-06,-6.885757723315922e-05,-0.0025651548304992055],"end_effector_velocity":[-0.0025611920206265503,0.06432084359894077,3.321873174168601e-05],"object_position":[0.3400000029069898,0.07000000065419548,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.848231697691944e-14,6.36001780612595e-14,1.2840042072077304e-21],"object_velocity":[-1.8611420537023983e-13,-1.7114120000313462e-13,-1.8906853739977574e-14],"object_angular_velocity":[7.0590418638135895e-12,-7.676393816917796e-12,-1.6849930352442557e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0065785509617382835,-0.0009693405888609519,0.5099210300175152],[0.23073808303233986,0.033998944536581484,0.5023030076293571],[0.2851231449893161,0.04201250987782871,0.5005572108320708],[0.3395356164581093,0.050030171258065644,0.5005646033705851],[0.3395411238131169,0.05002967644302107,0.4605646037527826]],"gripper_points":[[0.38553777878411616,0.04979379037897381,0.46857093974498404],[0.2935420663679587,0.05026576145675786,0.46855826758021707]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999692397161101,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.079999999999697,"stage":"approach","target_distance":0.12560254611535226,"dwell_elapsed":0.0},{"joint_position":[0.15056488994582465,-1.5939356786154208,1.6256732495781598,-3.333028014811255e-05,-0.03188669582570113,-0.15569539315742195],"joint_velocity":[0.18643859861622383,0.026847756940373304,-0.0262840353122188,9.105543814487272e-05,-0.000254818353357602,-0.1703050804920563],"joint_actuator_torque":[-0.153286499933472,-0.8863775910328968,-0.8798494461175324,-0.0006330937889870206,-0.0677096186678332,0.022642294056256063],"jaw_actuator_force":[0.0005411024586123858,-0.00017161425551748266],"end_effector_position":[0.33949433828315567,0.051504436425236874,0.4605722338006998],"end_effector_quaternion":[0.9999967081850183,-5.088613419090011e-06,-7.623062452562077e-05,-0.0025647187223668366],"end_effector_velocity":[-0.0021900337249243914,0.0644229247247723,-9.27418027463461e-06],"object_position":[0.3400000029069844,0.07000000065419057,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.592907160442446e-14,8.258730599627753e-14,1.28400358736422e-21],"object_velocity":[-2.308641813239258e-13,-2.1225726764565452e-13,-1.890407818241601e-14],"object_angular_velocity":[4.5018947853247455e-12,-4.89547851975741e-12,3.9368963122783454e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.006405146540407173,-0.0009717443848042918,0.5099250432002227],[0.23076011915520245,0.03500932392587896,0.5023093048412189],[0.2851104925437797,0.04325498541374387,0.5005640314672806],[0.33948824089733753,0.051504859153779135,0.5005722333337396],[0.33949433828315567,0.051504436425236874,0.4605722338006998]],"gripper_points":[[0.38549094965018155,0.05126857568066755,0.4685792478639462],[0.29349336344472593,0.05174047613300906,0.46856521925720185]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999879757077794,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.099999999999704,"stage":"approach","target_distance":0.12560254611535357,"dwell_elapsed":0.0},{"joint_position":[0.1548323104046159,-1.5932691221746926,1.625001169844605,-3.437316860683645e-05,-0.031897512501577886,-0.15996157840156358],"joint_velocity":[0.18637313686401838,0.029265747746605775,-0.028439135518496486,8.972992574978516e-05,-0.00048040318782509344,-0.1702248656329551],"joint_actuator_torque":[-0.1533002883035266,-0.889637018199096,-0.8790180193800552,-0.0006317284853698565,-0.06765856563816053,0.022631543581878688],"jaw_actuator_force":[0.000406188489940007,-0.00048529031040622783],"end_effector_position":[0.3394565146879089,0.05298157196687101,0.4605790172149339],"end_effector_quaternion":[0.9999967091600971,-3.997415938483961e-06,-8.440232865327421e-05,-0.0025640844845385836],"end_effector_velocity":[-0.001801855870716159,0.06452901409671377,-7.863596926138461e-05],"object_position":[0.3400000029069794,0.07000000065418598,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.290998689937255e-14,7.930743228301939e-14,1.2840036677421458e-21],"object_velocity":[-3.0630641760507463e-13,-2.8161017986003855e-13,-1.892211930656616e-14],"object_angular_velocity":[-1.0703455899974917e-11,1.1640243320530315e-11,-1.965580883617496e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.006216586191644442,-0.0009702944605049492,0.5099292992610487],[0.23079301568959798,0.03602253354869214,0.5023148858248796],[0.28510771612071606,0.044500056634133145,0.5005699160790908],[0.33944976334381394,0.05298190907226981,0.5005790166437553],[0.3394565146879089,0.05298157196687101,0.4605790172149339]],"gripper_points":[[0.38545306106766375,0.05274575210395653,0.46858678277947896],[0.2934575740310729,0.05321752510137383,0.46857125147362244]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999669801727724,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.119999999999711,"stage":"approach","target_distance":0.12560254611535476,"dwell_elapsed":0.0},{"joint_position":[0.1590977817763295,-1.5925457488815558,1.6242783102962313,-3.5439669981693914e-05,-0.03191617018842692,-0.1642253435692898],"joint_velocity":[0.18628843838752268,0.03176065498082077,-0.030578667136190077,8.833443413483963e-05,-0.000799149640665822,-0.17012446975083273],"joint_actuator_torque":[-0.15332234242706022,-0.8929662819853093,-0.8782056638714266,-0.0006314805624232128,-0.06760214717246305,0.022618168194071586],"jaw_actuator_force":[0.00027278999895763434,-0.0003659653395367002],"end_effector_position":[0.33942809166823773,0.05446118238405923,0.46058434190035785],"end_effector_quaternion":[0.999996710590081,-2.70325377536727e-06,-9.34580788009215e-05,-0.002563214251191281],"end_effector_velocity":[-0.0013934694325162841,0.06463924592570289,-0.00017616790435819594],"object_position":[0.3400000029069746,0.07000000065418156,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.686217547006748e-14,7.272538418949507e-14,1.2840033018353892e-21],"object_velocity":[-2.060648481729333e-13,-1.8945176704220343e-13,-1.890685373997757e-14],"object_angular_velocity":[6.746610802387211e-12,-7.338386356103554e-12,-2.723844466422983e-28],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.006012453266556209,-0.0009647214564840324,0.5099337773799884],[0.23083719727961177,0.037038724011210916,0.5023192407071482],[0.2851152421964419,0.04574784693089101,0.5005742427196223],[0.3394206156008489,0.05446141780789625,0.5005843412010202],[0.33942809166823773,0.05446118238405923,0.46058434190035785]],"gripper_points":[[0.38542456008275483,0.05422542189327209,0.46859294024540454],[0.2934266986673854,0.054697046959807816,0.46857574291402015]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999907190267255,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.139999999999717,"stage":"approach","target_distance":0.12560254611535596,"dwell_elapsed":0.0},{"joint_position":[0.1633607463687956,-1.591763597066982,1.6235052639496177,-3.654340946095773e-05,-0.031945650298274,-0.16848607905010043],"joint_velocity":[0.18618006097740283,0.03434216788890041,-0.03268711094408116,8.701581845984598e-05,-0.0012313056858648766,-0.1699988103253361],"joint_actuator_torque":[-0.15332249869086922,-0.8965858444295236,-0.8774730213032171,-0.0006303430523577199,-0.06753068659369843,0.022601345839946774],"jaw_actuator_force":[0.00012287985430248227,-0.00020073586595614756],"end_effector_position":[0.33940960624491046,0.05594333953494158,0.4605874550803611],"end_effector_quaternion":[0.9999967124951489,-1.1663601248651596e-06,-0.00010360726229917355,-0.002562081784258284],"end_effector_velocity":[-0.0009623847124306796,0.06475283365665863,-0.0003097033051700674],"object_position":[0.3400000029069692,0.07000000065417666,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.137051500952579e-14,8.849069559499459e-14,1.2840045104783476e-21],"object_velocity":[-2.5667878265428e-13,-2.36021768391322e-13,-1.8908241518758348e-14],"object_angular_velocity":[6.368238057723486e-13,-6.940295980667919e-13,1.4813242467613145e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.005792248594422932,-0.0009547341135180194,0.509938454555627],[0.23089317456402084,0.03805803337705387,0.5023217336709557],[0.28513358403783085,0.04699845926030993,0.5005762351348851],[0.3394013179302401,0.05594345407946717,0.5005874542214951],[0.33940960624491046,0.05594333953494158,0.4605874550803611]],"gripper_points":[[0.3854059703499076,0.0557076587429637,0.4685969867357225],[0.29341089400468245,0.05617906118863803,0.468577923281877]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999628609593351,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.159999999999724,"stage":"approach","target_distance":0.12560254611535726,"dwell_elapsed":0.0},{"joint_position":[0.16762060737270398,-1.5909204902251362,1.6226828213359061,-3.767066416663064e-05,-0.03198932269088321,-0.17274306049326504],"joint_velocity":[0.1860443102622411,0.0370241636845758,-0.03476168779217732,8.555923396404388e-05,-0.001802422568313821,-0.1698432111202841],"joint_actuator_torque":[-0.15332116643678262,-0.9003311402827876,-0.8767747819986198,-0.0006298859584319746,-0.06744524970755306,0.02258061285323798],"jaw_actuator_force":[-2.652326805296923e-05,-8.559177923928019e-05],"end_effector_position":[0.3394016522560917,0.057428120973933204,0.4605874777389445],"end_effector_quaternion":[0.9999967149805136,6.680172219854599e-07,-0.00011504458892144823,-0.0025606234549592683],"end_effector_velocity":[-0.0005043574136112399,0.06486957655673808,-0.0004837925731958256],"object_position":[0.3400000029069643,0.07000000065417213,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.037607741807864e-14,6.564437764453743e-14,1.2840064086562915e-21],"object_velocity":[-1.951313653571034e-13,-1.7946751323737926e-13,-1.890546596119679e-14],"object_angular_velocity":[7.733964539109416e-12,-8.409106684265955e-12,2.7600806205136767e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.005555416866043435,-0.0009400227195345862,0.5099433044399013],[0.23096151509712484,0.03908060848799143,0.5023216266402827],[0.28516331200535094,0.048252003139716136,0.5005749921445367],[0.3393924485823686,0.05742809109960082,0.5005874766800882],[0.3394016522560917,0.057428120973933204,0.4605874777389445]],"gripper_points":[[0.3853978928029236,0.0571925451388141,0.46859806113481617],[0.2934001343674945,0.0576636930322561,0.4685768935523391]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999896730696274,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.179999999999731,"stage":"approach","target_distance":0.12560254611535843,"dwell_elapsed":0.0},{"joint_position":[0.17187655199571547,-1.5900136007286305,1.6218120642403924,-3.8836639516304806e-05,-0.032051707729021627,-0.1769953816474194],"joint_velocity":[0.18587331333136178,0.039834214739110176,-0.03678196514322072,8.412999427089665e-05,-0.00254786853275024,-0.16965004614385687],"joint_actuator_torque":[-0.15328499522621541,-0.9044544944075597,-0.8761908347898952,-0.0006281491266903307,-0.06733669631030503,0.02255478009597489],"jaw_actuator_force":[-0.0001973075012760006,0.000105384843976708],"end_effector_position":[0.33940501562609554,0.05891557047040122,0.46058326285663886],"end_effector_quaternion":[0.9999967180809654,2.8617136798749548e-06,-0.00012806894961154753,-0.0025587921863777473],"end_effector_velocity":[-1.225017328342049e-05,0.06498842447836595,-0.0007133764257164828],"object_position":[0.34000000290695914,0.07000000065416738,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.499565923051002e-14,8.149805118029306e-14,1.2840098809619671e-21],"object_velocity":[-2.2602987347598339e-13,-2.0798638374912552e-13,-1.8909629297539144e-14],"object_angular_velocity":[5.422464929931034e-12,-5.894099140615154e-12,7.911971952757988e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.005301226736612897,-0.0009202362040506063,0.5099482990846984],[0.23104296664445367,0.04010658535486991,0.5023179538876931],[0.28520517762761477,0.049508565295455866,0.5005693331133794],[0.3393947695579491,0.05891536775020439,0.5005832615438512],[0.33940501562609554,0.05891557047040122,0.46058326285663886]],"gripper_points":[[0.38540108824724784,0.058680128305461786,0.46859504389872453],[0.2934067978859805,0.05915092155094205,0.46857148178973074]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999549804488326,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.199999999999737,"stage":"approach","target_distance":0.12560254611535965,"dwell_elapsed":0.0},{"joint_position":[0.1761276119112019,-1.5890397066279194,1.620894596006755,-4.0023299580106524e-05,-0.03213836125097095,-0.18124185219742062],"joint_velocity":[0.18565775919956976,0.04279321780016785,-0.03873205528642043,8.253147698604583e-05,-0.003520547330892004,-0.1694072771046688],"joint_actuator_torque":[-0.1532373796044908,-0.9087659508981005,-0.8756796337287369,-0.0006272096128965917,-0.06720438963924558,0.022522430464745113],"jaw_actuator_force":[-0.00037026633296122213,0.00023438614504733835],"end_effector_position":[0.33942059698003374,0.06040571133585562,0.46057339578336676],"end_effector_quaternion":[0.9999967219623872,5.508542594461222e-06,-0.00014303421851174947,-0.0025564771362196087],"end_effector_velocity":[0.0005205783617942913,0.06510784218674001,-0.0010085933414564578],"object_position":[0.3400000029069538,0.07000000065416247,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.231504811238247e-14,8.944787499708538e-14,1.2840138511865479e-21],"object_velocity":[-2.993229099781286e-13,-2.754505780948673e-13,-1.8923507085346965e-14],"object_angular_velocity":[-6.636202002979962e-12,7.212467648066781e-12,6.635977400640898e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.005028842255433198,-0.0008949916656800017,0.509953406365217],[0.23113838436524664,0.04113609397911339,0.502309525818241],[0.2852600404658191,0.05076821777271188,0.5005578031928923],[0.3394091531534655,0.06040529990698939,0.5005733941442362],[0.33942059698003374,0.06040571133585562,0.46057339578336676]],"gripper_points":[[0.38541646754974496,0.06017044017943881,0.4685865529109397],[0.2934189267424756,0.06064082416952104,0.4685602376505576]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999874710112229,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.219999999999744,"stage":"approach","target_distance":0.12560254611536092,"dwell_elapsed":0.0},{"joint_position":[0.17650945751746933,-1.5881782575155996,1.6245436731593796,-3.986130203432452e-05,-0.03849226431481067,-0.17964850322745368],"joint_velocity":[-0.004627016389448794,0.05171746084549954,0.20461138684421565,-0.0004592305453282597,-0.3081839028854256,0.09490111759504848],"joint_actuator_torque":[0.0028541688277812227,-0.9833568841178248,-1.0463082498558833,0.0001380082964547941,-0.028830841758723302,-0.01280368792900255],"jaw_actuator_force":[-0.00027787504088827575,0.0012820342316306466],"end_effector_position":[0.3396627191740372,0.06058263880935523,0.45934933645425835],"end_effector_quaternion":[0.9999982038362933,0.00016877244017879823,-0.0010501349573673402,-0.0015687755167577819],"end_effector_velocity":[0.013866464105503983,0.0008347244372433997,-0.07245888905837666],"object_position":[0.3400000029069486,0.07000000065415773,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.966736417062956e-14,7.57041396147342e-14,1.2840178605477084e-21],"object_velocity":[-2.1758669650365931e-13,-2.0023550758737777e-13,-1.8902690403635243e-14],"object_angular_velocity":[7.758832266904186e-12,-8.431212890054713e-12,9.34988530418649e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.004791079774928704,-0.000854564197054712,0.509957702652782],[0.23132373590602187,0.04126021521676027,0.5012319264193191],[0.28543338116623973,0.05091151883242621,0.4992322693658172],[0.33957868734705915,0.06056926883247319,0.4993492459528531],[0.3396627191740372,0.06058263880935523,0.45934933645425835]],"gripper_points":[[0.38561442194164813,0.060435719207210206,0.46744584080349955],[0.2936225314122575,0.0607243826056426,0.4672526806863335]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999254622283179,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.239999999999751,"stage":"descend","target_distance":0.12560254611536223,"dwell_elapsed":0.0},{"joint_position":[0.1766293353743016,-1.587232143407426,1.6291412248550676,-4.45003420682316e-05,-0.04504694286755834,-0.1785048209067587],"joint_velocity":[0.005756744597511415,0.04383898605160171,0.19870805511889053,-0.00015123481430301264,-0.25943021885852363,0.04231059785507953],"joint_actuator_torque":[-0.004790128385849357,-1.0054703676980807,-1.0584054741431146,7.57270000297525e-05,-0.03794827713965532,-0.005751048640370016],"jaw_actuator_force":[-0.004773565723036555,0.005562062452019845],"end_effector_position":[0.3398929099384909,0.06066557813195932,0.45777540056736926],"end_effector_quaternion":[0.9999983302076372,0.000255249017780456,-0.0015481872062103217,-0.0009367743863867205],"end_effector_velocity":[0.009444764390595491,0.003699708896820371,-0.07035612225121725],"object_position":[0.3400000029069433,0.07000000065415296,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.157647026863125e-14,8.864507563950923e-14,1.2840230286613375e-21],"object_velocity":[-2.4851433295006734e-13,-2.2869626615104576e-13,-1.8898527067292896e-14],"object_angular_velocity":[2.339294355758421e-12,-2.542778685983587e-12,2.84824758891742e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.0045302242559751285,-0.0008085968883766898,0.5099621818018689],[0.231528293080463,0.04132533993413327,0.4999069463118725],[0.28562503663673006,0.05098103378929181,0.4976026215120816],[0.33976903603994685,0.06064527426880353,0.4977752036045143],[0.3398929099384909,0.06066557813195932,0.45777540056736926]],"gripper_points":[[0.38586625417048853,0.06057530086473278,0.46591776727101025],[0.29387766612976274,0.060747719515191784,0.4656329787622541]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07998919046503289,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.259999999999757,"stage":"descend","target_distance":0.1256025461153635,"dwell_elapsed":0.0},{"joint_position":[0.17680343328948617,-1.5864172383111985,1.633884160951046,-4.6587725148652334e-05,-0.05124213728047848,-0.17797667257369099],"joint_velocity":[0.007673895752329345,0.03894511468424843,0.20655659277170407,-7.405986406154557e-05,-0.24734798285927875,0.01962829840433786],"joint_actuator_torque":[-0.006522662808620794,-1.0015320611706784,-1.0630929390169968,3.213139404720667e-05,-0.04008785372521384,-0.0026797056683669496],"jaw_actuator_force":[-0.0025336206189461308,0.0022044875252991147],"end_effector_position":[0.34005981623021003,0.06075639801285993,0.45617627580115067],"end_effector_quaternion":[0.9999980468116768,0.0003101888233198388,-0.001862090582988975,-0.0005854693724565963],"end_effector_velocity":[0.006956945303861844,0.003933750077424782,-0.07206927386140745],"object_position":[0.34000000290693866,0.0700000006541486,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.623910678312822e-14,7.195577778936469e-14,1.284024848504354e-21],"object_velocity":[-3.606068803079056e-13,-3.320029899951489e-13,-1.8960977112428065e-14],"object_angular_velocity":[-2.0126796057250496e-11,2.1852969938869708e-11,4.452101099647797e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0043054958518990005,-0.0007692587386579121,0.5099658388919304],[0.23168702280464867,0.04139529407454905,0.49857805490200097],[0.28576864166344085,0.05105800409424231,0.4959683544043088],[0.33991083474604755,0.06073167017122333,0.49617599071327506],[0.34005981623021003,0.06075639801285993,0.45617627580115067]],"gripper_points":[[0.38603366677788037,0.06069753154297028,0.46434752896044357],[0.29403824002426104,0.060805359436853,0.464004952797265]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999612779276542,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.279999999999764,"stage":"descend","target_distance":0.1256025461153646,"dwell_elapsed":0.0},{"joint_position":[0.17701757656062642,-1.585636227309276,1.638685489775852,-4.7517993422979735e-05,-0.05721549525610287,-0.17780506374092409],"joint_velocity":[0.009401818973088994,0.03761917400002093,0.20865243280284496,-3.177412106320794e-05,-0.2386134969359425,0.0060282506288899165],"joint_actuator_torque":[-0.007948097194329762,-1.0013563906338732,-1.0646647049127296,1.4524971511641234e-05,-0.04154732363031588,-0.0008401069311609888],"jaw_actuator_force":[-0.001860966392762009,0.0016778695030907897],"end_effector_position":[0.3401959172268333,0.0608558754773433,0.4545564654817919],"end_effector_quaternion":[0.9999977530302444,0.0003442819927744958,-0.0020546046627673894,-0.00039243349914220877],"end_effector_velocity":[0.005703722678999282,0.004320623737719408,-0.07281408126450685],"object_position":[0.34000000290693355,0.07000000065414387,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.661722298051018e-14,8.321246695797102e-14,1.2840251708566695e-21],"object_velocity":[-2.3087900660937015e-13,-2.125791451572775e-13,-1.8904078182416017e-14],"object_angular_velocity":[6.5623211517841835e-12,-7.127401096937681e-12,-2.5057376094501104e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.004090090217126014,-0.0007316762840903879,0.5099691693951873],[0.2318271401073707,0.041471559652845956,0.49724331726381144],[0.28589150539006786,0.05114313455506053,0.49432697615037113],[0.3400315384145197,0.060828397483464414,0.494556118287359],[0.3401959172268333,0.0608558754773433,0.4545564654817919]],"gripper_points":[[0.3861535442910413,0.06081421815133183,0.462745369447684],[0.2941668681175459,0.060886546064458605,0.4623673993381531]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07998748113834961,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.299999999999771,"stage":"descend","target_distance":0.1256025461153658,"dwell_elapsed":0.0},{"joint_position":[0.17726104629786857,-1.5848506004369871,1.6434888159173675,-4.788352518891996e-05,-0.06304496191916635,-0.17784056816316463],"joint_velocity":[0.010651537625047952,0.037889703811805495,0.20859364701253705,-1.1138449273455724e-05,-0.23299846542176472,-0.0018469331750043466],"joint_actuator_torque":[-0.008898950979983056,-1.0026171179664516,-1.0648306626020485,1.1745908470233574e-05,-0.04242884581849893,0.00022466564811551848],"jaw_actuator_force":[-0.0019008824689876747,0.0019410874974656878],"end_effector_position":[0.3403164280883973,0.06096294820684346,0.45292674389850324],"end_effector_quaternion":[0.9999975307288311,0.00036563639940262075,-0.0021729534732310685,-0.0002883044688424321],"end_effector_velocity":[0.005070212699199972,0.004649741081669597,-0.07318255529843733],"object_position":[0.34000000290692833,0.07000000065413914,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.390472876057011e-14,9.11204102590645e-14,1.2840262605131664e-21],"object_velocity":[-2.786930523396133e-13,-2.5662297761975014e-13,-1.891518041266226e-14],"object_angular_velocity":[-3.749779115099225e-12,4.073224561041821e-12,1.0407667580054963e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0038734059707966916,-0.0006938869157874845,0.5099723472901092],[0.2319598483845482,0.041553584879971184,0.49590723914855084],[0.2860049691743147,0.051235297166499216,0.49268398519944373],[0.3401425838066191,0.06093374748489544,0.49292635546516134],[0.3403164280883973,0.06096294820684346,0.45292674389850324]],"gripper_points":[[0.38627827758995925,0.06093051272149469,0.46112655496490884],[0.294283771450056,0.06098370413739668,0.46072677194219025]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999539018731691,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.319999999999777,"stage":"descend","target_distance":0.1256025461153671,"dwell_elapsed":0.0},{"joint_position":[0.17752498811665302,-1.5840425954593211,1.6482689873363379,-4.795450530277918e-05,-0.06878098463575183,-0.17799478031730392],"joint_velocity":[0.011520363848343197,0.03888447628627998,0.20751900033974643,-1.4391198260476766e-06,-0.22935296868168686,-0.006355859229880203],"joint_actuator_torque":[-0.009583313571425833,-1.0040856397002926,-1.0642513079252467,1.0513007592311517e-05,-0.04299100569936787,0.0008339229134275428],"jaw_actuator_force":[-0.0015545759485071642,0.0023412170124057496],"end_effector_position":[0.3404291557319403,0.06107589716187872,0.4512925898310721],"end_effector_quaternion":[0.9999973794605337,0.00037913578702008274,-0.0022456398322275727,-0.00023330208845100364],"end_effector_velocity":[0.0047527673692951185,0.004901408835292272,-0.07333581292296128],"object_position":[0.34000000290692356,0.07000000065413474,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.084168692877518e-14,6.607380086630726e-14,1.2840273785265084e-21],"object_velocity":[-1.9226233995092113e-13,-1.7703762459432687e-13,-1.890546596119679e-14],"object_angular_velocity":[7.006065086698958e-12,-7.608758400354688e-12,2.1566276872878952e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.003650557708272661,-0.000654960095351379,0.5099754354504911],[0.23209049284052582,0.04164021595289468,0.49457169664471085],[0.28611448359129216,0.051332860463951066,0.4910416731683862],[0.34024949793989145,0.06104560829139736,0.49129217489969607],[0.3404291557319403,0.06107589716187872,0.4512925898310721]],"gripper_points":[[0.3863909091779263,0.061048298187389195,0.45949908873944517],[0.29439646555184473,0.061091380154340916,0.45908592911066015]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999538148737156,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.339999999999784,"stage":"descend","target_distance":0.12560254611536822,"dwell_elapsed":0.0},{"joint_position":[0.17780262809442016,-1.583205006186692,1.6530156855201883,-4.788066228293584e-05,-0.07445631239209556,-0.1782160323320532],"joint_velocity":[0.012100614180925498,0.040165687268097244,0.20604053347616438,3.1280447400043843e-06,-0.22698264870354615,-0.00889861006948484],"joint_actuator_torque":[-0.010064530681731299,-1.0055803809812005,-1.0633376582729852,9.700020325948897e-06,-0.04335645713320879,0.0011772596527404033],"jaw_actuator_force":[-0.0014401343544729883,0.0023134228516248356],"end_effector_position":[0.3405379704324986,0.061193033786494135,0.4496569575344848],"end_effector_quaternion":[0.9999972809701486,0.00038780165059258204,-0.002290337740207411,-0.0002049761571068739],"end_effector_velocity":[0.00458923670769772,0.005079221340469467,-0.07337523066560876],"object_position":[0.3400000029069182,0.07000000065412985,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.448202784742385e-14,9.173205457248406e-14,1.2840262628336508e-21],"object_velocity":[-2.518027414253937e-13,-2.319013043869832e-13,-1.8906853739977574e-14],"object_angular_velocity":[4.1693649839657585e-12,-4.52726045196714e-12,-9.527984720616008e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0034195670794363174,-0.0006144972282238121,0.5099784437312018],[0.23222139368623845,0.04173025398817028,0.4932374863556103],[0.2862224471950389,0.05143425947526059,0.48940101695703725],[0.3403547375522744,0.06116204729597255,0.48965652585151803],[0.3405379704324986,0.061193033786494135,0.4496569575344848]],"gripper_points":[[0.3864988324517332,0.06116789784460714,0.45786756520024036],[0.2945042597352061,0.061205774949168346,0.4574461792314792]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999554559926315,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.359999999999791,"stage":"descend","target_distance":0.12560254611536956,"dwell_elapsed":0.0},{"joint_position":[0.17808911739149313,-1.582335413716984,1.6577255121387815,-4.773863850280884e-05,-0.0800920540881454,-0.17847452185668947],"joint_velocity":[0.012474540935919315,0.04154300800069437,0.20443567734756318,4.916439319013722e-06,-0.22543534061550685,-0.010308737677567457],"joint_actuator_torque":[-0.010375946368455402,-1.0071310012091317,-1.06227770859266,1.0653256290570588e-05,-0.04358796032800605,0.001367565084104072],"jaw_actuator_force":[-0.001403150655971075,0.0022526187780140816],"end_effector_position":[0.34064474069189543,0.06131298903655584,0.4480213904620376],"end_effector_quaternion":[0.9999972179582148,0.0003934993763366031,-0.002317932512996381,-0.00019084794084469494],"end_effector_velocity":[0.0044998512582201545,0.005197824155021593,-0.07335711091225354],"object_position":[0.340000002906913,0.0700000006541251,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.961121805458768e-14,8.64518317190946e-14,1.2840275741550804e-21],"object_velocity":[-3.419883282619844e-13,-3.1492137081604995e-13,-1.8902690403635224e-14],"object_angular_velocity":[-1.454292027245618e-11,1.5796556171216143e-11,6.132745106482851e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0031797731594033155,-0.0005723466256570115,0.5099813591330589],[0.23235345202516972,0.041822704815622384,0.4919048703300728],[0.2863298161299677,0.05153823743758225,0.48776234164605514],[0.34045930059885887,0.06128154456383922,0.4880209482498061],[0.34064474069189543,0.06131298903655584,0.4480213904620376]],"gripper_points":[[0.38660490289418137,0.06128905913038598,0.45623453386813656],[0.29461026112367267,0.0613243412078419,0.4558080695158811]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999563702237703,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.379999999999797,"stage":"descend","target_distance":0.1256025461153708,"dwell_elapsed":0.0},{"joint_position":[0.17838115499172222,-1.5814334507353354,1.6623980602007156,-4.7564916607264415e-05,-0.08570172658075104,-0.17875329680715105],"joint_velocity":[0.012708678332354825,0.0429320092508631,0.20282235161476178,5.504189950250478e-06,-0.22441454924598736,-0.011075451374184107],"joint_actuator_torque":[-0.010574388060192064,-1.0086825748843466,-1.0611600118589877,1.2368903734844353e-05,-0.043736867076967556,0.001471000602759176],"jaw_actuator_force":[-0.0013899134641235378,0.0021152553114092143],"end_effector_position":[0.3407503265390217,0.06143475735793673,0.4463866752882685],"end_effector_quaternion":[0.9999971777408874,0.00039737933906138764,-0.0023351039579755243,-0.00018409081011640336],"end_effector_velocity":[0.004443795479369213,0.00527328803525735,-0.07330989983212384],"object_position":[0.34000000290690785,0.07000000065412043,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.923776919526454e-14,7.519727329455266e-14,1.2840303102195205e-21],"object_velocity":[-2.129860300513571e-13,-1.9610980741763566e-13,-1.8906853739977568e-14],"object_angular_velocity":[6.442622896937442e-12,-6.996807815874292e-12,8.839747979027787e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.0029310789300036368,-0.0005284664098166614,0.5099841593725614],[0.2324869277304985,0.04191682822641987,0.49057387593210505],[0.2864368875901969,0.05164387491389074,0.4861256859770005],[0.34056351289729436,0.06140300149022676,0.4863862264386018],[0.3407503265390217,0.06143475735793673,0.4463866752882685]],"gripper_points":[[0.38671005612852755,0.06141138539800842,0.4546013965241545],[0.29471571865332746,0.06144542702733785,0.45417177379874013]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999534695852678,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.399999999999804,"stage":"descend","target_distance":0.12560254611537208,"dwell_elapsed":0.0},{"joint_position":[0.17867657092636144,-1.5804994461127186,1.6670340228960558,-4.737195946460918e-05,-0.09129391143221642,-0.17904286647746967],"joint_velocity":[0.0128500544218033,0.044308208868226145,0.2012397786734797,5.164090069082359e-06,-0.22373216746560912,-0.011482471084169745],"joint_actuator_torque":[-0.010681430013875115,-1.0102543194030886,-1.059968629497348,1.5969068840980885e-05,-0.04382261864414971,0.0015258248266825092],"jaw_actuator_force":[-0.0013786545233944736,0.002360397509470147],"end_effector_position":[0.34085510915300454,0.06155764476296447,0.44475318199433495],"end_effector_quaternion":[0.9999971519262354,0.0004001444511031853,-0.00234590001980297,-0.00018104400881127335],"end_effector_velocity":[0.004403153222662564,0.005318899638256742,-0.07324924601346756],"object_position":[0.3400000029069025,0.07000000065411555,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.956285250696928e-14,9.727484905976843e-14,1.284033330630147e-21],"object_velocity":[-2.7846990148798954e-13,-2.563923061803179e-13,-1.889713928851209e-14],"object_angular_velocity":[-7.505281145092578e-13,8.143093432437643e-13,3.8595011708894923e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.002673578189756377,-0.0004828551877971333,0.5099868190299874],[0.2326218346352999,0.04201210949389725,0.4892444305419683],[0.2865437000743753,0.05175053890011888,0.4844909665134639],[0.3406674318904236,0.061525667274938994,0.48475272892533616],[0.34085510915300454,0.06155764476296447,0.44475318199433495]],"gripper_points":[[0.38681459199035984,0.06153450780356385,0.4529688953031277],[0.2948206768283824,0.06156799068296267,0.4525372880275975]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999493373426939,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.419999999999811,"stage":"descend","target_distance":0.12560254611537336,"dwell_elapsed":0.0},{"joint_position":[0.1789739585219056,-1.5795339368091634,1.6716343226252504,-4.7166108218777224e-05,-0.09687410598364939,-0.17933797830787596],"joint_velocity":[0.01293279763731772,0.04565778101619967,0.1996979179922229,4.971107654250788e-06,-0.22326211194730505,-0.011690632917099568],"joint_actuator_torque":[-0.010755128889613275,-1.0117619439507735,-1.0587666279658379,1.870972618873805e-05,-0.04388315860035341,0.0015538101850705033],"jaw_actuator_force":[-0.0013706703812665921,0.0024527517023962275],"end_effector_position":[0.34095924203915234,0.061681184252365996,0.4431211019217495],"end_effector_quaternion":[0.9999971350139589,0.00040223386616679573,-0.0023528385758903774,-0.00017978438983770704],"end_effector_velocity":[0.004367265794093781,0.005344752668515323,-0.07318081789243891],"object_position":[0.34000000290689747,0.0700000006541109,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.253318291667486e-14,6.7905899591013e-14,1.2840364075163773e-21],"object_velocity":[-2.0024971722030348e-13,-1.8440249158719382e-13,-1.8905465961196778e-14],"object_angular_velocity":[7.698144544099725e-12,-8.359990531028986e-12,5.179622024127835e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0024074214081758125,-0.0004355259084364222,0.5099893116519747],[0.23275809570698872,0.04210819955926601,0.4879164553962467],[0.28665019337921394,0.051857803312281146,0.482858092504309],[0.3407710097071195,0.06164903947555603,0.48312064611043376],[0.34095924203915234,0.061681184252365996,0.4431211019217495]],"gripper_points":[[0.3869185912031154,0.06165812901332648,0.45133745290855176],[0.2949243843842232,0.06169138165859816,0.45090456759609676]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999523130939595,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.439999999999817,"stage":"descend","target_distance":0.12560254611537458,"dwell_elapsed":0.0},{"joint_position":[0.17927243621893688,-1.57853735635203,1.6761997536453968,-4.6951636116131095e-05,-0.10244578991082157,-0.17963581279945295],"joint_velocity":[0.012979369309449856,0.046987445585146635,0.19819380035388962,5.181507375642313e-06,-0.22292352503942758,-0.01179244432453332],"joint_actuator_torque":[-0.010813630579320943,-1.013247456486397,-1.0576059517378553,2.018793527871262e-05,-0.04393361472563484,0.0015675803018257994],"jaw_actuator_force":[-0.001370610732234212,0.002003520341750331],"end_effector_position":[0.3410627958666618,0.0618050782314916,0.4414905236271779],"end_effector_quaternion":[0.9999971235409676,0.0004039161202080046,-0.002357455769733147,-0.00017934283493056997],"end_effector_velocity":[0.004333124536081771,0.005358196843669118,-0.07311038482426592],"object_position":[0.340000002906892,0.07000000065410586,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.697398587081498e-14,8.357645876195637e-14,1.2840425785385837e-21],"object_velocity":[-2.3455947711667457e-13,-2.160261026968297e-13,-1.8904078182415995e-14],"object_angular_velocity":[4.664032866904252e-12,-5.064282879047666e-12,2.530197680686095e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0021327301319499516,-0.0003864890312008535,0.5099916107464884],[0.23289563950898212,0.04220487568318463,0.4865898775694015],[0.28675630755169573,0.05196539676356464,0.4812269803829857],[0.3408741941524162,0.061772798858246894,0.4814900659675028],[0.3410627958666618,0.0618050782314916,0.4414905236271779]],"gripper_points":[[0.3870220676258006,0.06178203615895496,0.4497072989807362],[0.29502768371732535,0.061815208698861056,0.44927356332522045]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999541237331463,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.459999999999824,"stage":"descend","target_distance":0.1256025461153759,"dwell_elapsed":0.0},{"joint_position":[0.17957148428739755,-1.5775101240627698,1.6807309523652958,-4.672326096638583e-05,-0.10801108119829185,-0.17993486948635073],"joint_velocity":[0.013002304098903617,0.04830342806053471,0.19671189024288713,4.690594906795184e-06,-0.22267439281407544,-0.011837631940433137],"joint_actuator_torque":[-0.010825295893639009,-1.0147934143816428,-1.0563568793553486,2.4118951156420175e-05,-0.043953332561653013,0.001573627512636122],"jaw_actuator_force":[-0.001363401109893303,0.0022293563672999284],"end_effector_position":[0.34116577772441803,0.061929144977956686,0.43986151027755305],"end_effector_quaternion":[0.9999971153545536,0.0004053592757140238,-0.002360687037005527,-0.00017922930097512757],"end_effector_velocity":[0.004300600394671675,0.005363570107933979,-0.07303702256836671],"object_position":[0.3400000029068869,0.07000000065410125,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.313017660849078e-14,7.941336913035229e-14,1.2840461372894911e-21],"object_velocity":[-3.068720640938039e-13,-2.8259595695472594e-13,-1.8899914846073645e-14],"object_angular_velocity":[-1.0661393841281496e-11,1.1579070650027187e-11,6.06669016188349e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0018496217393128573,-0.00033575602359638525,0.5099936895133783],[0.23303438533195514,0.042301999872336966,0.48526465810688574],[0.2868619702857874,0.05207315226515503,0.4795975884095645],[0.34097691749405645,0.061896750177787986,0.4798610513047987],[0.34116577772441803,0.061929144977956686,0.43986151027755305]],"gripper_points":[[0.3871250081488678,0.061906089826976755,0.4480785826623166],[0.29513068479792176,0.06193924232361626,0.44764425280038933]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999535461269451,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.479999999999831,"stage":"descend","target_distance":0.12560254611537713,"dwell_elapsed":0.0},{"joint_position":[0.1798707734632875,-1.5764524278268903,1.6852283698688277,-4.648381999824368e-05,-0.1135713421968229,-0.1802343972796136],"joint_velocity":[0.01301241336237882,0.04960910801671514,0.19525105168518472,4.584448478608335e-06,-0.2224745927888648,-0.01185469994196921],"joint_actuator_torque":[-0.01083928469449802,-1.016313658406716,-1.0551129137037378,2.700058612861017e-05,-0.04397326083373443,0.0015759198564495591],"jaw_actuator_force":[-0.0013595964757673329,0.0021933398744042876],"end_effector_position":[0.3412682129512225,0.06205327265735079,0.43823406724168457],"end_effector_quaternion":[0.9999971091895311,0.0004066578318587909,-0.0023630737581708974,-0.0001792328160948846],"end_effector_velocity":[0.004268180516023271,0.005364436044944364,-0.07296374604339047],"object_position":[0.3400000029068821,0.07000000065409684,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.687039221848246e-14,7.262993167907597e-14,1.2840481134250295e-21],"object_velocity":[-2.058455153253847e-13,-1.8952590235559562e-13,-1.890824151875834e-14],"object_angular_velocity":[6.7518767658644625e-12,-7.333002870671354e-12,4.020899777584234e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.0015581497300277602,-0.00028332775571790204,0.5099955212048966],[0.23317430620215823,0.04239948933929411,0.48394074703818984],[0.28696716068661754,0.052180968256901036,0.4779698612916529],[0.34107916176615044,0.062020774008076894,0.47823360728263026],[0.3412682129512225,0.06205327265735079,0.43823406724168457]],"gripper_points":[[0.3872274195585,0.062030196036427024,0.44645135904500544],[0.29523312286698355,0.06206334991334879,0.44601659021177925]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999533002758699,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.4999999999998375,"stage":"descend","target_distance":0.1256025461153783,"dwell_elapsed":0.0},{"joint_position":[0.18017012374326555,-1.5753644861606855,1.689692313843404,-4.6231847430927045e-05,-0.11912739961870125,-0.18053401124405524],"joint_velocity":[0.013014884777817395,0.05090530059085188,0.1938023299234631,4.481379412340952e-06,-0.22230769805250847,-0.011857298389038118],"joint_actuator_torque":[-0.010847714000433939,-1.017836155194118,-1.0538443849301302,2.985657023415675e-05,-0.043988331544932535,0.0015762679254738288],"jaw_actuator_force":[-0.0013558901840937665,0.0021494675026705323],"end_effector_position":[0.3413700994353098,0.062177397066584796,0.43660823030498236],"end_effector_quaternion":[0.9999971041859658,0.0004078772083159276,-0.002364978840301553,-0.00017925108216195333],"end_effector_velocity":[0.004235671846135224,0.005362569232771506,-0.07288865095970522],"object_position":[0.3400000029068767,0.07000000065409194,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.13218574811093e-14,8.830993930607795e-14,1.2840489072828175e-21],"object_velocity":[-2.5616854748240334e-13,-2.3589519236656555e-13,-1.8898527067292862e-14],"object_angular_velocity":[6.377207237432003e-13,-6.942373447610252e-13,1.2533493679686017e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0012583759861293927,-0.00022920726083331457,0.5099970784738819],[0.2333153639645687,0.042497294985050865,0.48261813526245173],[0.2870718460366037,0.05228878508306599,0.4763437941098323],[0.34118089582697436,0.062144800898411755,0.4766077695458838],[0.3413700994353098,0.062177397066584796,0.43660823030498236]],"gripper_points":[[0.38732929322645165,0.06215429891834784,0.4448256972715579],[0.29533487016185006,0.06218745687516037,0.44439057736021575]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999545806058174,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.519999999999844,"stage":"descend","target_distance":0.12560254611537963,"dwell_elapsed":0.0},{"joint_position":[0.18046942905424368,-1.5742464598332342,1.6941230532836744,-4.596734288846796e-05,-0.1246797559691147,-0.18083354550125227],"joint_velocity":[0.013012914215310388,0.052194870396992415,0.1923652250660551,4.381266673868809e-06,-0.2221601529989348,-0.011853803114333528],"joint_actuator_torque":[-0.010852283017285913,-1.0193680942547871,-1.0525520616533868,3.2737537713744755e-05,-0.04400030204007699,0.0015758001082950557],"jaw_actuator_force":[-0.0013521458610146198,0.002109925338729113],"end_effector_position":[0.3414714320071763,0.06230147937178553,0.4349840101364556],"end_effector_quaternion":[0.9999970998788216,0.00040905204770069975,-0.0023665963462624288,-0.0001792542943501557],"end_effector_velocity":[0.004202951951247948,0.005359070817530051,-0.07281333499268983],"object_position":[0.3400000029068718,0.0700000006540874,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.032752785095542e-14,6.550349901492104e-14,1.284049341747094e-21],"object_velocity":[-1.947144920745716e-13,-1.793270523914165e-13,-1.8904078182415976e-14],"object_angular_velocity":[7.728064301445022e-12,-8.391423208630874e-12,-8.551239849033558e-28],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.000950346478621915,-0.00017339503313541283,0.5099983335231356],[0.23345753244402698,0.04259538756069713,0.48129680857364426],[0.287176004697134,0.05239656690511709,0.47471937577271917],[0.3412820989826017,0.06226878924067816,0.4749835486883081],[0.3414714320071763,0.06230147937178553,0.4349840101364556]],"gripper_points":[[0.38743061881010366,0.06227836181198983,0.4432016258397523],[0.2954360210026851,0.06231152105611514,0.44276620752999396]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799956342137421,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.539999999999851,"stage":"descend","target_distance":0.12560254611538077,"dwell_elapsed":0.0},{"joint_position":[0.18076863188345105,-1.5730984573474673,1.6985208453204932,-4.569157956161971e-05,-0.13022873242878336,-0.18113292548477464],"joint_velocity":[0.013008659715661853,0.053480064592099655,0.19093994928744584,4.3071175560128575e-06,-0.22202445206421506,-0.011847553420613359],"joint_actuator_torque":[-0.01085413187109907,-1.0209223027128473,-1.0512468967342556,3.558281279937743e-05,-0.0440109138407081,0.0015749928490826903],"jaw_actuator_force":[-0.0013500842341329644,0.0020159848723668716],"end_effector_position":[0.34157220628656726,0.062425497914339115,0.433361392695924],"end_effector_quaternion":[0.999997096063838,0.00041019681576808897,-0.002368011329541063,-0.0001792339438938845],"end_effector_velocity":[0.004170002096821381,0.005354697371311938,-0.07273909626088626],"object_position":[0.3400000029068667,0.07000000065408267,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.491693481930964e-14,8.133318142201743e-14,1.2840484726554725e-21],"object_velocity":[-2.2556984283284149e-13,-2.077713142619145e-13,-1.8904078182415982e-14],"object_angular_velocity":[5.416941012033905e-12,-5.881636463525436e-12,-2.548377160300887e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0006340928057934658,-0.00011588916242170011,0.5099992580276165],[0.23360079622131105,0.04269375140008612,0.47997674252060235],[0.2872796249566892,0.05250429402899416,0.47309658271691163],[0.3413827600486328,0.06239271621861328,0.47336093063679724],[0.34157220628656726,0.062425497914339115,0.433361392695924]],"gripper_points":[[0.38753138805821136,0.06240236360462149,0.4415791385156174],[0.2955371683793252,0.06243551957374908,0.4411434616848814]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999525731224574,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.5599999999998575,"stage":"descend","target_distance":0.125602546115382,"dwell_elapsed":0.0},{"joint_position":[0.18106770563935543,-1.5719206706040385,1.702885900414303,-4.540143292420435e-05,-0.13577452249197872,-0.18143212120535013],"joint_velocity":[0.01300245285191713,0.054757910453413675,0.18951992258448702,3.897410103129084e-06,-0.22190021150013492,-0.01184017595434555],"joint_actuator_torque":[-0.010844951722319252,-1.0224901818000944,-1.0498707562610434,3.9404274647989075e-05,-0.04401255679692717,0.0015739423658995833],"jaw_actuator_force":[-0.0013417376544371251,0.002303540555089967],"end_effector_position":[0.3416723972507593,0.06254943828268959,0.4317404013963449],"end_effector_quaternion":[0.9999970925319471,0.0004113285279653724,-0.0023693095891109623,-0.00017918863103828957],"end_effector_velocity":[0.004136677525268279,0.005349525905027968,-0.07266266519871069],"object_position":[0.3400000029068614,0.07000000065407777,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.220607145134791e-14,8.92298359779222e-14,1.2840475176208813e-21],"object_velocity":[-2.9858683386713386e-13,-2.750824534953224e-13,-1.8876322606800353e-14],"object_angular_velocity":[-6.625116242778064e-12,7.1889261347482326e-12,2.23485647067902e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0003096695790551858,-5.669207824224643e-05,0.5099998230191585],[0.2337451189861461,0.042792374422883375,0.4786579428955764],[0.28738267469900475,0.052611952162724664,0.47147542870058884],[0.34148284713829413,0.06251656606039367,0.47173993877081793],[0.3416723972507593,0.06254943828268959,0.4317404013963449]],"gripper_points":[[0.3876315809381376,0.06252628973222392,0.43995826662851206],[0.2956371129608704,0.06255943804533003,0.43952234978454185]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999550674204667,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.579999999999864,"stage":"descend","target_distance":0.12560254611538327,"dwell_elapsed":0.0},{"joint_position":[0.18136661937930817,-1.570713269099542,1.7072184306581653,-4.510097699670887e-05,-0.14131731410130527,-0.18173112198188093],"joint_velocity":[0.012995831246895732,0.05602644039389134,0.18811177876333293,3.783129335391741e-06,-0.22177984832707076,-0.011832440542659878],"joint_actuator_torque":[-0.010844848051874578,-1.0240502469192734,-1.0485056583125925,4.233197542235969e-05,-0.04401992600572591,0.001572911996431614],"jaw_actuator_force":[-0.0013374658761957647,0.0022709018152866633],"end_effector_position":[0.34177198433644707,0.06267328506278497,0.4301210503193838],"end_effector_quaternion":[0.9999970891069738,0.00041245813739918197,-0.0023705629940314276,-0.00017912832109784314],"end_effector_velocity":[0.004101689271136449,0.005343882418213304,-0.07258611345817312],"object_position":[0.34000000290685617,0.07000000065407304,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.95633526801414e-14,7.55067910825125e-14,1.2840498134083475e-21],"object_velocity":[-2.1702302306526766e-13,-1.999410151153011e-13,-1.890546596119676e-14],"object_angular_velocity":[7.747682656374938e-12,-8.409553899829905e-12,4.1177035809232015e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[2.2874709754893074e-05,4.194804379681894e-06,0.5099999990341988],[0.2338904700684895,0.04289124446700275,0.4773404091353821],[0.28748512733819953,0.05271952668135387,0.46985591978356994],[0.34158233393832627,0.06264032247864029,0.4701205871441339],[0.34177198433644707,0.06267328506278497,0.4301210503193838]],"gripper_points":[[0.3877311691425462,0.0626501236866175,0.4383390308344376],[0.29573666423783096,0.06268326150440176,0.4379028832298183]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999554475903528,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.599999999999871,"stage":"descend","target_distance":0.12560254611538454,"dwell_elapsed":0.0},{"joint_position":[0.18166537440329342,-1.5694765035403548,1.7115187135395062,-4.4789532182795886e-05,-0.14685716659938902,-0.18202992800732973],"joint_velocity":[0.012989181615648847,0.05728425115602667,0.18671527705358557,3.637399063103387e-06,-0.2216621256742434,-0.011824734012511197],"joint_actuator_torque":[-0.010846126493262886,-1.0256098045967974,-1.0471187130702901,4.5171475793397836e-05,-0.04402749585901944,0.0015718853840986924],"jaw_actuator_force":[-0.0013323455753013747,0.002217754748135903],"end_effector_position":[0.3418709187285563,0.06279702916060871,0.42850335130492395],"end_effector_quaternion":[0.9999970857499888,0.00041358885395285927,-0.002371787502768329,-0.00017905259387894474],"end_effector_velocity":[0.004064705888156087,0.00533782956346079,-0.07250896287994835],"object_position":[0.3400000029068509,0.07000000065406826,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.144385694850442e-14,8.83824099699145e-14,1.2840547948625954e-21],"object_velocity":[-2.4778351379777947e-13,-2.283268040218548e-13,-1.89096292975391e-14],"object_angular_velocity":[2.335990873204152e-12,-2.535895064730786e-12,2.582902970357344e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0003634691480658329,6.67658557067763e-05,0.5099997561293562],[0.23403679550321366,0.04299035283130203,0.47602414382774955],[0.287586932792935,0.05282700817987594,0.4682380660086313],[0.34168117035696083,0.06276397612269295,0.4685028875903881],[0.3418709187285563,0.06279702916060871,0.42850335130492395]],"gripper_points":[[0.3878301066108163,0.0627738563587357,0.43672144445438055],[0.2958354492628969,0.06280698088494673,0.43628507085653523]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999569826743111,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.6199999999998775,"stage":"descend","target_distance":0.12560254611538585,"dwell_elapsed":0.0},{"joint_position":[0.18196396553546057,-1.5682106066140085,1.7157870695753863,-4.446927670771523e-05,-0.15239416454546464,-0.18232855756521402],"joint_velocity":[0.012982932036221733,0.058530733371627376,0.1853347680904826,3.7229961679430674e-06,-0.22154535466063285,-0.011817813889479507],"joint_actuator_torque":[-0.010857419961098458,-1.0271557787418715,-1.0457423409582134,4.715545615514589e-05,-0.044041068838268416,0.0015710216622935036],"jaw_actuator_force":[-0.0013301498274902457,0.0018666144275751861],"end_effector_position":[0.3419691530026949,0.06292065929789276,0.426887295840073],"end_effector_quaternion":[0.9999970824629312,0.0004147192837935982,-0.002372981704271944,-0.00017897310503092558],"end_effector_velocity":[0.0040251565569304915,0.005331419541147596,-0.07243262767374277],"object_position":[0.34000000290684623,0.07000000065406392,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.613756388061931e-14,7.175312715033223e-14,1.2840564921759596e-21],"object_velocity":[-3.596258292442617e-13,-3.3149757117990006e-13,-1.8883261500704254e-14],"object_angular_velocity":[-2.0096745653856226e-11,2.1797399802308606e-11,1.4204379659054994e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0007120477258248566,0.0001310162512084484,0.5099990639676821],[0.23418404444427565,0.04308968975412339,0.4747091345377492],[0.287688043692254,0.052934385765208064,0.4666218590433896],[0.3417793090823263,0.06288751582797829,0.46688683159733274],[0.3419691530026949,0.06292065929789276,0.426887295840073]],"gripper_points":[[0.3879283429227872,0.06289747542224274,0.43510549883103267],[0.29593365368305585,0.0629305859194056,0.43466890538735936]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999573119691385,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.639999999999884,"stage":"descend","target_distance":0.12560254611538693,"dwell_elapsed":0.0},{"joint_position":[0.1822623971185172,-1.566915904182352,1.7200238250726814,-4.4137428784641874e-05,-0.15792834112480064,-0.18262701037670662],"joint_velocity":[0.012975531890706873,0.05976589386589238,0.18396440975699285,3.2926958271653955e-06,-0.2214349535331651,-0.011810808777277018],"joint_actuator_torque":[-0.010847659121751008,-1.0287481943407784,-1.044290440330201,5.0786517326976977e-05,-0.04404157366422368,0.0015700681863393129],"jaw_actuator_force":[-0.0013209783152774435,0.0020232491119784868],"end_effector_position":[0.3420666183440821,0.06304416371794916,0.4252729024844468],"end_effector_quaternion":[0.9999970792068558,0.0004158536993708866,-0.0023741614524144593,-0.0001788878313133955],"end_effector_velocity":[0.003983828397285621,0.005324222210326504,-0.07235480376864772],"object_position":[0.3400000029068411,0.0700000006540592,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.651046582545783e-14,8.298946520690159e-14,1.284055758251192e-21],"object_velocity":[-2.302564173601194e-13,-2.1227677447829502e-13,-1.8905465961196753e-14],"object_angular_velocity":[6.5528757284879365e-12,-7.10821471923056e-12,-5.608327021697363e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0010685187116162046,0.0001969363408384334,0.509997891927494],[0.2343321428030266,0.04318924342902101,0.47339538918551494],[0.2877883899906415,0.053041647136729514,0.46500731564047804],[0.34187668003135036,0.06301092949585677,0.46527243771829474],[0.3420666183440821,0.06304416371794916,0.4252729024844468]],"gripper_points":[[0.3880258124976686,0.06302096923540176,0.43349121399780877],[0.2960311406023772,0.06305406462255825,0.4330544036009253]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999571487710602,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.659999999999891,"stage":"descend","target_distance":0.12560254611538815,"dwell_elapsed":0.0},{"joint_position":[0.1825606614158301,-1.5655926673858331,1.7242293820680774,-4.37968608743145e-05,-0.1634597890430151,-0.18292528558946497],"joint_velocity":[0.012968591749641642,0.06098757153953684,0.18261357967345923,3.090142896886646e-06,-0.22132541768624983,-0.011803777101114547],"joint_actuator_torque":[-0.010848055880018137,-1.0303197717526018,-1.0428410280625258,5.366688971348687e-05,-0.0440477251110174,0.001569132297047915],"jaw_actuator_force":[-0.0013129348519722583,0.001980900704380062],"end_effector_position":[0.34216325322233604,0.0631675274738637,0.4236601473854168],"end_effector_quaternion":[0.9999970760272378,0.00041698718277678504,-0.0023753082318686168,-0.00017880007708780078],"end_effector_velocity":[0.00393919689036146,0.005316546636056036,-0.07227831319072896],"object_position":[0.3400000029068359,0.07000000065405447,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.379293566812299e-14,9.088089953899835e-14,1.284053336620879e-21],"object_velocity":[-2.779577605514439e-13,-2.5628235026302505e-13,-1.8892975952169713e-14],"object_angular_velocity":[-3.746620012414484e-12,4.061077189699575e-12,-2.8610705801692715e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.001432805381894211,0.00026451911424441314,0.5099962090785799],[0.23448102734608012,0.043289001035650344,0.47208288431371426],[0.2878879115462061,0.0531487781426392,0.46339441405509924],[0.34197322315482626,0.06313420257320589,0.4636596821080162],[0.34216325322233604,0.0631675274738637,0.4236601473854168]],"gripper_points":[[0.3881224518820612,0.0631443226286616,0.43187856438963035],[0.2961277438824927,0.06317740246619359,0.4314415428514892]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999575197815559,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.679999999999898,"stage":"descend","target_distance":0.12560254611538946,"dwell_elapsed":0.0},{"joint_position":[0.18285876124231157,-1.5642413270598636,1.7284041280917821,-4.344725339145756e-05,-0.16898856281589744,-0.18322338268304117],"joint_velocity":[0.012961683945529524,0.06218985128680719,0.18127846653943377,2.8606931771198726e-06,-0.22121873759589827,-0.011796725925288312],"joint_actuator_torque":[-0.010849047173593362,-1.0318834623678868,-1.0413701214095,5.652020487492866e-05,-0.044053542498133424,0.0015681934752258542],"jaw_actuator_force":[-0.0013033874352323949,0.0019316575493046884],"end_effector_position":[0.34225896437189907,0.06329073350711112,0.4220490648500785],"end_effector_quaternion":[0.9999970728064725,0.00041812873678557686,-0.0023764701132728033,-0.0001787082721547338],"end_effector_velocity":[0.0038905626735072554,0.005308099996031071,-0.07219967885606815],"object_position":[0.34000000290683113,0.07000000065405011,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.07576795576155e-14,6.589679028609143e-14,1.2840514658383091e-21],"object_velocity":[-1.9174815984111048e-13,-1.7679423422205496e-13,-1.89082415187583e-14],"object_angular_velocity":[6.996705903383927e-12,-7.58869055651499e-12,-3.96404541612149e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.001804786975705146,0.0003337493244526202,0.509993984498526],[0.23463059658798016,0.04338894515601144,0.4707716376756397],[0.28798651129079317,0.05325576086741034,0.4617831831953949],[0.34206884134150317,0.06325731728167319,0.4620485990547313],[0.34225896437189907,0.06329073350711112,0.4220490648500785]],"gripper_points":[[0.3882181687183402,0.06326751853956762,0.43026758874004173],[0.2962232977152007,0.06330058213294976,0.42983035267859093]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999591599336861,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.699999999999904,"stage":"descend","target_distance":0.12560254611539062,"dwell_elapsed":0.0},{"joint_position":[0.18315669851690547,-1.5628622553526434,1.7325485878526505,-4.308844999217069e-05,-0.1745147015870756,-0.1835213132556754],"joint_velocity":[0.012954330556043862,0.06337822424278197,0.17996577400604188,2.4078276293991747e-06,-0.2211149331270007,-0.011790153463182138],"joint_actuator_torque":[-0.010839450181649113,-1.033475091299465,-1.039861735324962,6.013601184656943e-05,-0.04405360381595358,0.001567289994460097],"jaw_actuator_force":[-0.0012900872586296686,0.002123979973092105],"end_effector_position":[0.34235365734369033,0.06341376410444789,0.42043962019733616],"end_effector_quaternion":[0.9999970696805166,0.00041926809905059193,-0.0023775913204192867,-0.0001786173409402422],"end_effector_velocity":[0.003838410103197654,0.0052987919280683,-0.07212313998061072],"object_position":[0.34000000290682575,0.07000000065404523,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.43613107332066e-14,9.148615461708085e-14,1.2840489835929855e-21],"object_velocity":[-2.511284492474496e-13,-2.3157101451612887e-13,-1.8901302624854397e-14],"object_angular_velocity":[4.163533300497082e-12,-4.5152155738754416e-12,-1.3021675721317996e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.002184358829453964,0.0004046145532857293,0.5099911871176797],[0.23478075778862076,0.04348905965073195,0.4694616203561995],[0.28808409921676315,0.05336257831889671,0.46017359464002694],[0.3421634446043407,0.06338025672913417,0.4604391538992381],[0.34235365734369033,0.06341376410444789,0.42043962019733616]],"gripper_points":[[0.3883128670693829,0.06339053897132779,0.4286582472297654],[0.29631810513176376,0.06342358637990526,0.4282208054217571]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999580790137029,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.719999999999911,"stage":"descend","target_distance":0.12560254611539193,"dwell_elapsed":0.0},{"joint_position":[0.18345446319263772,-1.5614559033832298,1.7366632543031246,-4.2722730940035185e-05,-0.18003831210504007,-0.18381906093512335],"joint_velocity":[0.012947678447530411,0.06454318135759818,0.17867637338056463,2.36545655351104e-06,-0.22101205694397016,-0.011782883435909237],"joint_actuator_torque":[-0.010849884416956002,-1.0350096170735696,-1.0383806778835378,6.227618856480353e-05,-0.04406430319660615,0.0015663517879431765],"jaw_actuator_force":[-0.0012795848482340944,0.001842488134050413],"end_effector_position":[0.34244722849597337,0.06353659542046687,0.4188318208665953],"end_effector_quaternion":[0.999997066571687,0.0004204099954896081,-0.0023787039834893805,-0.00017852399220426657],"end_effector_velocity":[0.003780707668543014,0.005288666201150184,-0.07204579754912693],"object_position":[0.3400000029068206,0.07000000065404047,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.948662428835076e-14,8.619238458757483e-14,1.2840491732457777e-21],"object_velocity":[-3.409552138264732e-13,-3.144344690320876e-13,-1.8895751509731263e-14],"object_angular_velocity":[-1.4520606130813088e-11,1.574437212500198e-11,-2.0043866880603417e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0025713944793423283,0.00047709817376288604,0.5099877859974685],[0.234931400887249,0.04358932214536412,0.4681528297247529],[0.2881805690223943,0.05346920680552274,0.45856565224558893],[0.3422569267312532,0.06350299669194562,0.45883135406841885],[0.34244722849597337,0.06353659542046687,0.4188318208665953]],"gripper_points":[[0.38840644386119183,0.06351336030301027,0.4270505502567614],[0.2964114034794393,0.06354639122207134,0.4266129024310995]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999608731626145,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.739999999999918,"stage":"descend","target_distance":0.12560254611539318,"dwell_elapsed":0.0},{"joint_position":[0.18375205720143561,-1.5600227527716235,1.7407486563921122,-4.2347695755922e-05,-0.18555944798314192,-0.18411662670257523],"joint_velocity":[0.01293989627733526,0.06569062320588924,0.17740709222660403,1.9023723964366082e-06,-0.22091528115984993,-0.011775680313735088],"joint_actuator_torque":[-0.010841295304288678,-1.0365844040536558,-1.0368400878098782,6.578985565685886e-05,-0.04406413475017601,0.0015653663089967296],"jaw_actuator_force":[-0.0012629710299112418,0.0020072789074028208],"end_effector_position":[0.34253956234154853,0.06365920566280316,0.4172256695057136],"end_effector_quaternion":[0.9999970634724766,0.00042155612943253274,-0.0023798109785374143,-0.00017842802365700605],"end_effector_velocity":[0.0037191587392196405,0.005277358974843707,-0.07196832402975764],"object_position":[0.34000000290681553,0.0700000006540358,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.912751855611303e-14,7.495289638113868e-14,1.2840479133818498e-21],"object_velocity":[-2.1229891784370517e-13,-1.9579748632747534e-13,-1.890824151875829e-14],"object_angular_velocity":[6.4323272683025754e-12,-6.974736995126448e-12,-5.680458655290255e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0029657590004019355,0.0005511818449112094,0.5099837503715624],[0.2350824065908741,0.043689711319551856,0.4668452619172123],[0.288275804997024,0.05357562432415701,0.4569593583130904],[0.3423491720049418,0.06362551524147901,0.4572252022089245],[0.34253956234154853,0.06365920566280316,0.4172256695057136]],"gripper_points":[[0.3884987822294437,0.06363596073360245,0.4254445007268791],[0.29650366653668225,0.06366897461000615,0.4250066488919224]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999616359104318,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.759999999999924,"stage":"descend","target_distance":0.12560254611539437,"dwell_elapsed":0.0},{"joint_position":[0.18404947222118534,-1.5585633024727255,1.7448053591247785,-4.196554621262405e-05,-0.19107819062017334,-0.1844140118906026],"joint_velocity":[0.012932447132265868,0.06681435149684307,0.1761637902764184,1.640158395709869e-06,-0.22081947361775622,-0.011768536438570903],"joint_actuator_torque":[-0.01084097532336159,-1.0381304692158437,-1.0353046680921807,6.867050076216682e-05,-0.0440684633494115,0.0015644174235358577],"jaw_actuator_force":[-0.001246646717319777,0.001961186168450979],"end_effector_position":[0.3426305385253216,0.06378156821941967,0.4156211639353993],"end_effector_quaternion":[0.9999970603634823,0.00042270679876581875,-0.0023809200520633136,-0.00017833412944443736],"end_effector_velocity":[0.0036517824390554557,0.005265033226132397,-0.07189086501744421],"object_position":[0.3400000029068102,0.07000000065403092,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.942129618503292e-14,9.696727242229189e-14,1.2840451895666957e-21],"object_velocity":[-2.775843153893704e-13,-2.559868065869811e-13,-1.8897139288512034e-14],"object_angular_velocity":[-7.477256168259233e-13,8.121056351919817e-13,-3.2829762443993084e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.003367312641651976,0.0006268461223120214,0.509979049697495],[0.23523365035409172,0.04379020223361967,0.4655389087770469],[0.2883696860798592,0.053681804675794344,0.45535470981611087],[0.34244005945043576,0.06374778574287114,0.4556206961384927],[0.3426305385253216,0.06378156821941967,0.4156211639353993]],"gripper_points":[[0.3885897626470556,0.06375831321395337,0.4238400971772255],[0.2965946107303482,0.06379131041792838,0.4234020411365988]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999620078072933,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.779999999999931,"stage":"descend","target_distance":0.12560254611539565,"dwell_elapsed":0.0},{"joint_position":[0.18434671030630193,-1.5570781044946678,1.7488339835200384,-4.157572114360499e-05,-0.19659459560553671,-0.18471120534517438],"joint_velocity":[0.012924999713915496,0.06791432596112171,0.17494721341127173,1.366682822178032e-06,-0.22072618964482113,-0.011760921044121733],"joint_actuator_torque":[-0.010841463539478013,-1.039663704923555,-1.0337563596694963,7.150504731685131e-05,-0.04407292575404398,0.0015634045891417259],"jaw_actuator_force":[-0.0012280766975312218,0.0019029243460462197],"end_effector_position":[0.3427200198886867,0.06390365695646529,0.41401829986615035],"end_effector_quaternion":[0.9999970572620881,0.00042386100490831755,-0.002382024560557548,-0.00017823581484972665],"end_effector_velocity":[0.0035785763080076775,0.005251557632918145,-0.07181356809466434],"object_position":[0.34000000290680515,0.07000000065402627,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.243686770939915e-14,6.770438708040501e-14,1.2840447576122476e-21],"object_velocity":[-1.9965189590507327e-13,-1.8411745513514302e-13,-1.8905465961196718e-14],"object_angular_velocity":[7.686327893479711e-12,-8.334727350846825e-12,-1.0449783557552252e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0037759009855523273,0.0007040686750220898,0.5099736538659454],[0.23538499223782325,0.04389076944524994,0.46423376180354486],[0.288462075649802,0.05378772170509382,0.4537517032059114],[0.3425294524408391,0.06386978214082466,0.4540178315702177],[0.3427200198886867,0.06390365695646529,0.41401829986615035]],"gripper_points":[[0.3886792476342223,0.06388039222403664,0.42223733470586483],[0.29668395249395463,0.0639133719822762,0.4217990747893405]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999634496741626,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.799999999999938,"stage":"descend","target_distance":0.12560254611539687,"dwell_elapsed":0.0},{"joint_position":[0.18464375973592145,-1.5555676795538393,1.7528351999079115,-4.1179557558509595e-05,-0.20210875500233297,-0.1850081998914515],"joint_velocity":[0.012917405948394935,0.0689911410719968,0.1737613147801777,1.238115036452711e-06,-0.2206350496316412,-0.011753050320900623],"joint_actuator_torque":[-0.01084629200984466,-1.0411809318617316,-1.0322169190933437,7.386891150357958e-05,-0.04408035763783502,0.0015624025503413463],"jaw_actuator_force":[-0.0012102833537532831,0.0016552389570350101],"end_effector_position":[0.3428078722164489,0.06402544118138043,0.4124170473886882],"end_effector_quaternion":[0.9999970542375521,0.00042501275887155246,-0.0023830963463179816,-0.00017813527874500866],"end_effector_velocity":[0.0034992450700401553,0.005236821838886478,-0.07173801039006737],"object_position":[0.34000000290679966,0.07000000065402125,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.687960800778418e-14,8.334296380129751e-14,1.284046246125133e-21],"object_velocity":[-2.3389946495302696e-13,-2.1575559917703588e-13,-1.889852706729281e-14],"object_angular_velocity":[4.657046991378433e-12,-5.049664990335659e-12,1.2084433394290277e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.004191378180421774,0.0007828285193434954,0.509967532989913],[0.2355362975752822,0.043991384968261944,0.46292979367576015],[0.28855284160327105,0.05389334582113909,0.45215031174960013],[0.342617219013565,0.06399147422191219,0.4524165786059649],[0.3428078722164489,0.06402544118138043,0.4124170473886882]],"gripper_points":[[0.38876710087033356,0.06400216696816637,0.42063618080314874],[0.2967720332540953,0.06403512873586344,0.42019772479764556]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999611837389203,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.819999999999944,"stage":"descend","target_distance":0.1256025461153982,"dwell_elapsed":0.0},{"joint_position":[0.18494062162104444,-1.554032617174701,1.756809622286788,-4.077460165856752e-05,-0.20762073982221912,-0.18530498548116558],"joint_velocity":[0.012908947567673227,0.07004399725717887,0.1725985572616497,8.025438199481288e-07,-0.22055041095350786,-0.011744751439493167],"joint_actuator_torque":[-0.010837946687402678,-1.0427114847325356,-1.0306252497471178,7.722996928306945e-05,-0.04407952821326333,0.0015612807416580665],"jaw_actuator_force":[-0.0011857772530809996,0.001751744210547912],"end_effector_position":[0.34289395213379253,0.06414689298130055,0.4108174191822032],"end_effector_quaternion":[0.999997051234603,0.0004261674556125647,-0.002384158069448698,-0.00017802724037370757],"end_effector_velocity":[0.003414570580418462,0.005220696699050033,-0.07166106062696492],"object_position":[0.3400000029067946,0.07000000065401665,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.305547786449548e-14,7.917557597670169e-14,1.2840474570968675e-21],"object_velocity":[-3.0594536439877777e-13,-2.8231092318490655e-13,-1.892211930656609e-14],"object_angular_velocity":[-1.0653670833789752e-11,1.1540591814362135e-11,7.059387040184044e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.004613579373403452,0.000863100972083814,0.5099606578469148],[0.23568741751877964,0.044092021119453734,0.46162700717104727],[0.28864183876042837,0.05399864865322601,0.45055054555782764],[0.3427032139811092,0.06411283364099152,0.4508169499159312],[0.34289395213379253,0.06414689298130055,0.4108174191822032]],"gripper_points":[[0.38885318170067923,0.0641236099296598,0.41903665024592524],[0.2968582001717635,0.06415655237815204,0.41859799932895064]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999603320979348,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.839999999999951,"stage":"descend","target_distance":0.12560254611539945,"dwell_elapsed":0.0},{"joint_position":[0.18523728528374594,-1.552473530564741,1.7607579657981263,-4.036087311203904e-05,-0.21313064600072218,-0.185601561925752],"joint_velocity":[0.012900285963411529,0.07106955047029519,0.17146706712294554,4.051648500597168e-07,-0.22046873731053912,-0.011736452769295597],"joint_actuator_torque":[-0.010834654809642075,-1.0442118456953722,-1.0290186746482277,8.048197576013619e-05,-0.044080893033903834,0.0015601170975205747],"jaw_actuator_force":[-0.0011573102056985363,0.0019583252459103306],"end_effector_position":[0.34297810385145294,0.06426797768526914,0.4092194031542893],"end_effector_quaternion":[0.9999970482595915,0.00042732447752814694,-0.002385206790341615,-0.00017791700979976778],"end_effector_velocity":[0.003322981682717484,0.005203125247698407,-0.07158452660612284],"object_position":[0.3400000029067898,0.07000000065401224,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.681015894222001e-14,7.240855709673599e-14,1.2840485612887561e-21],"object_velocity":[-2.052184846281213e-13,-1.8935371889384763e-13,-1.890546596119671e-14],"object_angular_velocity":[6.745549621875735e-12,-7.310566025850582e-12,2.2627963738488973e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.005042333153302926,0.0009448598524003466,0.5099529998343122],[0.23583819345948986,0.04419264532660486,0.46032538738817286],[0.2887289114463244,0.05410359616444339,0.4489523928692659],[0.34278728178920304,0.06423382577748375,0.4492189334088779],[0.34297810385145294,0.06426797768526914,0.4092194031542893]],"gripper_points":[[0.388937336069101,0.06424468595878462,0.41743873067943144],[0.29694192994037927,0.06427760886797018,0.4169998848074146]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999645872752814,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.859999999999958,"stage":"descend","target_distance":0.12560254611540062,"dwell_elapsed":0.0},{"joint_position":[0.18553373860324782,-1.5508910055873246,1.764680904490598,-3.99415483101455e-05,-0.21863859198849708,-0.1858979174870124],"joint_velocity":[0.01289175522651491,0.07206824856070138,0.17036755399008485,2.6950272228510547e-07,-0.22038935443317736,-0.011727706230078287],"joint_actuator_torque":[-0.01083396127134506,-1.0456968618794917,-1.027439014488209,8.300863171915949e-05,-0.044084494781671424,0.0015590130333364982],"jaw_actuator_force":[-0.0011327686302369244,0.0016702855351109491],"end_effector_position":[0.3430601810276697,0.06438866160116023,0.407622993577323],"end_effector_quaternion":[0.9999970452758552,0.00042848502032804533,-0.0023862576777434873,-0.00017780450452714122],"end_effector_velocity":[0.003224419813879418,0.005184212941268525,-0.07150882088440218],"object_position":[0.3400000029067844,0.07000000065400734,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.124522227314716e-14,8.805739651819247e-14,1.2840485851911467e-21],"object_velocity":[-2.5543286030766733e-13,-2.356759552355783e-13,-1.890962929753905e-14],"object_angular_velocity":[6.381430900436564e-13,-6.910005988265518e-13,-7.687771531901243e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.005477475588081078,0.0010280801388855172,0.5099445307778132],[0.23598847469160053,0.04429322594595369,0.4590249230555382],[0.2888139119861571,0.05420815519340681,0.4473558462858502],[0.34286927488258356,0.06435441684380752,0.44762252335131364],[0.3430601810276697,0.06438866160116023,0.407622993577323]],"gripper_points":[[0.38901940928436946,0.064365361353955,0.41584241773165626],[0.2970243349114234,0.06439826403677051,0.41540338011370703]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999612788319074,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.879999999999964,"stage":"descend","target_distance":0.12560254611540195,"dwell_elapsed":0.0},{"joint_position":[0.18582997868619425,-1.5492857176503136,1.7685792009002366,-3.951206265057353e-05,-0.2241446165378034,-0.18619404480132887],"joint_velocity":[0.012882284835623072,0.07303925683092206,0.1692977028986417,-1.1328205560039447e-07,-0.2203144880467845,-0.011718635449316388],"joint_actuator_torque":[-0.010831785937782001,-1.0471603270061678,-1.0258144598996068,8.614170437572927e-05,-0.044086167973823365,0.0015577496011243142],"jaw_actuator_force":[-0.0010993860180583681,0.0018346852798174496],"end_effector_position":[0.34314000868642747,0.06450890896337474,0.4060281817592728],"end_effector_quaternion":[0.9999970423423925,0.0004296467591261737,-0.0023872865543227515,-0.00017768803318942022],"end_effector_velocity":[0.0031191136926715024,0.005163599642136917,-0.07143270560028012],"object_position":[0.34000000290677956,0.0700000006540028,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.02643142609216e-14,6.531912786401825e-14,1.2840479756743504e-21],"object_velocity":[-1.9416487841362582e-13,-1.7913935728223594e-13,-1.890269040363515e-14],"object_angular_velocity":[7.720037799060229e-12,-8.367677047373982e-12,-8.871022402505262e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.005918818053828027,0.0011127319945772214,0.5099352236149535],[0.2361380852162025,0.04439372864119902,0.45772560422834657],[0.2888966672742467,0.05431229037271651,0.4457608997855825],[0.34294902021949675,0.06447457125968468,0.4460277110605984],[0.34314000868642747,0.06450890896337474,0.4060281817592728]],"gripper_points":[[0.38909923639933763,0.06448560054025124,0.4142477005342996],[0.2971036150420126,0.0645184825804384,0.4138084710258404]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999667576988848,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.899999999999971,"stage":"descend","target_distance":0.12560254611540303,"dwell_elapsed":0.0},{"joint_position":[0.18612599000553592,-1.5476582631008922,1.7724536167892044,-3.907637737989842e-05,-0.22964885727750584,-0.18648993354850832],"joint_velocity":[0.012872907722343167,0.07398300365827615,0.16826434090878617,-2.4080543109386226e-07,-0.2202422619543245,-0.011709192263958418],"joint_actuator_torque":[-0.010829862474921015,-1.0486125560543087,-1.0242147970797078,8.868295774115383e-05,-0.04408893180078266,0.0015565495093952109],"jaw_actuator_force":[-0.0010694750802926478,0.0015643873557209531],"end_effector_position":[0.3432174298580748,0.06462868245802814,0.4044349378575265],"end_effector_quaternion":[0.9999970394925565,0.00043080513620317827,-0.002388280137005766,-0.0001775698297097449],"end_effector_velocity":[0.0030062745421612956,0.0051415091258937345,-0.07135874530357798],"object_position":[0.34000000290677446,0.07000000065399808,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.481779863403665e-14,8.111832945642276e-14,1.2840479464578747e-21],"object_velocity":[-2.249679259528129e-13,-2.075021927522844e-13,-1.8906853739977502e-14],"object_angular_velocity":[5.41056030005505e-12,-5.8651088876865995e-12,1.6429080084403127e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.006366193651534148,0.001198789346457731,0.5099250515450413],[0.23628686693976478,0.044494119139307994,0.45642740287881445],[0.2889770212349843,0.05441596555016952,0.44416752505947077],[0.34302636189291646,0.06459425207608381,0.44443446669952025],[0.3432174298580748,0.06462868245802814,0.4044349378575265]],"gripper_points":[[0.3891766512175236,0.0646053660761584,0.4126545479787414],[0.2971812928144662,0.0646382268616119,0.4122151369398234]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999641367792185,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.919999999999978,"stage":"descend","target_distance":0.12560254611540425,"dwell_elapsed":0.0},{"joint_position":[0.18642177026631862,-1.5460092811615327,1.7763048563843356,-3.863138005970642e-05,-0.23515139808066085,-0.18678555967280905],"joint_velocity":[0.012862961092526087,0.07489970184940317,0.16725884867467417,-4.786188830993205e-07,-0.2201754254311277,-0.011698740825906622],"joint_actuator_torque":[-0.010828581767441392,-1.0500404084202728,-1.0225887118598393,9.144340421200509e-05,-0.04409103943230974,0.0015551565195988104],"jaw_actuator_force":[-0.0010340934177843764,0.001490210356749344],"end_effector_position":[0.3432922825227387,0.06474794851875924,0.4028432644974577],"end_effector_quaternion":[0.9999970367054493,0.0004319632956245404,-0.0023892474305029863,-0.00017743941866886633],"end_effector_velocity":[0.002886958481531588,0.005117886018389806,-0.07128387397692343],"object_position":[0.3400000029067691,0.07000000065399319,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.209821090768767e-14,8.903301998330301e-14,1.284048282966219e-21],"object_velocity":[-2.9792355281493454e-13,-2.7472240131795644e-13,-1.8891588173388904e-14],"object_angular_velocity":[-6.615955064264972e-12,7.1765670356117485e-12,2.3244436798846058e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0068194236312671495,0.0012862237390666594,0.5099139887355227],[0.23643465410624714,0.04459436475762111,0.4551303154793527],[0.28905481109009673,0.05451914707437317,0.44257572369148035],[0.3431011371629167,0.06471342547324604,0.4428427928898119],[0.3432922825227387,0.06474794851875924,0.4028432644974577]],"gripper_points":[[0.3892514969980689,0.06472462530535124,0.4110629635442723],[0.29725598802757436,0.06475746273593809,0.410623373836024]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799965650888596,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.939999999999984,"stage":"descend","target_distance":0.12560254611540553,"dwell_elapsed":0.0},{"joint_position":[0.18671730050442376,-1.5443395073621065,1.7801336955945963,-3.8177039785191665e-05,-0.24065235253573303,-0.18708092004961427],"joint_velocity":[0.012851831813262918,0.07578495854373007,0.16628624130470804,-8.392112858621919e-07,-0.22011423494400856,-0.011688213468718059],"joint_actuator_torque":[-0.010816954768657183,-1.051468239132305,-1.0209327564366504,9.477721250223704e-05,-0.044087679426873194,0.0015537336084214814],"jaw_actuator_force":[-0.0009942936404243596,0.001616710333887994],"end_effector_position":[0.3433643828518046,0.06486666324969079,0.40125317581628817],"end_effector_quaternion":[0.9999970338908193,0.00043312796627395744,-0.0023902244117559937,-0.0001773047941500594],"end_effector_velocity":[0.0027599430475523956,0.005092272574415636,-0.07120822642119898],"object_position":[0.34000000290676397,0.07000000065398847,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.946725849778266e-14,7.534401878522674e-14,1.284048949031867e-21],"object_velocity":[-2.1655452692588198e-13,-1.996657253697439e-13,-1.8904078182415935e-14],"object_angular_velocity":[7.736958706010032e-12,-8.391364976010648e-12,-1.0003568834778105e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.007278302739682875,0.0013750013537255701,0.5099020108547041],[0.23658125639812355,0.04469442388538105,0.45383434570767894],[0.2891298499448495,0.05462179154888543,0.4409855057781523],[0.34317315932238424,0.06483204701902504,0.4412527037544823],[0.3433643828518046,0.06486666324969079,0.40125317581628817]],"gripper_points":[[0.3893235900842576,0.0648433334861018,0.4094729646781944],[0.2973281772747057,0.06487614670254124,0.40903319569678953]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999646977718242,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.959999999999991,"stage":"descend","target_distance":0.12560254611540678,"dwell_elapsed":0.0},{"joint_position":[0.1870125745557791,-1.54264954580307,1.7839408883268826,-3.771426169576338e-05,-0.24615181520609358,-0.18737600771988008],"joint_velocity":[0.012841348159306435,0.07664246199996123,0.16534869968628893,-9.065389487467611e-07,-0.22005374469586872,-0.01167741084568651],"joint_actuator_torque":[-0.01082033922921255,-1.052841216319166,-1.0193040398451103,9.712245229757466e-05,-0.04409208642949736,0.0015523182331147467],"jaw_actuator_force":[-0.000955150086683787,0.001390838284748952],"end_effector_position":[0.3434335697066545,0.06498479134721022,0.3996646474027386],"end_effector_quaternion":[0.999997031115818,0.0004342935306962768,-0.002391184028441075,-0.00017716551930164784],"end_effector_velocity":[0.0026252853806772447,0.00506533138031293,-0.07113407066714258],"object_position":[0.3400000029067587,0.0700000006539837,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.13151594215642e-14,8.822544351623544e-14,1.2840468538606614e-21],"object_velocity":[-2.4733331370220424e-13,-2.279722080368001e-13,-1.8899914846073582e-14],"object_angular_velocity":[2.3338961267932296e-12,-2.529996156784304e-12,-1.7892182382650173e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.007742661830294437,0.0014650950117640561,0.509889093543118],[0.23672651287187388,0.04479426336351996,0.45253947164276953],[0.2892019787355692,0.05472386444413069,0.439396849957273],[0.343242269396964,0.0649500818587327,0.4396641748929843],[0.3434335697066545,0.06498479134721022,0.3996646474027386]],"gripper_points":[[0.38939276583738097,0.0649614554484876,0.4078845244639365],[0.297397200577967,0.06499424368323338,0.4074445782154286]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999662306394195,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":4.979999999999998,"stage":"descend","target_distance":0.1256025461154081,"dwell_elapsed":0.0},{"joint_position":[0.18730757941386947,-1.540940075132629,1.78772720397352,-3.724100121653318e-05,-0.2516498758561459,-0.1876708003789995],"joint_velocity":[0.01282931274109748,0.07747248368344214,0.1644417387169145,-1.2312107594196836e-06,-0.22000016332459527,-0.01166567708551954],"joint_actuator_torque":[-0.010808399729796747,-1.0542275568307105,-1.0176318662938684,0.00010039102202451982,-0.044088382279287686,0.0015507344893261887],"jaw_actuator_force":[-0.0009101083965994405,0.001504390287948354],"end_effector_position":[0.34349966745712385,0.06510229220673532,0.39807767624637247],"end_effector_quaternion":[0.9999970283824732,0.00043546077582636814,-0.002392125629151722,-0.00017701726013570287],"end_effector_velocity":[0.0024838797152559665,0.0050364266310194555,-0.07105958513498387],"object_position":[0.34000000290675403,0.07000000065397935,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.600899519905518e-14,7.161751093402496e-14,1.2840441892632034e-21],"object_velocity":[-3.589409994776742e-13,-3.3082607136083704e-13,-1.888603705826576e-14],"object_angular_velocity":[-2.0050443771655576e-11,2.1755078363866373e-11,-1.151395431294128e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00821231123374427,0.0015564733601536513,0.5098752138630345],[0.23687024519800523,0.04489384485927034,0.4512456866029311],[0.2892710217314817,0.05482532582781791,0.4378097532724907],[0.34330829180874445,0.06506748932399302,0.43807720329508343],[0.34349966745712385,0.06510229220673532,0.39807767624637247]],"gripper_points":[[0.38945885062980146,0.06507895097302152,0.40629763984084283],[0.2974632991819881,0.0651117125134331,0.4058575204342094]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999661007122985,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.000000000000004,"stage":"descend","target_distance":0.12560254611540916,"dwell_elapsed":0.0},{"joint_position":[0.18760230062694142,-1.5392117603951545,1.7914934354594743,-3.675842296238671e-05,-0.2571466575854789,-0.18796529011116386],"joint_velocity":[0.012817585314938032,0.07827145620431518,0.16357164340557426,-1.2705741702529423e-06,-0.2199485227316824,-0.01165367965582992],"joint_actuator_torque":[-0.01080993148242726,-1.055557359848649,-1.0159857081096106,0.00010275294337604331,-0.044091544989186104,0.0015491596316170586],"jaw_actuator_force":[-0.000865524214225033,0.0012865943639628341],"end_effector_position":[0.3435625011449298,0.06521912453728279,0.39649224938055133],"end_effector_quaternion":[0.9999970256960733,0.0004366286169238253,-0.0023930469825525634,-0.0001768632162063629],"end_effector_velocity":[0.0023341113295866,0.0050059188108495176,-0.07098589863322334],"object_position":[0.3400000029067489,0.07000000065397464,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.633500016279562e-14,8.282887051194937e-14,1.2840405808479714e-21],"object_velocity":[-2.2981183195897194e-13,-2.1179819565852194e-13,-1.8906853739977483e-14],"object_angular_velocity":[6.5387020378441265e-12,-7.094507735437152e-12,-8.501458664354382e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.008687065003599831,0.0016491054746247775,0.5098603497331424],[0.2370122763832737,0.04499312971354193,0.44995297613686974],[0.28933680399111567,0.05492613526829378,0.43622420302105724],[0.3433710517778542,0.06518422821118106,0.43649177599507855],[0.3435625011449298,0.06521912453728279,0.39649224938055133]],"gripper_points":[[0.3895216698047484,0.0651957784920845,0.40471229763833805],[0.29752596482786836,0.06522851233239406,0.40427200799765173]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999676440323948,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.020000000000011,"stage":"descend","target_distance":0.1256025461154104,"dwell_elapsed":0.0},{"joint_position":[0.1878967320307388,-1.5374653063094221,1.7952403502535892,-3.6264487910309374e-05,-0.2626422451328605,-0.1882594667105309],"joint_velocity":[0.012804660673490209,0.07904188520814628,0.1627319578923256,-1.552380452946506e-06,-0.21990337501449472,-0.01164125717052644],"joint_actuator_torque":[-0.01079675679079628,-1.0568965373552146,-1.0142964902581753,0.00010599464698458384,-0.04408685434955828,0.0015474849270145086],"jaw_actuator_force":[-0.0008149431728110557,0.0013993292386338396],"end_effector_position":[0.3436218896380993,0.06533524869072432,0.3949083753246621],"end_effector_quaternion":[0.9999970230302365,0.000437799999090552,-0.0023939587162464175,-0.00017670169866113893],"end_effector_velocity":[0.0021773720419710615,0.004973513464375465,-0.07091138826545879],"object_position":[0.3400000029067437,0.07000000065396993,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.362180377704326e-14,9.071580949046446e-14,1.2840380283058806e-21],"object_velocity":[-2.7745272737226736e-13,-2.557553724955842e-13,-1.8912404855100607e-14],"object_angular_velocity":[-3.741139498041003e-12,4.0557639600951755e-12,-2.0311306399961063e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009166726254931729,0.0017429581662319696,0.5098444804290375],[0.2371524216030852,0.04509207959083549,0.4486613423243772],[0.2893991434537037,0.055026253250640464,0.43464020650872587],[0.3434303673221387,0.0653002586363882,0.43490790150808817],[0.3436218896380993,0.06533524869072432,0.3949083753246621]],"gripper_points":[[0.389581041292156,0.06531189846495918,0.40312850734899947],[0.2975853765259531,0.06534460316228201,0.4026880501707211]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999672498463575,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.040000000000018,"stage":"descend","target_distance":0.1256025461154117,"dwell_elapsed":0.0},{"joint_position":[0.18819085325129112,-1.5357013644483395,1.7989687044331302,-3.5760252430586847e-05,-0.26813675012177424,-0.18855331206593393],"joint_velocity":[0.012791741096611757,0.07978200003900221,0.16192746237326944,-1.5546274994478037e-06,-0.21985975296370897,-0.011628113490100183],"joint_actuator_torque":[-0.010796746041037864,-1.0581778191229887,-1.0126324057813463,0.00010834999626835665,-0.044088937442534615,0.00154575745015606],"jaw_actuator_force":[-0.0007648714864600947,0.0011832283365595941],"end_effector_position":[0.3436776634690684,0.06545062188294937,0.39332605043566177],"end_effector_quaternion":[0.9999970203761169,0.0004389749879417782,-0.0023948644368357295,-0.00017653378514437262],"end_effector_velocity":[0.0020125500588658828,0.004939431229290769,-0.07083729108641643],"object_position":[0.34000000290673893,0.07000000065396558,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.064046211945167e-14,6.577677673049104e-14,1.284036773012013e-21],"object_velocity":[-1.913989222466834e-13,-1.764515975196556e-13,-1.8909629297539056e-14],"object_angular_velocity":[6.98303582681438e-12,-7.574750277610916e-12,-3.1473213399160594e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009651112727497274,0.0018380006286247627,0.5098275858038488],[0.23729050859012563,0.045190654826020416,0.44737077812575304],[0.289457870141978,0.055125638079590256,0.43305775969952276],[0.3434860686854719,0.06541553781051117,0.4333255761896849],[0.3436776634690684,0.06545062188294937,0.39332605043566177]],"gripper_points":[[0.3896367951651652,0.0654272680073795,0.4015462656593251],[0.2976410099890929,0.06545994244347104,0.40110564128020865]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999684618303113,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.0600000000000245,"stage":"descend","target_distance":0.12560254611541288,"dwell_elapsed":0.0},{"joint_position":[0.18848465697707645,-1.5339206279308877,1.802679269801011,-3.524369863214479e-05,-0.27363025121314855,-0.18884682094021357],"joint_velocity":[0.012777587415297489,0.0804941411890315,0.16115378664349345,-1.7906106356697744e-06,-0.219822302193762,-0.011614780660019813],"joint_actuator_torque":[-0.010781953180554638,-1.0594676618729864,-1.0109258823214304,0.0001115628045828764,-0.04408330787411785,0.0015439620706256818],"jaw_actuator_force":[-0.0007088362487159827,0.0012972958268679946],"end_effector_position":[0.34372964217846996,0.06556520375323285,0.39174527952680455],"end_effector_quaternion":[0.9999970177335228,0.00044015447124154833,-0.0023957639593606447,-0.00017636085981469074],"end_effector_velocity":[0.001840771206103855,0.004903423207546855,-0.07076263396569024],"object_position":[0.34000000290673354,0.0700000006539607,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.419128138540163e-14,9.130779549219184e-14,1.2840342195280123e-21],"object_velocity":[-2.506432421190582e-13,-2.3110630527529503e-13,-1.8899914846073585e-14],"object_angular_velocity":[4.155322757648813e-12,-4.50665694066445e-12,-1.822468194854376e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010140030709514036,0.0019341997370374005,0.509809647168548],[0.23742635434649434,0.04528881670070859,0.4460812839735059],[0.28951280351330233,0.055224249754883235,0.4314768674079754],[0.34353797542322395,0.0655300253020655,0.43174480485313194],[0.34372964217846996,0.06556520375323285,0.39174527952680455]],"gripper_points":[[0.3896887515554776,0.06554184661673294,0.39996557736828875],[0.2976930430777961,0.06557448980130168,0.3995247878724145]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999677026541605,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.080000000000031,"stage":"descend","target_distance":0.1256025461154142,"dwell_elapsed":0.0},{"joint_position":[0.1887781261448173,-1.5321237085228696,1.8063728077761867,-3.471578033599407e-05,-0.27912286687435545,-0.18913996690440835],"joint_velocity":[0.012763602514733522,0.08117785284930876,0.16041567283198735,-1.7499445470391883e-06,-0.2197866526019262,-0.011600362592298352],"joint_actuator_torque":[-0.010780626703365215,-1.0606999507825776,-1.0092462022785185,0.00011389757003508246,-0.044084498322657595,0.001542064779476604],"jaw_actuator_force":[-0.0006534179707209375,0.001079326741328046],"end_effector_position":[0.3437776612865024,0.06567895322962998,0.39016604581292325],"end_effector_quaternion":[0.9999970151412849,0.00044133496234311236,-0.0023966420703815704,-0.0001761782009975417],"end_effector_velocity":[0.0016611287431253932,0.004865819767902129,-0.07068906027344343],"object_position":[0.3400000029067284,0.07000000065395594,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.933400585445913e-14,8.603408755974618e-14,1.2840335274558848e-21],"object_velocity":[-3.403500194855092e-13,-3.1383801156839583e-13,-1.8877710385581074e-14],"object_angular_velocity":[-1.4494295280769338e-11,1.572047354476223e-11,-9.838304767848518e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010633308864702724,0.00203152627519665,0.5097906460973651],[0.23755979394223195,0.04538652732320856,0.4447928441769555],[0.2895637801058324,0.05532204839671129,0.429897514570195],[0.34358592427287493,0.0656436803169154,0.43016557071934225],[0.3437776612865024,0.06567895322962998,0.39016604581292325]],"gripper_points":[[0.38973674531730135,0.06565559371271881,0.39838642428822235],[0.29774094929525313,0.06568820391223534,0.39794547282742143]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999685857324801,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.100000000000038,"stage":"descend","target_distance":0.12560254611541544,"dwell_elapsed":0.0},{"joint_position":[0.1890712561970057,-1.5303112660707037,1.8100500640637502,-3.41744795908882e-05,-0.2846146791507088,-0.18943273919720144],"joint_velocity":[0.01274848222171705,0.08183494111577785,0.15970697452231014,-1.9396628074926764e-06,-0.21975740538701788,-0.011585545116492846],"joint_actuator_torque":[-0.010764297009359325,-1.0619411068900035,-1.0075228558232538,0.00011708627878170797,-0.04407786250767742,0.0015400698650509526],"jaw_actuator_force":[-0.0005921118448206641,0.0011978600630584424],"end_effector_position":[0.3438215477575749,0.06579183193171052,0.38858835380628703],"end_effector_quaternion":[0.9999970126046043,0.0004425169684279245,-0.0023974967273818087,-0.00017598307208955093],"end_effector_velocity":[0.0014748748945764192,0.00482637443691223,-0.0706148118777599],"object_position":[0.34000000290672333,0.07000000065395127,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.899370209210931e-14,7.48336928740125e-14,1.2840322358029942e-21],"object_velocity":[-2.119549669969522e-13,-1.954196074552043e-13,-1.8904078182415913e-14],"object_angular_velocity":[6.420430233070626e-12,-6.963196458304878e-12,-7.246846706009148e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011130762614298302,0.0021299483854107155,0.5097705657203768],[0.23769065226379715,0.04548374972673965,0.44350545943310477],[0.2896106269751407,0.055418995867460866,0.42831970590893825],[0.34362974236232635,0.06575646443350129,0.42858787830134104],[0.3438215477575749,0.06579183193171052,0.38858835380628703]],"gripper_points":[[0.38978060415765464,0.06576847115815912,0.39680881074713414],[0.2977849222746157,0.0658010460058667,0.3963677026025599]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999674517417023,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.1200000000000445,"stage":"descend","target_distance":0.12560254611541663,"dwell_elapsed":0.0},{"joint_position":[0.1893640239087171,-1.528483950652911,1.8137117790262358,-3.3620689649403015e-05,-0.29010581985132156,-0.18972513794952245],"joint_velocity":[0.012733266579018642,0.08246151789541373,0.1590328583994736,-1.8482512197706796e-06,-0.21973059771173023,-0.011570772308704092],"joint_actuator_torque":[-0.010761600091370838,-1.0631191932578758,-1.0058262706133974,0.00011938709489990682,-0.044077950247771724,0.0015381281449773354],"jaw_actuator_force":[-0.0005314561822817865,0.0009749132657201898],"end_effector_position":[0.34386113360891113,0.06590379551866123,0.38701221032898847],"end_effector_quaternion":[0.9999970100708444,0.00044370387842059206,-0.0023983484164500305,-0.00017578712373061883],"end_effector_velocity":[0.001280553824001328,0.004785182716633344,-0.07054044666233422],"object_position":[0.340000002906718,0.0700000006539464,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.921264312601596e-14,9.680115711996681e-14,1.284030055551771e-21],"object_velocity":[-2.771151910448768e-13,-2.5539954961378364e-13,-1.8913792633881387e-14],"object_angular_velocity":[-7.453269733639623e-13,8.111156278321122e-13,-1.6961452367254825e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.011632210107665174,0.0022294342658354467,0.5097493901885497],[0.23781875720924767,0.04558044270807256,0.44221913047259226],[0.28965317425336035,0.055515048809418564,0.426743445954352],[0.3436692600694722,0.06586833304242062,0.4270117344131278],[0.34386113360891113,0.06590379551866123,0.38701221032898847]],"gripper_points":[[0.38982016010693826,0.06588043348501149,0.3952327454512592],[0.2978244215663746,0.0659129728929287,0.3947914803501553]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999680257121043,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.140000000000051,"stage":"descend","target_distance":0.12560254611541793,"dwell_elapsed":0.0},{"joint_position":[0.18965642658546888,-1.5266424242018932,1.8173587094287589,-3.305275073167787e-05,-0.29559636460662514,-0.19001713979137574],"joint_velocity":[0.012717404544407384,0.08306074224065825,0.15839002009421882,-1.8656316316274132e-06,-0.2197084715710169,-0.011555008121084565],"joint_actuator_torque":[-0.01075171830368049,-1.0642859440746406,-1.0041048873022191,0.00012209110635419233,-0.044074198009035115,0.0015360300658429082],"jaw_actuator_force":[-0.00046635535246331017,0.0009161615383703747],"end_effector_position":[0.34389624319192347,0.06601480535450015,0.3854376189101942],"end_effector_quaternion":[0.9999970075652009,0.0004448945737203328,-0.0023991875713647976,-0.00017558035043839252],"end_effector_velocity":[0.001079162690948065,0.004742221075822827,-0.07046577397480044],"object_position":[0.34000000290671295,0.07000000065394177,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.22858877196212e-14,6.757862880947031e-14,1.2840302773901986e-21],"object_velocity":[-1.9928412176137244e-13,-1.8367365540998847e-13,-1.8909629297539046e-14],"object_angular_velocity":[7.667903679992315e-12,-8.319870139939112e-12,3.579451912778353e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012137466204226668,0.0023299514640197894,0.5097271049439376],[0.23794393193615904,0.045676569000556194,0.4409338583146722],[0.28969124699972687,0.05561016885267912,0.42516873929546556],[0.34370430251138767,0.06597924759512352,0.42543714258761944],[0.34389624319192347,0.06601480535450015,0.3854376189101942]],"gripper_points":[[0.38985523740417427,0.06599144299597072,0.39365823104959063],[0.29785941432570934,0.06602394498320362,0.393216811163377]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999688783746628,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.160000000000058,"stage":"descend","target_distance":0.12560254611541916,"dwell_elapsed":0.0},{"joint_position":[0.18994844444367626,-1.5247872847470598,1.8209915857539603,-3.247054574865591e-05,-0.3010864220592815,-0.19030873574166657],"joint_velocity":[0.01270071359145505,0.08363408091431668,0.1577789795745617,-1.8529751073151283e-06,-0.21969054774029603,-0.011538927987537213],"joint_actuator_torque":[-0.010740056633395056,-1.0654288290174918,-1.0023744838896391,0.00012480142183641293,-0.04406960911878599,0.0015338914364573242],"jaw_actuator_force":[-0.0003988086249471223,0.0008670577253351297],"end_effector_position":[0.34392671586304174,0.0661248193519961,0.38386457265095153],"end_effector_quaternion":[0.9999970051157888,0.00044608675585382435,-0.0024000025057205913,-0.00017536827519581025],"end_effector_velocity":[0.0008708359546498083,0.004697445136634991,-0.07039145687197584],"object_position":[0.34000000290670745,0.07000000065393674,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.66752038216441e-14,8.318780090915735e-14,1.2840329765699066e-21],"object_velocity":[-2.3346458131973865e-13,-2.151874045586113e-13,-1.890546596119671e-14],"object_angular_velocity":[4.6459079495996975e-12,-5.040308319070674e-12,1.6862413599977819e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01264636337090297,0.002431470450450032,0.50970369580136],[0.23806601508794745,0.04577208988590078,0.4396496357711391],[0.28972468527310347,0.055704315173191576,0.4235955803475468],[0.34373470997924527,0.06608916618915003,0.4238640959305178],[0.34392671586304174,0.0661248193519961,0.38386457265095153]],"gripper_points":[[0.3898856746542114,0.06610145713398868,0.39208525956428986],[0.297889874242141,0.0661339206861444,0.391643689863273]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999686587672747,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.1800000000000646,"stage":"descend","target_distance":0.1256025461154205,"dwell_elapsed":0.0},{"joint_position":[0.19024007208474233,-1.522919128132854,1.8246110749059548,-3.1873451441967574e-05,-0.306576098334824,-0.19059992101642292],"joint_velocity":[0.012683814363409786,0.08418139394094432,0.1571963505290939,-1.8165941082528848e-06,-0.21967709167505262,-0.011522664895710358],"joint_actuator_torque":[-0.010728049566324671,-1.066543617501111,-1.0006338764969769,0.0001274901350893109,-0.04406441964337304,0.0015317284995024494],"jaw_actuator_force":[-0.00032888863613678154,0.0008156101105214475],"end_effector_position":[0.3439523976593708,0.06623380166203414,0.3822930864003693],"end_effector_quaternion":[0.9999970026797682,0.00044728394223510123,-0.0024008103923151146,-0.0001751514041311162],"end_effector_velocity":[0.0006559251498245936,0.004651135729079153,-0.07031623792238678],"object_position":[0.34000000290670246,0.07000000065393215,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.283491888356144e-14,7.90376053009234e-14,1.2840338245604948e-21],"object_velocity":[-3.0541871771144717e-13,-2.814440701745617e-13,-1.8915180412662177e-14],"object_angular_velocity":[-1.0614545910610536e-11,1.1523412923803623e-11,2.0378511529930678e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.013158734654541492,0.0025339617507165726,0.5096791496342501],[0.2381848491051105,0.04586697072915322,0.4383664709007032],[0.28975333366669925,0.05579745195337828,0.42202398202426533],[0.3437603271362726,0.0661980526943325,0.42229260928409207],[0.3439523976593708,0.06623380166203414,0.3822930864003693]],"gripper_points":[[0.38991131777331217,0.06621043994564117,0.3905138474235934],[0.29791558782594835,0.06624286416547949,0.39007212943378716]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999679611084753,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.200000000000071,"stage":"descend","target_distance":0.12560254611542168,"dwell_elapsed":0.0},{"joint_position":[0.190531300128274,-1.521038557667916,1.8282178547876207,-3.126044265139836e-05,-0.3120654678508815,-0.19089067499155654],"joint_velocity":[0.01266638086013931,0.08470284168699733,0.15664257624474676,-1.8035465844758597e-06,-0.21966691871133381,-0.0115055374296114],"joint_actuator_torque":[-0.010715715753931931,-1.0676305678363178,-0.9988788065284098,0.00013031409231364357,-0.04405883460865567,0.0015294232487654824],"jaw_actuator_force":[-0.0002550399941654291,0.0008377217408401805],"end_effector_position":[0.34397313097294396,0.06634171414225638,0.38072317331541994],"end_effector_quaternion":[0.9999970002583064,0.0004484864909580705,-0.0024016110669363624,-0.00017492438172385385],"end_effector_velocity":[0.0004343689727593896,0.004603156023098364,-0.07024033814729164],"object_position":[0.34000000290669763,0.07000000065392774,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.658815122384958e-14,7.22831049176209e-14,1.2840348783108421e-21],"object_velocity":[-2.0486367155972503e-13,-1.8873012900763157e-13,-1.890824151875828e-14],"object_angular_velocity":[6.723550985448274e-12,-7.2978115613229e-12,9.628591696381386e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013674411078412352,0.0026373952222039513,0.5096534545255977],[0.23830027417122954,0.04596117528902485,0.4370843721934594],[0.28977703446333347,0.05588954155433798,0.4204539574923444],[0.34378099638782833,0.06630586893863372,0.420722695805352],[0.34397313097294396,0.06634171414225638,0.38072317331541994]],"gripper_points":[[0.38993201117013376,0.06631835377453264,0.38894400777924876],[0.2979360128906784,0.06635073691572532,0.38850214119981946]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999706513892389,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.220000000000078,"stage":"descend","target_distance":0.12560254611542285,"dwell_elapsed":0.0},{"joint_position":[0.1908221134957814,-1.51914612519306,1.8318125627292494,-3.063244374869123e-05,-0.3175546549703613,-0.1911809965703898],"joint_velocity":[0.012648948206036055,0.08519883280606579,0.15611853939171208,-1.557425167689242e-06,-0.2196597349151483,-0.011488441748222923],"joint_actuator_torque":[-0.010710402949428044,-1.0686693727982401,-0.9971415707801725,0.0001324191296603835,-0.04405664315129343,0.001527192543989031],"jaw_actuator_force":[-0.00018334346287396386,0.0005624400185428868],"end_effector_position":[0.3439887730805196,0.06644851926788814,0.3791548460978195],"end_effector_quaternion":[0.999996997802677,0.00044969756878693795,-0.0024024237085806623,-0.0001746941728085773],"end_effector_velocity":[0.00020605853236583356,0.004553673878466215,-0.07016416306988237],"object_position":[0.34000000290669224,0.07000000065392287,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.098403069626302e-14,8.789526348591408e-14,1.2840358746312378e-21],"object_velocity":[-2.5496589592629273e-13,-2.3491347632353274e-13,-1.8905465961196715e-14],"object_angular_velocity":[6.338154424830165e-13,-6.902880986279287e-13,2.709994170916071e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0141932378359403,0.0027417431436311686,0.5096265989570141],[0.23841214392660676,0.046054668323387137,0.4358033460899279],[0.28979564323905116,0.05598054701041455,0.4188855173078873],[0.34379657347607356,0.06641257714554545,0.41915436818841323],[0.3439887730805196,0.06644851926788814,0.3791548460978195]],"gripper_points":[[0.3899476078747425,0.06642516040469648,0.3873757550765911],[0.2979517501033257,0.06645750174209283,0.38693373966905714]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999692533275965,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.240000000000085,"stage":"descend","target_distance":0.12560254611542418,"dwell_elapsed":0.0},{"joint_position":[0.19111250959950327,-1.5172423898847462,1.8353958844505014,-2.9987500128747667e-05,-0.3230437037724196,-0.19147087397858462],"joint_velocity":[0.01263074756866172,0.08567225260906187,0.15562241879939107,-1.4483926410085557e-06,-0.2196561746818928,-0.011470835377385786],"joint_actuator_torque":[-0.010697812633111425,-1.0696983444815942,-0.9953752631244015,0.00013500921239275676,-0.04405077943783908,0.0015248508792833348],"jaw_actuator_force":[-0.00010631679831796248,0.000492418260025218],"end_effector_position":[0.34399916969967587,0.06655418163267936,0.37758810048828023],"end_effector_quaternion":[0.9999969954143872,0.00045091017512022133,-0.002403207670179014,-0.00017445660184972161],"end_effector_velocity":[-2.8290900511534524e-05,0.0045025376881373935,-0.07008802393399755],"object_position":[0.3400000029066874,0.07000000065391836,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.008924447107606e-14,6.52011038679637e-14,1.2840374997336462e-21],"object_velocity":[-1.9381399152668656e-13,-1.7861506214714434e-13,-1.8904078182415938e-14],"object_angular_velocity":[7.697321073877545e-12,-8.35243340187087e-12,2.1983259298467072e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.014715058094676554,0.0028469773654104026,0.5095985725735221],[0.23852030619568507,0.04614741637856921,0.43452339089732706],[0.28980900888549954,0.056070433652418095,0.417318661763199],[0.34380690737057246,0.06651814246748909,0.41758762219011286],[0.34399916969967587,0.06655418163267936,0.37758810048828023]],"gripper_points":[[0.3899579583405489,0.066530824927537,0.3858090813400499],[0.29796208523539797,0.06656312316006477,0.3853669216322014]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999694134460181,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.260000000000091,"stage":"descend","target_distance":0.12560254611542532,"dwell_elapsed":0.0},{"joint_position":[0.1914024812445774,-1.5153279038742997,1.838968440475164,-2.9324855852657264e-05,-0.32853271766428743,-0.19176031159191315],"joint_velocity":[0.01261169621160147,0.08612280073243268,0.15515110197931872,-1.4919625509478065e-06,-0.2196588111777101,-0.011453427302198099],"joint_actuator_torque":[-0.01067299780554265,-1.070726825795873,-0.9935679832595952,0.00013825872398403206,-0.04403852534204589,0.0015224910962778893],"jaw_actuator_force":[-2.38852305560755e-05,0.0007057877806921908],"end_effector_position":[0.34400417823895046,0.06665866624998623,0.37602295611882897],"end_effector_quaternion":[0.9999969930496357,0.00045212789543830497,-0.0024039800844138886,-0.0001742176996886393],"end_effector_velocity":[-0.00026822525310344486,0.004449798832282525,-0.07001058073068446],"object_position":[0.3400000029066823,0.07000000065391364,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.462501045051755e-14,8.095089596209737e-14,1.284038534383548e-21],"object_velocity":[-2.2450941859018007e-13,-2.0696250985421154e-13,-1.8915180412662186e-14],"object_angular_velocity":[5.3960777613707305e-12,-5.854115220269041e-12,1.918525069587857e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.015239716994228972,0.002953069845174734,0.5095693659978241],[0.2386246149097266,0.04623938586741447,0.43324451926685775],[0.2898169873486948,0.056159166622511074,0.41575340855767795],[0.34381185410899473,0.06662252963238369,0.4160224774356386],[0.34400417823895046,0.06665866624998623,0.37602295611882897]],"gripper_points":[[0.3899629186946641,0.0666353117433661,0.38424400777128814],[0.297967078844364,0.06666756661069081,0.3838017061213052]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999690875724083,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.280000000000098,"stage":"descend","target_distance":0.1256025461154265,"dwell_elapsed":0.0},{"joint_position":[0.19169202221473328,-1.5134031514538389,1.842530752422185,-2.864557385835782e-05,-0.3340218139515199,-0.1920493007719166],"joint_velocity":[0.012593592727384055,0.0865495933503945,0.15470552172387564,-1.204261913381104e-06,-0.21966250765576567,-0.01143566749863833],"joint_actuator_torque":[-0.01066651742023339,-1.0716814997347228,-0.991795866432085,0.00014040279574491004,-0.044034670030626444,0.0015201565264497674],"jaw_actuator_force":[5.530906176431927e-05,0.000458770101538164],"end_effector_position":[0.34400367919059816,0.06676194276468808,0.3744594438293641],"end_effector_quaternion":[0.9999969906107955,0.0004533577596713325,-0.0024047803166526737,-0.0001739762121064934],"end_effector_velocity":[-0.0005143150241828137,0.004395992385920712,-0.06993207495478103],"object_position":[0.340000002906677,0.07000000065390875,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.189269948099439e-14,8.883309212927026e-14,1.284039041728265e-21],"object_velocity":[-2.972573580984439e-13,-2.7403112256593193e-13,-1.886383259777327e-14],"object_angular_velocity":[-6.5984569204451925e-12,7.1591640136665996e-12,4.430945313429374e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01576707831862955,0.003059995965714761,0.5095389698521191],[0.2387249448318415,0.04633054731755828,0.43196675094880166],[0.2898194559077859,0.05624671533568908,0.4141897841167914],[0.34381129103434227,0.06672570772302641,0.41445896474923366],[0.34400367919059816,0.06676194276468808,0.3744594438293641]],"gripper_points":[[0.3899623662202268,0.06673859049772966,0.382680568816085],[0.2979665299187238,0.06677080154262957,0.3822381199628558]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999690590097082,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.300000000000105,"stage":"descend","target_distance":0.12560254611542782,"dwell_elapsed":0.0},{"joint_position":[0.19198113455153748,-1.511468646526488,1.8460834537437325,-2.7948055855935163e-05,-0.33951102864800237,-0.19233783578213062],"joint_velocity":[0.012574870120226183,0.0869558683896576,0.15428600749368682,-1.0325925896624176e-06,-0.21966943415095566,-0.01141768148391737],"joint_actuator_torque":[-0.010651931765252698,-1.0726277887708875,-0.9899951011915391,0.00014296216114949778,-0.04402691425146088,0.0015177645361976744],"jaw_actuator_force":[0.00013870955250716577,0.0003997528668939765],"end_effector_position":[0.34399753020748436,0.06686397925297963,0.3728975639673766],"end_effector_quaternion":[0.9999969882006369,0.0004545924777820907,-0.0024055672294583112,-0.00017372863541766808],"end_effector_velocity":[-0.0007659641893708099,0.004340658868323537,-0.06985358228025151],"object_position":[0.34000000290667187,0.07000000065390403,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.930178523419956e-14,7.517121719529462e-14,1.2840408909667131e-21],"object_velocity":[-2.160580803708842e-13,-1.9918735679946898e-13,-1.8904078182415922e-14],"object_angular_velocity":[7.71830672345118e-12,-8.372241281864232e-12,2.7011505000129017e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01629699772500767,0.003167729485497677,0.5095073762086751],[0.23882115589613623,0.04642087027673514,0.4306900884989097],[0.2898162754770198,0.05633304837472706,0.41262779339875516],[0.3438050790906761,0.06682764539756134,0.4128970844947353],[0.34399753020748436,0.06686397925297963,0.3728975639673766]],"gripper_points":[[0.38995616274953593,0.06684062970762161,0.381118761057871],[0.2979603264010936,0.06687279581239557,0.3806761674343735]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999690662855596,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.320000000000111,"stage":"descend","target_distance":0.125602546115429,"dwell_elapsed":0.0},{"joint_position":[0.19226981772378496,-1.5095248049542127,1.8496270555507905,-2.7232394154709427e-05,-0.34500047122313937,-0.19262593121099816],"joint_velocity":[0.012556721667248506,0.08734291838600257,0.1538896723437419,-7.232120006636688e-07,-0.21967933817962,-0.011400325941808453],"joint_actuator_torque":[-0.01064693840866937,-1.0735264586829771,-0.9882033943783881,0.0001450906500744479,-0.044023179363570364,0.0015154760880093932],"jaw_actuator_force":[0.00022216176181544256,0.00016645197915110543],"end_effector_position":[0.3439856217374269,0.06696474906503763,0.37133732856018803],"end_effector_quaternion":[0.9999969858004351,0.00045583329353402434,-0.0024063478187506706,-0.00017348264642311648],"end_effector_velocity":[-0.0010227119419636728,0.004284313178334407,-0.06977455992906904],"object_position":[0.3400000029066666,0.07000000065389926,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.114997922896126e-14,8.803383511998482e-14,1.2840406645354895e-21],"object_velocity":[-2.467954501257497e-13,-2.27498954505046e-13,-1.890962929753905e-14],"object_angular_velocity":[2.326698718802779e-12,-2.5239679834284993e-12,-3.9575309153582915e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.016829357804742602,0.0032762491861086395,0.5094745764951627],[0.23891313660958133,0.04651032906004438,0.42941453946533337],[0.2898073359190235,0.056418139031154654,0.41106744764599745],[0.34379310816585057,0.06692831590823974,0.41133684869668274],[0.3439856217374269,0.06696474906503763,0.37133732856018803]],"gripper_points":[[0.38994419594694235,0.06694140199777,0.37955859715381385],[0.2979481672976872,0.06697352352419576,0.37911585899852934]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799970996070049,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.340000000000118,"stage":"descend","target_distance":0.12560254611543034,"dwell_elapsed":0.0},{"joint_position":[0.19255807542133416,-1.5075721027816957,1.853162070605991,-2.6497570082275888e-05,-0.3504901930152673,-0.1929135786343829],"joint_velocity":[0.012537629039447181,0.08771144636284649,0.15351251082349296,-6.288007613777473e-07,-0.21969454360803795,-0.011382568788321107],"joint_actuator_torque":[-0.010621013756562547,-1.074442517570219,-0.9863533206355442,0.0001480535410354842,-0.04400913615927493,0.0015130971888250855],"jaw_actuator_force":[0.0003108016176192052,0.00029592542868783767],"end_effector_position":[0.3439678328870226,0.06706422475071956,0.3697787679302509],"end_effector_quaternion":[0.9999969833932866,0.00045708198560712903,-0.002407129179851556,-0.00017323249375778626],"end_effector_velocity":[-0.0012837274322236138,0.004226562831204904,-0.06969374950794277],"object_position":[0.34000000290666194,0.07000000065389493,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.588442499662861e-14,7.146517064188257e-14,1.2840391731700526e-21],"object_velocity":[-3.5814549958505257e-13,-3.301817613599131e-13,-1.888464927948498e-14],"object_angular_velocity":[-2.0010408248104036e-11,2.1703261285712153e-11,-6.861488404571707e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.017364024646303898,0.0033855305593670473,0.5094405640398583],[0.23900076320247213,0.04659889651252317,0.4281401266167833],[0.2897925157882607,0.056501959543454786,0.4095087763739953],[0.34377525679902726,0.06702769166161716,0.4097782876746645],[0.3439678328870226,0.06706422475071956,0.3697787679302509]],"gripper_points":[[0.3899263463304453,0.06704088041723873,0.3780001080860743],[0.2979305891612656,0.06707295644124259,0.37755722748888815]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999682879983078,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.360000000000125,"stage":"descend","target_distance":0.12560254611543142,"dwell_elapsed":0.0},{"joint_position":[0.19284590913642383,-1.5056109112672262,1.856689009297113,-2.5743820953149554e-05,-0.35598028409751753,-0.19320079600874523],"joint_velocity":[0.012519573659451432,0.08806235485069142,0.15316018839514461,-3.4401728725128586e-07,-0.2197104513960479,-0.01136559110820861],"joint_actuator_torque":[-0.010612370724416564,-1.0752971759537786,-0.9845280953867359,0.00015037701140196633,-0.044002976968819496,0.0015108393199714243],"jaw_actuator_force":[0.00039911412043203143,0.00015002300385269507],"end_effector_position":[0.34394405903122155,0.06716238109694249,0.3682218795878388],"end_effector_quaternion":[0.9999969810378498,0.0004583336793799078,-0.0024078872674914813,-0.0001729865066638923],"end_effector_velocity":[-0.0015499871997501683,0.004167927805763113,-0.06961356552211126],"object_position":[0.34000000290665683,0.07000000065389023,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.618176560004025e-14,8.264461447220131e-14,1.284037364371602e-21],"object_velocity":[-2.2930210931695453e-13,-2.11375491977531e-13,-1.89054659611967e-14],"object_angular_velocity":[6.52579644212455e-12,-7.078749497403051e-12,-2.811417522082866e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.017900893113519778,0.0034955545172698273,0.5094053312382482],[0.23908393250291388,0.046686548820070006,0.4268668487127909],[0.2897717123629834,0.05658448501446171,0.40795177980070696],[0.3437514222885245,0.067125747835848,0.40822139894857046],[0.34394405903122155,0.06716238109694249,0.3682218795878388]],"gripper_points":[[0.3899025106445662,0.06713903906669245,0.37644328915923353],[0.2979066023423835,0.06717107050184382,0.37600026836838224]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999698059054751,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.380000000000131,"stage":"descend","target_distance":0.12560254611543265,"dwell_elapsed":0.0},{"joint_position":[0.193133327223214,-1.5036416602113438,1.8602082671550275,-2.4970573502736494e-05,-0.36147083252102724,-0.19348759503879837],"joint_velocity":[0.012501451466857041,0.08839482342183136,0.1528230164073169,-1.0243476783771096e-07,-0.21973163040468174,-0.011349061201307504],"joint_actuator_torque":[-0.010596747316100164,-1.07613585906131,-0.9826725150428501,0.00015288065646289596,-0.04399261613654204,0.0015086437355993354],"jaw_actuator_force":[0.0004893167598982728,9.707193277641579e-05],"end_effector_position":[0.34391420267413986,0.0672591966396792,0.36666672053220695],"end_effector_quaternion":[0.9999969785838847,0.0004596003061904988,-0.0024086820614358613,-0.000172746597880235],"end_effector_velocity":[-0.0018200092701597362,0.004108293934799036,-0.06953021030638684],"object_position":[0.3400000029066516,0.07000000065388551,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.340841827818897e-14,9.050410896002156e-14,1.2840360813542696e-21],"object_velocity":[-2.7680528575480377e-13,-2.5511000454589567e-13,-1.8905465961196703e-14],"object_angular_velocity":[-3.727253573381729e-12,4.045019483040726e-12,-1.201635540719984e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01843984201179551,0.0036062988346408247,0.5093688723449614],[0.2391625387698801,0.046773263258104075,0.4255947455616753],[0.2897448234436078,0.056665692605147734,0.4063965081738389],[0.3437215023398843,0.06722246201360599,0.4066662394936698],[0.34391420267413986,0.0672591966396792,0.36666672053220695]],"gripper_points":[[0.3898725877655633,0.06723585611123009,0.3748882028725373],[0.29787670582270553,0.06726784402411635,0.3744450359896161]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799969549200239,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.400000000000138,"stage":"descend","target_distance":0.12560254611543395,"dwell_elapsed":0.0},{"joint_position":[0.19342034280015263,-1.5016646120451027,1.8637202932888728,-2.4177888774002632e-05,-0.3669618744681754,-0.1937739884947364],"joint_velocity":[0.01248453425683001,0.08871570563949323,0.1525079470682966,2.7329646054876455e-07,-0.21975170127747143,-0.01133304466375092],"joint_actuator_torque":[-0.010593303065675741,-1.076929269711286,-0.9808323824199761,0.00015491827068024903,-0.043987967379266024,0.0015065367733626545],"jaw_actuator_force":[0.0005789127544861827,-0.00016340469512599043],"end_effector_position":[0.343878179070821,0.06735465399965415,0.365113269260877],"end_effector_quaternion":[0.999996976215865,0.00046086733562472496,-0.0024094397245081013,-0.00017251272190436576],"end_effector_velocity":[-0.0020941896647774724,0.004048037150664273,-0.0694487086692515],"object_position":[0.34000000290664684,0.07000000065388118,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.04746691220352e-14,6.562842332676434e-14,1.2840349312773935e-21],"object_velocity":[-1.9096539407279063e-13,-1.7597260836685255e-13,-1.8905465961196703e-14],"object_angular_velocity":[6.964367895595451e-12,-7.55741680995162e-12,-2.757620884055633e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.018980796038800485,0.0037177502378870062,0.5093311792745345],[0.2392365038864062,0.04685902358451092,0.42432380492041155],[0.28971177026814915,0.056745565393112235,0.4048429482975917],[0.34368541811527215,0.06731781797700966,0.405112787836998],[0.343878179070821,0.06735465399965415,0.365113269260877]],"gripper_points":[[0.3898364959572536,0.06733131441374614,0.3733348209456829],[0.2978404000536394,0.06736325999523093,0.37289151364509027]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999716954010003,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.420000000000145,"stage":"descend","target_distance":0.12560254611543512,"dwell_elapsed":0.0},{"joint_position":[0.19370697430403727,-1.4996801621126283,1.8672254474164078,-2.336530432839628e-05,-0.37245351377142,-0.19405998998969695],"joint_velocity":[0.012468023454431982,0.08901916887509916,0.15220629635642874,5.920094041872927e-07,-0.21977802981233865,-0.011317568730128773],"joint_actuator_torque":[-0.010583488115216255,-1.0777066919647496,-0.9789600587570249,0.00015717228463548588,-0.04397906540799568,0.001504497079546141],"jaw_actuator_force":[0.0006704364234941806,-0.000315238671269924],"end_effector_position":[0.34383590026036515,0.06744873698846181,0.36356158501209546],"end_effector_quaternion":[0.9999969737631494,0.00046214833071313657,-0.002410228648553666,-0.0001722826896740413],"end_effector_velocity":[-0.0023717424474180263,0.00398701873148813,-0.0693636995212742],"object_position":[0.3400000029066415,0.0700000006538763,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.395622247634495e-14,9.114158917453833e-14,1.2840318837146777e-21],"object_velocity":[-2.501794799520132e-13,-2.3046129091843783e-13,-1.890269040363513e-14],"object_angular_velocity":[4.143340384277959e-12,-4.497494703538938e-12,-1.9812872211713375e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.019523643441400403,0.0038298883457032855,0.5092922471212413],[0.2393057311734701,0.046943811160666066,0.423054067805823],[0.2896724596120694,0.05682408513909504,0.4032911517127063],[0.3436430761823821,0.06741179845314432,0.403561103189438],[0.34383590026036515,0.06744873698846181,0.36356158501209546]],"gripper_points":[[0.3897941459460971,0.06742539776447955,0.37178320890204525],[0.29779809439829585,0.06745730164122077,0.37133975667702923]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999712586879511,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.440000000000151,"stage":"descend","target_distance":0.12560254611543642,"dwell_elapsed":0.0},{"joint_position":[0.19399324712863997,-1.4976885296678986,1.8707240313404403,-2.2532345973962373e-05,-0.3779457763797978,-0.1943456375210646],"joint_velocity":[0.012452163699772556,0.08931510456371865,0.1519167109477381,8.082595960768449e-07,-0.21980621865192418,-0.011303643534655995],"joint_actuator_torque":[-0.010565689319918192,-1.0784843504102355,-0.9770505703489789,0.0001598252263296353,-0.04396593895925349,0.0015026342819925986],"jaw_actuator_force":[0.0007655247665567799,-0.0002958654750315759],"end_effector_position":[0.34378730644206856,0.06754143734235273,0.36201168082365104],"end_effector_quaternion":[0.9999969712939853,0.0004634380578405548,-0.0024110210152923734,-0.0001720630316555723],"end_effector_velocity":[-0.002651354483759973,0.00392558005742419,-0.0692784200861968],"object_position":[0.34000000290663634,0.07000000065387156,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.910896761706744e-14,8.589269519916822e-14,1.2840316194249132e-21],"object_velocity":[-3.3976728378153176e-13,-3.1293734956387004e-13,-1.88818737219234e-14],"object_angular_velocity":[-1.4451602007348868e-11,1.5692438487054115e-11,3.6043167724288e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020068320716469905,0.003942702305372523,0.5092520682146368],[0.23937016213810292,0.047027616482367265,0.421785545936442],[0.28962683413056045,0.05690124264792856,0.4017411345810224],[0.3435944189657825,0.06750439559782172,0.4020111985998775],[0.34378730644206856,0.06754143734235273,0.36201168082365104]],"gripper_points":[[0.38974547770703183,0.06751809738539316,0.37023337721902005],[0.2977493965550623,0.06754996149637629,0.36978977908069705]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999715616229484,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.460000000000158,"stage":"descend","target_distance":0.12560254611543764,"dwell_elapsed":0.0},{"joint_position":[0.19427918277328504,-1.4956899740687095,1.8742163571882084,-2.1679410591048215e-05,-0.3834387379766681,-0.1946309607363855],"joint_velocity":[0.012437585416268535,0.08959870860657845,0.15164148894141088,1.089284123606674e-06,-0.2198367363983605,-0.01129087352491385],"joint_actuator_torque":[-0.010552349639908698,-1.0792288777549857,-0.9751340699205002,0.00016226766107969122,-0.04395410320380222,0.0015009415906863666],"jaw_actuator_force":[0.0008602108051096735,-0.00035830393566627095],"end_effector_position":[0.34373233313549434,0.06763274441188534,0.36046358370569287],"end_effector_quaternion":[0.9999969687794973,0.0004647385190280427,-0.002411828101492545,-0.0001718578926118374],"end_effector_velocity":[-0.0029340140553704122,0.003863752541807943,-0.06919189478071332],"object_position":[0.3400000029066313,0.07000000065386693,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.880941052631111e-14,7.469855046916021e-14,1.2840305323614918e-21],"object_velocity":[-2.1157714113358707e-13,-1.948929269331566e-13,-1.8906853739977458e-14],"object_angular_velocity":[6.402278566798467e-12,-6.950955942909859e-12,-6.718419057209438e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020614753377867372,0.004056178997899493,0.5092106361783282],[0.2394297298754505,0.047110427371701055,0.4205182590688542],[0.28957482865614664,0.05697702595736392,0.4001929226479331],[0.343539381082719,0.06759559860239668,0.4004631010739583],[0.34373233313549434,0.06763274441188534,0.36046358370569287]],"gripper_points":[[0.3896904283399701,0.06760940221237048,0.36868535395153507],[0.2976944949845792,0.06764122917399897,0.36824160804864736]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799970090672046,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.480000000000165,"stage":"descend","target_distance":0.12560254611543886,"dwell_elapsed":0.0},{"joint_position":[0.1945648152866253,-1.493684672122643,1.8777026312565153,-2.0806042370804182e-05,-0.3889324322916278,-0.19491599494308956],"joint_velocity":[0.012424112582753062,0.0898757679406948,0.15137360365967437,1.2847669108178505e-06,-0.21986973934995827,-0.011279505835220518],"joint_actuator_torque":[-0.010534801705759378,-1.079966216835146,-0.9731838948465565,0.0001650027537436335,-0.04393950705946281,0.0014994085932666934],"jaw_actuator_force":[0.0009574937672827133,-0.0002922863530709918],"end_effector_position":[0.3436709393602237,0.06772265660755009,0.3589173248302501],"end_effector_quaternion":[0.9999969662142757,0.0004660503317154684,-0.0024126519407073697,-0.00017166812876981963],"end_effector_velocity":[-0.0032179347376591005,0.0038018199806025095,-0.0691038074849146],"object_position":[0.34000000290662596,0.07000000065386207,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.901125241791153e-14,9.661690034962404e-14,1.2840296048753865e-21],"object_velocity":[-2.765908326344169e-13,-2.548159861880928e-13,-1.8886037058265733e-14],"object_angular_velocity":[-7.464147575711539e-13,8.094923546410061e-13,-3.8868602507222137e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02116288949872798,0.004170309982572165,0.5091679434009464],[0.23948439150990192,0.047192239445563146,0.4192522309538638],[0.2895164023874626,0.057051431614165246,0.3986465468514074],[0.34347792139004557,0.06768540582816011,0.3989168417828662],[0.3436709393602237,0.06772265660755009,0.3589173248302501]],"gripper_points":[[0.389628955181919,0.06769931056763616,0.36713917045050387],[0.2976331138628209,0.06773110323509675,0.36669527343355657]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999691774915092,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.500000000000171,"stage":"descend","target_distance":0.12560254611544017,"dwell_elapsed":0.0},{"joint_position":[0.19485018967246018,-1.491672774462574,1.8811830513597252,-1.9912347443554445e-05,-0.39442690197444896,-0.19520078539644242],"joint_velocity":[0.012412706239409977,0.0901463397851812,0.15111443120936194,1.4539655572949338e-06,-0.21990420081513398,-0.01126994534308017],"joint_actuator_torque":[-0.010519310826396122,-1.0806850897361073,-0.9712134098510887,0.0001678307505275959,-0.04392499411285655,0.0014981020200419692],"jaw_actuator_force":[0.0010557173809253584,-0.0001752909617760423],"end_effector_position":[0.34360308833920444,0.06781117702983153,0.35737292984877606],"end_effector_quaternion":[0.9999969636037843,0.0004673730328679438,-0.0024134903089490962,-0.00017149398902816502],"end_effector_velocity":[-0.0035034161235028816,0.0037400660919720777,-0.06901467352816117],"object_position":[0.3400000029066209,0.07000000065385747,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.215042015116172e-14,6.745046984413144e-14,1.2840304409010056e-21],"object_velocity":[-1.9890560343110928e-13,-1.8327303108002548e-13,-1.8908241518758225e-14],"object_angular_velocity":[7.650820528584057e-12,-8.303731801559872e-12,1.3097847361105937e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.021712684251661493,0.004285088480013788,0.5091239820569098],[0.23953410928282226,0.04727305202624328,0.41798748120493273],[0.2894515191857966,0.05712446033892087,0.39710203309302133],[0.34341000328862026,0.06777382041265892,0.3973724463789342],[0.34360308833920444,0.06781117702983153,0.35737292984877606]],"gripper_points":[[0.3895610233817773,0.06778782553573018,0.36559485217205356],[0.2975653153707683,0.06781958677605442,0.36515080156886826]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999678517296896,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.520000000000178,"stage":"descend","target_distance":0.12560254611544142,"dwell_elapsed":0.0},{"joint_position":[0.19513534153847947,-1.4896543871243355,1.8846577889448286,-1.8998913906090454e-05,-0.3999221905088884,-0.19548538934708928],"joint_velocity":[0.012403593883825658,0.09041077444889455,0.15086493991243224,1.7803864192083353e-06,-0.2199381879100195,-0.011262693336543351],"joint_actuator_torque":[-0.010519848108302199,-1.0813516740421392,-0.9692602372406327,0.0001700556057787771,-0.043916867960398065,0.0014971453971970305],"jaw_actuator_force":[0.0011514218721906389,-0.0003759067561972529],"end_effector_position":[0.34352875338898975,0.06789830737337638,0.355830417837102],"end_effector_quaternion":[0.9999969609730694,0.00046870425307671813,-0.0024143324929653967,-0.00017134632270304734],"end_effector_velocity":[-0.003790656060358009,0.0036785342993420943,-0.06892502437448296],"object_position":[0.3400000029066154,0.07000000065385248,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.649865437242576e-14,8.303818398842769e-14,1.284033453958541e-21],"object_velocity":[-2.330401719011256e-13,-2.1469164091699209e-13,-1.890824151875823e-14],"object_angular_velocity":[4.6347429285992395e-12,-5.0300651600683865e-12,1.4769043411765533e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.022264105029516472,0.0044005099563135235,0.5090787436179242],[0.23957885639652088,0.047352864240328044,0.4167240247360091],[0.28938015358479274,0.05719611209708137,0.3955594016589036],[0.3433356009516702,0.06786084424204218,0.39582993394229693],[0.34352875338898975,0.06789830737337638,0.355830417837102]],"gripper_points":[[0.3894866058287883,0.06787494785272334,0.36405241720396975],[0.29749067311331545,0.0679066826649407,0.3636082105866869]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999701061886172,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.540000000000185,"stage":"descend","target_distance":0.12560254611544278,"dwell_elapsed":0.0},{"joint_position":[0.19542032474088417,-1.4876295898864855,1.888126881779186,-1.8065920059359175e-05,-0.4054183441093054,-0.19576985943913308],"joint_velocity":[0.012396517857074444,0.09067193211433568,0.1506157194497534,2.118192058926412e-06,-0.21997537933819217,-0.011257525648831371],"joint_actuator_torque":[-0.0105157476852753,-1.082005493283532,-0.9672746879358556,0.00017217441030622344,-0.04390482946362084,0.0014965014773746788],"jaw_actuator_force":[0.0012461433661314913,-0.000595422157013914],"end_effector_position":[0.3434479300261367,0.06798406021857356,0.3542898428327593],"end_effector_quaternion":[0.9999969582136581,0.0004700525170223966,-0.002415221768263116,-0.00017122462557584328],"end_effector_velocity":[-0.004077719064399012,0.0036175116722296737,-0.06883256918086825],"object_position":[0.3400000029066105,0.07000000065384789,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.266909743500118e-14,7.888470245383127e-14,1.2840341973619093e-21],"object_velocity":[-3.0482408005242346e-13,-2.8081037529129865e-13,-1.8904078182415897e-14],"object_angular_velocity":[-1.0592593444736702e-11,1.1499124753392836e-11,-2.650087647242433e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.022817126293657376,0.0045165717506371545,0.509032219156356],[0.23961862210144297,0.04743168292015895,0.4154618998835531],[0.2893022982240605,0.0572663958965077,0.3940187017168691],[0.3432547064336375,0.06794648921523115,0.39428935849311464],[0.3434479300261367,0.06798406021857356,0.3542898428327593]],"gripper_points":[[0.38940569394857655,0.06796069000650332,0.3625119235449009],[0.29740978678183555,0.06799240309446064,0.3620675534596134]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999698585238683,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.5600000000001915,"stage":"descend","target_distance":0.1256025461154439,"dwell_elapsed":0.0},{"joint_position":[0.19570521186512174,-1.4855983566262574,1.891590376451324,-1.7113250709815566e-05,-0.41091536235322,-0.19605427477881665],"joint_velocity":[0.012392389034981313,0.09093558934771717,0.15036800751630033,2.3426173826378996e-06,-0.22001285812441868,-0.011255536144595095],"joint_actuator_torque":[-0.010511129503967709,-1.0826583919524637,-0.9652560377990085,0.0001746457157872608,-0.04389159738498449,0.0014962434822969328],"jaw_actuator_force":[0.0013426940416074729,-0.000665316533861926],"end_effector_position":[0.34336062253085686,0.06806845656279797,0.3527512163351579],"end_effector_quaternion":[0.9999969554148123,0.0004714108822815859,-0.0024161222272047066,-0.00017113231517851314],"end_effector_velocity":[-0.004364257304221209,0.003557390305341397,-0.068739897899162],"object_position":[0.34000000290660565,0.07000000065384347,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.64530571586829e-14,7.213988377986247e-14,1.2840337426136547e-21],"object_velocity":[-2.0445818557663305e-13,-1.8834258277804542e-13,-1.890685373997746e-14],"object_angular_velocity":[6.7095671320245535e-12,-7.283616866156096e-12,-3.367571823799066e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.023371751349003874,0.004633277467642859,0.5089843973751726],[0.2396534134388592,0.047509523096876935,0.4142011171808724],[0.28921796100111774,0.057335329386909745,0.3924799488030119],[0.3431673268872768,0.06803077688516274,0.39275073154517093],[0.34336062253085686,0.06806845656279797,0.3527512163351579]],"gripper_points":[[0.38931829710435994,0.06804507279270398,0.3609733794154964],[0.2973224126611176,0.06807676957025445,0.36052884379369066]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999696392326855,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.580000000000198,"stage":"descend","target_distance":0.1256025461154451,"dwell_elapsed":0.0},{"joint_position":[0.1959900708833714,-1.483560658490047,1.8950482555007693,-1.614086878708213e-05,-0.41641326356520764,-0.19633871950336693],"joint_velocity":[0.012390341047840887,0.09120256500862862,0.15011602890454698,2.269045747127231e-06,-0.2200537387099239,-0.011256850331953859],"joint_actuator_torque":[-0.010493639937436683,-1.0833424242119918,-0.9631661916797611,0.00017817548250476144,-0.043871874443169645,0.0014963262547809109],"jaw_actuator_force":[0.0014444977210636978,-0.00015734626664176687],"end_effector_position":[0.34326684622043846,0.06815151794134008,0.3512145708103519],"end_effector_quaternion":[0.9999969525665404,0.00047278013184746714,-0.0024170372419022837,-0.00017107761585978632],"end_effector_velocity":[-0.004649109630745017,0.0034980891624334463,-0.06864524635100078],"object_position":[0.34000000290660026,0.0700000006538386,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.080050577072048e-14,8.772673876865927e-14,1.2840332752748298e-21],"object_velocity":[-2.544740103524745e-13,-2.343886771443141e-13,-1.891379263388137e-14],"object_angular_velocity":[6.367156119654183e-13,-6.885690152246628e-13,6.687714820040607e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.023927984183658928,0.00475063090408302,0.5089352668253331],[0.23968324398097804,0.04758639997867088,0.412941700595195],[0.28912715768453034,0.057402930391597266,0.3909431750007884],[0.3430734773597793,0.06811372872613107,0.39121408556314535],[0.34326684622043846,0.06815151794134008,0.3512145708103519]],"gripper_points":[[0.3892244312563189,0.0681281169772763,0.3594368175947332],[0.2972289440512994,0.06815980424217644,0.3589921155722291]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999656749064324,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.600000000000205,"stage":"descend","target_distance":0.12560254611544644,"dwell_elapsed":0.0},{"joint_position":[0.19627498535594468,-1.48151636853877,1.8985004079254346,-1.5149314123189481e-05,-0.4219120899073075,-0.19662328010810715],"joint_velocity":[0.012394982860488403,0.09146983178790323,0.14986706022465995,2.5213349369891503e-06,-0.22008760720731868,-0.011261602532165384],"joint_actuator_torque":[-0.010546371375141916,-1.0838898356279287,-0.9611952511451136,0.00018031203548387752,-0.04388298592916584,0.0014969198078969015],"jaw_actuator_force":[0.0015384572251040396,0.00042582708059235586],"end_effector_position":[0.3431666425155855,0.06823327663563093,0.3496799359880434],"end_effector_quaternion":[0.999996949636213,0.0004741626974657058,-0.002417979692094314,-0.00017106201882725744],"end_effector_velocity":[-0.004934479181237114,0.0034408249722575075,-0.06855050921157556],"object_position":[0.34000000290659543,0.07000000065383409,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.992725468054121e-14,6.50767294964024e-14,1.2840334368420984e-21],"object_velocity":[-1.9344440257038388e-13,-1.781403943455919e-13,-1.8908241518758257e-14],"object_angular_velocity":[7.677106575139537e-12,-8.336399461199133e-12,-2.4702674853104375e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.024485855453647353,0.004868641718558601,0.5088848135171928],[0.23970815303571993,0.04766233780794838,0.4116836705274998],[0.2890299295649449,0.0574692264951002,0.38940840859236187],[0.3429731982413771,0.06819537682550218,0.38967945027155904],[0.3431666425155855,0.06823327663563093,0.3496799359880434]],"gripper_points":[[0.3891241389147088,0.0682098546641156,0.35790226900228783],[0.29712867081223426,0.06824153974996852,0.3574573937077361]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999654922531489,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.6200000000002115,"stage":"descend","target_distance":0.12560254611544755,"dwell_elapsed":0.0},{"joint_position":[0.19656003714089282,-1.4794652567434528,1.9019465811226848,-1.4140492059544606e-05,-0.42741185761830963,-0.19690807383911726],"joint_velocity":[0.012405377885376722,0.09174114795130622,0.1496150838826099,3.503198621496861e-06,-0.22011661575581276,-0.011271165731778134],"joint_actuator_torque":[-0.010648833795514179,-1.0842960269146715,-0.9593430783326085,0.00017954976281158753,-0.04391171436518704,0.0014984104622186578],"jaw_actuator_force":[0.001618397687208173,0.0004263616243083135],"end_effector_position":[0.3430600862666678,0.06831377098401618,0.34814734968162747],"end_effector_quaternion":[0.9999969465728854,0.0004755616819899979,-0.002418968741327254,-0.0001711029541280859],"end_effector_velocity":[-0.0052188416032459585,0.0033855712290971865,-0.06845493613047518],"object_position":[0.3400000029065903,0.07000000065382939,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.439822146075388e-14,8.080289225942546e-14,1.2840317014771624e-21],"object_velocity":[-2.240984034276917e-13,-2.0633966807212114e-13,-1.89124048551006e-14],"object_angular_velocity":[5.380453090074527e-12,-5.843170551517865e-12,-7.386176444215359e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02504542389477581,0.004987325348754249,0.5088330205119127],[0.23972821193084187,0.04773736684183676,0.41042705284022485],[0.2889263508557737,0.05753425135066817,0.3878756852487964],[0.34286656284865247,0.06827575927704023,0.3881468634761327],[0.3430600862666678,0.06831377098401618,0.34814734968162747]],"gripper_points":[[0.38901748706719896,0.0682903225402837,0.35636977317558066],[0.29702157650474753,0.06832201601950422,0.3559247138075172]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999699257330262,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.640000000000218,"stage":"descend","target_distance":0.12560254611544877,"dwell_elapsed":0.0},{"joint_position":[0.19684535035279438,-1.4774070879183627,1.9053865301065962,-1.3114393826824922e-05,-0.43291250947592896,-0.19719320804118684],"joint_velocity":[0.012416481340324342,0.0920330242032091,0.14933791949665243,3.492206652129345e-06,-0.2201563647722171,-0.011284869376504254],"joint_actuator_torque":[-0.010653027401176018,-1.084925270959161,-0.9572056715796862,0.00018250401245618582,-0.04389562536891134,0.001500220837961308],"jaw_actuator_force":[0.001713365014373025,0.00080328710253319],"end_effector_position":[0.34294724619853106,0.06839305326001734,0.3466168406995653],"end_effector_quaternion":[0.9999969434362579,0.00047697266959389404,-0.0024199810869505846,-0.00017119215248183236],"end_effector_velocity":[-0.005495821921083357,0.0033317760245115385,-0.06835627822964502],"object_position":[0.340000002906585,0.0700000006538245,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.163617118191147e-14,8.866439173599348e-14,1.2840301799843356e-21],"object_velocity":[-2.966846133336883e-13,-2.7317529719825714e-13,-1.8916568191442957e-14],"object_angular_velocity":[-6.580002040056049e-12,7.14316113321028e-12,3.312711336877997e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0256067492871714,0.005106698828469694,0.5087798701807921],[0.23974349031866216,0.047811527633337764,0.4091718698135566],[0.2888164934717121,0.05759805090112003,0.3863450363960651],[0.34275364177100287,0.06835492870562332,0.38661635399465416],[0.34294724619853106,0.06839305326001734,0.3466168406995653]],"gripper_points":[[0.38890454805827124,0.06836957371118332,0.3548393567972884],[0.2969090389601325,0.06840128418098491,0.3543941131565672]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999659201122189,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.660000000000225,"stage":"descend","target_distance":0.12560254611545005,"dwell_elapsed":0.0},{"joint_position":[0.19713103044295688,-1.4753415170051642,1.9088198754936898,-1.2073147213729013e-05,-0.4384140997346984,-0.19747883015552728],"joint_velocity":[0.012433826017254497,0.09233665537862598,0.14904895757953562,3.666177542186685e-06,-0.2201939260399821,-0.011304530107146252],"joint_actuator_torque":[-0.010679854430733826,-1.085505074528328,-0.9550848302346822,0.00018469219026931482,-0.04388670488290103,0.0015029073850634234],"jaw_actuator_force":[0.001800844636427712,-7.636371948116505e-05],"end_effector_position":[0.3428282307916753,0.06847117702944668,0.34508844832395413],"end_effector_quaternion":[0.9999969401133656,0.0004784036235865813,-0.002421060297328667,-0.00017135027209376545],"end_effector_velocity":[-0.005769422931606542,0.0032806358152303325,-0.06825655437821773],"object_position":[0.3400000029065799,0.07000000065381981,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.908090817838621e-14,7.502619118951858e-14,1.2840319036415508e-21],"object_velocity":[-2.1564125762920134e-13,-1.9855430734386612e-13,-1.8905465961196706e-14],"object_angular_velocity":[7.694220496139763e-12,-8.356029899232995e-12,5.268733110042253e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02616992136420112,0.005226785031225701,0.508725341391896],[0.23975409130635664,0.0478848628612774,0.4079181454882022],[0.2887004635847673,0.05766067236399758,0.38481649642693905],[0.3426345400025753,0.06843293804461588,0.3850879610917149],[0.3428282307916753,0.06847117702944668,0.34508844832395413]],"gripper_points":[[0.38878543096015417,0.06844765971160588,0.3533110631592076],[0.2967893953766327,0.0684794001882697,0.35286561845826614]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999711947405751,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.6800000000002315,"stage":"descend","target_distance":0.1256025461154513,"dwell_elapsed":0.0},{"joint_position":[0.19741724029016566,-1.4732681286586262,1.9122461753506454,-1.1016424910198787e-05,-0.4439165195395523,-0.19776508959401226],"joint_velocity":[0.012452092028751038,0.09267178645018839,0.14872098154760496,2.6526200151534024e-06,-0.22024392706820273,-0.01132999623019956],"joint_actuator_torque":[-0.010589928638282231,-1.0863620775287472,-0.9526155440037201,0.00019124768127709655,-0.04382572466690959,0.0015060462560647636],"jaw_actuator_force":[0.0019086315964322864,0.0003033080829801804],"end_effector_position":[0.34270315645730176,0.06854821802660814,0.34356219742987015],"end_effector_quaternion":[0.9999969367065843,0.00047984695705134255,-0.002422165936607121,-0.00017157074562369005],"end_effector_velocity":[-0.006032096752618838,0.0032317480980947762,-0.06815312498891993],"object_position":[0.3400000029065746,0.07000000065381504,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.086288056100101e-14,8.78200168899294e-14,1.2840356240868662e-21],"object_velocity":[-2.462049762250328e-13,-2.2670345004110867e-13,-1.89054659611967e-14],"object_angular_velocity":[2.3208211352348673e-12,-2.520180313622497e-12,2.1269907118184776e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02673504855657714,0.0053476125266580755,0.5086694102676901],[0.23976013387097164,0.047957432827112,0.40666589934400693],[0.2885783825888537,0.057722183312632694,0.38329009475732956],[0.34250937718974156,0.06850986363346226,0.383561709658596],[0.34270315645730176,0.06854821802660814,0.34356219742987015]],"gripper_points":[[0.38866025016295974,0.06852465700543546,0.3517849134072066],[0.29666503699059865,0.06855643850451938,0.3513392693212102]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999629805238485,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.700000000000238,"stage":"descend","target_distance":0.1256025461154526,"dwell_elapsed":0.0},{"joint_position":[0.19770410739514813,-1.471186323353291,1.9156647850898596,-9.94620991109867e-06,-0.4494198162514461,-0.19805217159954666],"joint_velocity":[0.012485902018949283,0.093012422766229,0.14839584637254252,3.360031673347008e-06,-0.22026882707368053,-0.01136303501400325],"joint_actuator_torque":[-0.010722342446513267,-1.0867531116142573,-0.9506594612507797,0.00019078776435222224,-0.04385771010051087,0.0015106861867248966],"jaw_actuator_force":[0.0019794608935796987,0.0002512199345332533],"end_effector_position":[0.3425722016459774,0.06862425184007444,0.34203812117953486],"end_effector_quaternion":[0.999996933096666,0.00048131118548310294,-0.002423343422631641,-0.00017188211278696414],"end_effector_velocity":[-0.006295973752246768,0.00318794095531007,-0.06805253078860074],"object_position":[0.34000000290656995,0.07000000065381073,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.564886619428086e-14,7.129972518487349e-14,1.2840372267869362e-21],"object_velocity":[-3.573551116692466e-13,-3.2902029085843256e-13,-1.8919343749004504e-14],"object_angular_velocity":[-1.9941455386681146e-11,2.1660534599610745e-11,4.290811750895159e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027302289547609587,0.00546921946706826,0.5086120468032198],[0.2397617909862704,0.04802929997627517,0.4054151486158929],[0.28845042673263016,0.05778265175963509,0.3817658594479638],[0.342378328148437,0.06858578038567759,0.38203763283923076],[0.3425722016459774,0.06862425184007444,0.34203812117953486]],"gripper_points":[[0.3885291906435027,0.06860063841439831,0.35026094491170456],[0.29653357258687485,0.06863247809977023,0.3498150822855867]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999670401089322,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.720000000000245,"stage":"descend","target_distance":0.1256025461154537,"dwell_elapsed":0.0},{"joint_position":[0.19799182372246277,-1.4690954815839075,1.919075027791828,-8.864153688363551e-06,-0.45492387265999806,-0.1983402597534817],"joint_velocity":[0.012523065803303054,0.09339031925127239,0.14802532790010017,3.113294328122407e-06,-0.2203027259781416,-0.011403261749908118],"joint_actuator_torque":[-0.010753746722784285,-1.0873869297583951,-0.9483908708822355,0.00019387088353476072,-0.04384333735271184,0.001516053726776434],"jaw_actuator_force":[0.0020637114688764058,0.0002200434669799023],"end_effector_position":[0.34243554170229384,0.06869937654599904,0.34051624540613024],"end_effector_quaternion":[0.9999969293578758,0.00048279012410044203,-0.0024245634969443787,-0.00017227990300701035],"end_effector_velocity":[-0.006547526665808634,0.003147546482476204,-0.06794852429675885],"object_position":[0.3400000029065649,0.07000000065380604,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.5924027559618e-14,8.245675545852479e-14,1.2840392657740147e-21],"object_velocity":[-2.287824265923518e-13,-2.1065518058061649e-13,-1.8908241518758266e-14],"object_angular_velocity":[6.503125891231415e-12,-7.063078051058495e-12,6.378179741395341e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027871807816263323,0.005591647336824621,0.5085532189889643],[0.23975923939462265,0.048100543792418265,0.4041659110379796],[0.28831677579799664,0.05784216589682514,0.3802438196325456],[0.3422415705641328,0.06866078687095419,0.3805157564785739],[0.34243554170229384,0.06869937654599904,0.34051624540613024]],"gripper_points":[[0.38839242104058486,0.06867570252978997,0.3487391807820974],[0.2963967193008245,0.06870761620282088,0.3482930933436335]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799967888085026,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.740000000000252,"stage":"descend","target_distance":0.12560254611545488,"dwell_elapsed":0.0},{"joint_position":[0.19828058588804204,-1.4669947781333128,1.9224759994890632,-7.772107387330337e-06,-0.4604286459389322,-0.19862958940785333],"joint_velocity":[0.012569078268479252,0.09380421979126771,0.1476156967561156,2.753943857597897e-06,-0.22033433739777733,-0.011452921414819059],"joint_actuator_torque":[-0.010792870221933981,-1.0880388137023829,-0.9460777964874296,0.0001970849307512386,-0.04382901509380588,0.0015226782751316392],"jaw_actuator_force":[0.0021440998706729886,0.0001785292304337105],"end_effector_position":[0.34229341453930373,0.06877370455181077,0.33899659916983776],"end_effector_quaternion":[0.9999969254421814,0.0004842869791766526,-0.002425843830741006,-0.00017278314369894012],"end_effector_velocity":[-0.006788716022333415,0.003112149200873933,-0.06784341012924394],"object_position":[0.3400000029065597,0.07000000065380133,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.313307276867154e-14,9.028139540644449e-14,1.2840417345694814e-21],"object_velocity":[-2.761304573976421e-13,-2.5426873632625986e-13,-1.8908241518758272e-14],"object_angular_velocity":[-3.716136893246469e-12,4.0337085314768134e-12,1.5075947419445702e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.028443822632894047,0.005714949632916819,0.5084928873503266],[0.23975271416073818,0.048171256847846296,0.40291820127953926],[0.28817766846920245,0.057900827251267634,0.37872400238831716],[0.3420993409353861,0.06873499524418795,0.3789961096296642],[0.34229341453930373,0.06877370455181077,0.33899659916983776]],"gripper_points":[[0.38825018061746447,0.06874995995612475,0.3472196517097102],[0.29625449922688196,0.06878196699696919,0.3467733288858379]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999676963367428,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.760000000000258,"stage":"descend","target_distance":0.12560254611545618,"dwell_elapsed":0.0},{"joint_position":[0.19857061845758245,-1.4648833182020067,1.925866685949131,-6.672246769511986e-06,-0.46593405435741386,-0.19892039895968652],"joint_velocity":[0.012624894423235888,0.09425707443330983,0.14716153321248016,2.2634092873951414e-06,-0.2203627544449149,-0.011512013869681002],"joint_actuator_torque":[-0.01084016343511962,-1.0887124575435791,-0.9437158812361304,0.00020046123461548305,-0.0438146063417193,0.0015305576734583326],"jaw_actuator_force":[0.0022204053643299915,0.00013249001070825273],"end_effector_position":[0.34214608076569375,0.06884736294869288,0.3374792180110284],"end_effector_quaternion":[0.9999969213013377,0.000485805057871423,-0.0024272029817815474,-0.00017339831832687778],"end_effector_velocity":[-0.007018409202689295,0.0030823240599320415,-0.0677366412589239],"object_position":[0.34000000290655497,0.070000000653797,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.027406774321423e-14,6.544396186608579e-14,1.2840418692998833e-21],"object_velocity":[-1.904371003265569e-13,-1.7538882026483995e-13,-1.8901302624854362e-14],"object_angular_velocity":[6.940990437683671e-12,-7.537079137168137e-12,-2.9566508570838938e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.029018571671921765,0.005839185150090763,0.5084310083573749],[0.2397424724463637,0.04824154340819568,0.4016720384459224],[0.28803336637383997,0.05795875050901139,0.3772064411745479],[0.3419518983859389,0.06880853233354818,0.3774787278253589],[0.34214608076569375,0.06884736294869288,0.3374792180110284]],"gripper_points":[[0.38810273156376485,0.06882353713336722,0.34570239494927735],[0.2961070913744846,0.06885565814700662,0.3452558223501826]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999672968470836,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.780000000000265,"stage":"descend","target_distance":0.12560254611545735,"dwell_elapsed":0.0},{"joint_position":[0.19886217804222783,-1.4627599373324627,1.9292457829404288,-5.567100150186532e-06,-0.4714399803217943,-0.19921298038251],"joint_velocity":[0.012691933809752148,0.09476118271655011,0.14664981425022144,1.6197099062650424e-06,-0.22038642288817634,-0.011582787638903748],"joint_actuator_torque":[-0.010896660533830982,-1.0894197032520196,-0.9412975187929078,0.0002040298490671775,-0.04380019532940338,0.001539993049776811],"jaw_actuator_force":[0.002291493576356274,8.408436670315211e-05],"end_effector_position":[0.34199387491562155,0.06892050530408161,0.3359641312118688],"end_effector_quaternion":[0.9999969169042761,0.00048734611613596835,-0.0024286519037479107,-0.0001741425739304959],"end_effector_velocity":[-0.00723326241083674,0.0030592583069737667,-0.0676285684310845],"object_position":[0.3400000029065497,0.07000000065379214,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.367357423113308e-14,9.083320968938499e-14,1.2840415340461377e-21],"object_velocity":[-2.4934373112932777e-13,-2.2968632433749134e-13,-1.890269040363514e-14],"object_angular_velocity":[4.130053988825636e-12,-4.4842483643274914e-12,-3.753444127845433e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02959636552399805,0.005964429213359178,0.5083675281564443],[0.23972884593849791,0.04831153105069867,0.4004274353232997],[0.28788420603348747,0.05801607522175564,0.3756911640490374],[0.3417995765729265,0.068881551569529,0.37596364034336427],[0.34199387491562155,0.06892050530408161,0.3359641312118688]],"gripper_points":[[0.38795040467760755,0.06889658602456976,0.3441874407715481],[0.2959548041514417,0.06892884478051542,0.3437406018851082]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999669136326407,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.800000000000272,"stage":"descend","target_distance":0.1256025461154586,"dwell_elapsed":0.0},{"joint_position":[0.19915554528367072,-1.4606233568865137,1.9326118367316278,-4.459685238364093e-06,-0.47694627065474043,-0.1995076597567334],"joint_velocity":[0.012771221715468281,0.09532102143846066,0.14607449136225809,8.021111177188276e-07,-0.22040392650836757,-0.011666539144067352],"joint_actuator_torque":[-0.010963156471788693,-1.0901657522795176,-0.9388188788368552,0.00020781386225917815,-0.04378590054099618,0.0015511577798488219],"jaw_actuator_force":[0.002356725227462775,3.4462806050683525e-05],"end_effector_position":[0.3418371661554198,0.06899330096480799,0.33445137044669976],"end_effector_quaternion":[0.9999969122192016,0.0004889117683785757,-0.0024302014439974546,-0.0001750379582778547],"end_effector_velocity":[-0.007431888324902927,0.003043607505465761,-0.06751906164104121],"object_position":[0.3400000029065446,0.07000000065378745,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.882557848912016e-14,8.559388831004993e-14,1.2840425692084979e-21],"object_velocity":[-3.386089798021669e-13,-3.118217258241972e-13,-1.8919343749004517e-14],"object_angular_velocity":[-1.4398976164709903e-11,1.564122204300769e-11,8.456288312485312e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.030177545184471837,0.006090765065458503,0.508302386528676],[0.2397122004034552,0.048381360612884665,0.399184405469156],[0.2877305588911389,0.058072955425836494,0.37417820147634934],[0.341642743793965,0.06895422217430981,0.37445087885359774],[0.3418371661554198,0.06899330096480799,0.33445137044669976]],"gripper_points":[[0.3877935724094678,0.06896927392140673,0.34267482186350195],[0.295798003942486,0.06900169824970975,0.34222769815439863]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999666074652632,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.820000000000278,"stage":"descend","target_distance":0.12560254611545982,"dwell_elapsed":0.0},{"joint_position":[0.1994510418810754,-1.458471940262024,1.9359630589645824,-3.353465835175319e-06,-0.4824527400904225,-0.19980479475950036],"joint_velocity":[0.012864585909553009,0.09595293091677866,0.1454205695324326,-2.2276820219333283e-07,-0.220413884405414,-0.011764513928313295],"joint_actuator_torque":[-0.011041160883522139,-1.0909668436659103,-0.9362720811304825,0.00021185241883192517,-0.04377192174058564,0.0015642161548719002],"jaw_actuator_force":[0.002414735597113804,-1.7019016155472855e-05],"end_effector_position":[0.34167641381645675,0.06906595237143415,0.33294094319418016],"end_effector_quaternion":[0.9999969072836783,0.0004904980586246023,-0.002431835302802819,-0.00017610165542035778],"end_effector_velocity":[-0.007610216540721954,0.0030368567869348334,-0.0674093130732278],"object_position":[0.3400000029065396,0.07000000065378281,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.855027437308259e-14,7.444256128597149e-14,1.2840428569049244e-21],"object_velocity":[-2.1085103248571158e-13,-1.9416354699680457e-13,-1.8906853739977486e-14],"object_angular_velocity":[6.3789154235470425e-12,-6.9270240824589316e-12,1.4462692178193536e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.030762548346112122,0.00621829794717261,0.5082355088587603],[0.23969299512673023,0.0484512025069787,0.39794294256123675],[0.28757288918062185,0.058129576468600924,0.3726675627847209],[0.34148186068370906,0.06902674690811969,0.3729404508412773],[0.34167641381645675,0.06906595237143415,0.33294094319418016]],"gripper_points":[[0.3876326905694822,0.06904180175059504,0.3411645441864117],[0.2956371437450705,0.06907442264092074,0.3407171201062379]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999664063406084,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.840000000000285,"stage":"descend","target_distance":0.12560254611546098,"dwell_elapsed":0.0},{"joint_position":[0.199749039682624,-1.4563038391024081,1.9392973595648129,-2.2524462863238747e-06,-0.48795919187309617,-0.20010479768301753],"joint_velocity":[0.012973712125280762,0.09666644495359586,0.14467313467703297,-1.5585398431104414e-06,-0.220417560131533,-0.011878918780054117],"joint_actuator_torque":[-0.01112485175211475,-1.0918494642601217,-0.9336288442225396,0.0002164276309412715,-0.04375507486750507,0.001579432793558766],"jaw_actuator_force":[0.0024665083365480456,0.0004022275700439337],"end_effector_position":[0.34151214697280985,0.06913869426516762,0.3314328733509552],"end_effector_quaternion":[0.9999969020374393,0.0004921087180002065,-0.0024335756562510733,-0.0001773529218043241],"end_effector_velocity":[-0.007764764836797662,0.0030403256915145184,-0.06729806998992972],"object_position":[0.3400000029065343,0.070000000653778,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.865966687798803e-14,9.628128784946168e-14,1.2840440321771926e-21],"object_velocity":[-2.756284644235199e-13,-2.5381155530532106e-13,-1.890685373997748e-14],"object_angular_velocity":[-7.419289440782849e-13,8.044729157183465e-13,1.9848734885682297e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.031351869275462754,0.006347147565655914,0.5081668096856886],[0.2396717546594186,0.04852125341481914,0.3967030480883018],[0.2874117283932418,0.058186152671919046,0.37115926938890065],[0.34131745454128637,0.0690993602178306,0.371432380194038],[0.34151214697280985,0.06913869426516762,0.3314328733509552]],"gripper_points":[[0.38746828972637776,0.06911440242064065,0.3396566336830518],[0.29547329417689494,0.06914725421666912,0.3392088922334464]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799960909919305,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.860000000000292,"stage":"descend","target_distance":0.12560254611546226,"dwell_elapsed":0.0},{"joint_position":[0.20004994180904673,-1.4541167833214554,1.9426121416545366,-1.1618707255088303e-06,-0.4934653984667926,-0.2004081263904357],"joint_velocity":[0.013101741930240485,0.09747696998552827,0.14381537710271103,-3.043193687740341e-06,-0.22040852347791906,-0.012011561428197634],"joint_actuator_torque":[-0.011239430414462959,-1.0927745239074511,-0.9309374578643883,0.0002208452196069714,-0.04374490273180953,0.0015971369521849965],"jaw_actuator_force":[0.0025033086856414144,-0.00013308759968211348],"end_effector_position":[0.3413450218518678,0.0692117986906225,0.3299271907130549],"end_effector_quaternion":[0.9999968963511334,0.0004937524865264607,-0.0024354713641613138,-0.00017881783115488722],"end_effector_velocity":[-0.007891517820456231,0.0030559669494628038,-0.06718600903606456],"object_position":[0.34000000290652926,0.0700000006537734,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.188827064913186e-14,6.720462790735452e-14,1.2840467768156337e-21],"object_velocity":[-1.9818364199976817e-13,-1.8250484905509698e-13,-1.890824151875826e-14],"object_angular_velocity":[7.619278742539027e-12,-8.27391213139504e-12,4.8049182979019393e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03194611600333699,0.006477459332120385,0.5080961851462584],[0.23964912678878728,0.04859174344043513,0.3954647224695123],[0.2872477334271196,0.05824293354859059,0.3696533456060913],[0.34115017768410283,0.0691723334547517,0.3699266966880722],[0.3413450218518678,0.0692117986906225,0.3299271907130549]],"gripper_points":[[0.38730102212481266,0.06918734543600447,0.33815112462311325],[0.29530583733327415,0.06922046773989073,0.3377030336379208]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999628203056539,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.880000000000298,"stage":"descend","target_distance":0.1256025461154635,"dwell_elapsed":0.0},{"joint_position":[0.20035422615446155,-1.451908053943359,1.945904386486945,-8.736123851239329e-08,-0.4989709587674863,-0.20071530732429643],"joint_velocity":[0.013249094467950914,0.09840966575211144,0.14282026730414046,-5.000795409669127e-06,-0.22038723643327893,-0.012165174556735362],"joint_actuator_torque":[-0.011354050653281433,-1.0938409444721628,-0.928102945433011,0.00022615754448979502,-0.04372913801805822,0.001617573728637467],"jaw_actuator_force":[0.0025328159746980106,0.0002676401081345148],"end_effector_position":[0.34117580127344405,0.06928558646852546,0.32842388516311755],"end_effector_quaternion":[0.9999968903446909,0.000495418230980252,-0.002437472981644821,-0.0001805192187780985],"end_effector_velocity":[-0.007983267685327894,0.00308541459391728,-0.06707366212359683],"object_position":[0.34000000290652377,0.07000000065376842,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.618749588899186e-14,8.270709719729663e-14,1.2840535702065818e-21],"object_velocity":[-2.321179029472202e-13,-2.1381517605177864e-13,-1.890962929753904e-14],"object_angular_velocity":[4.615254896034113e-12,-5.010849924722449e-12,3.476147809148535e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.032546017186390816,0.006609407540338347,0.508023510691576],[0.23962587555641007,0.048662945751315405,0.39422793880325235],[0.2870816764328728,0.05830021492466431,0.3681497869121782],[0.3409807968866876,0.06924598833415091,0.3684233902260168],[0.34117580127344405,0.06928558646852546,0.32842388516311755]],"gripper_points":[[0.3871316510763252,0.06926094970066168,0.33664800234210135],[0.2951367139190416,0.06929438588562536,0.3361995444857778]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999603630048367,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.900000000000305,"stage":"descend","target_distance":0.12560254611546487,"dwell_elapsed":0.0},{"joint_position":[0.2006624089751004,-1.449674287471283,1.949170181393713,9.636369820730126e-07,-0.5044755571128321,-0.20102693291658277],"joint_velocity":[0.013420585492305702,0.0994865764055942,0.1416570149089493,-7.241279104645019e-06,-0.2203496194663873,-0.012342395379050394],"joint_actuator_torque":[-0.011503528182700506,-1.0949945160583638,-0.9251846121636618,0.0002314513328565625,-0.04371977431720353,0.0016412135403598427],"jaw_actuator_force":[0.0025418334973217327,-0.00025723506488084524],"end_effector_position":[0.3410054690945052,0.06936043766588404,0.32692299975070127],"end_effector_quaternion":[0.9999968837188827,0.0004971275391076276,-0.0024396952577016616,-0.0001824932400525536],"end_effector_velocity":[-0.008032907433590808,0.003131860923380837,-0.06695964797858733],"object_position":[0.34000000290651883,0.07000000065376384,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.237928798064386e-14,7.857625296673105e-14,1.2840575449488967e-21],"object_velocity":[-3.0363865615295096e-13,-2.7968735196195824e-13,-1.888464927948497e-14],"object_angular_velocity":[-1.0549620536009448e-11,1.1456893627079184e-11,5.684194404470014e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03315247532600439,0.006743205408116177,0.5079486329532539],[0.23960296700616496,0.04873518514164534,0.39299269303243545],[0.28691453801620176,0.058358347163912444,0.3666486234672479],[0.3408102868243179,0.06932070320492195,0.36692250381080205],[0.3410054690945052,0.06936043766588404,0.32692299975070127]],"gripper_points":[[0.3869611535167772,0.06933559160398593,0.3351473204091371],[0.29496591290089946,0.06936939207398911,0.3346984524221891]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999634188876592,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.920000000000312,"stage":"descend","target_distance":0.12560254611546603,"dwell_elapsed":0.0},{"joint_position":[0.20097509883234757,-1.4474112748981365,1.9524048237475125,1.9821506480646595e-06,-0.5099785421335482,-0.20134368251304594],"joint_velocity":[0.013616645958830113,0.10075221840226635,0.1402808319415559,-1.012682690784911e-05,-0.22029015191803292,-0.012546673455251036],"joint_actuator_torque":[-0.011649955916809063,-1.0963670285485705,-0.9220609269585793,0.00023784352082597716,-0.04370291679257576,0.0016683792374792006],"jaw_actuator_force":[0.0025382137278047168,0.0005568361259165044],"end_effector_position":[0.34083521159721814,0.06943680731643959,0.3254245017633061],"end_effector_quaternion":[0.9999968766609101,0.0004988626683186802,-0.0024420613084045325,-0.00018477291127550963],"end_effector_velocity":[-0.008028450483584118,0.0031979413266800026,-0.06684620923375534],"object_position":[0.34000000290651405,0.07000000065375943,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.61822742156075e-14,7.186399580156297e-14,1.2840595990328288e-21],"object_velocity":[-2.0367450096024224e-13,-1.875760370929739e-13,-1.8904078182415904e-14],"object_angular_velocity":[6.682388812444624e-12,-7.2557090590233294e-12,4.6278264427511027e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03376662072108024,0.006879118431183234,0.50787136062338],[0.23958158758738868,0.048808855602054474,0.3917589299598114],[0.28674751749425104,0.058417753703712466,0.3651498312660769],[0.340639839928632,0.06939693452576567,0.3654240047611145],[0.34083521159721814,0.06943680731643959,0.3254245017633061]],"gripper_points":[[0.38679071500158935,0.06941172343600777,0.3336490390340452],[0.29479635908497415,0.069445944015091,0.333199740292835]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999545945816972,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.940000000000318,"stage":"descend","target_distance":0.12560254611546717,"dwell_elapsed":0.0},{"joint_position":[0.20129294472583723,-1.4451136121509038,1.95560205424726,2.9566012902769497e-06,-0.5154793358290581,-0.2016662946163624],"joint_velocity":[0.013843330975884983,0.10225073197385967,0.13863448424036212,-1.3502603491261074e-05,-0.22020201814526819,-0.01278032078592399],"joint_actuator_torque":[-0.011846642753781111,-1.097892458941601,-0.918817684433634,0.00024434823270360977,-0.043697715888299626,0.0016995224571942913],"jaw_actuator_force":[0.002503103864865963,1.2576047236478871e-05],"end_effector_position":[0.34066660636852414,0.06951524586996041,0.32392842067404615],"end_effector_quaternion":[0.999996868813842,0.0005006483735119613,-0.0024447075493066,-0.00018739988220034016],"end_effector_velocity":[-0.007956149617350541,0.0032886741012134544,-0.06673181382028406],"object_position":[0.3400000029065087,0.07000000065375458,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.047715157351592e-14,8.739778954342589e-14,1.2840612409349464e-21],"object_velocity":[-2.535188002507983e-13,-2.3344816248688454e-13,-1.8904078182415897e-14],"object_angular_velocity":[6.324655961540304e-13,-6.846858915431438e-13,3.058132780596079e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03438990640547374,0.007017482654682611,0.5077914492467578],[0.2395632888926284,0.04888443733115711,0.3905266155373386],[0.2865821890459347,0.058478947777849184,0.36365342447893],[0.3404710228712507,0.06947523077652186,0.3639279224945425],[0.34066660636852414,0.06951524586996041,0.32392842067404615]],"gripper_points":[[0.3866219018942931,0.06948989141306397,0.3321532001808655],[0.29462734095338877,0.06952459645357822,0.33170341384816926]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999566704413141,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.960000000000325,"stage":"descend","target_distance":0.12560254611546848,"dwell_elapsed":0.0},{"joint_position":[0.20161670309222854,-1.442774213615406,1.958753741773883,3.871316124181606e-06,-0.5209768826646881,-0.20199559546031312],"joint_velocity":[0.014100850196950161,0.10406420862887546,0.13662178109894085,-1.7742124772957568e-05,-0.2200762621165949,-0.013046852612938638],"joint_actuator_torque":[-0.012043690057154777,-1.099745751241585,-0.9152749570023389,0.00025186986943967184,-0.04368482751385727,0.0017349931715457956],"jaw_actuator_force":[0.0024404324327154114,0.0006271096521413],"end_effector_position":[0.340501699166169,0.06959643936615681,0.322434741211378],"end_effector_quaternion":[0.9999968601791479,0.0005024793729997667,-0.002447629941031037,-0.0001904048241184516],"end_effector_velocity":[-0.007791377661190138,0.0034092490888379744,-0.06661632317354281],"object_position":[0.3400000029065039,0.07000000065375013,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.969411941269819e-14,6.484034938269905e-14,1.2840628161398295e-21],"object_velocity":[-1.9273948289181286e-13,-1.7744507980306808e-13,-1.8905465961196674e-14],"object_angular_velocity":[7.646954878478953e-12,-8.305985611097815e-12,9.20730949949594e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03502423927166554,0.007158734708169481,0.5077085795952643],[0.2395500981189013,0.04896253672914209,0.3892956782736942],[0.2864206074380595,0.05854257469228164,0.36215938838750106],[0.34030588173173637,0.06955627842577632,0.36243424174115013],[0.340501699166169,0.06959643936615681,0.322434741211378]],"gripper_points":[[0.3864567465746673,0.06957077884625822,0.33065978813883345],[0.29446282018277736,0.0696060376196673,0.33020946755019154]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999503532696808,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":5.980000000000332,"stage":"descend","target_distance":0.12560254611546964,"dwell_elapsed":0.0},{"joint_position":[0.20194710712520797,-1.4403830591392688,1.9618477847054658,4.704471216392063e-06,-0.5264698929159026,-0.20233239986494275],"joint_velocity":[0.014391835862690383,0.10631717246925554,0.13411356934380772,-2.2957927674056358e-05,-0.21989281138684974,-0.013345597599164746],"joint_actuator_torque":[-0.01228415934201621,-1.1019560508038921,-0.911456853030586,0.0002599378639628054,-0.0436825479238081,0.001774782499364136],"jaw_actuator_force":[0.0023226453161075966,0.00041757332444980477],"end_effector_position":[0.3403435181058112,0.06968126921590385,0.3209436272226513],"end_effector_quaternion":[0.9999968497533701,0.0005044283219362557,-0.0024512176955328925,-0.00019382263385138023],"end_effector_velocity":[-0.007500220064052753,0.0035676737989157976,-0.06650512058213794],"object_position":[0.3400000029064988,0.07000000065374545,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.410571573297152e-14,8.050755762014024e-14,1.2840629935022478e-21],"object_velocity":[-2.2328235977555018e-13,-2.05528322636356e-13,-1.889991484607355e-14],"object_angular_velocity":[5.3591518985792395e-12,-5.8218958414532925e-12,-2.984194525914632e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03567232067989844,0.007303477982168287,0.507622305924208],[0.23954496424054894,0.049043946082711655,0.388066132807386],[0.28626577838986467,0.05860947002241951,0.36066784313478095],[0.34014741348635374,0.06964095308539243,0.3609431261893615],[0.3403435181058112,0.06968126921590385,0.3209436272226513]],"gripper_points":[[0.38629826180737675,0.06965526274653867,0.32916900247846315],[0.29430448848161045,0.06969115151296484,0.3287180229042107]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799948857344386,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.000000000000338,"stage":"descend","target_distance":0.12560254611547086,"dwell_elapsed":0.0},{"joint_position":[0.2022319295953295,-1.4382903636167952,1.9643157027719251,5.23138213462178e-06,-0.5306729501754989,-0.20259769638681996],"joint_velocity":[0.012273774679745915,0.09081857989861697,0.10485217017833989,1.2424154375038778e-06,-0.16474793472654975,-0.010330335986363137],"joint_actuator_torque":[-0.010471278360995484,-1.0796188061467547,-0.8844980683185213,0.00021382869902410292,-0.05052682331633207,0.0013713580839045392],"jaw_actuator_force":[0.0020125143096212383,0.0003601779690267648],"end_effector_position":[0.3402196520200839,0.06975688134951391,0.3196820504043974],"end_effector_quaternion":[0.9999972829974981,0.000469379708439969,-0.0022759064394949923,-0.00018420149244520716],"end_effector_velocity":[-0.005759524573071087,0.0031703723568632944,-0.05498544619170666],"object_position":[0.34000000290649346,0.07000000065374058,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.132349911558732e-14,8.835625424312681e-14,1.2840636131113595e-21],"object_velocity":[-2.956630346163982e-13,-2.721277793666621e-13,-1.8890200394608076e-14],"object_angular_velocity":[-6.554285141853686e-12,7.121363472852711e-12,2.8599120505953713e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0362392995406798,0.007430315132865822,0.5075454982265561],[0.2395637902782371,0.049118897957531764,0.38704150024979206],[0.28615898607226065,0.05867253152151771,0.35942600071345027],[0.3400375730827804,0.0697193646128922,0.35968161839900287],[0.3402196520200839,0.06975688134951391,0.3196820504043974]],"gripper_points":[[0.3861743150671911,0.06973233635854871,0.3278913004495],[0.29418371289850104,0.06976642277487535,0.3274725891205191]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999156139787489,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.020000000000345,"stage":"descend","target_distance":0.12560254611547217,"dwell_elapsed":0.0},{"joint_position":[0.20245186399961984,-1.4366471936877763,1.966040404948357,5.715418030857476e-06,-0.5333763876473369,-0.20277340858492182],"joint_velocity":[0.009409103921516088,0.07029029245709188,0.07230758213135145,1.7709964369944665e-05,-0.10532017939689413,-0.006753751116119728],"joint_actuator_torque":[-0.008027676257071903,-1.050409257174806,-0.853752085871406,0.00015678508424015532,-0.05763045160018976,0.0008934089107768273],"jaw_actuator_force":[0.001470021384799125,-0.0001752856412711168],"end_effector_position":[0.3401350369347426,0.06981749030360715,0.3187258654639826],"end_effector_quaternion":[0.9999980036281558,0.00040317870124015066,-0.0019503515816978985,-0.00016222005332701246],"end_effector_velocity":[-0.0038135231230722435,0.002552504711867641,-0.04099657272756406],"object_position":[0.34000000290648835,0.0700000006537359,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.882173068116695e-14,7.476819889645155e-14,1.2840655995800555e-21],"object_velocity":[-2.1490063669513238e-13,-1.9780717670821867e-13,-1.8906853739977448e-14],"object_angular_velocity":[7.664822284659045e-12,-8.327552390456547e-12,4.9995777389843587e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0366843555596775,0.007529974785379284,0.5074843374623201],[0.23960096697321487,0.04918143476517605,0.38628200788900335],[0.28610269042215053,0.058726561010546144,0.3585064740284516],[0.3399790038874033,0.06978526138279051,0.35872554815003405],[0.3401350369347426,0.06981749030360715,0.3187258654639826]],"gripper_points":[[0.3860941812458202,0.06979605099189308,0.3269051917086924],[0.294103038150003,0.06982604145099644,0.32654637156659316]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999184778770962,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.040000000000352,"stage":"descend","target_distance":0.1256025461154734,"dwell_elapsed":0.0},{"joint_position":[0.20261788131642366,-1.435382837895597,1.9672315979031059,6.2197878189960606e-06,-0.5351177046023335,-0.2028865139019383],"joint_velocity":[0.007094459602745144,0.05405965781718112,0.04993682037792735,1.9902781163874112e-05,-0.06788055662693204,-0.004341309035565773],"joint_actuator_torque":[-0.006054412917961827,-1.027564763681653,-0.8314726733045745,0.00011468446719127264,-0.061840394237869134,0.0005718561433525338],"jaw_actuator_force":[0.000980384422645031,-0.0006792085064741826],"end_effector_position":[0.3400801377542439,0.06986506407983413,0.3180141300512498],"end_effector_quaternion":[0.9999986550127749,0.0003317497533342909,-0.001600451993500393,-0.0001358976047710424],"end_effector_velocity":[-0.0024529457814904147,0.002010685011720584,-0.030475849410803724],"object_position":[0.3400000029064831,0.07000000065373116,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.056305530000373e-14,8.751891100791115e-14,1.284069409919074e-21],"object_velocity":[-2.453612119116729e-13,-2.25860556864563e-13,-1.889991484607354e-14],"object_angular_velocity":[2.3117102628058474e-12,-2.5112485449672896e-12,1.7481335849507116e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03702673739766393,0.007606659719658034,0.5074367665714006],[0.23964428980992228,0.0492317901727469,0.3857261426750904],[0.28607747890439816,0.05877088256824643,0.3578341246988527],[0.3399520981602511,0.06983854153507071,0.3580139163308912],[0.3400801377542439,0.06986506407983413,0.3180141300512498]],"gripper_points":[[0.3860466368675344,0.0698472102495965,0.3261613000405202],[0.2940537545030985,0.06987231125738276,0.32586684682811484]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999335703447197,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.060000000000358,"stage":"descend","target_distance":0.12560254611547472,"dwell_elapsed":0.0},{"joint_position":[0.20274125099235407,-1.434416445901249,1.9680571640292943,6.672550015310069e-06,-0.5362487906645466,-0.20295761212944038],"joint_velocity":[0.005265550640953949,0.041300920379513016,0.0346086581585887,1.8855904149289734e-05,-0.04412219135999797,-0.00272336213239462],"joint_actuator_torque":[-0.004488601605785902,-1.0100701089246513,-0.8155376736170865,8.305325575867122e-05,-0.06435210908227162,0.00035683803476160847],"jaw_actuator_force":[0.000673515172859851,-0.0005288203088529286],"end_effector_position":[0.3400453400628785,0.06990164068617827,0.31748567700573177],"end_effector_quaternion":[0.9999991437037533,0.00026552391370429044,-0.0012767203743203753,-0.00010988128769563896],"end_effector_velocity":[-0.0015443861833424502,0.0015488166701723874,-0.02260364090643467],"object_position":[0.34000000290647786,0.07000000065372634,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.36908962335635e-14,8.005206548062542e-14,1.284073184848222e-21],"object_velocity":[-3.8243263980943513e-13,-3.5207165551785764e-13,-1.893044597925073e-14],"object_angular_velocity":[-1.9206881697838406e-11,2.0858225070717983e-11,1.752863063153401e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.037288402619609015,0.007665209953332348,0.5074001074016543],[0.23968685974602688,0.04927135446778452,0.3853190143057612],[0.2860698395041643,0.058806095919013146,0.3573420971379524],[0.3399432001863042,0.06988041001428559,0.35748554096430274],[0.3400453400628785,0.06990164068617827,0.31748567700573177]],"gripper_points":[[0.38601907984768,0.0698872555463703,0.32560309078087346],[0.29402443538760953,0.06990753494797887,0.3253681927048435]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999494658781553,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.080000000000365,"stage":"descend","target_distance":0.12560254611547597,"dwell_elapsed":0.0},{"joint_position":[0.2028316489902619,-1.4336821150407044,1.9686316502738166,7.0539268867373556e-06,-0.5369901929946442,-0.20300102326053499],"joint_velocity":[0.003854148025943797,0.03137093278168968,0.024083965108169545,1.642973715464824e-05,-0.028941653485850687,-0.0016585940942659882],"joint_actuator_torque":[-0.0032831255008289872,-0.996734323647047,-0.8041497162935229,5.9559237251825326e-05,-0.06584814506798153,0.00021581414461024906],"jaw_actuator_force":[0.0004686886280431679,-0.00041174001962573925],"end_effector_position":[0.34002379121600307,0.0699292500168481,0.31709409788426235],"end_effector_quaternion":[0.9999994757198267,0.0002085936368440376,-0.0009987835369571927,-8.64882235071109e-05],"end_effector_velocity":[-0.0009512771057497271,0.0011703820203548263,-0.01673473454718706],"object_position":[0.3400000029064725,0.07000000065372138,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.798518686827844e-14,8.471013922642457e-14,1.2840799044724711e-21],"object_velocity":[-2.365626242176976e-13,-2.177823218884685e-13,-1.8906853739977445e-14],"object_angular_velocity":[6.833517752363358e-12,-7.422449246296931e-12,2.1083519586350263e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.037487227032645086,0.0077096134334110715,0.5073720780289723],[0.23972524260387554,0.04930183150375739,0.3850206479032908],[0.2860714545056159,0.05883338147821175,0.3569817784994888],[0.33994388713166646,0.0699125694452906,0.35709401459787365],[0.34002379121600307,0.0699292500168481,0.31709409788426235]],"gripper_points":[[0.3860036735211104,0.06991793852415024,0.32518595952559404],[0.2940074089640003,0.06993389006783646,0.3250021938629406]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999644947894623,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.100000000000372,"stage":"descend","target_distance":0.12560254611547725,"dwell_elapsed":0.0},{"joint_position":[0.20289706036161695,-1.4331268630490004,1.9690331484914734,7.36420253967563e-06,-0.5374808027610011,-0.20302654954028765],"joint_velocity":[0.0027861268754847323,0.023712928373679432,0.01683295527145764,1.368382861533763e-05,-0.019165535897895228,-0.0009719391681045152],"joint_actuator_torque":[-0.0023720833803793084,-0.9866233564952154,-0.7959972505125279,4.2249331509226166e-05,-0.0667359100474414,0.0001252392622852483],"jaw_actuator_force":[0.00032650138535572637,-0.00033121636494470863],"end_effector_position":[0.3400107964704546,0.06994976081667018,0.3168043915119322],"end_effector_quaternion":[0.9999996878873172,0.00016178813218924515,-0.0007704613438229197,-6.662721733005652e-05],"end_effector_velocity":[-0.0005711365774380959,0.0008699854461485417,-0.012372625288758647],"object_position":[0.34000000290646726,0.07000000065371662,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.340460307101364e-14,9.060439841718351e-14,1.2840864007877158e-21],"object_velocity":[-2.7767844303185985e-13,-2.5561655598359196e-13,-1.891518041266214e-14],"object_angular_velocity":[-3.6208352234383434e-12,3.933787342291165e-12,5.55208979054428e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.037637569018538056,0.007743098816349934,0.5073507847818265],[0.23975811251151052,0.04932493797045669,0.38480186985122666],[0.28607740372865004,0.05885410944327282,0.3567177435129642],[0.339949158719827,0.06993682187683035,0.35680434192904564],[0.3400107964704546,0.06994976081667018,0.3168043915119322]],"gripper_points":[[0.38599558970155406,0.06994103223572419,0.32487525867333594],[0.29399807791399984,0.06995331425826788,0.3247334994782759]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999762182588549,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.1200000000003785,"stage":"descend","target_distance":0.12560254611547852,"dwell_elapsed":0.0},{"joint_position":[0.2029438486485629,-1.432708695802453,1.9693150210424184,7.611683139891742e-06,-0.5378087379904937,-0.20304078992461055],"joint_velocity":[0.0019912673175874586,0.017853836415129186,0.011819373138248998,1.108841044525534e-05,-0.012819740511417096,-0.000539499603111092],"joint_actuator_torque":[-0.001699006485011978,-0.9789902325902631,-0.7901626373217141,2.96524881781983e-05,-0.06726196719537825,6.84828678743088e-05],"jaw_actuator_force":[0.00022662334992595845,-0.00029466720652315814],"end_effector_position":[0.3400032217494624,0.06996478550471126,0.31659028930029326],"end_effector_quaternion":[0.9999998179991079,0.00012440648389400841,-0.0005882030093135616,-5.041822629081709e-05],"end_effector_velocity":[-0.0003318659428168647,0.0006374787535656754,-0.009139135380739268],"object_position":[0.3400000029064625,0.07000000065371229,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.017447431171865e-14,6.53708687651363e-14,1.2840885390590267e-21],"object_velocity":[-1.9031832841001498e-13,-1.7518992687686152e-13,-1.8905465961196674e-14],"object_angular_velocity":[6.936719459604615e-12,-7.535757081315529e-12,4.8041017505260735e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0377508022293154,0.007768235119098406,0.5073346921215908],[0.23978532193154248,0.04934222980370038,0.3846413515742934],[0.28608489936330284,0.058869603585588334,0.3565241276988711],[0.33995616501549325,0.06995483536030331,0.356590260383513],[0.3400032217494624,0.06996478550471126,0.31659028930029326]],"gripper_points":[[0.3859918268645047,0.06995815046470387,0.3246443953111863],[0.293993229350756,0.06996744074593511,0.32453616870571966]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999866164137487,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.140000000000385,"stage":"descend","target_distance":0.1256025461154797,"dwell_elapsed":0.0},{"joint_position":[0.2029769527912261,-1.4323948529798456,1.969513761848808,7.806760045887212e-06,-0.5380300695742494,-0.20304810084675573],"joint_velocity":[0.0014076314921884915,0.0133967312936701,0.00833412626744846,8.827870264261146e-06,-0.00865866733353905,-0.00027462003277813985],"joint_actuator_torque":[-0.0012024763683058382,-0.9732589909547187,-0.7859620994815941,2.0370113325279306e-05,-0.06757227047391012,3.3782714275787384e-05],"jaw_actuator_force":[-0.03293187211465565,-0.03328738067655479],"end_effector_position":[0.33999901300514634,0.06997565260869826,0.3164322091542504],"end_effector_quaternion":[0.9999998955117956,9.513848432077101e-05,-0.00044554837398447364,-3.757276580737144e-05],"end_effector_velocity":[-0.00018380500235726282,0.00046108746365325674,-0.006744849289297453],"object_position":[0.3400000029064572,0.07000000065370746,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.339156299539169e-14,9.058568243644645e-14,1.2840913598890327e-21],"object_velocity":[-2.486922774161978e-13,-2.2894167228574136e-13,-1.8906853739977445e-14],"object_angular_velocity":[4.118650221104342e-12,-4.473931248900822e-12,1.7958208323134628e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03783579583911273,0.007787030390083438,0.507322582403462],[0.2398073131160763,0.049355029901835254,0.3845235285576274],[0.2860924524920471,0.05888102978994504,0.35638207871795696],[0.3399633688529827,0.06996804286998665,0.3564321925490756],[0.33999901300514634,0.06997565260869826,0.3164322091542504]],"gripper_points":[[0.385498437015872,0.06997070718790312,0.3244727562611036],[0.2944830053671974,0.06997755430899198,0.3243916533326823]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07901546804122153,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.160000000000392,"stage":"close","target_distance":0.12560254611548097,"dwell_elapsed":0.0},{"joint_position":[0.20300013250167703,-1.4321598851935617,1.9696543664228805,7.95957405792674e-06,-0.5381809545441961,-0.20305130406549754],"joint_velocity":[0.0009848475652559023,0.010028279692304118,0.0058966552223543404,6.954752642686346e-06,-0.0059069360666277725,-0.00011810122115497538],"joint_actuator_torque":[-0.0008406903807411936,-0.9689683197002523,-0.7829261081687946,1.3878211237987217e-05,-0.0677510176670566,1.3579797503382451e-05],"jaw_actuator_force":[0.0007415005113529105,0.0005142386040883906],"end_effector_position":[0.3399968777094286,0.0699834289148243,0.3163155780726165],"end_effector_quaternion":[0.9999999407069002,7.255583144159272e-05,-0.00033549773746328285,-2.762454642711528e-05],"end_effector_velocity":[-9.302366922023264e-05,0.0003299247755612978,-0.0049747296152155085],"object_position":[0.3400000029064521,0.07000000065370278,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.854563393618394e-14,8.533312813084743e-14,1.2840942945855246e-21],"object_velocity":[-3.3754760109092116e-13,-3.107081097966395e-13,-1.892211930656604e-14],"object_angular_velocity":[-1.4344264006599712e-11,1.5583049370061146e-11,4.973500112100024e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.037899438130884026,0.007801044400271125,0.5073134982211078],[0.2398248046660028,0.0493644244282679,0.38443700823906835],[0.2860993678303009,0.05888936568468382,0.3562778126181843],[0.3399700377316772,0.06997762519009096,0.35631556864677005],[0.3399968777094286,0.0699834289148243,0.3163155780726165]],"gripper_points":[[0.3842299607601811,0.06997982188144569,0.3243452598155484],[0.29575130358162244,0.06998471455536193,0.32428589138169817]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07647867723169297,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.1800000000003985,"stage":"close","target_distance":0.12560254611548222,"dwell_elapsed":0.0},{"joint_position":[0.20301618036245073,-1.4319843360602005,1.9697541069570808,8.078834197490635e-06,-0.5382847130485524,-0.2030521623022552],"joint_velocity":[0.0006812323610333422,0.007491209483479735,0.00418301595734021,5.454819409701668e-06,-0.0040645328320023264,-2.9053991461582086e-05],"joint_actuator_torque":[-0.0005814275241391442,-0.9657615940800497,-0.7807319450438399,9.359448746840376e-06,-0.0678544331015658,2.2979377192200445e-06],"jaw_actuator_force":[0.010536675135224272,0.010386580952228996],"end_effector_position":[0.3399959873655454,0.06998893373884826,0.31622958919154437],"end_effector_quaternion":[0.999999966647086,5.531449136998328e-05,-0.00025148298666553354,-2.0060940080910687e-05],"end_effector_velocity":[-3.872149944215443e-05,0.00023349209659768015,-0.0036667206300650132],"object_position":[0.3400000029064471,0.07000000065369817,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.830154318141734e-14,7.420294555903618e-14,1.2840946429834262e-21],"object_velocity":[-2.1017492419294013e-13,-1.9346110223847786e-13,-1.8904078182415878e-14],"object_angular_velocity":[6.355962246460317e-12,-6.90482445934892e-12,-3.8725226156140804e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03794699470583351,0.007811467995944795,0.5073067012543039],[0.23983855463348788,0.049371266637490564,0.3843734625966792],[0.286105370450242,0.05889538715951147,0.3562012620709735],[0.33997586863851037,0.06998450898328507,0.35622958388727355],[0.3399959873655454,0.06998893373884826,0.31622958919154437]],"gripper_points":[[0.3827118278494163,0.06998633359777887,0.32425107467599223],[0.2972708590932007,0.06998976402748998,0.3242081009615634]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07344097963219162,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.200000000000405,"stage":"close","target_distance":0.1256025461154834,"dwell_elapsed":0.0},{"joint_position":[0.2030271581373179,-1.4318533638751252,1.9698250751551591,8.172089950880983e-06,-0.5383566369693278,-0.20305177054910337],"joint_velocity":[0.0004655632634127623,0.00558865793419943,0.0029767245458520984,4.274328049224476e-06,-0.002818913350326729,1.808661844902259e-05],"joint_actuator_torque":[-0.00039738589745752506,-0.9633743230989467,-0.7791463153835139,6.19929078260451e-06,-0.06791404034322568,-3.5276247487558976e-06],"jaw_actuator_force":[0.012908950982767564,0.01280865143829324],"end_effector_position":[0.33999580878079977,0.06999278808842647,0.31616619848261057],"end_effector_quaternion":[0.999999981369184,4.224602641168275e-05,-0.0001878018339768797,-1.4400551011243315e-05],"end_effector_velocity":[-7.817804577901722e-06,0.00016341365223919522,-0.002702745062141876],"object_position":[0.3400000029064419,0.07000000065369337,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.836227415873065e-14,9.59736509930667e-14,1.284092339401557e-21],"object_velocity":[-2.7474799859433456e-13,-2.529564345669928e-13,-1.8904078182415875e-14],"object_angular_velocity":[-7.411184166175686e-13,8.028042290943702e-13,-2.6310440657599466e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03798248211310998,0.007819207785705606,0.5073016246655098],[0.23984926638509013,0.049376216265412366,0.38432676360070755],[0.2861104044474189,0.058899697375345166,0.3561450246066904],[0.33998078458569225,0.0699894086227325,0.3561661955182701],[0.33999580878079977,0.06999278808842647,0.31616619848261057]],"gripper_points":[[0.3811320702406688,0.06999092668623172,0.3241816498998143],[0.29885268295148715,0.06999329772897324,0.3241507455586465]],"object_size":[0.04,0.04,0.04],"gripper_width":0.070279393127218,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.220000000000412,"stage":"close","target_distance":0.12560254611548466,"dwell_elapsed":0.0},{"joint_position":[0.20303457630505775,-1.4317558094291296,1.9698756099569326,8.245397232037182e-06,-0.538406872597941,-0.20305078841392457],"joint_velocity":[0.0003142921596315781,0.004161980333995526,0.0021192829526492964,3.349027098842825e-06,-0.0019701304352632096,4.005718465944994e-05],"joint_actuator_torque":[-0.0002683141728425653,-0.9615947934493079,-0.7779932392382989,4.013586224048773e-06,-0.06794749276012624,-6.117037322894703e-06],"jaw_actuator_force":[0.013459061223257685,0.013392446428384552],"end_effector_position":[0.3399960260611801,0.06999546228933365,0.31611951687274387],"end_effector_quaternion":[0.9999999896402191,3.241113923403794e-05,-0.0001398736612307139,-1.021953792647646e-05],"end_effector_velocity":[9.379787399489692e-06,0.00011333794775094114,-0.0019897708876688916],"object_position":[0.34000000290643684,0.0700000006536888,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.169031990873974e-14,6.700008327598014e-14,1.2840921979693039e-21],"object_velocity":[-1.9757727788783907e-13,-1.8191878018545245e-13,-1.8906853739977432e-14],"object_angular_velocity":[7.594536767171827e-12,-8.248355030655037e-12,1.0030888042610971e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03800892026330841,0.007824944342845015,0.5072978402845014],[0.239857556858702,0.049379777684501865,0.3842924593837951],[0.2861145360784797,0.058902760325298224,0.3561037262607165],[0.33998483614189945,0.06999286951257733,0.356119515223534],[0.3399960260611801,0.06999546228933365,0.31611951687274387]],"gripper_points":[[0.379537707416467,0.06999413513425014,0.3241305788225812],[0.3004492835059435,0.06999575234568156,0.32410845409950584]],"object_size":[0.04,0.04,0.04],"gripper_width":0.06708842702171666,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.2400000000004185,"stage":"close","target_distance":0.1256025461154859,"dwell_elapsed":0.0},{"joint_position":[0.2030395078418337,-1.4316831945125144,1.969911687109054,8.30335630100199e-06,-0.5384421781787175,-0.20304958587232863],"joint_velocity":[0.0002086548856594895,0.003098060549079843,0.0015132502537894119,2.644379854745832e-06,-0.0013850556257253444,4.800556848897948e-05],"joint_actuator_torque":[-0.0001781474358892865,-0.9602758307704562,-0.7771589527314973,2.501251060318824e-06,-0.06796639560966611,-6.931210169369706e-06],"jaw_actuator_force":[0.013580972256116652,0.013537172265330355],"end_effector_position":[0.33999643137379204,0.0699972938450161,0.3160851294909509],"end_effector_quaternion":[0.9999999942602688,2.503634495668377e-05,-0.00010392915329138654,-7.1676116719584486e-06],"end_effector_velocity":[1.745365383595712e-05,7.755786588676809e-05,-0.0014657671551045904],"object_position":[0.34000000290643134,0.07000000065368384,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.592117598812337e-14,8.246558701335966e-14,1.2840960814551896e-21],"object_velocity":[-2.3144007649001685e-13,-2.1307586026982877e-13,-1.8913792633881343e-14],"object_angular_velocity":[4.600489640963213e-12,-4.996728157814119e-12,2.1323106925707044e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03802860390420549,0.007829192126954604,0.5072950216569643],[0.23986393930431796,0.04938232468044948,0.38426724203416623],[0.28611787033351044,0.058904917557292054,0.35607337587060833],[0.33998811702722037,0.06999529099702496,0.3560851285767039],[0.33999643137379204,0.0699972938450161,0.3160851294909509]],"gripper_points":[[0.3779398439128229,0.06999634912681177,0.32409301649372635],[0.30204929666089453,0.06999743742970903,0.3240772420400744]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0638905488991545,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.260000000000425,"stage":"close","target_distance":0.12560254611548727,"dwell_elapsed":0.0},{"joint_position":[0.20304272036806575,-1.431629187253813,1.9699374370173284,8.349579487041686e-06,-0.5384671263199258,-0.20304836974866103],"joint_velocity":[0.00013569028708287692,0.002303937268028726,0.0010798587469223854,2.0994356571024895e-06,-0.0009791957334040985,4.811213226725414e-05],"joint_actuator_torque":[-0.00011586759288206849,-0.959296032387897,-0.7765509855315713,1.4712773229491778e-06,-0.06797656467217905,-6.771233447722125e-06],"jaw_actuator_force":[0.013604488141962356,0.013576286868262066],"end_effector_position":[0.3399969138845293,0.06999853200264555,0.3160598158879967],"end_effector_quaternion":[0.9999999968260294,1.952956523736012e-05,-7.708360830759771e-05,-4.9653238745237515e-06],"end_effector_velocity":[2.0794940838104233e-05,5.2383590994465907e-05,-0.0010788046684396442],"object_position":[0.3400000029064264,0.07000000065367926,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.212752942427644e-14,7.835091336125991e-14,1.2840980376062011e-21],"object_velocity":[-3.027705668143543e-13,-2.7872071531546326e-13,-1.8902690403635095e-14],"object_angular_velocity":[-1.0515421909980937e-11,1.1424385971091939e-11,-1.9840018358756513e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03804324699839889,0.007832334189598672,0.5072929243579094],[0.23986883748751484,0.049384136347557825,0.38424870969852176],[0.28612053530793724,0.058906424342090126,0.3560510771724121],[0.3399907471881266,0.06999696966805113,0.35605981538213377],[0.3399969138845293,0.06999853200264555,0.3160598158879967]],"gripper_points":[[0.37634106935317674,0.06999785849304058,0.32406541904725367],[0.303650023074546,0.06999858058108158,0.3240542124849757]],"object_size":[0.04,0.04,0.04],"gripper_width":0.06069104714605837,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.280000000000432,"stage":"close","target_distance":0.12560254611548846,"dwell_elapsed":0.0},{"joint_position":[0.20304475838890604,-1.431589025586817,1.9699557831819172,8.386897989706443e-06,-0.5384848224275312,-0.20304724714517924],"joint_velocity":[8.588406469460603e-05,0.0017132476040395866,0.00076920945958308,1.6844011503406983e-06,-0.0006947831489205715,4.419151501204667e-05],"joint_actuator_torque":[-7.334064983410826e-05,-0.9585702256656532,-0.7761078330224791,7.785412043056529e-07,-0.0679819261404333,-6.126849527277045e-06],"jaw_actuator_force":[0.013606421763690868,0.01358906217835898],"end_effector_position":[0.3399974128143871,0.06999935723832507,0.3160411922471297],"end_effector_quaternion":[0.9999999982453442,1.5430293469022998e-05,-5.7093723500047427e-05,-3.3947164709521545e-06],"end_effector_velocity":[2.1494454910564914e-05,3.487355017035519e-05,-0.0007936295444490699],"object_position":[0.34000000290642163,0.07000000065367488,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.596137737443143e-14,7.164559818400177e-14,1.284097642721924e-21],"object_velocity":[-2.0306074762505336e-13,-1.869478774356867e-13,-1.8904078182415872e-14],"object_angular_velocity":[6.659819985389873e-12,-7.233919474846995e-12,-8.601874076875246e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03805413877470992,0.00783465742823506,0.507291364209377],[0.23987259307345263,0.04938541913348711,0.38423509372233655],[0.2861226555169145,0.058907468690940705,0.35603469840238977],[0.3399928453123246,0.06999812283035507,0.3560411919673067],[0.3399974128143871,0.06999935723832507,0.3160411922471297]],"gripper_points":[[0.37474199027607025,0.06999887439332934,0.3240451596864518],[0.30525082660423175,0.06999934632136706,0.32403722467512514]],"object_size":[0.04,0.04,0.04],"gripper_width":0.05749116412647985,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.300000000000439,"stage":"close","target_distance":0.1256025461154896,"dwell_elapsed":0.0},{"joint_position":[0.20304600555555244,-1.4315591590172903,1.969968857913503,8.417522251989588e-06,-0.5384974066710747,-0.2030462613326993],"joint_velocity":[5.2387491334583816e-05,0.0012741262111937077,0.000548207588937722,1.3703917609836465e-06,-0.0004941460320729085,3.869430981875375e-05],"joint_actuator_torque":[-4.4729711888180645e-05,-0.9580334038635101,-0.7757862861134299,3.2082494636680257e-07,-0.06798467623843152,-5.310504530342541e-06],"jaw_actuator_force":[0.013604559510127956,0.013594379159020065],"end_effector_position":[0.33999788594402264,0.069999896839417,0.3160274863105687],"end_effector_quaternion":[0.9999999990292773,1.2382309634553172e-05,-4.222436858077561e-05,-2.2861790574126795e-06],"end_effector_velocity":[2.0349151363290328e-05,2.2764475050443875e-05,-0.0005841015058999323],"object_position":[0.3400000029064163,0.07000000065367004,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.020408281039259e-14,8.711802191901265e-14,1.2840976177179605e-21],"object_velocity":[-2.5271202642802095e-13,-2.3265693466603973e-13,-1.8898527067292742e-14],"object_angular_velocity":[6.305677460647442e-13,-6.851675882314803e-13,5.1045237335247595e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0380622405956114,0.00783637492840532,0.5072902037015071],[0.23987546724489503,0.04938632271885077,0.3842250852153329],[0.2861243316853559,0.05890818575416118,0.35602266222891793],[0.3399945079922748,0.06999890626236979,0.3560274861556712],[0.33999788594402264,0.069999896839417,0.3160274863105687]],"gripper_points":[[0.3731427456956716,0.06999954713609037,0.3240302853763221],[0.306851554346384,0.0699998503124766,0.3240246871726663]],"object_size":[0.04,0.04,0.04],"gripper_width":0.05429119158636134,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.320000000000445,"stage":"close","target_distance":0.1256025461154909,"dwell_elapsed":0.0},{"joint_position":[0.2030467336768099,-1.4315370020165776,1.9699781802198948,8.443113193084705e-06,-0.5385063863009207,-0.2030454243526536],"joint_velocity":[3.0451677312277238e-05,0.0009449524417706302,0.000390727804593954,1.1291553277633507e-06,-0.0003527797087505911,3.278485864702121e-05],"joint_actuator_torque":[-2.599611168818683e-05,-0.9576331734848509,-0.7755519874938273,3.0595100639053095e-08,-0.06798572180271378,-4.466644814016263e-06],"jaw_actuator_force":[0.01360276691860296,0.013596983409930097],"end_effector_position":[0.3399983071354684,0.07000024176422334,0.31601741512810616],"end_effector_quaternion":[0.9999999994607802,1.0124451412314431e-05,-3.120343121270107e-05,-1.5102633540215168e-06],"end_effector_velocity":[1.8099686155015988e-05,1.452568389052389e-05,-0.00042906389740517614],"object_position":[0.34000000290641147,0.07000000065366561,0.3099914782969372],"object_quaternion":[0.9999999999999998,-5.949070717095511e-14,6.461730375492805e-14,1.2840972855516297e-21],"object_velocity":[-1.9208029306351428e-13,-1.7684087043460494e-13,-1.8906853739977435e-14],"object_angular_velocity":[7.620993340176726e-12,-8.27766182584147e-12,-1.563695355098808e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.038068252583521714,0.007837641588790753,0.5072893426000409],[0.23987765445939535,0.04938695509303065,0.3842177379878131],[0.28612564238928306,0.05890867277108562,0.3560138285975109],[0.3399958108597495,0.06999943181188083,0.35601741504201345],[0.3399983071354684,0.07000024176422334,0.31601741512810616]],"gripper_points":[[0.37154336785634823,0.0699999844696167,0.32401938376934725],[0.30845216994989444,0.07000017507812852,0.3240154464475631]],"object_size":[0.04,0.04,0.04],"gripper_width":0.05109119802959967,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.340000000000452,"stage":"close","target_distance":0.12560254611549207,"dwell_elapsed":0.0},{"joint_position":[0.20304712246901035,-1.4315205156448418,1.9699847634566996,8.464806878768153e-06,-0.5385127987891924,-0.20304473056368183],"joint_velocity":[1.6112097474186912e-05,0.0007032964263369509,0.0002757855629225461,9.482584595930029e-07,-0.000251943199864369,2.713462246907053e-05],"joint_actuator_torque":[-1.3754570815649458e-05,-0.9573395931347477,-0.7753803204132055,-1.5297425919166743e-07,-0.06798605896408816,-3.675882890519233e-06],"jaw_actuator_force":[0.013601204404938727,0.013598736734311778],"end_effector_position":[0.33999868668460625,0.0700004578314549,0.31601001556706426],"end_effector_quaternion":[0.9999999996982742,8.454051690136262e-06,-2.3044095734818556e-05,-9.745888757890173e-07],"end_effector_velocity":[1.6320700274704577e-05,9.076264905032215e-06,-0.00031529113687126496],"object_position":[0.34000000290640636,0.07000000065366097,0.3099914782969372],"object_quaternion":[0.9999999999999998,-7.386996655388518e-14,8.023134613254758e-14,1.2840958687874991e-21],"object_velocity":[-2.22514834594447e-13,-2.0487107793215855e-13,-1.891101707631978e-14],"object_angular_velocity":[5.3418741130899e-12,-5.801919082855472e-12,-6.124744468034453e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.038072727112527543,0.007838578252250391,0.5072887017914693],[0.23987933189382996,0.04938739766631076,0.3842123438995453],[0.28612667882287846,0.05890900211536627,0.3560073452159793],[0.33999684315628886,0.06999978150911657,0.35601001551886413],[0.33999868668460625,0.0700004578314549,0.31601001556706426]],"gripper_points":[[0.36994389143324535,0.0700002641860739,0.32401139569425486],[0.31005269195691054,0.07000038094800304,0.3240086354181708]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0478911995400567,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.360000000000459,"stage":"close","target_distance":0.12560254611549332,"dwell_elapsed":0.0},{"joint_position":[0.20304729244887865,-1.431508257082577,1.969989414415269,8.483605307001855e-06,-0.5385174119524376,-0.20304415818628574],"joint_velocity":[6.877822844444379e-06,0.0005228947383005901,0.00019480914139471543,8.141944000188035e-07,-0.0001813494120702002,2.2381566228440432e-05],"joint_actuator_torque":[-5.859142575559417e-06,-0.9571218066193978,-0.7752560810843079,-2.663279715561231e-07,-0.06798580137427024,-3.017665736848585e-06],"jaw_actuator_force":[0.013600210934420431,0.013599775125925362],"end_effector_position":[0.3399990167902725,0.0700005861527596,0.31600458029213657],"end_effector_quaternion":[0.9999999998288852,7.222126173489823e-06,-1.7020598606086045e-05,-6.082697146272215e-07],"end_effector_velocity":[1.417136484523204e-05,5.360231413156879e-06,-0.0002315891081275348],"object_position":[0.34000000290640103,0.0700000006536561,0.3099914782969372],"object_quaternion":[0.9999999999999998,-8.104944937500685e-14,8.804084416512572e-14,1.28409546512286e-21],"object_velocity":[-2.9460839430004287e-13,-2.7121242402787305e-13,-1.8919343749004467e-14],"object_angular_velocity":[-6.529568688792457e-12,7.095617777435486e-12,2.8225173968233327e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.038076055107845994,0.007839270180873884,0.5072882252647155],[0.23988061438969005,0.04938770421537993,0.3842083833638543],[0.286127492558446,0.058909220348287564,0.35600258626157366],[0.3399976551420328,0.07000000838349407,0.3560045802647878],[0.3399990167902725,0.0700005861527596,0.31600458029213657]],"gripper_points":[[0.3683443279433729,0.07000043610841777,0.32400554520401564],[0.3116531280828464,0.07000050508943526,0.32400361536819827]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0446911998934154,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.380000000000465,"stage":"close","target_distance":0.12560254611549462,"dwell_elapsed":0.0},{"joint_position":[0.2030473220658535,-1.4314991631231029,1.9699926946842954,8.500217825548136e-06,-0.5385206733500185,-0.2030436876633604],"joint_velocity":[9.565289498913948e-07,0.0003878158801492573,0.0001373380481148797,7.156297163855265e-07,-0.00012809655588572465,1.839436887244143e-05],"joint_actuator_torque":[-8.020370358963191e-07,-0.9569598103093995,-0.7751659074168629,-3.3638114598953054e-07,-0.06798582676048426,-2.4700345591099904e-06],"jaw_actuator_force":[0.013599740542957761,0.013600256122097143],"end_effector_position":[0.3399992939267373,0.07000065380953392,0.3160005917258074],"end_effector_quaternion":[0.9999999999011935,6.310274226730514e-06,-1.255635274641921e-05,-3.62488139103319e-07],"end_effector_velocity":[1.1886484099825081e-05,2.7906524143174474e-06,-0.0001699121988251287],"object_position":[0.3400000029063959,0.07000000065365142,0.3099914782969372],"object_quaternion":[0.9999999999999998,-6.858389491118152e-14,7.449957237263356e-14,1.284098158832128e-21],"object_velocity":[-2.1412875689706403e-13,-1.9712517847797856e-13,-1.8908241518758225e-14],"object_angular_velocity":[7.638516512356201e-12,-8.297584656721144e-12,6.660695894556931e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03807852471880558,0.007839779811106411,0.507287871728557],[0.23988159102451398,0.049387912695086626,0.3842054802849839],[0.2861281270529055,0.058909359814332096,0.3559990989124984],[0.33999828941833465,0.07000014898795996,0.35600059171000886],[0.3399992939267373,0.07000065380953392,0.3160005917258074]],"gripper_points":[[0.36674468347571054,0.07000053345106219,0.3240012633766617],[0.31325348351688515,0.07000057223938991,0.32399992006815503]],"object_size":[0.04,0.04,0.04],"gripper_width":0.04149119997570652,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.400000000000472,"stage":"close","target_distance":0.12560254611549587,"dwell_elapsed":0.0},{"joint_position":[0.2030472027842541,-1.4314932632214408,1.9699939658459986,8.53117198033425e-06,-0.5385235924366862,-0.20304329557106587],"joint_velocity":[-1.0904486741098801e-05,0.00016722747768393198,-3.5679163745449954e-05,2.435956151975605e-06,-0.00017212625554759997,1.586405060294109e-05],"joint_actuator_torque":[0.0002421110474699617,-0.9534281892391618,-0.7721471489948044,-9.147966136263262e-06,-0.06760707742481742,-5.977862226558273e-06],"jaw_actuator_force":[-0.5515518410407712,-0.5517779644316292],"end_effector_position":[0.339999675401187,0.07000069026647006,0.3159983124022756],"end_effector_quaternion":[0.9999999999277748,5.8945621202722526e-06,-1.0471363037309558e-05,-2.3403876174702718e-07],"end_effector_velocity":[2.8274401129480198e-05,1.9717270048678405e-06,-3.7584549668909914e-05],"object_position":[0.3399999390240508,0.0700000063535969,0.30999140077829546],"object_quaternion":[0.99999999999866,1.8655251225613652e-09,-1.6368606357842623e-06,-2.6497330594115704e-08],"object_velocity":[-7.66259967194877e-06,9.098955620226225e-07,-9.898736138337395e-06],"object_angular_velocity":[-1.979828592474466e-06,-0.0003962285887907073,-6.159509575614258e-06],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03808012801611917,0.007840105170449734,0.5072876423521111],[0.2398823347731537,0.04938803599500667,0.38420377341637724],[0.28612867382164076,0.05890943680896764,0.3559970534519382],[0.3399988376920337,0.07000021870169652,0.35599831239072394],[0.339999675401187,0.07000069026647006,0.3159983124022756]],"gripper_points":[[0.36572916676815925,0.07000058390686405,0.32399885124909283],[0.3142696064913767,0.07000060800028017,0.32399777354575987]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03945956028807322,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.6085527388830547,"right":0.6088182356685328},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.420000000000479,"stage":"close","target_distance":0.12560260043043273,"dwell_elapsed":0.0},{"joint_position":[0.2030469960948203,-1.4314907131043513,1.9699931015238235,8.615301229990616e-06,-0.5385267085991061,-0.20304296391616472],"joint_velocity":[-8.251133949005983e-06,0.00010345981052574322,-4.0274938913916444e-05,4.309465950422789e-06,-0.0001228706356237427,1.2956763770594337e-05],"joint_actuator_torque":[0.000169046086099911,-0.9527135014935766,-0.7716683983385337,-2.198151669897529e-05,-0.06755791331485028,-3.522793111443434e-06],"jaw_actuator_force":[-0.8544079332287495,-0.8548982907975606],"end_effector_position":[0.3400001885869785,0.07000072319491116,0.3159978649980449],"end_effector_quaternion":[0.9999999999192097,6.074142332522355e-06,-1.1164575544431094e-05,-1.9313814007100592e-07],"end_effector_velocity":[2.1646422874135044e-05,1.559254622066867e-06,-1.6741321106513278e-05],"object_position":[0.3399998394572048,0.07000002293248946,0.3099912671403369],"object_quaternion":[0.9999999999905265,-1.0822529691023027e-08,-4.352223834944952e-06,-6.048858106336095e-08],"object_velocity":[-2.529123300770135e-06,8.521990903771582e-07,-3.4892477947826368e-06],"object_angular_velocity":[-4.354583346573503e-06,-0.0001556283496405303,-3.0053988443543267e-06],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03808082222591083,0.007840239892893662,0.5072875432056415],[0.2398828343386303,0.04938808716484185,0.3842033269375728],[0.2861291287811285,0.058909468831329984,0.3559965273761404],[0.3399992954208412,0.0700002372636971,0.3559978649851214],[0.3400001885869785,0.07000072319491116,0.3159978649980449]],"gripper_points":[[0.3659060792204604,0.07000061599825462,0.32399844345593426],[0.3140928380184827,0.07000063601950814,0.3239972865103644]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03981324121489839,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8441241387099421,"right":0.8446104827469246},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.440000000000485,"stage":"close","target_distance":0.12560268974264274,"dwell_elapsed":0.0},{"joint_position":[0.2030468516876871,-1.431488975606088,1.9699924936493793,8.744089586265153e-06,-0.53852874652143,-0.20304267255625616],"joint_velocity":[-5.7171263259938555e-06,7.454031036861618e-05,-2.426748660794949e-05,5.675221075091593e-06,-7.771451643973507e-05,1.1511821393466309e-05],"joint_actuator_torque":[8.001223996245699e-05,-0.9526395151616498,-0.771650020019365,-3.1359938245802675e-05,-0.06757038918540559,-2.23120602171889e-06],"jaw_actuator_force":[-0.8377847228817101,-0.838382203684394],"end_effector_position":[0.34000053861883883,0.07000074488612348,0.3159975613236474],"end_effector_quaternion":[0.9999999999133854,6.2198616852723365e-06,-1.1598249847021542e-05,-1.526929812648365e-07],"end_effector_velocity":[1.42631686476403e-05,9.458123706667226e-07,-1.4120437884844787e-05],"object_position":[0.3399998149440842,0.07000003355718545,0.30999123081897606],"object_quaternion":[0.9999999999859434,-1.3860352197820575e-08,-5.3016720148665265e-06,-7.121097438755765e-08],"object_velocity":[-3.0252179169759084e-07,5.005467509590828e-07,-7.278581456921303e-07],"object_angular_velocity":[-2.204803662531261e-06,-5.197531850371073e-05,-1.1571197972007759e-06],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.038081295247183636,0.007840331548190665,0.5072874756520953],[0.23988317717703045,0.0493881216406466,0.38420302664246053],[0.2861294417859537,0.058909490203501086,0.3559961737444192],[0.33999961075877516,0.07000024729733038,0.35599756130979093],[0.34000053861883883,0.07000074488612348,0.3159975613236474]],"gripper_points":[[0.3659594673280227,0.0700006374370704,0.3239981634814134],[0.3140394226976136,0.0700006533002142,0.32399695911821236]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039920044644380114,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8355523801327377,"right":0.8361370654436071},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.460000000000492,"stage":"close","target_distance":0.1256027156904231,"dwell_elapsed":0.0},{"joint_position":[0.20304675561339308,-1.4314877319125092,1.9699922084939434,8.898821143268345e-06,-0.5385300607680026,-0.2030424189159471],"joint_velocity":[-3.782366870797798e-06,5.452200811527047e-05,-9.766111380270764e-06,6.45294079056362e-06,-4.958206937524662e-05,1.0012618260209281e-05],"joint_actuator_torque":[1.6428796101308762e-05,-0.9526853755096454,-0.7717145938702288,-3.6674764881421324e-05,-0.06758718469374259,-1.335526970791534e-06],"jaw_actuator_force":[-0.8309976180737548,-0.831637021824573],"end_effector_position":[0.3400007548251557,0.07000075631727044,0.3159972897825024],"end_effector_quaternion":[0.9999999999108797,6.3207737016324675e-06,-1.175905905368534e-05,-1.1359233645145849e-07],"end_effector_velocity":[8.62147421851979e-06,4.7486257667148985e-07,-1.3188848644594959e-05],"object_position":[0.33999981786501693,0.07000003860945604,0.3099912253895542],"object_quaternion":[0.9999999999842228,-1.165200835892485e-09,-5.616872547440459e-06,-6.982294173339014e-08],"object_velocity":[5.336304401189402e-07,2.427288258737794e-07,4.560234184460651e-08],"object_angular_velocity":[-8.400081508054922e-07,-1.3626364230372206e-05,-9.412006925374868e-09],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03808163377649688,0.007840397432228524,0.5072874272970513],[0.23988340414050352,0.049388144345272764,0.38420278079553855],[0.28612964318225503,0.0589095030128454,0.3559958826389419],[0.33999981410037405,0.07000025065548121,0.3559972897682442],[0.3400007548251557,0.07000075631727044,0.3159972897825024]],"gripper_points":[[0.36596678705940666,0.07000064928192536,0.32399790045625126],[0.31403210758280664,0.07000066108840876,0.3239966790503998]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993467949096391,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8307216532386374,"right":0.8313494657954588},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.480000000000499,"stage":"close","target_distance":0.12560271642230667,"dwell_elapsed":0.0},{"joint_position":[0.20304668612221471,-1.4314867368241238,1.9699920927823322,9.062978835269754e-06,-0.5385309275055237,-0.20304221431666208],"joint_velocity":[-2.6538126751904975e-06,4.447945893580331e-05,-2.6085577510388844e-06,6.757303655165561e-06,-3.239388952867686e-05,7.994827265079781e-06],"joint_actuator_torque":[-1.3790906123745117e-05,-0.9527378633491708,-0.7717751048257924,-3.859934884070388e-05,-0.06759902076744595,-9.212619644927145e-07],"jaw_actuator_force":[-0.82689002626626,-0.827559823776558],"end_effector_position":[0.3400008989394255,0.07000076238643635,0.3159970276951619],"end_effector_quaternion":[0.9999999999106916,6.3885104768095655e-06,-1.1738661663270496e-05,-8.813693810544577e-08],"end_effector_velocity":[5.681773812934735e-06,2.715134958869314e-07,-1.2854460267216951e-05],"object_position":[0.3399998321563567,0.07000004139848805,0.3099912272750748],"object_quaternion":[0.999999999983879,8.599350488526041e-09,-5.677758405844355e-06,-6.736391947642517e-08],"object_velocity":[9.097503128708429e-07,1.3926257321316874e-07,2.1406016339649933e-07],"object_angular_velocity":[-9.207040575473307e-07,2.8194237202374845e-06,2.2177902777190942e-07],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.038081904578407405,0.007840450427466625,0.507287388607516],[0.2398835718153141,0.04938816149043181,0.38420256092419364],[0.2861297872237719,0.05890951194236134,0.3559956212467656],[0.33999995984644743,0.07000025130568102,0.3559970276808732],[0.3400008989394255,0.07000076238643635,0.3159970276951619]],"gripper_points":[[0.36596761132134353,0.07000065558910448,0.3239976373255869],[0.3140313173510294,0.07000066475190601,0.32399641800047924]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039936293984628245,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8268640846571869,"right":0.8275234174894875},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.500000000000505,"stage":"close","target_distance":0.12560270673154075,"dwell_elapsed":0.0},{"joint_position":[0.20304664054882968,-1.431485947200535,1.9699921236224254,9.232852588864184e-06,-0.5385314901399003,-0.20304204069885431],"joint_velocity":[-1.7081397735267249e-06,3.577175336381638e-05,3.6700883487516455e-06,6.8955268522113795e-06,-2.057055777367908e-05,6.827998496603389e-06],"joint_actuator_torque":[-3.708476553754281e-05,-0.9528366814874971,-0.7718693761877375,-3.9573143114344914e-05,-0.06761386769475308,-5.813645884700236e-07],"jaw_actuator_force":[-0.823535769828978,-0.8242111342389675],"end_effector_position":[0.34000098469390855,0.07000076495297453,0.31599677503037643],"end_effector_quaternion":[0.9999999999120467,6.433929517363282e-06,-1.1597692699385425e-05,-6.767856986216705e-08],"end_effector_velocity":[3.2423686639927828e-06,1.0530972731024972e-07,-1.2417435964687687e-05],"object_position":[0.3399998516694568,0.07000004232370018,0.3099912326812183],"object_quaternion":[0.9999999999841989,1.784448074362006e-08,-5.621149000453085e-06,-6.139745902306463e-08],"object_velocity":[1.0694209803607612e-06,5.022390969948768e-08,3.2708675444133956e-07],"object_angular_velocity":[-7.919386487704216e-07,1.0153853693315113e-05,5.286685696215011e-07],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.038082119390376354,0.007840492844692062,0.5072873579063595],[0.2398836896086468,0.049388174346468285,0.3842023611794333],[0.28612988278366713,0.05890951802395867,0.35599538276284604],[0.34000005687845786,0.07000025023867598,0.3559967750163043],[0.34000098469390855,0.07000076495297453,0.31599677503037643]],"gripper_points":[[0.36596780438386606,0.07000065849142001,0.32399737734223405],[0.314031173194687,0.07000066552916474,0.32399617265210223]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993663120315118,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.823532294464764,"right":0.8241980020550803},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.520000000000512,"stage":"close","target_distance":0.12560269175539487,"dwell_elapsed":0.0},{"joint_position":[0.20304660761433593,-1.4314852667113556,1.9699922320648158,9.40323940900898e-06,-0.5385318713256971,-0.20304188993067793],"joint_velocity":[-1.1885448389267425e-06,3.128675839403471e-05,6.881744895228416e-06,6.892641435385175e-06,-1.362850866760268e-05,5.927564569663788e-06],"joint_actuator_torque":[-4.8821769311757635e-05,-0.95290192437119,-0.7719294935124026,-3.952814597640267e-05,-0.06762138503900417,-4.047739246004767e-07],"jaw_actuator_force":[-0.820619463420134,-0.8212957024197536],"end_effector_position":[0.34000103872218657,0.0700007654702977,0.31599652634874353],"end_effector_quaternion":[0.9999999999143147,6.46444921071798e-06,-1.1383260797327679e-05,-5.245680977304403e-08],"end_effector_velocity":[1.9545121825108003e-06,2.4298000605967685e-08,-1.2232367881841588e-05],"object_position":[0.33999987344290733,0.07000004238901429,0.3099912375894644],"object_quaternion":[0.9999999999848029,2.3931113842823075e-08,-5.5126803025553195e-06,-5.4803426942585994e-08],"object_velocity":[1.1435348607289637e-06,9.645450724412533e-09,2.9659240287662575e-07],"object_angular_velocity":[-9.447474043923153e-07,1.3651327688830965e-05,6.208855503325649e-07],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03808230446331189,0.007840529640832537,0.5072873314482919],[0.23988378093909585,0.04938818491459517,0.3842021721745345],[0.286129952631463,0.05890952258149911,0.3559951565076318],[0.3400001280612957,0.07000024831440865,0.3559965263350341],[0.34000103872218657,0.0700007654702977,0.31599652634874353]],"gripper_points":[[0.3659679486032522,0.07000065931099662,0.3239971175263452],[0.3140310856711333,0.07000066476752462,0.3239959351046687]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039936862945579014,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8206176796803119,"right":0.8212847909246621},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.540000000000519,"stage":"close","target_distance":0.12560267445936954,"dwell_elapsed":0.0},{"joint_position":[0.20304658847691123,-1.431484697451233,1.9699924236084645,9.571904925166343e-06,-0.5385321667419332,-0.20304176959185202],"joint_velocity":[-6.211517801378923e-07,2.6453168531773524e-05,1.038973522774649e-05,6.804220565910707e-06,-1.0433841748384833e-05,4.685453252330727e-06],"joint_actuator_torque":[-5.535162520686754e-05,-0.9530092062369704,-0.7720246445679777,-3.89591864925783e-05,-0.06763442049808788,-3.4508159885149325e-07],"jaw_actuator_force":[-0.8180719460799564,-0.8187356929591925],"end_effector_position":[0.3400010634876646,0.07000076484201796,0.3159962859448192],"end_effector_quaternion":[0.999999999916891,6.488433826811593e-06,-1.1140748907199782e-05,-4.510964288506851e-08],"end_effector_velocity":[7.253442360640925e-07,-2.8227887080331235e-08,-1.1811524474398535e-05],"object_position":[0.33999989563021754,0.07000004185827796,0.30999124402841377],"object_quaternion":[0.9999999999854696,2.9583276328562978e-08,-5.3904412592781935e-06,-5.0539373942518286e-08],"object_velocity":[1.1453867437376022e-06,-1.661764051400311e-08,3.562243682922111e-07],"object_angular_velocity":[-9.536296760204993e-07,1.442646827220033e-05,4.4199644200820454e-07],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03808245921925254,0.007840560742881334,0.5072873093148174],[0.23988384477018318,0.04938819327102941,0.3842019932895879],[0.2861299956256048,0.05890952572539668,0.3559949417004728],[0.3400001722277287,0.07000024576735206,0.35599628593152194],[0.3400010634876646,0.07000076484201796,0.3159962859448192]],"gripper_points":[[0.365968079538072,0.07000065868058891,0.32399686453012777],[0.31403101271598394,0.07000066337382264,0.32399570729451704]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993706683498072,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8180707041449936,"right":0.8187257168701645},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.560000000000525,"stage":"close","target_distance":0.12560265647307953,"dwell_elapsed":0.0},{"joint_position":[0.2030465735931096,-1.431484151164107,1.9699926026968613,9.735480237190092e-06,-0.5385323690848042,-0.20304166250033914],"joint_velocity":[-3.982469356265053e-07,2.5555772725870336e-05,9.62889629735696e-06,6.6260630742473045e-06,-6.786248049111269e-06,4.201678754378304e-06],"joint_actuator_torque":[-4.901026093762084e-05,-0.9531103178077274,-0.7721135225292528,-3.772157320934696e-05,-0.06764665558115723,-3.0852175569862084e-07],"jaw_actuator_force":[-0.8158353023757465,-0.8164956576875042],"end_effector_position":[0.3400010847137988,0.07000076496078056,0.3159960522357897],"end_effector_quaternion":[0.9999999999197619,6.5044665562735895e-06,-1.087044706320406e-05,-4.095383149609122e-08],"end_effector_velocity":[6.340156806011544e-07,3.0856600797337764e-08,-1.1466100617399922e-05],"object_position":[0.33999991834726284,0.07000004215472387,0.30999125080507656],"object_quaternion":[0.9999999999862073,2.539914878753422e-08,-5.251921865941027e-06,-4.703583666820731e-08],"object_velocity":[1.1590153648550614e-06,2.0577511670464228e-08,3.508866330717213e-07],"object_angular_velocity":[-1.5829867472270627e-06,1.5305981409510316e-05,3.956932580342902e-07],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03808260770257403,0.007840590722349017,0.5072872880744743],[0.23988390642292556,0.049388202242602805,0.3842018225972641],[0.2861300373796728,0.05890952988266097,0.3559947367587367],[0.34000021507801254,0.07000024460349172,0.3559960522229517],[0.3400010847137988,0.07000076496078056,0.3159960522357897]],"gripper_points":[[0.3659681997257957,0.07000065875873072,0.32399661678528796],[0.3140309533590949,0.0700006630201338,0.3239954876231409]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937246378975486,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8158345913691069,"right":0.8164865033276785},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.580000000000532,"stage":"close","target_distance":0.12560263856552664,"dwell_elapsed":0.0},{"joint_position":[0.20304656430782678,-1.4314836329668432,1.9699927883884782,9.895150797328427e-06,-0.5385325280330537,-0.203041563006469],"joint_velocity":[-1.6916947313104393e-07,2.431426283564211e-05,9.923742662557046e-06,6.463671618586662e-06,-5.166757963680556e-06,3.915205730434172e-06],"joint_actuator_torque":[-4.5062619733471365e-05,-0.9531915656854153,-0.7721841131008205,-3.669174285372075e-05,-0.06765511936536939,-2.56054882186163e-07],"jaw_actuator_force":[-0.8138776666648031,-0.8145305284128428],"end_effector_position":[0.3400011002494496,0.07000076586773887,0.31599582385547453],"end_effector_quaternion":[0.9999999999226945,6.516648917526302e-06,-1.0589754183493548e-05,-3.679620067887052e-08],"end_effector_velocity":[3.949120861811086e-07,6.180167830087599e-08,-1.12150918098918e-05],"object_position":[0.3399999410447679,0.07000004283975793,0.30999125664053867],"object_quaternion":[0.9999999999869421,1.8655537414275357e-08,-5.110176150126623e-06,-4.322136269527759e-08],"object_velocity":[1.1532585081972755e-06,3.700984997765415e-08,3.180559468021409e-07],"object_angular_velocity":[-1.7152538892295091e-06,1.5471480646771673e-05,4.194092692240433e-07],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03808274851303846,0.007840619344339913,0.5072872679262245],[0.23988396276046503,0.0493882115197823,0.3842016574240731],[0.28613007435883364,0.05890953472665452,0.3559945383506634],[0.34000025306909576,0.07000024453585668,0.3559958238431058],[0.3400011002494496,0.07000076586773887,0.31599582385547453]],"gripper_points":[[0.36596830879782305,0.07000065968677674,0.32399637382928775],[0.3140309049487995,0.07000066351614337,0.3239952738206331]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937403860672564,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8138774324243693,"right":0.8145221160960372},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.600000000000539,"stage":"close","target_distance":0.12560262090872656,"dwell_elapsed":0.0},{"joint_position":[0.20304656107040672,-1.431483174274543,1.969993003811158,1.0052285733429682e-05,-0.5385326430653985,-0.2030414842874815],"joint_velocity":[3.254357576678633e-08,2.163334820203852e-05,1.117247326821856e-05,6.342148351228289e-06,-3.425340048953651e-06,3.036671900479272e-06],"joint_actuator_torque":[-4.8810477792926577e-05,-0.9533083351433334,-0.7722842036662314,-3.5949666601141e-05,-0.06766846651819947,-3.416936138478377e-07],"jaw_actuator_force":[-0.8121669821084918,-0.8128032983295279],"end_effector_position":[0.34000110306172,0.07000076628275856,0.3159956045512333],"end_effector_quaternion":[0.9999999999256335,6.526339608209591e-06,-1.0302354934275339e-05,-3.935176086815597e-08],"end_effector_velocity":[-1.4706383532658164e-07,2.094789984728887e-08,-1.0765160273511266e-05],"object_position":[0.339999963494343,0.07000004302521654,0.30999126375795544],"object_quaternion":[0.9999999999876682,1.5646677449734662e-08,-4.966155534507621e-06,-4.3397132490751604e-08],"object_velocity":[1.1288734355132634e-06,1.1384285594627592e-08,3.659219346254999e-07],"object_angular_velocity":[-1.3243912968021262e-06,1.5266535598534083e-05,7.99581441586819e-08],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.038082873115069,0.007840644869357805,0.5072872500915508],[0.2398840062276538,0.0493882196594463,0.38420150069894704],[0.28613009923262117,0.058909538882174914,0.3559943497964753],[0.34000027887330475,0.07000024417562237,0.3559956045393348],[0.34000110306172,0.07000076628275856,0.3159956045512333]],"gripper_points":[[0.3659684078969375,0.07000065981410808,0.323996139601019],[0.3140308660179908,0.07000066390875974,0.3239950694430638]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937541889972054,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8121671245093902,"right":0.8127955809603298},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":6.6200000000005454,"stage":"close","target_distance":0.12560260314694685,"dwell_elapsed":0.0},{"joint_position":[0.2030546813612421,-1.4336666612663538,1.9674435059634696,1.1956963395865093e-05,-0.5316739364160227,-0.20305343937809056],"joint_velocity":[0.0003897276146703089,-0.12021182417185937,-0.1349774832451009,9.590270376671343e-05,0.3390968637696178,-0.0005014390171961914],"joint_actuator_torque":[-0.000534258818362332,-0.9286708995214212,-0.7651109006010302,-6.33423496156939e-05,-0.1309559911320548,6.734662535734515e-05],"jaw_actuator_force":[-0.8065485811348623,-0.8154326181422729],"end_effector_position":[0.340022600307687,0.07000808793118894,0.31716333235767735],"end_effector_quaternion":[0.9999994472059679,-0.00020699365212937065,0.001030890660012379,-2.4153776711158294e-06],"end_effector_velocity":[0.0015325017305736419,0.00045458986742572113,0.06480203795512356],"object_position":[0.33999628862588227,0.07000227535387742,0.3112475173487187],"object_quaternion":[0.9999989997627793,-0.00031687943190849584,0.0013784251987520278,-2.1999194657000436e-06],"object_velocity":[0.0015026403000406663,0.00046445653317681533,0.06366792805693376],"object_angular_velocity":[-0.012009026470244804,0.035207441306792375,-0.0001533705682920798],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.037489704983507545,0.0077188385197846975,0.5073714865521601],[0.2398588326082384,0.04938506710739763,0.3852622666722092],[0.2862350910222392,0.05893357782539226,0.35727890378305377],[0.3401050715548958,0.07002464721500608,0.35716324391112336],[0.340022600307687,0.07000808793118894,0.31716333235767735]],"gripper_points":[[0.36599974849578776,0.07001126329878905,0.3251097894188006],[0.3140621497873616,0.07001153636276539,0.32521687350610035]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937709101132146,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8085599785255938,"right":0.8131539693166949},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.640000000000552,"stage":"lift","target_distance":0.1256130743477756,"dwell_elapsed":0.0},{"joint_position":[0.20305470816644433,-1.4362732527146633,1.9646176607345334,1.3018676723122629e-05,-0.5247272086670558,-0.20305110751438263],"joint_velocity":[-2.3822885586669108e-05,-0.11530126830628916,-0.12238071799046223,4.538162229681499e-05,0.2739172601437531,0.00012726178209566366],"joint_actuator_torque":[-7.668261568483103e-05,-0.9263165216350444,-0.7697890937835155,-3.7454396559174954e-05,-0.12038546465637978,-1.6828447165551097e-05],"jaw_actuator_force":[-0.8099017247505627,-0.8099318807399021],"end_effector_position":[0.3400497111235945,0.07001369273486388,0.31856089361897966],"end_effector_quaternion":[0.9999983644671339,-0.00035921078034901446,0.0017725767991120683,-1.4708888277623282e-06],"end_effector_velocity":[0.0018591636075957637,0.0003749165889372912,0.06289756182384315],"object_position":[0.34002748362087776,0.07000645548940364,0.31263444130279433],"object_quaternion":[0.9999981858164131,-0.0004479426717022802,0.001851407600547786,-1.0684561958971e-06],"object_velocity":[0.002174361992617675,0.00043993891088533874,0.061117673872380034],"object_angular_velocity":[-0.0027108196945819967,0.005280018699124318,3.426273593353491e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.036781437896397054,0.007573012865850521,0.5074703142723689],[0.23979729727332977,0.049372404161094355,0.38648530805757986],[0.2863217650472102,0.058951431332921064,0.3587595774666907],[0.3401915170778636,0.07004242934171065,0.3585606319341082],[0.3400497111235945,0.07001369273486388,0.31856089361897966]],"gripper_points":[[0.36604288269504515,0.07001933060789171,0.3264687916405989],[0.31410541621724564,0.07001954953764648,0.3266529187378034]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399377928580759,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8099543228463728,"right":0.8098384406440067},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.660000000000559,"stage":"lift","target_distance":0.12561220318191396,"dwell_elapsed":0.0},{"joint_position":[0.20304810402222348,-1.4388858168856753,1.9618927569325904,1.332829463899899e-05,-0.5184936012726598,-0.20303996760058957],"joint_velocity":[-0.00029822904839774106,-0.11634186921328105,-0.11884967631908983,1.7753689026569844e-05,0.24760906005493047,0.0004592226940575709],"joint_actuator_torque":[0.0002044269514556163,-0.9228426197812496,-0.7727965485225923,-3.359373209000185e-05,-0.11627420401197242,-6.091815999198502e-05],"jaw_actuator_force":[-0.8092398036506969,-0.8081567011171398],"end_effector_position":[0.34007859963854736,0.07001730749141753,0.3199708778414725],"end_effector_quaternion":[0.9999974537057272,-0.0004493989395440588,0.002211475093353805,7.525799303350359e-07],"end_effector_velocity":[0.0018452319339220874,0.0002745492436782361,0.06371058212946189],"object_position":[0.34005831986293394,0.07000910236191683,0.3140358908132816],"object_quaternion":[0.999997462093912,-0.0005287028041647911,0.002190040622984906,1.0721619914422054e-06],"object_velocity":[0.0019482495557338313,0.00036658023381801473,0.061916572483072474],"object_angular_velocity":[0.0015686787537264855,-0.00861059920726599,9.282845213896617e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03607134638543602,0.007426562211089539,0.5075674767397411],[0.23971707452356902,0.04935423668378696,0.3876905084580853],[0.2863858872218912,0.05896266208378012,0.3602187032268725],[0.3402555171684737,0.07005325944818185,0.35997047043495284],[0.34007859963854736,0.07001730749141753,0.3199708778414725]],"gripper_points":[[0.36608543761764956,0.07002448535108093,0.3278559250620997],[0.31414808932389787,0.07002451041177676,0.3280856430635668]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937856310665175,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8089129161032692,"right":0.8084716474846253},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.6800000000005655,"stage":"lift","target_distance":0.12562647605158997,"dwell_elapsed":0.0},{"joint_position":[0.20303770702895652,-1.4415065597040504,1.9592177820859848,1.3223553256982247e-05,-0.5126707903417891,-0.20302507232322645],"joint_velocity":[-0.00045639280837245775,-0.11666530704574513,-0.11676751546218339,1.1796415778630601e-06,0.2316612651028469,0.0005970038637801034],"joint_actuator_torque":[0.0003125338995033644,-0.9202103477009587,-0.775575751114161,-3.069382535631697e-05,-0.11379674368225068,-7.920787225756953e-05],"jaw_actuator_force":[-0.8081882417774695,-0.807111087129103],"end_effector_position":[0.3401067022443191,0.0700194119482096,0.32139301052764035],"end_effector_quaternion":[0.9999968242360543,-0.0005025388706852035,0.0024696078893864195,3.0597033732934837e-06],"end_effector_velocity":[0.0017531547276858125,0.00019934940262418386,0.06414725137364424],"object_position":[0.3400857815448952,0.07001079488019665,0.31544910111224805],"object_quaternion":[0.9999969288189915,-0.0005761241566888681,0.0024104819285901947,3.226798387941219e-06],"object_velocity":[0.0018022570317932883,0.0003073387674035466,0.06233114962370329],"object_angular_velocity":[0.004118822422550976,-0.018363790795658214,8.433136194281822e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.035358810089657,0.007279478210162251,0.5076630399351548],[0.23962390980934814,0.04933245846418573,0.38888881761288774],[0.286434661828444,0.05896959977239944,0.3616697249973682],[0.3403042701250291,0.07005961553469023,0.36139250240696486],[0.3401067022443191,0.0700194119482096,0.32139301052764035]],"gripper_points":[[0.366120274261936,0.0700275471405267,0.3292646161868518],[0.31418297579536636,0.0700273582298344,0.32952114818515044]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993793200260645,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8079049098168329,"right":0.8073662300863216},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.700000000000572,"stage":"lift","target_distance":0.12565900163038554,"dwell_elapsed":0.0},{"joint_position":[0.20302515184106126,-1.4441281081543282,1.9565692793075187,1.2879608561801214e-05,-0.5070910283344569,-0.2030089149356619],"joint_velocity":[-0.0005468364212548758,-0.11670317039354008,-0.11568511265810298,-8.352371280367893e-06,0.22225024391646778,0.0006417609962979325],"joint_actuator_torque":[0.00038958719878223746,-0.9181263609541475,-0.7780280434212727,-2.8513263330489117e-05,-0.11232574271708273,-8.509736720796468e-05],"jaw_actuator_force":[-0.8073323152344916,-0.8061425363842973],"end_effector_position":[0.3401323826732281,0.07002024966805877,0.32282267946601795],"end_effector_quaternion":[0.999996421970433,-0.0005338558759830778,0.0026212629542283657,4.975972403879224e-06],"end_effector_velocity":[0.00161141009942493,0.00013797494305519407,0.06443220303584174],"object_position":[0.3401106049917819,0.07001154111840252,0.31686967772607566],"object_quaternion":[0.9999965623048859,-0.000604040561529041,0.0025515658304604816,5.022304172708983e-06],"object_velocity":[0.001662359344631523,0.0002554168764652215,0.06260351310434109],"object_angular_velocity":[0.005622560293305076,-0.024880414382835975,5.0855944733568373e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03464582410360208,0.007132239139191677,0.507756724557739],[0.23952170236177034,0.049308281862829956,0.39008321042597677],[0.2864724244626006,0.05897362498699706,0.3631163634374479],[0.34034208274673367,0.07006295902879181,0.36282210698429224],[0.3401323826732281,0.07002024966805877,0.32282267946601795]],"gripper_points":[[0.36614951886491737,0.07002897734738753,0.33068638780861587],[0.31421222854023706,0.07002860582674536,0.330958673442234]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993800406132705,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8070467201036131,"right":0.8063951777038256},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.720000000000579,"stage":"lift","target_distance":0.12570933971015263,"dwell_elapsed":0.0},{"joint_position":[0.20301139955525488,-1.446746452181733,1.9539328874446853,1.239865068679576e-05,-0.5016548160387764,-0.2029926086905218],"joint_velocity":[-0.0005968258877298426,-0.1165717281842724,-0.11519859244822542,-1.3805957759190513e-05,0.21669069385132872,0.0006453576940164067],"joint_actuator_torque":[0.00044073897716145893,-0.9163424046977298,-0.780287486942143,-2.69681027717033e-05,-0.11145084151967666,-8.551044931337515e-05],"jaw_actuator_force":[-0.8065705068156372,-0.8053200343796538],"end_effector_position":[0.3401546952437774,0.07001996741968801,0.3242574243077628],"end_effector_quaternion":[0.9999961751158305,-0.0005523000267487298,0.0027101065365254216,6.3992605978429155e-06],"end_effector_velocity":[0.001440695790068908,8.501112059307141e-05,0.06462982708899005],"object_position":[0.34013234650664476,0.07001135753517379,0.3182952408252015],"object_quaternion":[0.9999963219573126,-0.0006204497734721973,0.002640279017615739,6.3745303299201555e-06],"object_velocity":[0.001493119406292283,0.00020807778133694348,0.06279355802071467],"object_angular_velocity":[0.006510956083694106,-0.02913380284736649,1.3788288710086089e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.033933476742889546,0.006985107849639774,0.5078483892781613],[0.23941274852412328,0.04928242047494021,0.3912756385474203],[0.28650174830732267,0.05897555461823823,0.3645610498382922],[0.340371502654687,0.07006415264024346,0.3642568123307421],[0.3401546952437774,0.07001996741968801,0.3242574243077628]],"gripper_points":[[0.3661739235200881,0.07002905915801588,0.3321165054662667],[0.31423661872938524,0.07002854991105714,0.33239802015034176]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993806773166522,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8062818267801344,"right":0.8055760817220932},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.7400000000005855,"stage":"lift","target_distance":0.1257779221841297,"dwell_elapsed":0.0},{"joint_position":[0.20299703682225195,-1.4493590837682429,1.951299953016399,1.184020133245008e-05,-0.4963032936857889,-0.2029765992595911],"joint_velocity":[-0.000622149627292133,-0.11633350542204503,-0.11507131154303993,-1.690359694398607e-05,0.21341085897566933,0.000632708607930597],"joint_actuator_torque":[0.00047107404353141646,-0.9147309980999125,-0.7824329013496936,-2.587118210781755e-05,-0.11093146259084108,-8.377404670767419e-05],"jaw_actuator_force":[-0.8058611630367061,-0.8046479349859057],"end_effector_position":[0.34017310460154476,0.07001866355093962,0.3256957932952397],"end_effector_quaternion":[0.9999960271795744,-0.0005631636535142015,0.002761958947608726,7.385055493815966e-06],"end_effector_velocity":[0.0012539320328178866,3.7513314441835395e-05,0.06477553332011006],"object_position":[0.34015039535669706,0.07001026674354804,0.31972438113053264],"object_quaternion":[0.9999961692418329,-0.0006300871741895023,0.0026952621559847363,7.32964525330841e-06],"object_velocity":[0.0012997244000716832,0.00016390598005964932,0.06293456505486847],"object_angular_velocity":[0.007035032537106127,-0.0318554991997876,-1.807278491291235e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03322245198112672,0.006838248080280372,0.5079379553921239],[0.2392984357036108,0.04925530690792843,0.39246725757998496],[0.2865241819733467,0.05897588288926445,0.3660052226647031],[0.3403940601068125,0.07006371809601052,0.36569515764959737],[0.34017310460154476,0.07001866355093962,0.3256957932952397]],"gripper_points":[[0.36619357965431104,0.07002797732681053,0.33355217347107213],[0.31425624880742664,0.0700273717707514,0.33383907469182456]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938123263898284,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8055866719582994,"right":0.8048916667036534},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.760000000000592,"stage":"lift","target_distance":0.125865276332359,"dwell_elapsed":0.0},{"joint_position":[0.2029824189853317,-1.4519643916789542,1.9486651364201155,1.1238574487395053e-05,-0.4910016798730135,-0.20296104968135104],"joint_velocity":[-0.000632595958853907,-0.11602684420924936,-0.11516651071843433,-1.8649404449948823e-05,0.21147739124812828,0.000614184752996826],"joint_actuator_torque":[0.00048780173817419836,-0.9132186852443738,-0.7844972016998781,-2.5042590465175095e-05,-0.11062232840757957,-8.126883251691197e-05],"jaw_actuator_force":[-0.8052028024292657,-0.8040944334123203],"end_effector_position":[0.34018733577587984,0.07001640789492584,0.3271369520845156],"end_effector_quaternion":[0.9999959400407923,-0.0005695643787144135,0.0027920304466796365,8.020951595020792e-06],"end_effector_velocity":[0.0010595642686445127,-6.255375585803927e-06,0.06489181410074263],"object_position":[0.3401643718911007,0.07000829399260054,0.3211562915138301],"object_quaternion":[0.9999960745408619,-0.0006357395512561143,0.002728859604811655,7.959142397085303e-06],"object_velocity":[0.0010939658594290034,0.00012207219821883922,0.0630477442586804],"object_angular_velocity":[0.007344927348334304,-0.03357704368449809,-4.3290679403062144e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.032513192308580206,0.006691764243758868,0.5080253812464093],[0.23917962237525736,0.04922720690284591,0.3936587654824952],[0.28654067926553756,0.05897491251222003,0.3674497493699315],[0.340410696939296,0.07006197465180963,0.3671363024975079],[0.34018733577587984,0.07001640789492584,0.3271369520845156]],"gripper_points":[[0.36620852850321284,0.07002585534478634,0.3349917657848712],[0.31427116640067004,0.07002518734947377,0.3352817909963457]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993817187040921,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8049547487859787,"right":0.8043137225594744},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.780000000000599,"stage":"lift","target_distance":0.12597172792299707,"dwell_elapsed":0.0},{"joint_position":[0.2029677623125073,-1.454561304935871,1.9460251485881657,1.061337320468671e-05,-0.48572941679667747,-0.20294597761148325],"joint_velocity":[-0.0006339912587208299,-0.11567435361968091,-0.11539849941431128,-1.962637263045069e-05,0.21033997779383543,0.0005952681159655914],"joint_actuator_torque":[0.000496434501073395,-0.9117654022769557,-0.7865012213891305,-2.4356199733149733e-05,-0.110437404283104,-7.872332488290112e-05],"jaw_actuator_force":[-0.8045984389017162,-0.8036301406729605],"end_effector_position":[0.340197252496311,0.07001324944664856,0.3285804039616729],"end_effector_quaternion":[0.9999958895001254,-0.000573343472766031,0.002809304100879661,8.401415048736524e-06],"end_effector_velocity":[0.0008617617879348584,-4.750606954801134e-05,0.06499028689703784],"object_position":[0.3401740912561285,0.07000546122777525,0.322590487738646],"object_quaternion":[0.9999960170076915,-0.0006390536693340027,0.0027490924853956545,8.346673351971548e-06],"object_velocity":[0.0008825499601378324,8.190454749116632e-05,0.0631439881440894],"object_angular_velocity":[0.007528137283915076,-0.03465452740734682,-6.151702710254754e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.031805994646603386,0.006545725101938715,0.5081106473823506],[0.239056843791653,0.04919828480711808,0.39485057198394735],[0.2865518300540602,0.05897282973955502,0.36889513803847995],[0.3404219955152181,0.07005911862410197,0.36857974628869133],[0.340197252496311,0.07001324944664856,0.3285804039616729]],"gripper_points":[[0.3662188424431643,0.07002277608605152,0.3364343179028345],[0.31428144760764043,0.07002207069400913,0.3367261376825156]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938214655323774,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8043822464330995,"right":0.8038192355091293},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.800000000000606,"stage":"lift","target_distance":0.12609743286238465,"dwell_elapsed":0.0},{"joint_position":[0.2029532003920493,-1.4571490269475291,1.9433777653193192,9.975681718792406e-06,-0.4804743803873841,-0.20293137709323808],"joint_velocity":[-0.0006297806852811297,-0.11528790627290617,-0.11572386139317477,-2.017110627232516e-05,0.20967153020812287,0.0005766228555732577],"joint_actuator_torque":[0.000499866425357709,-0.9103464331675468,-0.7884517450606836,-2.374441436262854e-05,-0.11032535160797607,-7.622247256122705e-05],"jaw_actuator_force":[-0.8040460896572128,-0.8032363540615028],"end_effector_position":[0.3402028330117209,0.07000923139914926,0.33002588324459886],"end_effector_quaternion":[0.9999958608767021,-0.0005755748739185841,0.002819019187564298,8.593508231646377e-06],"end_effector_velocity":[0.0006645199978262545,-8.664052612786688e-05,0.06507965556072365],"object_position":[0.3401795021698963,0.07000179703941611,0.32402671544346573],"object_quaternion":[0.999995982944286,-0.0006409870527006984,0.002761006661419476,8.550146401091065e-06],"object_velocity":[0.0006709841134334959,4.331195627551235e-05,0.06323152832720381],"object_angular_velocity":[0.007637855217192246,-0.03533024586582201,-7.471109702777648e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03110108207409832,0.006400180883290923,0.508193746116769],[0.23893046856882358,0.049168649943645414,0.39604293620681064],[0.2865580363071981,0.058969757436643316,0.3703417089357785],[0.340428353217568,0.07005527913649388,0.37002522099214963],[0.3402028330117209,0.07000923139914926,0.33002588324459886]],"gripper_points":[[0.3662246223151133,0.07001880311495881,0.33787929126716465],[0.3142871953286435,0.07001807900056323,0.3381721204295601]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993825248713685,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8038643526763236,"right":0.8033922604609031},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.820000000000612,"stage":"lift","target_distance":0.12624244011584337,"dwell_elapsed":0.0},{"joint_position":[0.20293882792727935,-1.4597268971785964,1.9407214531874044,9.331712991457542e-06,-0.4752293338792293,-0.20291722615907803],"joint_velocity":[-0.0006215430686151644,-0.1148727972854507,-0.11611330440854924,-2.0479874567798344e-05,0.2092837968120084,0.0005588829432456528],"joint_actuator_torque":[0.0004996882637300359,-0.9089514414257565,-0.7903564143608719,-2.3158004879006823e-05,-0.11025678599695254,-7.384939875265673e-05],"jaw_actuator_force":[-0.8035434991253023,-0.8028985960626276],"end_effector_position":[0.3402041108118165,0.07000439448461947,0.33147322715647975],"end_effector_quaternion":[0.9999958452335742,-0.0005768976105071519,0.0028242928041565265,8.654061583375886e-06],"end_effector_velocity":[0.00046951557593023167,-0.00012387537825626774,0.06516304887519528],"object_position":[0.34018062894935636,0.06999733355690552,0.3254648149963929],"object_quaternion":[0.999995963400852,-0.000642112147396832,0.0027678149562110257,8.623293215381119e-06],"object_velocity":[0.0004615219593948826,6.246737742364023e-06,0.06331324503201935],"object_angular_velocity":[0.007703490940950112,-0.03575130460569238,-8.348342802070056e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.030398641064654106,0.006255172646322677,0.5082746762401981],[0.2388007639834816,0.04913838100898763,0.39723600908568757],[0.2865595838190462,0.058965782925431684,0.3717896478627789],[0.34043005289800626,0.07005054805703836,0.371472562401224],[0.3402041108118165,0.07000439448461947,0.33147322715647975]],"gripper_points":[[0.36622598444076565,0.07001399016165556,0.33932636068454775],[0.314288526978093,0.07001326046012198,0.3396197378393689]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938286055417396,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8033964261018819,"right":0.8030207644775615},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.840000000000619,"stage":"lift","target_distance":0.12640673260383836,"dwell_elapsed":0.0},{"joint_position":[0.2029247051644624,-1.4622943719820314,1.938055137922581,8.68474196413845e-06,-0.46998999954070303,-0.20290351107551455],"joint_velocity":[-0.0006107740137309653,-0.1144342597247188,-0.11654776110925066,-2.0661583831147707e-05,0.2090616399662776,0.0005416642075520138],"joint_actuator_torque":[0.0004972721430362981,-0.9075723991987843,-0.7922206790104838,-2.2578224809549218e-05,-0.11021379897523786,-7.155032564654107e-05],"jaw_actuator_force":[-0.8030863758243498,-0.802607408914537],"end_effector_position":[0.3402011435796247,0.06999877216175443,0.3329223343499345],"end_effector_quaternion":[0.9999958372401644,-0.0005776880732520399,0.002826960300532692,8.619276140020785e-06],"end_effector_velocity":[0.0002774389209009797,-0.0001596002831230714,0.06524270966042747],"object_position":[0.34017752524970984,0.06999209816950365,0.3269046869150936],"object_quaternion":[0.9999959527556209,-0.0006427648764867193,0.002771507123865083,8.599663284412927e-06],"object_velocity":[0.00025497478454070284,-2.956079501619161e-05,0.06339125481099098],"object_angular_velocity":[0.007743245544929168,-0.03601502697123226,-8.938278925978838e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02969882658754622,0.006110733614463971,0.5083534419295295],[0.23866792677047843,0.049107533542162345,0.39842987591789975],[0.2865566788957337,0.05896096685892655,0.37323905870690127],[0.3404272990638906,0.07004498896454057,0.37292166831569046],[0.3402011435796247,0.06999877216175443,0.3329223343499345]],"gripper_points":[[0.36622303700203895,0.07000837848126112,0.3407753291619753],[0.3142855512391488,0.07000765278467108,0.34106898357116333]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993831592195772,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8029734040782859,"right":0.8026961408003976},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.860000000000626,"stage":"lift","target_distance":0.12659025985111624,"dwell_elapsed":0.0},{"joint_position":[0.2029108828586253,-1.4648508989557403,1.9353778938200903,8.036500256318316e-06,-0.46475382026773865,-0.20289021204320395],"joint_velocity":[-0.0005978097502516558,-0.11397171774649026,-0.11702146713112105,-2.0784368198534446e-05,0.20893853711206836,0.0005252458405054513],"joint_actuator_torque":[0.0004926428892986223,-0.9062070072164943,-0.7940445182817939,-2.1990500909723366e-05,-0.11018599131489992,-6.936262252565939e-05],"jaw_actuator_force":[-0.8026699471573346,-0.8023559505499298],"end_effector_position":[0.3401940305746524,0.06999240305255112,0.334373150402849],"end_effector_quaternion":[0.9999958337670154,-0.000578165673385452,0.0028280913010724036,8.524012679829127e-06],"end_effector_velocity":[8.992080422300574e-05,-0.0001936001408928983,0.0653203666904211],"object_position":[0.34017028072632877,0.06998612767671883,0.32834627987927084],"object_quaternion":[0.9999959475442239,-0.0006431406595972831,0.0027732999702641575,8.51448549939455e-06],"object_velocity":[5.336593591849956e-05,-6.384917607633948e-05,0.06346717053241784],"object_angular_velocity":[0.007767932305023405,-0.03618288510878751,-9.243561648998979e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02900179614122804,0.0059668970633608995,0.5084300485939295],[0.2385321376597948,0.0490761573796498,0.3996245907432536],[0.286549507591133,0.058955362868799335,0.37469000665247376],[0.3404202765418759,0.07003865804225502,0.3743724838127727],[0.3401940305746524,0.06999240305255112,0.334373150402849]],"gripper_points":[[0.36621590081566674,0.07000201195544434,0.34222608657854836],[0.3142783890816559,0.07000129636227184,0.34251985861611645]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938342557715965,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8025905296451836,"right":0.8024116043075187},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.880000000000632,"stage":"lift","target_distance":0.1267929431591962,"dwell_elapsed":0.0},{"joint_position":[0.20289739799619172,-1.4673960083090065,1.9326889620908776,7.387697159198951e-06,-0.45951926599965565,-0.20287734073873956],"joint_velocity":[-0.0005832740818447492,-0.1134890768187304,-0.11752734534983113,-2.088223270124622e-05,0.20887464546989598,0.0005082894821342496],"joint_actuator_torque":[0.0004866017085873864,-0.9048508193469615,-0.7958290901864302,-2.1387239382364832e-05,-0.11016698811073411,-6.710547769728237e-05],"jaw_actuator_force":[-0.8022912076520274,-0.8021372937203992],"end_effector_position":[0.3401828740123447,0.06998532147961824,0.3358256551455956],"end_effector_quaternion":[0.999995833028485,-0.0005784552471833571,0.0028282936475161457,8.38075066721247e-06],"end_effector_velocity":[-9.309090816195806e-05,-0.00022610789511230917,0.06539740334439412],"object_position":[0.34015900004812316,0.06997945396314224,0.3297895748468182],"object_quaternion":[0.9999959456967968,-0.000643350378620363,0.0027739178173940542,8.378618315744678e-06],"object_velocity":[-0.0001433228668705547,-9.680292847018658e-05,0.06354232369629453],"object_angular_velocity":[0.007784172931717613,-0.036294251643080755,-9.43428229744854e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.028307684839845436,0.005823691105580707,0.5085045055307271],[0.23839354520361583,0.04904429227203907,0.40082019418490333],[0.2865382215369799,0.05894901337268578,0.3761425395014854],[0.34040913617348134,0.0700315996028183,0.3758249884371612],[0.3401828740123447,0.06998532147961824,0.3358256551455956]],"gripper_points":[[0.36620469920070287,0.0699949275169172,0.3436785810620638],[0.31426716377943875,0.06999422690217265,0.3439723742447151]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938366363990424,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022438760706854,"right":0.802161205490266},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.900000000000639,"stage":"lift","target_distance":0.12701468406662964,"dwell_elapsed":0.0},{"joint_position":[0.20288427716277554,-1.4699292354790816,1.9299876999909937,6.738523231530551e-06,-0.4542853793320668,-0.20286489937342098],"joint_velocity":[-0.000567606722087116,-0.11298613231978828,-0.11806026226001591,-2.097532429790072e-05,0.20884820339502705,0.0004912725980121524],"joint_actuator_torque":[0.0004795076438739443,-0.9035046277798529,-0.7975772774352663,-2.0767941877533527e-05,-0.11015355542430427,-6.484230209480302e-05],"jaw_actuator_force":[-0.8019460142567647,-0.8019471230877588],"end_effector_position":[0.3401677780706396,0.06997755845978608,0.337279826506586],"end_effector_quaternion":[0.9999958339006274,-0.0005786352671121336,0.002827948965174437,8.201621034194166e-06],"end_effector_velocity":[-0.0002715960166471349,-0.0002572803428732148,0.06547338093891418],"object_position":[0.3401437866219363,0.06997210655013819,0.33123454874294417],"object_quaternion":[0.9999959458699119,-0.0006434651484342321,0.002773829304817759,8.205479183108874e-06],"object_velocity":[-0.00033517392067786204,-0.00012855486578727942,0.06361625711830649],"object_angular_velocity":[0.007794853385585083,-0.03636855422576764,-9.513463778162069e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027616626458956437,0.005681143170146566,0.5085768234353081],[0.23825228437041457,0.049011972556982066,0.40201670500042574],[0.2865229559751237,0.058941954291465204,0.37759667785909856],[0.34039401266567243,0.07002385094380414,0.37727915993745625],[0.3401677780706396,0.06997755845978608,0.337279826506586]],"gripper_points":[[0.3661895472347002,0.06998715804603607,0.34513277064990056],[0.3142519902916411,0.06998647607050536,0.34542652813845115]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993838768329909,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8019294053438315,"right":0.8019405663861412},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.920000000000646,"stage":"lift","target_distance":0.12725537467701478,"dwell_elapsed":0.0},{"joint_position":[0.2028715474285426,-1.472450047137274,1.9272734148047874,6.088917607364957e-06,-0.449051547473414,-0.20285289482873473],"joint_velocity":[-0.0005507525277654154,-0.11245992338237343,-0.11862280480729082,-2.1077463668965742e-05,0.20884559004803513,0.00047397142778649406],"joint_actuator_torque":[0.00047107479448982303,-0.9021704132466084,-0.7992869623874412,-2.013264010377843e-05,-0.1101435438226872,-6.254339292510736e-05],"jaw_actuator_force":[-0.8016320052657626,-0.8017831848777304],"end_effector_position":[0.340148875365058,0.06996915101184503,0.3387356549837035],"end_effector_quaternion":[0.9999958357286216,-0.0005787514804055824,0.0028272792914739845,7.996717609997605e-06],"end_effector_velocity":[-0.00044434270858710904,-0.0002868413413578262,0.06554891312961014],"object_position":[0.3401247660793106,0.06996412303010731,0.3326811941520317],"object_quaternion":[0.9999959472684314,-0.0006435255279999774,0.0027733116517449125,8.005528768127381e-06],"object_velocity":[-0.0005206227594362696,-0.00015883234553688171,0.06368953803013423],"object_angular_velocity":[0.007802369363460164,-0.03642092503107269,-9.497312205751722e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.026928773552513212,0.005539284485198793,0.508647012333435],[0.2381085063019388,0.04897923599008808,0.4032141375308667],[0.28650386172368214,0.0589342248766252,0.37905243705527814],[0.34037505639624227,0.07001545274618755,0.37873498870678607],[0.340148875365058,0.06996915101184503,0.3387356549837035]],"gripper_points":[[0.36617057654296237,0.06997874180500857,0.3465886343082763],[0.3142330001515048,0.06997808110773085,0.3468823223296366]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993840673825977,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8016450464727908,"right":0.8017471742016019},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.940000000000652,"stage":"lift","target_distance":0.12751488896049695,"dwell_elapsed":0.0},{"joint_position":[0.20285923258437988,-1.474957986310063,1.92454554214954,5.43856920353364e-06,-0.4438173809497393,-0.2028413433302412],"joint_velocity":[-0.0005328743095164151,-0.11191403967786986,-0.1192091316886717,-2.119546133220668e-05,0.20885821285471726,0.0004560067638668025],"joint_actuator_torque":[0.000461817838100842,-0.9008464242142509,-0.8009608424109729,-1.947436617415199e-05,-0.11013556860395823,-6.015727720765085e-05],"jaw_actuator_force":[-0.8013571093055916,-0.801650522682344],"end_effector_position":[0.34012627746398266,0.06996013064091768,0.3401931304051114],"end_effector_quaternion":[0.9999958381049118,-0.0005788324827807913,0.002826422728664765,7.769875423137785e-06],"end_effector_velocity":[-0.0006123558096700647,-0.0003150603054080537,0.06562391430425533],"object_position":[0.34010205755067446,0.06995553344993038,0.3341294994061019],"object_quaternion":[0.9999959493838707,-0.0006435575477091607,0.002772541967862904,7.782640961218333e-06],"object_velocity":[-0.0007009168378116704,-0.00018788302415673268,0.06376209653865013],"object_angular_velocity":[0.0078078475333987546,-0.036459294500881874,-9.436126509279102e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.026244257870087412,0.005398141831774687,0.5087150856943565],[0.23796233560347083,0.04894611402488955,0.4044124985799962],[0.28648106175070454,0.05892585765247837,0.38050982236628866],[0.34035238998141737,0.07000643880369313,0.38019246450811267],[0.34012627746398266,0.06996013064091768,0.3401931304051114]],"gripper_points":[[0.3661479110610045,0.06996971094770987,0.348046154619573],[0.314210317666873,0.06996907378605993,0.34833975374468323]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993842323777621,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8013978014387249,"right":0.8015870475021931},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.960000000000659,"stage":"lift","target_distance":0.1277930933535194,"dwell_elapsed":0.0},{"joint_position":[0.2028473579477102,-1.477452559500705,1.9218034117777956,4.787133830342106e-06,-0.4385826080295038,-0.2028302549521825],"joint_velocity":[-0.0005138818011713567,-0.11134687849152505,-0.11982439887306402,-2.1333205044398155e-05,0.2088812986849607,0.0004376599859719653],"joint_actuator_torque":[0.0004512738797473048,-0.8995324266300031,-0.8025950037844041,-1.8799528711780852e-05,-0.11012876798120885,-5.7722155052175594e-05],"jaw_actuator_force":[-0.8011155312476719,-0.8015457829702353],"end_effector_position":[0.34010012138122264,0.06995053460825534,0.3416522716911145],"end_effector_quaternion":[0.9999958408919877,-0.0005788880282308011,0.0028254257546501127,7.528772356915557e-06],"end_effector_velocity":[-0.0007744540652744828,-0.0003416631340406054,0.06569980442004414],"object_position":[0.3400757909663294,0.0699463760514908,0.335579486814243],"object_quaternion":[0.9999959520205229,-0.0006435687019342898,0.002771588887498321,7.545291334294563e-06],"object_velocity":[-0.0008746620785003431,-0.00021543878275620564,0.06383529563358403],"object_angular_velocity":[0.007812860336412146,-0.036492702348061686,-9.299226420555309e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02556322111770559,0.005257744013126736,0.5087810572007714],[0.23781391344098674,0.04891264187229365,0.40561181032364446],[0.2864546970984053,0.05891688929835273,0.38196885791430285],[0.3403261541528293,0.06999684715966016,0.381651606239751],[0.34010012138122264,0.06995053460825534,0.3416522716911145]],"gripper_points":[[0.36612168149631613,0.06996010328778808,0.3495053481245174],[0.3141840734460262,0.06995949112724911,0.3497988437534175]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938437308456406,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8011827891833603,"right":0.8014558991693287},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":6.980000000000666,"stage":"lift","target_distance":0.12808985023037223,"dwell_elapsed":0.0},{"joint_position":[0.2028359382973873,-1.4799332510344476,1.9190464337344877,4.134131066573949e-06,-0.43334702495336314,-0.2028196533495677],"joint_velocity":[-0.0004942800596101636,-0.11075701555391858,-0.12046435653269054,-2.148939806197414e-05,0.2089126909647668,0.00041834314048487173],"joint_actuator_torque":[0.0004401979573316339,-0.8982324927943637,-0.8041931004313483,-1.810813573259874e-05,-0.11012297007853533,-5.51580446952471e-05],"jaw_actuator_force":[-0.8009045824601024,-0.8014636797800962],"end_effector_position":[0.34007053617219,0.06994039478117182,0.34311306953879117],"end_effector_quaternion":[0.9999958439028093,-0.0005789314090994827,0.00282435172965652,7.2690519094415815e-06],"end_effector_velocity":[-0.0009310778319872324,-0.000366920253509837,0.06577490587268335],"object_position":[0.3400460993539786,0.06993668161912618,0.33703114416085156],"object_quaternion":[0.9999959549404108,-0.0006435722267967557,0.0027705350541309794,7.288174916850071e-06],"object_velocity":[-0.001042366626923429,-0.00024176302949682817,0.0639074758437628],"object_angular_velocity":[0.007816661886283143,-0.03651869633434656,-9.183421008645296e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.02488581110608269,0.005118120745051691,0.5088449412229519],[0.23766337665734869,0.04887885121460616,0.40681207364172745],[0.2864249020961805,0.05890735194721239,0.38342954148769687],[0.3402964830348375,0.06998671074384091,0.3831124045688496],[0.34007053617219,0.06994039478117182,0.34311306953879117]],"gripper_points":[[0.3660920233196111,0.06994995067492286,0.3509662021919002],[0.31415440270993694,0.06994936544122622,0.35125958630758547]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938449237306724,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8009964820335027,"right":0.8013492846867687},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.000000000000672,"stage":"lift","target_distance":0.12840500233372526,"dwell_elapsed":0.0},{"joint_position":[0.2028249878686688,-1.4823996101837216,1.9162740263501925,3.4791102165788857e-06,-0.4281104785955377,-0.20280954728974387],"joint_velocity":[-0.0004740555338882784,-0.11014802968364575,-0.12112933105490448,-2.1667765485762405e-05,0.20894991378405503,0.0003987169653656333],"joint_actuator_torque":[0.0004285177190297418,-0.8969427037310425,-0.8057535985631148,-1.740086225221314e-05,-0.11011762312701734,-5.2553683435263565e-05],"jaw_actuator_force":[-0.8007201897538714,-0.801401176698187],"end_effector_position":[0.34003764405744863,0.06992974141067275,0.34457553864669993],"end_effector_quaternion":[0.9999958471051306,-0.0005789650753897697,0.0028232114735984738,6.9935187707394176e-06],"end_effector_velocity":[-0.0010824888183807117,-0.0003908815220983398,0.06585075852289597],"object_position":[0.34001310621809955,0.06992648009472471,0.338484487953666],"object_quaternion":[0.9999959580920611,-0.0006435695391577241,0.002769398594008461,7.0154561233474345e-06],"object_velocity":[-0.0012044103505646677,-0.00026689139382539054,0.06398017187879915],"object_angular_velocity":[0.007820508660321355,-0.03654386540236775,-9.034160384067143e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.024212157889994385,0.004979298039383827,0.5089067550299652],[0.23751084977239417,0.048844771043426535,0.40801330470047803],[0.2863917999954441,0.05889727527351966,0.38489188899997057],[0.3402634997134562,0.06997606000388804,0.38457487418881325],[0.34003764405744863,0.06992974141067275,0.34457553864669993]],"gripper_points":[[0.36605906067745436,0.0699392835444976,0.3524287309471095],[0.314121429330867,0.06993872687340055,0.3527219966582646]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993845930503941,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8008351128041715,"right":0.8012638655551148},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.020000000000679,"stage":"lift","target_distance":0.1287383989402937,"dwell_elapsed":0.0},{"joint_position":[0.202814532950835,-1.4848510637207781,1.9134855614324393,2.8216601685117624e-06,-0.42287282486843425,-0.2027999474343961],"joint_velocity":[-0.0004526468784525066,-0.10951356458348431,-0.12182079215606241,-2.1869759374159525e-05,0.20899315985292916,0.0003786635101248708],"joint_actuator_torque":[0.00041552493880203656,-0.8956704935898188,-0.8072775626483235,-1.6678277362891096e-05,-0.1101130039233098,-4.989437244873329e-05],"jaw_actuator_force":[-0.8005589574687342,-0.8013554914960643],"end_effector_position":[0.3400015875322436,0.06991861317145869,0.3460396680146424],"end_effector_quaternion":[0.999995850370288,-0.0005789982216270756,0.0028220485891226224,6.710044862801678e-06],"end_effector_velocity":[-0.0012277984747240153,-0.00041316611250548255,0.06592567759364415],"object_position":[0.33997694823939784,0.0699158115771934,0.33993950609024404],"object_quaternion":[0.9999959613252737,-0.0006435699142875222,0.0027682314830197795,6.735348303590385e-06],"object_velocity":[-0.001359701769097989,-0.00029047310698502877,0.06405167849110775],"object_angular_velocity":[0.007823351376894437,-0.036563641924585215,-8.811064236559753e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.023542424898653092,0.004841309031811585,0.5089665140420079],[0.23735648228171813,0.04881043844787848,0.409215501396599],[0.28635553709867057,0.05888669727239382,0.38635589433202616],[0.3402273501717285,0.0699649343518644,0.38603900407886804],[0.3400015875322436,0.06991861317145869,0.3460396680146424]],"gripper_points":[[0.3660229310707381,0.06992814112493582,0.3538929211523788],[0.3140852905867809,0.06992761383980396,0.35418606609883296]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938467760210664,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8006955748085941,"right":0.8011965763472464},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.040000000000686,"stage":"lift","target_distance":0.1290898731731339,"dwell_elapsed":0.0},{"joint_position":[0.20280458560112502,-1.487287142874101,1.9106803949883753,2.161241746442758e-06,-0.41763394445136287,-0.20279087216742678],"joint_velocity":[-0.00043075877784568944,-0.10885950390891505,-0.12254016884471108,-2.209258837895921e-05,0.20904076247727116,0.00035786352487100054],"joint_actuator_torque":[0.0004020938474269542,-0.8944092878317633,-0.8087613180447306,-1.5941579714115947e-05,-0.11010841860294818,-4.713584218407618e-05],"jaw_actuator_force":[-0.8004190725725966,-0.8013230287732389],"end_effector_position":[0.3399625013915502,0.06990704208942453,0.34750549077712345],"end_effector_quaternion":[0.9999958537787044,-0.0005790254854218937,0.002820835643575768,6.415547252081074e-06],"end_effector_velocity":[-0.0013673513665564026,-0.00043409541579885277,0.06600231911184003],"object_position":[0.3399377647607697,0.06990470693000052,0.3413962349287402],"object_quaternion":[0.9999959647190224,-0.0006435672559343918,0.002767006566711021,6.443545628109337e-06],"object_velocity":[-0.0015086055992835,-0.00031280102651230134,0.06412463515894432],"object_angular_velocity":[0.007826998223965499,-0.03658681807275654,-8.603806523246576e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.022876747066824677,0.004704180590575744,0.5090242375289498],[0.23720040731640063,0.04877588360421345,0.41041869178885426],[0.28631624612359513,0.058875648878172086,0.38782158755674906],[0.34018816701019033,0.0699533653839732,0.3875048273863842],[0.3399625013915502,0.06990704208942453,0.34750549077712345]],"gripper_points":[[0.3659837735175292,0.0699165551976888,0.3553588073437948],[0.3140461252623929,0.06991605843890629,0.35565182631683945]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993847482011387,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8005754949586532,"right":0.8011443833080547},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.060000000000692,"stage":"lift","target_distance":0.12945925622720447,"dwell_elapsed":0.0},{"joint_position":[0.20279516180599952,-1.4897072987777138,1.9078579185102862,1.4974069584907026e-06,-0.4123937389127904,-0.20278233877449103],"joint_velocity":[-0.0004081581243609206,-0.10818102232491494,-0.12328496060267069,-2.2336924830568208e-05,0.2090925802119994,0.00033638374753116825],"joint_actuator_torque":[0.00038792282819599677,-0.8931661222726461,-0.8102087700573293,-1.519271909397939e-05,-0.1101042030845889,-4.428754325402906e-05],"jaw_actuator_force":[-0.8002977614471671,-0.8013017418919137],"end_effector_position":[0.33992052389936167,0.06989506227927036,0.34897300331116177],"end_effector_quaternion":[0.9999958572743665,-0.000579051005800279,0.0028195915861328473,6.10943301678321e-06],"end_effector_velocity":[-0.00150102097666547,-0.00045356161555416374,0.06607826514237446],"object_position":[0.339895693122749,0.06989320069159019,0.3428546677586049],"object_quaternion":[0.999995968202788,-0.0006435661095384945,0.0027657482043621953,6.140154016129439e-06],"object_velocity":[-0.0016510635389874334,-0.00033378256876246434,0.06419662496364775],"object_angular_velocity":[0.007829978231394691,-0.036606550379985524,-8.387325757963842e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.022215281152700952,0.004567944135860176,0.5090799440477194],[0.2370427679760752,0.0487411396903581,0.41162287811785947],[0.28627406703976516,0.058864163671597206,0.3892889671755999],[0.3401460900087749,0.0699413875459149,0.38897234047941937],[0.33992052389936167,0.06989506227927036,0.34897300331116177]],"gripper_points":[[0.36594172604185526,0.0699045599116698,0.35682638491517976],[0.31400407120038787,0.06990409488356163,0.35711927467552523]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993848067723362,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8004723165403713,"right":0.8011050268638537},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.080000000000699,"stage":"lift","target_distance":0.1298463682977585,"dwell_elapsed":0.0},{"joint_position":[0.20278627752242237,-1.4921110189716456,1.905017469885152,8.296949955457891e-07,-0.4071520734787257,-0.20277435162044294],"joint_velocity":[-0.00038486197578944286,-0.10748076026819718,-0.12405835829573256,-2.2603307497846224e-05,0.2091496863170702,0.00031476198953957223],"joint_actuator_torque":[0.00037301608008988296,-0.8919376513157431,-0.8116163923079966,-1.4432173092496825e-05,-0.11010024663423934,-4.142163078668659e-05],"jaw_actuator_force":[-0.8001929380451278,-0.801289529797522],"end_effector_position":[0.3398757957198464,0.06988270832022052,0.35044223135338604],"end_effector_quaternion":[0.9999958608785193,-0.0005790735057220915,0.002818309083879251,5.797553092928773e-06],"end_effector_velocity":[-0.0016286718836187942,-0.0004715437192999341,0.06615546603687654],"object_position":[0.3398508737725374,0.06988132752091541,0.3443148332973656],"object_quaternion":[0.9999959717950919,-0.0006435652337073659,0.0027644499221274885,5.831633715232688e-06],"object_velocity":[-0.0017868860789544288,-0.00035339096708115656,0.06426958314585067],"object_angular_velocity":[0.007833283917242669,-0.036627744025522053,-8.117984165551014e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021558173919330657,0.004432628995319262,0.5091336542544697],[0.23688370572493575,0.048706239519364036,0.4128280845100434],[0.2862291400970536,0.05885227526445763,0.390758058110279],[0.3401012592447541,0.06992903531607356,0.39044156909800865],[0.3398757957198464,0.06988270832022052,0.35044223135338604]],"gripper_points":[[0.3658969288753455,0.06989219013031166,0.358295679986423],[0.31395926845962796,0.06989175742861017,0.35858843653437694]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993848550007972,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.800383977370069,"right":0.8010763837176083},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.100000000000706,"stage":"lift","target_distance":0.13025103122312184,"dwell_elapsed":0.0},{"joint_position":[0.20277794448900924,-1.4944977478412784,1.9021584302020598,1.576290262625109e-07,-0.4019088455505497,-0.20276693072021557],"joint_velocity":[-0.0003610672715895165,-0.10675599876450041,-0.12485771870429567,-2.2889248567724828e-05,0.2092110219691792,0.0002923089221234024],"joint_actuator_torque":[0.0003576019414737175,-0.8907286544040289,-0.8129872906498576,-1.3662529066399461e-05,-0.11009661272029803,-3.8445200818415515e-05],"jaw_actuator_force":[-0.8001029360340484,-0.8012843826227538],"end_effector_position":[0.33982845685904123,0.06987001314368937,0.3519131747583316],"end_effector_quaternion":[0.9999958645345189,-0.0005790971888005356,0.0028170073342909684,5.4758228187305e-06],"end_effector_velocity":[-0.0017503585803092538,-0.0004881234286631753,0.06623223498489812],"object_position":[0.3398034471687745,0.06986912006022462,0.3457767290282335],"object_quaternion":[0.9999959754371773,-0.0006435689587761911,0.002763131928168442,5.51274144792043e-06],"object_velocity":[-0.0019161679568465444,-0.00037171057905707625,0.06434182606422235],"object_angular_velocity":[0.007836025237058699,-0.03664609670228333,-7.871260985588832e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020905583891785217,0.004298266788278711,0.5091853890603166],[0.23672336538738128,0.048671215533662854,0.414034316496952],[0.28618160698012207,0.058840016287813386,0.3922288623678476],[0.34005381626013087,0.06991634196124115,0.3919125130876216],[0.33982845685904123,0.06987001314368937,0.3519131747583316]],"gripper_points":[[0.3658495231700281,0.06987947863870744,0.35976669140826134],[0.3139118580558364,0.06987907928582847,0.36005931273887726]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993848943622199,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8003086882346774,"right":0.8010565685851413},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.120000000000712,"stage":"lift","target_distance":0.13067305352647496,"dwell_elapsed":0.0},{"joint_position":[0.20277017509408782,-1.4968669400598864,1.899280093671355,-5.192219634753204e-07,-0.39666394167527713,-0.2027600886893227],"joint_velocity":[-0.0003367279363630806,-0.106007961023224,-0.12568759338188656,-2.3196066037059863e-05,0.2092766647154369,0.00026937677284766763],"joint_actuator_torque":[0.0003415336483385545,-0.8895367274253658,-0.8143171690846884,-1.2886218783725821e-05,-0.11009303615527699,-3.5405696301893386e-05],"jaw_actuator_force":[-0.8000259784071186,-0.8012848445173795],"end_effector_position":[0.33977865862431605,0.0698570122185573,0.35338586595824095],"end_effector_quaternion":[0.9999958683098493,-0.0005791175385989717,0.0028156632690160867,5.144168471708707e-06],"end_effector_velocity":[-0.0018655516858136028,-0.0005031763423414732,0.06631053245709817],"object_position":[0.3397535626880378,0.06985661432898585,0.34724039092685377],"object_quaternion":[0.9999959792001667,-0.000643572322449226,0.002761769593836088,5.184121311528967e-06],"object_velocity":[-0.0020382430290794666,-0.000388616176253267,0.06441528049830753],"object_angular_velocity":[0.007839354475549825,-0.03666712746745108,-7.613833186410816e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.020257666719783084,0.0041648885344823285,0.5092351708552587],[0.23656189767892435,0.04863610152970682,0.41524160254386944],[0.28613161727372755,0.05882742117444577,0.39370140980584273],[0.3400039105168352,0.06990334258896617,0.3933852048912995],[0.33977865862431605,0.0698570122185573,0.35338586595824095]],"gripper_points":[[0.3657996574285234,0.06986646083097696,0.3612394528273172],[0.3138619883484194,0.06986609585428265,0.3615319345401379]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993849261539971,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8002448465614466,"right":0.8010439513283885},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.140000000000719,"stage":"lift","target_distance":0.13111224522363485,"dwell_elapsed":0.0},{"joint_position":[0.2027629823496142,-1.4992180472565801,1.896381877132711,-1.2013308459699603e-06,-0.39141724287713225,-0.20275383875360198],"joint_velocity":[-0.00031182238996959135,-0.10523573110192419,-0.12654166070517936,-2.352323320792877e-05,0.20934747393037442,0.0002459187179958729],"joint_actuator_torque":[0.0003250274638304518,-0.8883663124679515,-0.8156117482624268,-1.2097800132024767e-05,-0.11008995058264759,-3.2296671566456325e-05],"jaw_actuator_force":[-0.7999612588010478,-0.801288885810413],"end_effector_position":[0.33972653308718026,0.06984373726240627,0.3548602973906621],"end_effector_quaternion":[0.999995872083387,-0.0005791432707556244,0.0028143180691391646,4.802526714264944e-06],"end_effector_velocity":[-0.0019751590419511715,-0.0005168821791268785,0.06638798669317082],"object_position":[0.3397013575019535,0.06984384122055429,0.34870580700823883],"object_quaternion":[0.9999959829504044,-0.0006435851410345918,0.002760408980234586,4.8457613773924975e-06],"object_velocity":[-0.0021542776926042036,-0.0004042872163784795,0.06448761158145748],"object_angular_velocity":[0.007841656432567847,-0.036683265451622815,-7.34903396118974e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.019614578814798448,0.004032525400717912,0.509283023180448],[0.2363994420279626,0.04860092911982808,0.41644994463847496],[0.2860793065143127,0.05881452163879083,0.3951756974726061],[0.33995167738082166,0.06989006961408133,0.3948596369272123],[0.33972653308718026,0.06984373726240627,0.3548602973906621]],"gripper_points":[[0.3657474707241373,0.06985316855839094,0.36271395450204175],[0.3138097983211159,0.06985283899684726,0.36300629647496946]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993849515129716,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001911415335441,"right":0.8010370100092794},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.160000000000726,"stage":"lift","target_distance":0.1315684059119005,"dwell_elapsed":0.0},{"joint_position":[0.20275637597456692,-1.5015505280664332,1.8934630713529959,-1.8891248264300224e-06,-0.3861686745931444,-0.20274818293927324],"joint_velocity":[-0.0002864991448039875,-0.1044405221286458,-0.1274265883891725,-2.3870228619928436e-05,0.20942065159128112,0.00022240729157459895],"joint_actuator_torque":[0.0003079088238848726,-0.8872136879436994,-0.8168649250887938,-1.1307539817362853e-05,-0.11008659994108427,-2.9181539346723184e-05],"jaw_actuator_force":[-0.7999064558702678,-0.8012963168941054],"end_effector_position":[0.3396722322236006,0.06983022290392538,0.35633650874159895],"end_effector_quaternion":[0.9999958759890841,-0.0005791651897476925,0.0028129259965574208,4.454774117536046e-06],"end_effector_velocity":[-0.002078217290913612,-0.0005290961451607831,0.06646740436433114],"object_position":[0.33964697785042397,0.06983083609699801,0.3501730222240944],"object_quaternion":[0.999995986841752,-0.0006435965275703917,0.002758996852608906,4.501752685238252e-06],"object_velocity":[-0.0022630715190683553,-0.00041857392573565197,0.0645615736909541],"object_angular_velocity":[0.007845044633939932,-0.03670430872527727,-7.048783991201845e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.018976474608997932,0.003901208059278727,0.5093289709054403],[0.2362361479555353,0.04856573116379072,0.4176593755468788],[0.28602482309745014,0.05880135104190805,0.39665175994387514],[0.3398972651688782,0.0698765569305025,0.3963358489028006],[0.3396722322236006,0.06983022290392538,0.35633650874159895]],"gripper_points":[[0.36569310724893467,0.0698396365067515,0.3641902385385954],[0.31375543203868234,0.06983934299119682,0.36448243589925405]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993849714450151,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001460462486377,"right":0.8010347576488563},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.1800000000007325,"stage":"lift","target_distance":0.13204134379935953,"dwell_elapsed":0.0},{"joint_position":[0.20275036683961753,-1.5038638066899441,1.890523019068967,-2.583036489109471e-06,-0.38091811393996733,-0.20274313396765198],"joint_velocity":[-0.0002607006806083587,-0.10361991950660741,-0.12833903477855405,-2.423596965414377e-05,0.20949925179052584,0.000198365648777992],"joint_actuator_torque":[0.00029035193664128656,-0.8860841185302206,-0.8180803510934993,-1.0509717826841117e-05,-0.11008364727700126,-2.5996243543602304e-05],"jaw_actuator_force":[-0.799861538579898,-0.8013050355903788],"end_effector_position":[0.3396159017553381,0.06981650287868861,0.35781450944061755],"end_effector_quaternion":[0.9999958799672961,-0.0005791876854209751,0.002811507291140277,4.100012262018891e-06],"end_effector_velocity":[-0.0021750795823120353,-0.0005398711137022404,0.06654674347379072],"object_position":[0.3395905724850617,0.0698176324625781,0.3516420428866968],"object_quaternion":[0.9999959907925795,-0.0006436125081946059,0.002757561327871983,4.1506354411844e-06],"object_velocity":[-0.002365042621810844,-0.0004315380096105781,0.0646351329570412],"object_angular_velocity":[0.007847778390305517,-0.03672226583506085,-6.748345379306532e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01834351786760452,0.0037709691110199115,0.5093730394010929],[0.23607216597315242,0.04853054099445631,0.4188699095163096],[0.2859683144973405,0.05878794288441049,0.39812960891771343],[0.33984082122197506,0.06986283862479765,0.3978138502380877],[0.3396159017553381,0.06981650287868861,0.35781450944061755]],"gripper_points":[[0.36563671682307186,0.06982589843392724,0.3656683132918878],[0.31369903924660586,0.06982564169102436,0.3659603632707708]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993849868154659,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001088291880228,"right":0.8010357971297989},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.200000000000739,"stage":"lift","target_distance":0.1325308502269782,"dwell_elapsed":0.0},{"joint_position":[0.20274496679049686,-1.506157288633843,1.8875612446503673,-3.283477926930945e-06,-0.3756654476494973,-0.20273869393548533],"joint_velocity":[-0.00023433535798062234,-0.10277388662158199,-0.12928319662713528,-2.4609570683231687e-05,0.20958201658958975,0.00017426849484296572],"joint_actuator_torque":[0.0002712879407198443,-0.8849786322540467,-0.8192578463974769,-9.751073355860295e-06,-0.11008142376896757,-2.280506608798305e-05],"jaw_actuator_force":[-0.7998204471786723,-0.8013191502573545],"end_effector_position":[0.33955766299390716,0.06980260623531456,0.3592942445058452],"end_effector_quaternion":[0.99999588368487,-0.0005792343255733252,0.002810175599652148,3.743134499193549e-06],"end_effector_velocity":[-0.002265078785254612,-0.0005490379438550679,0.06662748582450263],"object_position":[0.33953225437467743,0.06980425964238224,0.3531128165843358],"object_quaternion":[0.9999959944937099,-0.000643655965837621,0.0027562091917829965,3.7978502670533506e-06],"object_velocity":[-0.0024599598797668326,-0.00044299208558989283,0.06470995579264088],"object_angular_velocity":[0.007851081083960399,-0.03674277569904907,-6.398087925731364e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0177158773823569,0.0036418421942375676,0.5094152549056791],[0.2359076338059724,0.04849538954209207,0.42008151705098373],[0.2859099113197176,0.05877432747597539,0.3996092021259494],[0.3397824759430217,0.06984894563212476,0.3992935858979008],[0.33955766299390716,0.06980260623531456,0.3592942445058452]],"gripper_points":[[0.36557841561848986,0.06981198401317033,0.3671481179040235],[0.3136407361057575,0.0698117642749934,0.3674400295375055]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938499839881306,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000764778997236,"right":0.8010411867862504},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.220000000000746,"stage":"lift","target_distance":0.13303671915978235,"dwell_elapsed":0.0},{"joint_position":[0.2027401770489349,-1.508430381664579,1.8845771384702847,-3.990889228017313e-06,-0.37041066250227456,-0.2027348815408079],"joint_velocity":[-0.0002079305238566682,-0.10190243444922464,-0.13026109269774142,-2.499523603741695e-05,0.2096646201558164,0.00014938954326429194],"joint_actuator_torque":[0.0002514916385507604,-0.8838961854713716,-0.820393938441839,-9.021481737916926e-06,-0.11007884786238264,-1.9509584291199644e-05],"jaw_actuator_force":[-0.7997847304237382,-0.8013359055099212],"end_effector_position":[0.33949766191259995,0.06978856331888134,0.36077571009526577],"end_effector_quaternion":[0.9999958871481642,-0.0005793049079886429,0.002808928832544812,3.375422586612352e-06],"end_effector_velocity":[-0.002347739167855961,-0.0005566861039946265,0.06671059276080017],"object_position":[0.3394721667114577,0.06979074776595137,0.35458534173604744],"object_quaternion":[0.999995997969746,-0.000643725018452738,0.002754932087233955,3.433140602175704e-06],"object_velocity":[-0.002546806011056682,-0.00045302388284203303,0.06478688906611707],"object_angular_velocity":[0.007856104145149546,-0.03677095623072319,-6.105873198400262e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01709372127367583,0.0035138606050810713,0.5094556449182339],[0.23574270143058138,0.048460307631667476,0.4212941999661949],[0.28584975938320556,0.0587605350752602,0.40109053549801926],[0.33972237513855497,0.06983490827941856,0.40077505204123676],[0.33949766191259995,0.06978856331888134,0.36077571009526577]],"gripper_points":[[0.36551834586290427,0.06979792313309187,0.36862964866285747],[0.3135806647873644,0.06979774153714166,0.3689214307700464]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850067469738,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000493892355892,"right":0.8010493214531831},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.2400000000007525,"stage":"lift","target_distance":0.1335587339350413,"dwell_elapsed":0.0},{"joint_position":[0.20273600963766022,-1.5106825016490466,1.8815700653037963,-4.705704488165949e-06,-0.3651537534538823,-0.20273169674964056],"joint_velocity":[-0.00018097706621115838,-0.10100527807020379,-0.13126557746761466,-2.540336466777503e-05,0.2097476643076653,0.00012455996582027025],"joint_actuator_torque":[0.00023130700132867332,-0.8828397959620133,-0.8214926062545373,-8.281453373703987e-06,-0.11007585321311808,-1.622184838367957e-05],"jaw_actuator_force":[-0.7997576570274534,-0.8013507290503528],"end_effector_position":[0.33943604666657523,0.06977440873369892,0.36225891511295527],"end_effector_quaternion":[0.9999958904234688,-0.0005793950023953025,0.0028077443949433003,3.0029192247231484e-06],"end_effector_velocity":[-0.002424149300878539,-0.0005628599253957318,0.06679363512607531],"object_position":[0.3394104682295687,0.06977713122778856,0.35605962280775266],"object_quaternion":[0.9999960012619581,-0.0006438160599965073,0.002753715958780609,3.0646905476340387e-06],"object_velocity":[-0.002626622834176941,-0.00046169588412819414,0.06486341504452404],"object_angular_velocity":[0.007861144781885755,-0.036798979435723855,-5.759441775449475e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.016477215304603058,0.0033870573548041545,0.5094942382559631],[0.23557751891075235,0.04842532875262446,0.42250796882687747],[0.28578800515382824,0.05874659928129161,0.40257361541604536],[0.33966066515588933,0.06982076081791946,0.4022582575827828],[0.33943604666657523,0.06977440873369892,0.36225891511295527]],"gripper_points":[[0.36545666655281495,0.06978375064269891,0.370112915585342],[0.3135189842248767,0.06978360769612091,0.3704045746389289]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938501235805876,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000283793254122,"right":0.8010580856081736},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.260000000000759,"stage":"lift","target_distance":0.13409666801267114,"dwell_elapsed":0.0},{"joint_position":[0.20273246613768936,-1.5129130205483352,1.8785392872463846,-5.428342953964538e-06,-0.3598947088987248,-0.20272913880817395],"joint_velocity":[-0.00015398147475876548,-0.10008105851498005,-0.1323027220552849,-2.5826607673251934e-05,0.20983082022201943,9.975848882620497e-05],"joint_actuator_torque":[0.00021084364414036827,-0.8818094133791874,-0.8225496368705763,-7.550030460415271e-06,-0.1100722855366314,-1.2938341569679324e-05],"jaw_actuator_force":[-0.7997369857572973,-0.8013643573738909],"end_effector_position":[0.33937298606735017,0.06976017762450644,0.3637438878749213],"end_effector_quaternion":[0.9999958936517899,-0.0005794949012893353,0.0028065741246985115,2.626799098445088e-06],"end_effector_velocity":[-0.00249322405249419,-0.0005675158929591858,0.0668782125983948],"object_position":[0.33934732375528365,0.06976344561692152,0.3575356919732191],"object_quaternion":[0.9999960045139175,-0.0006439188717433264,0.0027525111147902715,2.692558765005375e-06],"object_velocity":[-0.0026982720267720293,-0.00046896181589150095,0.06494110613789837],"object_angular_velocity":[0.007867232785140102,-0.036831734030249766,-5.4032202696929845e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.015866537188241627,0.0032614677262692514,0.5095310641519556],[0.2354122535723208,0.04839048736881476,0.42372284774172936],[0.2857248135770056,0.05873255437023144,0.40405846481438584],[0.33959751095356705,0.06980653761602547,0.40374323086110864],[0.33937298606735017,0.06976017762450644,0.3637438878749213]],"gripper_points":[[0.3653935408486167,0.06976950159534114,0.3715979495215766],[0.31345585749532684,0.06976939767752299,0.37188948699175267]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850157844289,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000122338778568,"right":0.8010671876599161},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.280000000000766,"stage":"lift","target_distance":0.13465029869385617,"dwell_elapsed":0.0},{"joint_position":[0.20272955494273825,-1.515121353800632,1.8754841256099002,-6.159186431530396e-06,-0.35463346097409576,-0.20272721325206164],"joint_velocity":[-0.00012660122801338942,-0.09913150403783787,-0.13336887297263844,-2.6267265320234835e-05,0.20991697001185433,7.472379211159766e-05],"joint_actuator_torque":[0.00019010166859345645,-0.8808056409303617,-0.8235674017671499,-6.81408324550842e-06,-0.11006857951422688,-9.624345768344256e-06],"jaw_actuator_force":[-0.7997232759958539,-0.8013750257915229],"end_effector_position":[0.33930863153539104,0.06974590396207028,0.36523065035757263],"end_effector_quaternion":[0.9999958968707859,-0.0005796021479175137,0.002805405119877874,2.2484876026166106e-06],"end_effector_velocity":[-0.0025558740137184167,-0.0005707204961510771,0.06696361166146289],"object_position":[0.33928289166362463,0.06974972458600885,0.35901356919242877],"object_quaternion":[0.9999960077438564,-0.0006440323709114291,0.0027513111925240373,2.3184338184088587e-06],"object_velocity":[-0.0027628697678251297,-0.0004748886603516237,0.06501925691626233],"object_angular_velocity":[0.007873437863522993,-0.03686513344132657,-5.029874652824324e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01526185259928771,0.0031371246520256703,0.509566153717068],[0.235247058722233,0.04835581672886094,0.4249388592199281],[0.28566033512540795,0.05871843366313569,0.40554510423100015],[0.3395330629198478,0.06979227244828258,0.4052299938586497],[0.33930863153539104,0.06974590396207028,0.36523065035757263]],"gripper_points":[[0.3653291274621749,0.06975520999735402,0.37308477307735355],[0.3133914432539808,0.06975514533812184,0.373376189094473]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850175168043,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000006832609611,"right":0.8010756954211803},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.3000000000007725,"stage":"lift","target_distance":0.13521940190475024,"dwell_elapsed":0.0},{"joint_position":[0.20272728264805884,-1.5173069124342788,1.872403866516095,-6.8985901593237986e-06,-0.3493699162847343,-0.202725929573519],"joint_velocity":[-9.893721915257593e-05,-0.09815653896959876,-0.13446621063486847,-2.6721932855494488e-05,0.2100067804736836,4.930485121577121e-05],"joint_actuator_torque":[0.00016896552686773703,-0.87982831957504,-0.8245444603144279,-6.084529732888039e-06,-0.11006482025872089,-6.259502182359711e-06],"jaw_actuator_force":[-0.7997148256439326,-0.8013832983617393],"end_effector_position":[0.3392431386357862,0.06973162192396593,0.36671923435661047],"end_effector_quaternion":[0.9999959001255776,-0.0005797137489099294,0.0028042219101203874,1.8665239782338643e-06],"end_effector_velocity":[-0.002611824897572319,-0.0005724533830504693,0.06705053898781933],"object_position":[0.3392173248689255,0.06973600248255722,0.3604932878437274],"object_quaternion":[0.9999960110004993,-0.000644153687417782,0.0027500991528440362,1.9405357375784585e-06],"object_velocity":[-0.0028201623332184465,-0.00047945486638404744,0.06509856046102072],"object_angular_velocity":[0.007880071401048022,-0.036900602359961274,-4.6609303095021094e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01466332830533492,0.0030140612620051703,0.5095995390513348],[0.23508209105842026,0.048321350330304366,0.42615603370981264],[0.2855947241893357,0.0587042707417896,0.4070335637357138],[0.33946747538227523,0.06977799925247023,0.4067185783783263],[0.3392431386357862,0.06973162192396593,0.36671923435661047]],"gripper_points":[[0.36526357858794556,0.06974090990335306,0.3745734188711537],[0.31332589364154045,0.06974088488246498,0.37486471195873844]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850180025933,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.7999927441707422,"right":0.8010834536524307},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.320000000000779,"stage":"lift","target_distance":0.13580376208295236,"dwell_elapsed":0.0},{"joint_position":[0.20272565796775455,-1.519469046659187,1.8692977886775208,-7.646865931718855e-06,-0.34410399571204225,-0.2027252936063281],"joint_velocity":[-7.088617459622208e-05,-0.09715305664188385,-0.13559456747981138,-2.719003396601066e-05,0.21009977701010785,2.3664596734295585e-05],"joint_actuator_torque":[0.00014732816609352994,-0.8788820403249247,-0.8254820135259706,-5.3618558828956485e-06,-0.11006105998820459,-2.8658973931783294e-06],"jaw_actuator_force":[-0.7997114499451765,-0.8013884649452461],"end_effector_position":[0.3391766719384449,0.0697173682802741,0.36820965496673663],"end_effector_quaternion":[0.9999959034052002,-0.000579830628755569,0.0028030281949897678,1.482325055491664e-06],"end_effector_velocity":[-0.0026606953426183888,-0.0005726000083553332,0.06713793806589415],"object_position":[0.3391507858805202,0.06972231652766447,0.36197486224637976],"object_quaternion":[0.9999960142752565,-0.0006442837580909491,0.002748877880876794,1.5606712016800436e-06],"object_velocity":[-0.0028696396940584173,-0.0004825570051989937,0.06517794896896738],"object_angular_velocity":[0.0078865550313456,-0.03693525131690492,-4.273711300607868e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014071147600081088,0.002892314120426815,0.5096312524097504],[0.2349175189622248,0.04828712458578434,0.4273743898450477],[0.285528145732716,0.05869010198409544,0.4085238588406367],[0.33940091320665466,0.06976375487294796,0.40820899951308703],[0.3391766719384449,0.0697173682802741,0.36820965496673663]],"gripper_points":[[0.3651970565879018,0.0697266381716308,0.37606390181781135],[0.31325937098487017,0.06972665302215914,0.37635507088397296]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938501761455074,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.7999881077731766,"right":0.8010898764418882},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.340000000000786,"stage":"lift","target_distance":0.1364031506760846,"dwell_elapsed":0.0},{"joint_position":[0.20272467956201926,-1.5216071134316536,1.8661651442191953,-8.404344854309738e-06,-0.33883560319355227,-0.20272530870256567],"joint_velocity":[-4.2923492745386705e-05,-0.09612185808057334,-0.13675553665142667,-2.7670520005083587e-05,0.21019652555752977,-2.1036937995750205e-06],"joint_actuator_torque":[0.00012569024376318794,-0.8779664175680182,-0.8263784556262408,-4.646063726344374e-06,-0.11005724800091343,5.448007556196899e-07],"jaw_actuator_force":[-0.7997131245168045,-0.8013897317512821],"end_effector_position":[0.3391093984009106,0.06970317673013107,0.36970193863144996],"end_effector_quaternion":[0.9999959067221608,-0.0005799520536202869,0.0028018196485842897,1.0935213973489492e-06],"end_effector_velocity":[-0.002702381455011686,-0.0005713073336524552,0.06722663259207164],"object_position":[0.33908344266631824,0.06970869995645276,0.3634583203080939],"object_quaternion":[0.9999960175816336,-0.000644422038425419,0.0027476425761180753,1.1759925412501076e-06],"object_velocity":[-0.0029111680037734785,-0.0004843327608179827,0.06525823625080532],"object_angular_velocity":[0.007893277982285856,-0.036970928196130064,-3.9022663145112364e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013485491833689396,0.002771919253297003,0.5096613272757904],[0.23475351177828932,0.04825317364040846,0.4285939549909372],[0.2854607663489268,0.0586759611041215,0.4100160155089917],[0.339333543004572,0.06974957294961628,0.40970128370843173],[0.3391093984009106,0.06970317673013107,0.36970193863144996]],"gripper_points":[[0.36512972940956484,0.06971242836661608,0.3775562485801086],[0.3131920431963792,0.06971248356728549,0.37784729208364193]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850166786995,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.7999865305410938,"right":0.8010943891275168},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.360000000000793,"stage":"lift","target_distance":0.13701733760127305,"dwell_elapsed":0.0},{"joint_position":[0.20272435371506697,-1.523720517094763,1.8630052553600862,-9.171335679395705e-06,-0.3335646579976975,-0.20272597681254897],"joint_velocity":[-1.4664067946191102e-05,-0.09506487727847583,-0.13794548190464587,-2.8165199239904762e-05,0.21029648875233525,-2.7945386185423102e-05],"joint_actuator_torque":[0.00010383099062494239,-0.8770813537192907,-0.8272361204927847,-3.930237754952957e-06,-0.11005334783899201,3.964712746551413e-06],"jaw_actuator_force":[-0.7997196905715382,-0.8013864997609979],"end_effector_position":[0.3390414684265374,0.06968908026048184,0.37119610680585335],"end_effector_quaternion":[0.9999959100783896,-0.0005800780309322917,0.0028005955578186545,7.022492692508767e-07],"end_effector_velocity":[-0.0027376746051726826,-0.0005686021628731511,0.06731615688966307],"object_position":[0.339015450226639,0.06969518553537475,0.3649436818368153],"object_quaternion":[0.9999960209205319,-0.0006445686171558613,0.002746392866657256,7.893564904110047e-07],"object_velocity":[-0.0029457602262821666,-0.00048480605649516966,0.06533896854171317],"object_angular_velocity":[0.007899994491631705,-0.03700646829920009,-3.509232321887006e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012906529219101329,0.002652910117536353,0.5096897988333232],[0.23459022323955936,0.048219530296827004,0.4298147531001269],[0.285392736452581,0.05866188075458111,0.41151005511960276],[0.3392655151222368,0.06973548647049582,0.41119545241977334],[0.3390414684265374,0.06968908026048184,0.37119610680585335]],"gripper_points":[[0.3650617525461046,0.06969831358645999,0.3790504806216303],[0.3131240657391584,0.06969840939404397,0.3793413969475527]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850154918126,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.7999876218667745,"right":0.8010966248318965},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.380000000000799,"stage":"lift","target_distance":0.1376460990364363,"dwell_elapsed":0.0},{"joint_position":[0.20272468167957014,-1.5258085680461462,1.859817340887083,-9.948091579409582e-06,-0.3282910743759173,-0.20272729904757994],"joint_velocity":[1.3638382061854051e-05,-0.09397777704902927,-0.13916963510210126,-2.8669076032203455e-05,0.21039977118738754,-5.3829517865386705e-05],"joint_actuator_torque":[8.163223688484322e-05,-0.8762305428905393,-0.8280524215425658,-3.2324448349199154e-06,-0.1100494102942342,7.389859803197396e-06],"jaw_actuator_force":[-0.799729678494618,-0.8013795776587456],"end_effector_position":[0.3389730591372385,0.06967511556867764,0.37269218354974165],"end_effector_quaternion":[0.9999959134822057,-0.0005802080844029664,0.0027993530274877726,3.0853628440326217e-07],"end_effector_velocity":[-0.0027652714293709803,-0.0005643063358459139,0.06740678964366344],"object_position":[0.3389469774513579,0.06968181080116628,0.3664309734609601],"object_quaternion":[0.9999960243048731,-0.0006447228083204447,0.0027451241842196866,4.002530831235998e-07],"object_velocity":[-0.0029718450370552372,-0.0004838100071948037,0.06542038460479631],"object_angular_velocity":[0.007906863152175264,-0.03704250123245797,-3.1127073024556476e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012334453580532954,0.0025353253813457963,0.5097167020041535],[0.23442783340253906,0.048186231537439665,0.43103680999631167],[0.28532423294508213,0.058647897531544514,0.4130060014111812],[0.3391970064499478,0.06972153209484358,0.41269152970823814],[0.3389730591372385,0.06967511556867764,0.37269218354974165]],"gripper_points":[[0.3649932939590709,0.06968433052249512,0.3805466222039271],[0.3130556065463952,0.06968446719058355,0.3808374094366648]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850143208037,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.7999907567622808,"right":0.8010965470438822},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.400000000000806,"stage":"lift","target_distance":0.13828920644110837,"dwell_elapsed":0.0},{"joint_position":[0.2027256679385316,-1.5278706274241258,1.8566006323417517,-1.0734878284249777e-05,-0.3230147437827258,-0.20272928200980517],"joint_velocity":[4.214357418127235e-05,-0.09286323777280701,-0.14042708555795563,-2.9185287798490327e-05,0.21050737077520776,-7.998774468734876e-05],"joint_actuator_torque":[5.926823949664595e-05,-0.8754126107801312,-0.8288268980337534,-2.537182289453436e-06,-0.1100453816244027,1.0851284518054172e-05],"jaw_actuator_force":[-0.7997443665456112,-0.8013671806239513],"end_effector_position":[0.33890433717160046,0.06966131833553321,0.37419020605763126],"end_effector_quaternion":[0.9999959169636163,-0.0005803402266880598,0.002798081719640634,-8.872114055793062e-08],"end_effector_velocity":[-0.002785746832873549,-0.0005584817840327587,0.0674991463392474],"object_position":[0.338878196838723,0.06966861119085038,0.3679202326502973],"object_quaternion":[0.9999960277594759,-0.0006448830279206619,0.002743827827733046,7.65131232494925e-09],"object_velocity":[-0.002990047783349362,-0.0004814019555939481,0.06550309420422512],"object_angular_velocity":[0.007914054532268316,-0.03707998802668345,-2.7190365927864567e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.011769444692086219,0.0024192008897220194,0.5097420734153072],[0.23426651071639013,0.04815331275045118,0.4322601618301711],[0.2852554216802931,0.05863404671853494,0.41450389042524405],[0.3391281827993172,0.06970774534424432,0.4141895527731442],[0.33890433717160046,0.06966131833553321,0.37419020605763126]],"gripper_points":[[0.3649245263617479,0.06967051476694333,0.38204471102465304],[0.31298683830410146,0.0696706926625594,0.382335366174822]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850133784527,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.7999962182669152,"right":0.8010933671808631},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.420000000000813,"stage":"lift","target_distance":0.13894643264367998,"dwell_elapsed":0.0},{"joint_position":[0.2027273159629334,-1.5299060126062054,1.8533544045624817,-1.1531945368009277e-05,-0.3177355667718507,-0.20273192390531597],"joint_velocity":[7.079778734993606e-05,-0.09171867496987038,-0.14171540813596378,-2.9710846223935365e-05,0.21061910031561001,-0.00010605418962716577],"joint_actuator_torque":[3.669381298720964e-05,-0.8746322312956636,-0.8295628069307668,-1.8508260949171539e-06,-0.11004151596408462,1.4299938499107157e-05],"jaw_actuator_force":[-0.7997627962241536,-0.80134969108388],"end_effector_position":[0.3388354694275631,0.06964772393586892,0.3756901833942585],"end_effector_quaternion":[0.9999959204412344,-0.0005804802977517587,0.002796809481397184,-4.869398541015705e-07],"end_effector_velocity":[-0.0027990667175015697,-0.000551140502573275,0.06759157372745969],"object_position":[0.33880927456974946,0.06965562193628025,0.3694114663305964],"object_quaternion":[0.9999960312017511,-0.0006450554637764182,0.0027425324148736907,-3.8548502802405527e-07],"object_velocity":[-0.003000454999489088,-0.0004775988047991969,0.06558545317001507],"object_angular_velocity":[0.007920594938047263,-0.03711419878897674,-2.3021506990831392e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011211694175223354,0.0023045749300378785,0.5097659501228002],[0.23410642854556987,0.04812081008944178,0.4334848254208735],[0.28518647183877427,0.05862036398013851,0.41600373434334864],[0.3390592132959077,0.06969416206129055,0.41568953066620645],[0.3388354694275631,0.06964772393586892,0.3756901833942585]],"gripper_points":[[0.3648556168501672,0.06965690192068215,0.3835447547005433],[0.3129179281030923,0.0696571211458941,0.38383527767167414]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850128789661,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000034364943077,"right":0.8010870794878482},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.440000000000819,"stage":"lift","target_distance":0.13961754322153544,"dwell_elapsed":0.0},{"joint_position":[0.2027296243588328,-1.5319140839563035,1.850077881529142,-1.2339511255289052e-05,-0.3124534635272562,-0.20273522333975408],"joint_velocity":[9.937781950282246e-05,-0.09054687406436068,-0.14303790098305194,-3.0245843136880913e-05,0.21073358378440454,-0.00013206789923860131],"joint_actuator_torque":[1.4086496719301067e-05,-0.8738857573717951,-0.8302563070797078,-1.1748615503790524e-06,-0.11003731041556719,1.774140963917148e-05],"jaw_actuator_force":[-0.7997847177530817,-0.8013269235604321],"end_effector_position":[0.338766624097202,0.06963436629269988,0.3771921584637483],"end_effector_quaternion":[0.9999959239958096,-0.0005806226931550048,0.002795508588703454,-8.861767413205309e-07],"end_effector_velocity":[-0.0028051462900081344,-0.0005423438881817224,0.0676862525307318],"object_position":[0.3387403785963061,0.06964287687919193,0.37090472083191395],"object_quaternion":[0.9999960347231052,-0.0006452336737547549,0.0027412061150418046,-7.796496521838661e-07],"object_velocity":[-0.0030029051425010194,-0.0004724495508382388,0.06566962034456987],"object_angular_velocity":[0.007927976909716819,-0.03715214541138143,-1.8844646340986928e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010661381733654534,0.0021914833088454333,0.5097883706311547],[0.23394775539641455,0.04808875752705593,0.4347108403316523],[0.28511754936079703,0.05860688286872917,0.41750557297134966],[0.33899026391390064,0.06968081572063746,0.4171915063044698],[0.338766624097202,0.06963436629269988,0.3771921584637483]],"gripper_points":[[0.3647867323393656,0.06964352581574638,0.3850467975833337],[0.3128490428241086,0.06964378647522881,0.3853371853991979]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938501300430196,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000122202052724,"right":0.8010774381103458},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.460000000000826,"stage":"lift","target_distance":0.14030231918608252,"dwell_elapsed":0.0},{"joint_position":[0.20273259972552743,-1.5338941598353024,1.8467702595767517,-1.3157756088907423e-05,-0.3071683460098079,-0.2027391914272236],"joint_velocity":[0.00012827072602859674,-0.08934528249879592,-0.14439508056935035,-3.078872914961814e-05,0.21085164615602686,-0.00015855032848530095],"joint_actuator_torque":[-8.949221879106517e-06,-0.8731767194090025,-0.830907811536008,-5.11645215021516e-07,-0.11003294761649585,2.1245007719272735e-05],"jaw_actuator_force":[-0.7998099800876934,-0.8012986412564862],"end_effector_position":[0.3386979773787852,0.0696212837990903,0.3786961693627622],"end_effector_quaternion":[0.9999959276757243,-0.0005807640920468899,0.0027941623746675056,-1.2887546285751e-06],"end_effector_velocity":[-0.002803644721951766,-0.0005318851543584819,0.06778246795095819],"object_position":[0.3386716838032269,0.06963041523352403,0.3724000341359513],"object_quaternion":[0.9999960383642893,-0.0006454146724753908,0.002739834710646241,-1.1772366504826236e-06],"object_velocity":[-0.0029969882740154097,-0.0004657624466378646,0.06575484962627284],"object_angular_velocity":[0.007935613259204524,-0.037191112085907994,-1.476079541979483e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010118698409201548,0.0020799642830383286,0.5098093738442029],[0.23379066919998204,0.04805719292921995,0.4359382432952194],[0.2850488291728692,0.058593641160636575,0.4190094425444107],[0.33892150951833677,0.0696677444491701,0.41869551779233766],[0.3386979773787852,0.0696212837990903,0.3786961693627622]],"gripper_points":[[0.36471804716499634,0.06963042467227866,0.3865508786461312],[0.3127803567774748,0.06963072711002215,0.3868411265991616]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938501391123704,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000224150434252,"right":0.8010642108785905},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.480000000000833,"stage":"lift","target_distance":0.14100053770052223,"dwell_elapsed":0.0},{"joint_position":[0.20273623551980272,-1.535845547939478,1.843430791132357,-1.3986897860229812e-05,-0.30188009282242917,-0.20274381741005557],"joint_velocity":[0.0001568369238597295,-0.08811344502894836,-0.14578414980003132,-3.133933257517083e-05,0.21097482067281334,-0.00018455427736087602],"joint_actuator_torque":[-3.1687008387848437e-05,-0.8725081392503853,-0.8315201629785633,1.4387471566272396e-07,-0.11002881846109247,2.468479851813754e-05],"jaw_actuator_force":[-0.7998387970788432,-0.8012642806906589],"end_effector_position":[0.338629698815912,0.06960850884167037,0.38020223072914083],"end_effector_quaternion":[0.9999959313864799,-0.0005809112207593158,0.0027928032108941753,-1.6926280788326115e-06],"end_effector_velocity":[-0.0027948907599611803,-0.0005200575389638754,0.06787907615233024],"object_position":[0.33860336198159335,0.06961826821171303,0.3738974188905267],"object_quaternion":[0.9999960420227098,-0.0006456062352843879,0.0027384537646470315,-1.5757527807928837e-06],"object_velocity":[-0.002983141222023426,-0.000457821335462828,0.06584002200172441],"object_angular_velocity":[0.007942582259247051,-0.03722678035599389,-1.0538560717793246e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009583838039077166,0.0019700565717468478,0.509828999436343],[0.23363534609275288,0.04802615059704147,0.43716705656384],[0.28498048335505355,0.05858067214450482,0.4205153613222247],[0.33885312224241787,0.06965498117207669,0.42020157975253114],[0.338629698815912,0.06960850884167037,0.38020223072914083]],"gripper_points":[[0.3646497344041303,0.06961763108890864,0.38805701082506844],[0.3127120430452434,0.06961797544033423,0.388347117570521]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938501573816385,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000339435150927,"right":0.8010471273214491},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.500000000000839,"stage":"lift","target_distance":0.1417119643136944,"dwell_elapsed":0.0},{"joint_position":[0.20274053806837097,-1.5377675144187029,1.840058678886682,-1.482705496283273e-05,-0.2965886219843905,-0.2027490999942555],"joint_velocity":[0.00018572199579424973,-0.08684972233018066,-0.14720793015070743,-3.1895955762406087e-05,0.2111009676023922,-0.00021053139780133806],"joint_actuator_torque":[-5.4916354756073815e-05,-0.8718816807672738,-0.8320915987355875,7.821724319629752e-07,-0.1100245609130468,2.8120125872277413e-05],"jaw_actuator_force":[-0.7998705311780645,-0.8012241491904923],"end_effector_position":[0.338561970713784,0.06959608097972265,0.3817103624626931],"end_effector_quaternion":[0.9999959351016253,-0.0005810659974469534,0.0027914401565293733,-2.09406561832824e-06],"end_effector_velocity":[-0.002778258160892046,-0.0005065042423540988,0.06797660868368116],"object_position":[0.3385355920808437,0.06960647667731452,0.375396896992538],"object_quaternion":[0.9999960456863248,-0.0006458092349333134,0.002737067456213086,-1.9714023145172564e-06],"object_velocity":[-0.0029606156895042096,-0.0004482834640750809,0.06592564710943914],"object_angular_velocity":[0.007949516364613227,-0.037261946061408764,-5.982292679864089e-06],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009057005663274552,0.0018618013681607228,0.5098472875410461],[0.23348197326862774,0.047995670250605804,0.43839730463500526],[0.28491269501152117,0.0585680152028328,0.4220233502190376],[0.33878528511589595,0.06964256560292377,0.4217097120806258],[0.338561970713784,0.06959608097972265,0.3817103624626931]],"gripper_points":[[0.36458197282798327,0.06960518484909704,0.38956521356892504],[0.31264428039092007,0.06960557086311328,0.38985517870337666]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850186148207,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000465401036506,"right":0.8010261204951405},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.520000000000846,"stage":"lift","target_distance":0.14243637009624638,"dwell_elapsed":0.0},{"joint_position":[0.20274550871484448,-1.539659420734088,1.8366531470448473,-1.567837499223832e-05,-0.29129386211613034,-0.20275505067736768],"joint_velocity":[0.00021464533874701993,-0.08555880669439374,-0.1486654121269574,-3.2459249503825114e-05,0.2112297149617389,-0.00023699294392994747],"joint_actuator_torque":[-7.811967624604677e-05,-0.8712932312234898,-0.8326210519867345,1.4162702142678056e-06,-0.11001986561976551,3.1620364708828674e-05],"jaw_actuator_force":[-0.7999058612700782,-0.8011773031308183],"end_effector_position":[0.33849495880699004,0.06958403461102318,0.38322061150842646],"end_effector_quaternion":[0.9999959389150048,-0.0005812218671338206,0.0027900409312280787,-2.498220538666906e-06],"end_effector_velocity":[-0.0027545633747733376,-0.0004914919544648237,0.06807640008265135],"object_position":[0.33846854569660906,0.0695950741238971,0.3768985162655106],"object_quaternion":[0.9999960494471575,-0.0006460170004198292,0.002735643707886371,-2.370241861252567e-06],"object_velocity":[-0.002930363901086351,-0.0004373970622498352,0.06601305109942163],"object_angular_velocity":[0.007957226402051822,-0.03730055971465465,-1.7755568723626625e-06],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.00853838004648696,0.001755234442577774,0.5098642799969895],[0.23333071678546463,0.04796578606051988,0.4396290305662687],[0.284845627288147,0.05855570413963161,0.4235334525717285],[0.33871816129120247,0.06963053161395157,0.4232199617366459],[0.33849495880699004,0.06958403461102318,0.38322061150842646]],"gripper_points":[[0.3645149335986439,0.06959311997966833,0.39107553546974827],[0.31257723994706804,0.0695935479366383,0.3913653552363804]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850226494043,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000603086594721,"right":0.8010008218990269},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.540000000000853,"stage":"lift","target_distance":0.14317354128220006,"dwell_elapsed":0.0},{"joint_position":[0.202751148271369,-1.5415204934510378,1.8332133316638095,-1.6540947349544996e-05,-0.28599570557532294,-0.2027616589492603],"joint_velocity":[0.00024360908043483874,-0.08423374248430211,-0.15016026281652628,-3.302523203165334e-05,0.21136297035255858,-0.0002629842659505011],"joint_actuator_torque":[-0.00010167485291390221,-0.8707501646891842,-0.8331082750805763,2.024876214420457e-06,-0.11001524380482408,3.505704135875476e-05],"jaw_actuator_force":[-0.7999434383361486,-0.801124801437707],"end_effector_position":[0.3384288578809736,0.0695724099252156,0.3847330065952967],"end_effector_quaternion":[0.9999959428020783,-0.000581380572591966,0.0027886139218159093,-2.8995181475255384e-06],"end_effector_velocity":[-0.002722412713757474,-0.00047473305983711765,0.06817720929889656],"object_position":[0.3384024091423638,0.06958410189535483,0.3784023063409058],"object_quaternion":[0.9999960532730563,-0.0006462319290140081,0.00273419365776883,-2.7655087939791913e-06],"object_velocity":[-0.0028907679899543553,-0.0004248973735312398,0.06610094766346454],"object_angular_velocity":[0.007964680707925609,-0.03733771770447528,2.896793824275446e-06],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.008028176768639792,0.0016503991639840094,0.5098800181512982],[0.23318177586179126,0.04793653889659071,0.44086226620258556],[0.2847794756539718,0.05854377925197975,0.4250456980476722],[0.33865194622446004,0.06961891953546993,0.42473235744561866],[0.3384288578809736,0.0695724099252156,0.3847330065952967]],"gripper_points":[[0.3644488025791144,0.06958147698757274,0.3925880048703903],[0.31251110757047673,0.06958194658978904,0.39287767638396875]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938502795292125,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000747665096805,"right":0.8009714255017049},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.560000000000859,"stage":"lift","target_distance":0.14392325190933586,"dwell_elapsed":0.0},{"joint_position":[0.2027574532882549,-1.5433500566118286,1.8297384442093954,-1.7414880341728145e-05,-0.2806940583212109,-0.20276893553442402],"joint_velocity":[0.0002724046134089274,-0.08287978207998084,-0.15168906820747546,-3.359678978304138e-05,0.21149978834592997,-0.00028945416279606723],"joint_actuator_torque":[-0.0001249469870288067,-0.8702493512271303,-0.8335540993188033,2.6318583802602182e-06,-0.11001035886695121,3.8558226457041656e-05],"jaw_actuator_force":[-0.7999849113478259,-0.8010648240613873],"end_effector_position":[0.338363838976775,0.0695612407350903,0.3862475861719882],"end_effector_quaternion":[0.9999959467890951,-0.0005815402970535648,0.0027871500391056245,-3.3051305569230205e-06],"end_effector_velocity":[-0.002682993160978697,-0.00045654486238837385,0.06827978061723684],"object_position":[0.3383373626007921,0.06957359258766665,0.37990830497193884],"object_quaternion":[0.9999960571925831,-0.000646452112157446,0.0027327072536940124,-3.16575741372849e-06],"object_velocity":[-0.0028431991545890185,-0.00041108078615145684,0.06619010821019648],"object_angular_velocity":[0.007972440620867759,-0.037376134518252745,7.040070648808295e-06],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.007526584531186087,0.001547333380445532,0.5098945449355966],[0.23303532420326176,0.04790796336221199,0.4420970500024815],[0.2847144103781124,0.05853227439970013,0.4265601240803093],[0.33858681022991627,0.06960776303333457,0.4262469376604316],[0.338363838976775,0.0695612407350903,0.3862475861719882]],"gripper_points":[[0.36438376044898785,0.06957028928406178,0.39410266063823773],[0.31244606392778956,0.06957080097775423,0.394392180068991]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850346025293,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8000903851853048,"right":0.8009372883578657},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.580000000000866,"stage":"lift","target_distance":0.14468528205598197,"dwell_elapsed":0.0},{"joint_position":[0.20276442498849814,-1.5451473707729502,1.8262276827066657,-1.830023973298004e-05,-0.2753888310734474,-0.20277686983706142],"joint_velocity":[0.00030127212845161203,-0.0814933564718484,-0.15325233373553077,-3.417044172352977e-05,0.2116402329253224,-0.00031545027150462894],"joint_actuator_torque":[-0.00014846971184567792,-0.8697952078214257,-0.8339597292164171,3.21891182753593e-06,-0.11000545229433811,4.199545029592855e-05],"jaw_actuator_force":[-0.8000286694483236,-0.8009986946730017],"end_effector_position":[0.3383000837518531,0.06955056469445467,0.3877643721071933],"end_effector_quaternion":[0.9999959508378513,-0.0005817037391668708,0.002785662381395535,-3.70924048499339e-06],"end_effector_velocity":[-0.002635738562000579,-0.0004367257782004843,0.06838307185088557],"object_position":[0.33827358288765724,0.06956358455331313,0.38141653379641505],"object_quaternion":[0.9999960611668658,-0.0006466803587291336,0.0027311980097403953,-3.5635473463171027e-06],"object_velocity":[-0.002787100122567133,-0.0003957588354041211,0.06627947399321724],"object_angular_velocity":[0.007979868882854992,-0.03741268597952115,1.16677252364678e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.007033809265341399,0.0014460785643480513,0.5099079033968219],[0.23289154886183838,0.04788009795579455,0.4433334089750412],[0.28465061418603566,0.05852122739966771,0.42807675400338313],[0.3385229360126112,0.06959709997853966,0.4277637242436618],[0.3383000837518531,0.06955056469445467,0.3877643721071933]],"gripper_points":[[0.36431998409584343,0.069559594867845,0.3956195239879032],[0.3123822859043455,0.06956014849653452,0.39590888886705894]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938504269673714,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001064904960121,"right":0.8008987976094578},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.600000000000873,"stage":"lift","target_distance":0.1454594120315167,"dwell_elapsed":0.0},{"joint_position":[0.20277206456093258,-1.5469116934636495,1.8226801756090407,-1.9197036147387742e-05,-0.2700799195620405,-0.20278546657775043],"joint_velocity":[0.0003301901640780178,-0.08007496621626864,-0.15485374556420403,-3.474532063398511e-05,0.2117846301904174,-0.00034167278754931965],"joint_actuator_torque":[-0.00017218186347633946,-0.8693870772201535,-0.8343218488463435,3.788077696752906e-06,-0.11000033415295718,4.546275865280336e-05],"jaw_actuator_force":[-0.8000752265742008,-0.8009257785417985],"end_effector_position":[0.3382377815982432,0.06954042104673126,0.3892834084722591],"end_effector_quaternion":[0.9999959549835138,-0.0005818684011033317,0.0027841387988319934,-4.113714655707414e-06],"end_effector_velocity":[-0.0025803202189093313,-0.00041521533361897416,0.06848850892344471],"object_position":[0.33821125859598966,0.06955411740218095,0.38292703990391175],"object_quaternion":[0.999996065234137,-0.0006469139901498642,0.002729652511937794,-3.96192033016265e-06],"object_velocity":[-0.00272196740949657,-0.00037887179831776663,0.06637044138820603],"object_angular_velocity":[0.007987750164458192,-0.03745113445673713,1.6180311130332843e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.006550057567117203,0.001346676364442801,0.5099201371974459],[0.23275064164973738,0.04785298216188772,0.4445713860100206],[0.2845882755020045,0.05851067724046885,0.429595630529569],[0.33846051199269,0.06958696941427395,0.42928276127228415],[0.3382377815982432,0.06954042104673126,0.3892834084722591]],"gripper_points":[[0.36425766147264366,0.06954943284605798,0.39713863963008356],[0.3123199614396335,0.06955002844571513,0.3974278462267166]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938505230023874,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001233064667305,"right":0.8008556080014617},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.620000000000879,"stage":"lift","target_distance":0.14624542961125922,"dwell_elapsed":0.0},{"joint_position":[0.20278036888817297,-1.5486422356273275,1.8190951140291611,-2.0105299041576513e-05,-0.2647672308399812,-0.20279472323564876],"joint_velocity":[0.00035895967390552676,-0.0786217719137574,-0.15648935130263647,-3.532089512133447e-05,0.21193296415946325,-0.00036777625203421554],"joint_actuator_torque":[-0.00019582044357946415,-0.86903099055246,-0.834644940000203,4.342930653875206e-06,-0.10999529389631135,4.8914202597671874e-05],"jaw_actuator_force":[-0.8001248112241806,-0.8008456711683349],"end_effector_position":[0.338177121917316,0.06953084753073951,0.3908047031867075],"end_effector_quaternion":[0.9999959591219916,-0.0005820416369301875,0.002782615100986931,-4.518949591191842e-06],"end_effector_velocity":[-0.0025167663793172145,-0.0003920889617590235,0.06859379531723026],"object_position":[0.33815058026774614,0.06954522840061422,0.3844398280535008],"object_quaternion":[0.9999960692848139,-0.0006471609319586108,0.002728108984680642,-4.360922938141558e-06],"object_velocity":[-0.0026479100857932304,-0.0003604989992587508,0.06646072286241228],"object_angular_velocity":[0.007994710826726426,-0.03748489978819145,2.0690759084412854e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.006075548645615099,0.0012491710370971477,0.5099312902845534],[0.2326127998454045,0.04782665556215554,0.4458109990019847],[0.2845275865786896,0.05850066243248142,0.43111676558306267],[0.3383997304362757,0.0695774096675774,0.4308040566491661],[0.338177121917316,0.06953084753073951,0.3908047031867075]],"gripper_points":[[0.3641969844898237,0.06953984105239283,0.39866001360982506],[0.3122592824585076,0.0695404787044663,0.3989490619127624]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850634762046,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001408293438382,"right":0.8008075485226773},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.640000000000886,"stage":"lift","target_distance":0.14704310196174644,"dwell_elapsed":0.0},{"joint_position":[0.20278933942309926,-1.5503382426856172,1.8154715688654846,-2.102498244470093e-05,-0.25945070754456573,-0.20280464396202008],"joint_velocity":[0.0003878084398473757,-0.07713655176951231,-0.15816619236805274,-3.589642108892637e-05,0.21208284505051225,-0.0003940605848643739],"joint_actuator_torque":[-0.000219700814724888,-0.8687219544855225,-0.8349218818827921,4.87818291218696e-06,-0.10998948913268691,5.238954505770721e-05],"jaw_actuator_force":[-0.8001772687020425,-0.8007583523074953],"end_effector_position":[0.33811830344762656,0.06952188543183646,0.39232831921291533],"end_effector_quaternion":[0.9999959634197205,-0.0005822116193860482,0.002781033913061373,-4.926403665304044e-06],"end_effector_velocity":[-0.002444638008050108,-0.00036717548912253617,0.06870242863585514],"object_position":[0.3380917461988328,0.06953695980639302,0.3859549674625118],"object_quaternion":[0.9999960735022472,-0.0006474077107642573,0.0027265033773995052,-4.762104883220604e-06],"object_velocity":[-0.002564344590334188,-0.0003404650576973581,0.06655376783410366],"object_angular_velocity":[0.008003180517053976,-0.0375254139105241,2.5147236266047974e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.005610492084479492,0.0011536049381859438,0.5099414073948629],[0.23247822045792157,0.04780115881151256,0.4470523022946217],[0.28446874154350205,0.05849122324081658,0.43264021570914973],[0.33834078549205887,0.06956846107733618,0.4323276733633157],[0.33811830344762656,0.06952188543183646,0.39232831921291533]],"gripper_points":[[0.3641381493867742,0.06953086051060742,0.4001837118844595],[0.31220044516053697,0.06953154044114651,0.4004725959226298]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938507629136887,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001590482999982,"right":0.8007544517082268},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.660000000000893,"stage":"lift","target_distance":0.14785222883618282,"dwell_elapsed":0.0},{"joint_position":[0.20279897348671322,-1.5519989550292215,1.8118086804192723,-2.195608625805371e-05,-0.25413023319183686,-0.20281521363965163],"joint_velocity":[0.0004165262877102017,-0.07561796077316202,-0.15987941245482984,-3.647163953685064e-05,0.2122378944031157,-0.0004197000476607461],"joint_actuator_torque":[-0.00024345716285267827,-0.8684645234025083,-0.8351574605459291,5.403019518852425e-06,-0.109983722708769,5.577847501925248e-05],"jaw_actuator_force":[-0.8002328681769368,-0.8006633802725425],"end_effector_position":[0.33806151475975127,0.06951357250223039,0.3938542914455614],"end_effector_quaternion":[0.9999959678531853,-0.0005823799571594902,0.002779403271915096,-5.329960952422375e-06],"end_effector_velocity":[-0.0023644475938804778,-0.00034065370931624095,0.06881211649232558],"object_position":[0.338034948403061,0.06952934857539951,0.3874724893037312],"object_quaternion":[0.9999960778373063,-0.0006476578577742059,0.0027248527837824823,-5.158599522144994e-06],"object_velocity":[-0.002471985856642748,-0.0003189502507869171,0.06664728509573459],"object_angular_velocity":[0.00801121917380224,-0.037563743752869236,3.0059487170832146e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0051550986856341826,0.0010600206959671733,0.5099505336906246],[0.2323470967044454,0.04777653080453074,0.4482953334274111],[0.2844119295837563,0.05848239770440989,0.4341660167004247],[0.3382838663732725,0.06956016152581496,0.4338536463056444],[0.33806151475975127,0.06951357250223039,0.3938542914455614]],"gripper_points":[[0.3640813490622768,0.06952252931611459,0.40170976890686494],[0.3121436424426495,0.06952325111681684,0.4019984835444353]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938509081118415,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001779011757466,"right":0.8006962115513087},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.680000000000899,"stage":"lift","target_distance":0.1486725961376453,"dwell_elapsed":0.0},{"joint_position":[0.20280927678741045,-1.5536235573250472,1.8081056056354483,-2.289854469071879e-05,-0.24880571007462152,-0.20282645225883703],"joint_velocity":[0.0004455203024595708,-0.0740636603159426,-0.1616287829875249,-3.704294078119787e-05,0.21239678654797736,-0.000446216206788206],"joint_actuator_torque":[-0.0002676292687908699,-0.8682627922340771,-0.8353531627462871,5.904076370863778e-06,-0.10997799039844836,5.928445296987661e-05],"jaw_actuator_force":[-0.8002908817381469,-0.8005613260337636],"end_effector_position":[0.33800695114559093,0.06950595084947843,0.3953826312128036],"end_effector_quaternion":[0.9999959723227977,-0.0005825536845755265,0.0027777574543409378,-5.73687353710467e-06],"end_effector_velocity":[-0.0022758331652068513,-0.000312304973827879,0.06892205789784808],"object_position":[0.33798037905206374,0.06952243747255865,0.38899240461067897],"object_quaternion":[0.9999960821998305,-0.000647918074350496,0.002723188619156973,-5.559117060095918e-06],"object_velocity":[-0.0023704403897875552,-0.00029574763034561757,0.06674048861946279],"object_angular_velocity":[0.00801856373726402,-0.03759847853707437,3.450609599575715e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.004709594357177799,0.0009684641396521599,0.5099587144530442],[0.23221963188386469,0.04775281456246625,0.4495401131772712],[0.28435734881706376,0.058474228201027816,0.4356941837182399],[0.3382291711142683,0.06955255368168596,0.4353819867883819],[0.33800695114559093,0.06950595084947843,0.3953826312128036]],"gripper_points":[[0.36402677635594344,0.06951488930991766,0.40323819423819984],[0.31208906715812923,0.06951565332990504,0.40352673789945487]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938510709731465,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8001970976781789,"right":0.8006329601782296},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.700000000000906,"stage":"lift","target_distance":0.14950398525234818,"dwell_elapsed":0.0},{"joint_position":[0.20282024223166867,-1.5552112196991243,1.8043613792064408,-2.385221869269357e-05,-0.24347706204475822,-0.20283834334411158],"joint_velocity":[0.0004741680894254705,-0.07247367415415569,-0.16342063315836566,-3.7610968544460366e-05,0.2125582260486343,-0.000471989441402894],"joint_actuator_torque":[-0.0002917004983373772,-0.8681154306046892,-0.8355034367820053,6.381525291007054e-06,-0.10997174436262469,6.26910418333182e-05],"jaw_actuator_force":[-0.8003516194003817,-0.8004517944063112],"end_effector_position":[0.3379548253904689,0.06949906168760275,0.39691338785292574],"end_effector_quaternion":[0.9999959769125916,-0.000582726712790633,0.002776067448477673,-6.142570629457743e-06],"end_effector_velocity":[-0.0021780142477313656,-0.00028218728115409614,0.0690344980634689],"object_position":[0.33792824847180186,0.06951626781613546,0.39051476780334754],"object_quaternion":[0.9999960866854107,-0.000648181291899248,0.002721477426368774,-5.9577397861965335e-06],"object_velocity":[-0.002258659730243727,-0.00027090729719190745,0.06683556547039907],"object_angular_velocity":[0.008026739653297973,-0.03763670445040132,3.930980999815181e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.00427420884533826,0.0008789818707728637,0.5099659953094613],[0.23209603997541028,0.04773005222687328,0.4507866875488203],[0.2843052096093851,0.058466755850146296,0.4372247628536734],[0.33817691017923335,0.06954567827290194,0.4369127441632537],[0.3379548253904689,0.06949906168760275,0.39691338785292574]],"gripper_points":[[0.3639746402218261,0.06950798184808725,0.404769038745261],[0.312036928240026,0.06950878795816863,0.4050574068411574]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993851251925651,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8002168564904945,"right":0.80056439164874},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.720000000000913,"stage":"lift","target_distance":0.15034619050491263,"dwell_elapsed":0.0},{"joint_position":[0.20283187563480504,-1.5567610892202703,1.8005750871003936,-2.4817015843042132e-05,-0.23814418971874768,-0.20285088754367894],"joint_velocity":[0.0005031087784912059,-0.07084623133613129,-0.16525128869367464,-3.817426431330439e-05,0.21272393895582112,-0.0004978332752930157],"joint_actuator_torque":[-0.00031609428785372984,-0.8680274023851098,-0.8356121233108524,6.842152283979223e-06,-0.10996543626790611,6.61064845672854e-05],"jaw_actuator_force":[-0.8004157443739883,-0.8003339828858778],"end_effector_position":[0.33790534586405657,0.06949294988918814,0.39844658429440033],"end_effector_quaternion":[0.9999959815681014,-0.0005829028416317342,0.0027743520135080743,-6.5445818552499255e-06],"end_effector_velocity":[-0.0020712469225764815,-0.0002501272577103902,0.06914749086417728],"object_position":[0.33787876873195544,0.06951088489464707,0.39203959902002605],"object_quaternion":[0.9999960912243561,-0.0006484523485628181,0.0027197435924872057,-6.352344210513101e-06],"object_velocity":[-0.00213703924726714,-0.00024427149689039055,0.066930568673397],"object_angular_velocity":[0.00803430572791265,-0.03767175944953404,4.4344541219286294e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0038491780455008405,0.0007916218723847652,0.5099724221475844],[0.23197653576237917,0.04770828925520672,0.45203508545694027],[0.2842557219058305,0.05846002553043675,0.438757779132001],[0.33812729343844206,0.06953958047657234,0.4384459413500149],[0.33790534586405657,0.06949294988918814,0.39844658429440033]],"gripper_points":[[0.3639251538996333,0.06950185199126468,0.40630232435475644],[0.3119874389341358,0.06950269980786421,0.4065905142450465]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938514514461565,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8002373200553203,"right":0.8004902268957867},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.7400000000009195,"stage":"lift","target_distance":0.15119899278976942,"dwell_elapsed":0.0},{"joint_position":[0.20284417407552346,-1.5582723717098101,1.7967458495320496,-2.5792789565604158e-05,-0.2328070235589657,-0.20286409187578172],"joint_velocity":[0.0005318938983204432,-0.06918463652298301,-0.1671199673842413,-3.8732790756846085e-05,0.21289209769768572,-0.0005239680763721682],"joint_actuator_torque":[-0.00034035078641636574,-0.867996334232771,-0.8356789157115827,7.289629232854356e-06,-0.10995870947804676,6.956124745016723e-05],"jaw_actuator_force":[-0.8004829524932493,-0.8002080212193201],"end_effector_position":[0.3378587088908731,0.06948765479440759,0.39998225380746666],"end_effector_quaternion":[0.9999959863119322,-0.0005830803663462726,0.002772603296126011,-6.947995731261518e-06],"end_effector_velocity":[-0.001956073867301309,-0.00021639356654754168,0.06926201287251928],"object_position":[0.3378321392882739,0.06950632710210702,0.39356693226324835],"object_quaternion":[0.9999960958479834,-0.000648728935628732,0.002717976087623439,-6.748771609770894e-06],"object_velocity":[-0.0020062875529272125,-0.00021608951989027093,0.06702649083885526],"object_angular_velocity":[0.008042128618288534,-0.037707670097505135,4.90294070729309e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00343472159004583,0.0007064287953373989,0.5099780413638827],[0.23186131937247462,0.04768756600369814,0.4532853419030732],[0.28420908136428125,0.05845407661394748,0.44029326494330434],[0.3380805165883932,0.06953429949536821,0.4399816116225265],[0.3378587088908731,0.06948765479440759,0.39998225380746666]],"gripper_points":[[0.3638785168179535,0.06949653878818716,0.40783808472793803],[0.31194079865854624,0.06949742845533771,0.4081260929563299]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993851670135715,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.800258276051346,"right":0.800410502188821},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.760000000000926,"stage":"lift","target_distance":0.1520621891291566,"dwell_elapsed":0.0},{"joint_position":[0.2028571350908168,-1.5597441427063423,1.792872631816211,-2.677931037472243e-05,-0.2274654833900338,-0.20287795480102058],"joint_velocity":[0.0005605811246409083,-0.06748253032540093,-0.16903377446137743,-3.928139547819613e-05,0.21306332529637803,-0.0005500206733976367],"joint_actuator_torque":[-0.00036492643477004094,-0.8680276356886907,-0.8357001933038646,7.696814825078682e-06,-0.10995164017852943,7.300476401184142e-05],"jaw_actuator_force":[-0.8005522039985351,-0.8000748272961173],"end_effector_position":[0.33781514818258435,0.06948322361968809,0.4015204370677602],"end_effector_quaternion":[0.9999959911864488,-0.0005832561212687009,0.00277080660751351,-7.353401248328462e-06],"end_effector_velocity":[-0.0018307249063762242,-0.00018060065965003224,0.06937826636122414],"object_position":[0.3377885840003839,0.06950264329097473,0.3950968123467428],"object_quaternion":[0.9999961005993182,-0.0006490076968351677,0.002716159805233279,-7.147003354584597e-06],"object_velocity":[-0.0018642491783925149,-0.00018599843850738493,0.06712345250060144],"object_angular_velocity":[0.00805022012741176,-0.03774441186391388,5.3736177468630464e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0030310946810894876,0.0006234546681710729,0.5099828990658377],[0.2317506275372276,0.04766793049754767,0.45453749723656844],[0.28416552048342597,0.05844895620844648,0.4418312593173609],[0.338036812165687,0.06952988229234816,0.44151979566320343],[0.33781514818258435,0.06948322361968809,0.4015204370677602]],"gripper_points":[[0.36383495137087446,0.06949208937509223,0.4093763613664351],[0.31189722979342993,0.06949302109620602,0.40966418295081863]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993851908544077,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8002794757638908,"right":0.8003253442625443},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.780000000000933,"stage":"lift","target_distance":0.15293557524705464,"dwell_elapsed":0.0},{"joint_position":[0.20287075680251646,-1.5611754961134168,1.7889544449343424,-2.777640516359579e-05,-0.22211947658095116,-0.20289246912145786],"joint_velocity":[0.0005891850162058871,-0.06574101946251845,-0.17098990101583483,-3.982455559867233e-05,0.21323830149047227,-0.0005757761253799827],"joint_actuator_torque":[-0.0003894338588708024,-0.8681233819215777,-0.8356779576887448,8.090843135020228e-06,-0.1099442908236874,7.640846587619876e-05],"jaw_actuator_force":[-0.8006254355314759,-0.7999324038080049],"end_effector_position":[0.3377748883739396,0.06947970194472164,0.4030611649048946],"end_effector_quaternion":[0.9999959961776795,-0.0005834309634681523,0.002768966726180437,-7.758257219776233e-06],"end_effector_velocity":[-0.0016957354487835202,-0.00014285254420277026,0.06949563912376584],"object_position":[0.3377483346981793,0.06949987856138927,0.39662926867830617],"object_quaternion":[0.9999961054566201,-0.0006492900374337081,0.00271430232738105,-7.544179945848657e-06],"object_velocity":[-0.001711539767971008,-0.00015410033097903824,0.06722085067476916],"object_angular_velocity":[0.008058109750737612,-0.037779881973021553,5.865161184481085e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0026385473299439274,0.000542750515782493,0.5099870416463328],[0.23164468991802697,0.04764942948131865,0.45579158562127026],[0.28412526426112933,0.05844471007758736,0.44337179361552675],[0.33799640518723056,0.0695263745163343,0.443060524299421],[0.3377748883739396,0.06947970194472164,0.4030611649048946]],"gripper_points":[[0.3637946902479625,0.06948854947710885,0.4109171848068612],[0.3118569650281023,0.06948952319216319,0.4112048152616648]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993852166976211,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8003015834502152,"right":0.8002340296280293},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.8000000000009395,"stage":"lift","target_distance":0.1538189354777826,"dwell_elapsed":0.0},{"joint_position":[0.20288504175573976,-1.5625655424722003,1.7849902833672961,-2.878385298104003e-05,-0.21676892478620155,-0.20290763628695285],"joint_velocity":[0.0006179150848980288,-0.06396105193319385,-0.17298958137274187,-4.0358478916338657e-05,0.21341613550165467,-0.0006016097999175223],"joint_actuator_torque":[-0.00041416847597020023,-0.868282985670362,-0.8356110202344098,8.462727377072082e-06,-0.10993646231131038,7.9822349650982e-05],"jaw_actuator_force":[-0.8007102169420373,-0.7997896463045224],"end_effector_position":[0.33773815273096996,0.0694771366530041,0.40460448026804585],"end_effector_quaternion":[0.9999960013387232,-0.0005836009658676469,0.0027670652064133543,-8.1621384953069e-06],"end_effector_velocity":[-0.0015511399074125704,-0.0001030812839469329,0.06961492637248172],"object_position":[0.33771161585855397,0.06949808012470413,0.39816434585501576],"object_quaternion":[0.9999961104780534,-0.0006495715782176685,0.002712383173894801,-7.940183529538287e-06],"object_velocity":[-0.0015483255711350827,-0.00012032648370266084,0.06731946633905947],"object_angular_velocity":[0.008066404585377999,-0.03781690328425326,6.364811911090667e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.002257324831731539,0.00046436646602162463,0.5099905156400647],[0.2315437327001023,0.04763211008533696,0.4570476489942015],[0.28408853450327065,0.05844138466476339,0.4449149087211912],[0.3379595174433931,0.06952382273677016,0.4446038404888503],[0.33773815273096996,0.0694771366530041,0.40460448026804585]],"gripper_points":[[0.3637579572712864,0.06948596593810788,0.4124605989537252],[0.31182022861678516,0.06948698154065999,0.41274803187489045]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993852401160643,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8003325873649572,"right":0.8001450619705393},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.820000000000946,"stage":"lift","target_distance":0.15471207293817477,"dwell_elapsed":0.0},{"joint_position":[0.20289998821579336,-1.5639132872191983,1.7809790829353065,-2.9801386665898764e-05,-0.21141373263381324,-0.20292345748152912],"joint_velocity":[0.00064656068694148,-0.06213734385007783,-0.17503503432245596,-4.0880955639531675e-05,0.21359787539468522,-0.0006274887197566865],"joint_actuator_torque":[-0.00043913031318254525,-0.8685130409054409,-0.8354997029196056,8.79860630900427e-06,-0.10992847085729096,8.324221094468953e-05],"jaw_actuator_force":[-0.8008114920002161,-0.7996523930599766],"end_effector_position":[0.337705187564884,0.06947557789169151,0.4061504089068675],"end_effector_quaternion":[0.9999960066328314,-0.000583768565437311,0.0027651146929883828,-8.56662955130615e-06],"end_effector_velocity":[-0.0013958545607703488,-6.113678566677691e-05,0.0697350038852038],"object_position":[0.3376786681421932,0.06949729867884051,0.39970207052432194],"object_quaternion":[0.999996115622191,-0.0006498551997734425,0.0027104168026440114,-8.336872990542358e-06],"object_velocity":[-0.0013733263624775183,-8.45414424453063e-05,0.06741813509491666],"object_angular_velocity":[0.008074275106269166,-0.03785151383042436,6.857909933955933e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0018877011614543552,0.00038835859578561507,0.5099933673534539],[0.23144800816513617,0.047616023809161044,0.45830571808529047],[0.2840555785201466,0.05843903042055958,0.44646063179466966],[0.3379263962570279,0.06952227729541326,0.44614976997526723],[0.337705187564884,0.06947557789169151,0.4061504089068675]],"gripper_points":[[0.3637249927289009,0.069484388861231,0.4140066289331184],[0.3117872613066092,0.06948544641088467,0.41429385922747897]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399385256592302,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.800377799366586,"right":0.8000639098631728},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.840000000000953,"stage":"lift","target_distance":0.15561477602499033,"dwell_elapsed":0.0},{"joint_position":[0.20291559465014522,-1.5652177345695102,1.7769197149615144,-3.082871008098539e-05,-0.20605381843116907,-0.20293992743989547],"joint_velocity":[0.000675141312636233,-0.060270625707349604,-0.17712960871476274,-4.1393339494004484e-05,0.21378248732324465,-0.000653143905415489],"joint_actuator_torque":[-0.00046419347877701966,-0.868813403711556,-0.8353408679301992,9.109580091369671e-06,-0.10991988038044198,8.663197710490067e-05],"jaw_actuator_force":[-0.8009295111363519,-0.7995184893661831],"end_effector_position":[0.33767624599175605,0.06947507731148402,0.4076989988704862],"end_effector_quaternion":[0.9999960121320356,-0.0005839284210333057,0.0027630901477019723,-8.969989938628917e-06],"end_effector_velocity":[-0.001229648655077921,-1.6963375888445634e-05,0.06985732228004732],"object_position":[0.3376497473919961,0.06949758627073487,0.4012424939380596],"object_quaternion":[0.9999961209680016,-0.0006501348920732845,0.002708375402597817,-8.732080276167179e-06],"object_velocity":[-0.0011861986607148826,-4.668886899378762e-05,0.06751827525280246],"object_angular_velocity":[0.008082738595510284,-0.03788849352876923,7.368670396426657e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0015299504855711935,0.0003147830890684772,0.5099956431145288],[0.23135777169678495,0.04760122287717343,0.4595658383412372],[0.28402664739102146,0.05843769866194748,0.4480090080806912],[0.3378972927410917,0.06952178941608506,0.447698360819321],[0.33767624599175605,0.06947507731148402,0.4076989988704862]],"gripper_points":[[0.3636960517115893,0.06948386990370162,0.4155553240840926],[0.31175831825159633,0.06948496927621257,0.415842344057308]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993852653507721,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.800436777290929,"right":0.799989087194088},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.8600000000009596,"stage":"lift","target_distance":0.15652684255956265,"dwell_elapsed":0.0},{"joint_position":[0.20293185992632395,-1.56647781569683,1.7728110853613537,-3.186555354607382e-05,-0.20068909416372624,-0.20295704872239897],"joint_velocity":[0.0007036772648330048,-0.058356769938512514,-0.17927063784262706,-4.1893228649896346e-05,0.2139708655233668,-0.0006789198583717693],"joint_actuator_torque":[-0.0004894123102019421,-0.8691915060690008,-0.8351386201795776,9.390478119473446e-06,-0.10991114745073816,9.003789096695414e-05],"jaw_actuator_force":[-0.8010633474745763,-0.7993873005676333],"end_effector_position":[0.33765158948459023,0.06947568845622822,0.4092502605964114],"end_effector_quaternion":[0.999996017747328,-0.0005840866959994043,0.0027610223363315587,-9.374185664656554e-06],"end_effector_velocity":[-0.0010521255399659644,2.9529233486735732e-05,0.06997948377704706],"object_position":[0.3376251150094446,0.06949899652854205,0.4027856241898086],"object_quaternion":[0.9999961264165644,-0.0006504176050615175,0.00270629367978801,-9.128174636508242e-06],"object_velocity":[-0.000986634826988718,-6.691246531762872e-06,0.06761748290663568],"object_angular_velocity":[0.008090239847147086,-0.03792048533556575,7.869968431632022e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.001184366862772589,0.00024370029224665194,0.5099973890687233],[0.23127329285035925,0.04758776256584661,0.4608280296534088],[0.28400200505584783,0.058437443503546606,0.4495600514540659],[0.3378724708299166,0.06952241313524282,0.4492496234442826],[0.33765158948459023,0.06947568845622822,0.4092502605964114]],"gripper_points":[[0.36367139684398714,0.06948446260391548,0.4171066932393832],[0.3117336620506884,0.06948560388289618,0.41739349839305745]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938526682586226,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8005086688951211,"right":0.7999198817023904},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.880000000000966,"stage":"lift","target_distance":0.15744804733606146,"dwell_elapsed":0.0},{"joint_position":[0.20294878329942972,-1.5676924136873986,1.7686519554302127,-3.2911553023937364e-05,-0.19531948403296612,-0.20297481125606098],"joint_velocity":[0.0007321858610597912,-0.056394623104501176,-0.1814659509474409,-4.237972928330134e-05,0.21416172679972087,-0.00070426575896144],"joint_actuator_torque":[-0.0005149215371744731,-0.8696475685275118,-0.8348868717065443,9.633916190026834e-06,-0.10990173783623547,9.338583891604912e-05],"jaw_actuator_force":[-0.801212582758394,-0.7992578542969593],"end_effector_position":[0.33763150241970025,0.06947746975778947,0.4108042379662882],"end_effector_quaternion":[0.999996023543342,-0.0005842385316499932,0.0027588887794513985,-9.77467958342782e-06],"end_effector_velocity":[-0.0008622744267123739,7.855674052781596e-05,0.0701038372674869],"object_position":[0.3376050531968455,0.06950158899558644,0.40433151134738393],"object_quaternion":[0.9999961320457834,-0.0006506973650087798,0.0027041441863023975,-9.519983386886992e-06],"object_velocity":[-0.0007733726662789655,3.5660896008457616e-05,0.06771804790205709],"object_angular_velocity":[0.0080983696939574,-0.03795491442093499,8.410735783941015e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0008512574051064075,0.0001751733095046332,0.5099986512023619],[0.2311948587588942,0.04757570190439533,0.46209233424632534],[0.28398193406913724,0.05843832304072445,0.45111380327723366],[0.3378522131012678,0.06952420649708523,0.45080360174213147],[0.33763150241970025,0.06947746975778947,0.4108042379662882]],"gripper_points":[[0.36365130910354687,0.0694862255533622,0.41866078146723773],[0.3117135736145037,0.06948740834836341,0.4189473649684934]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993852615575469,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8005930473018736,"right":0.799855326912538},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.900000000000973,"stage":"lift","target_distance":0.158378183803076,"dwell_elapsed":0.0},{"joint_position":[0.20296636023777495,-1.568860399078297,1.7644411140608758,-3.396637542286544e-05,-0.18994491548962092,-0.202993214468796],"joint_velocity":[0.000760487413406581,-0.054383073407859986,-0.18371299361486207,-4.28532273890049e-05,0.21435553276438593,-0.0007296137289394416],"joint_actuator_torque":[-0.0005403764562146307,-0.8701856827328811,-0.8345882448679731,9.85252125818058e-06,-0.10989181274494086,9.673432588286346e-05],"jaw_actuator_force":[-0.801377438339804,-0.7991287768395159],"end_effector_position":[0.3376162684662849,0.06948047820826309,0.4123609608891182],"end_effector_quaternion":[0.9999960295324645,-0.0005843828075555175,0.002756685063466851,-1.017357141180831e-05],"end_effector_velocity":[-0.0006601778815654323,0.0001300406143890725,0.07022908019724611],"object_position":[0.33758984992679036,0.06950542028054633,0.4058801838202934],"object_quaternion":[0.9999961378578972,-0.000650973561091726,0.0027019260715369065,-9.910407282922277e-06],"object_velocity":[-0.0005466191089435861,8.028826176399798e-05,0.06781864960368901],"object_angular_velocity":[0.008106279619470847,-0.03798784075910103,8.938915011290097e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0005309325368394917,0.00010926599821931061,0.5099994753059065],[0.23112275774889246,0.0475650993004904,0.4633587845845945],[0.28396671769332127,0.05844039443226086,0.4526702929609605],[0.33783680287135676,0.06952722640361911,0.4523603256238538],[0.3376162684662849,0.06948047820826309,0.4123609608891182]],"gripper_points":[[0.3636360769357135,0.0694892156172184,0.4202176188796913],[0.3116983413390777,0.06949043975531435,0.42050397343732737]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993852500155583,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8006895929926034,"right":0.7997945921086523},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.92000000000098,"stage":"lift","target_distance":0.15931703292232285,"dwell_elapsed":0.0},{"joint_position":[0.202984587310854,-1.5699805271186287,1.760177229510467,-3.5029625463162985e-05,-0.18456531654800776,-0.20301225243958454],"joint_velocity":[0.000788650667632297,-0.05231708921343768,-0.18601780891728376,-4.33100011175844e-05,0.2145519553175298,-0.0007547129532858698],"joint_actuator_torque":[-0.0005661231707136949,-0.87081120419748,-0.8342398115099741,1.0024316826614393e-05,-0.10988129574661798,0.00010004932103058195],"jaw_actuator_force":[-0.8015569259979527,-0.7990001099783033],"end_effector_position":[0.3376062029081699,0.06948477773723812,0.41392046060609394],"end_effector_quaternion":[0.999996035735383,-0.0005845177694747512,0.002754403887693315,-1.0569738287365077e-05],"end_effector_velocity":[-0.00044436714974897557,0.00018430927047743918,0.07035555559866129],"object_position":[0.3375798151663192,0.06951055566910411,0.4074316769704102],"object_quaternion":[0.999996143878327,-0.0006512439810890788,0.0026996302907369625,-1.0297882538986303e-05],"object_velocity":[-0.0003046715670127503,0.0001275011075246937,0.06791957347331842],"object_angular_velocity":[0.008114228161960054,-0.03802038842765564,9.482501781564729e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0002237341743953931,4.604877845760303e-05,0.5099999068259295],[0.23105730955910614,0.04755601994039968,0.46462741388910167],[0.28395667058476903,0.058443721665011404,0.4542295509244119],[0.3378265548399065,0.06953153664435519,0.45391982633395],[0.3376062029081699,0.06948477773723812,0.41392046060609394]],"gripper_points":[[0.3636260094846034,0.06949349675600282,0.42177723713109827],[0.31168827432537066,0.06949476194668486,0.42206335469584394]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993852325906241,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8007978005267304,"right":0.7997372359359564},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.940000000000986,"stage":"lift","target_distance":0.160264375193268,"dwell_elapsed":0.0},{"joint_position":[0.20300345418921412,-1.5710514990957354,1.7558589018778017,-3.610091365307645e-05,-0.17918061009464933,-0.20303192139003776],"joint_velocity":[0.0008163464156806967,-0.050194463752964553,-0.18838308176163798,-4.375314804960126e-05,0.21475128127627544,-0.0007796691431645136],"joint_actuator_torque":[-0.0005917202002621025,-0.8715281969288071,-0.8338402222952936,1.0161886202757296e-05,-0.10987010472241465,0.000103345685484868],"jaw_actuator_force":[-0.801751903087303,-0.7988701593025036],"end_effector_position":[0.33760163694000633,0.0694904331668806,0.4154827724501536],"end_effector_quaternion":[0.9999960421854116,-0.000584640742711807,0.0027520335115392884,-1.0966573723182238e-05],"end_effector_velocity":[-0.0002142010736323795,0.00024138073461258433,0.07048338990303316],"object_position":[0.3375752822725407,0.0695170601620387,0.4089860283589013],"object_quaternion":[0.9999961501377308,-0.0006515059633172129,0.0026972459098183656,-1.068631117922126e-05],"object_velocity":[-4.677295989786517e-05,0.000177313244234479,0.06802089938346782],"object_angular_velocity":[0.008122242303111522,-0.038052729598153825,0.00010003875941738319],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-6.998108693530191e-05,-1.4404824358306147e-05,0.5099999908841936],[0.23099884925629277,0.04754853055631937,0.46589825824492],[0.28395212287661586,0.05844836991439134,0.4557916111817531],[0.33782179926248684,0.0695372018267553,0.45548213921069386],[0.33760163694000633,0.0694904331668806,0.4154827724501536]],"gripper_points":[[0.36362143988117906,0.06949913357333079,0.4233396721538175],[0.3116837056640473,0.06950043987712233,0.4236255434568309]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993852096197706,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.800917811792552,"right":0.7996822800779722},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.960000000000993,"stage":"lift","target_distance":0.16121998321342149,"dwell_elapsed":0.0},{"joint_position":[0.20302294903015433,-1.572071886754669,1.751484618215251,-3.717984829406647e-05,-0.173790719987175,-0.2030522012889778],"joint_velocity":[0.0008435309305635794,-0.04800921545395825,-0.19081370858874486,-4.4180421181085424e-05,0.21495347081665592,-0.0008037935210115533],"joint_actuator_torque":[-0.0006172973407103655,-0.8723440093390309,-0.8333877798334015,1.0252211104701519e-05,-0.10985824259687149,0.00010653087339917988],"jaw_actuator_force":[-0.8019621843883664,-0.7987385150485622],"end_effector_position":[0.33760293536401864,0.06949751575391018,0.41704792553853154],"end_effector_quaternion":[0.9999960488939906,-0.0005847505894945541,0.002749569803311368,-1.1360097538616577e-05],"end_effector_velocity":[3.184589480559243e-05,0.0003015558707096073,0.07061218613688797],"object_position":[0.33757661333139055,0.06952500620373504,0.41054327034343546],"object_quaternion":[0.9999961566482193,-0.0006517581564971699,0.0026947685483638497,-1.1070896919124897e-05],"object_velocity":[0.0002287838649237499,0.00023000594188265163,0.06812216293369916],"object_angular_velocity":[0.008130093598461794,-0.03808368801490267,0.00010558082135200037],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.00034982124112047986,-7.20139001757858e-05,0.5099997722125813],[0.23094774633618753,0.047542704660256556,0.46717134929938714],[0.2839534389059873,0.058454410997022296,0.45735650238178016],[0.3378229006106021,0.06954429311740633,0.4570472933731431],[0.33760293536401864,0.06949751575391018,0.41704792553853154]],"gripper_points":[[0.3636227298383477,0.06950619751503898,0.42490495329661937],[0.31168499703997354,0.06950754457844449,0.42519056864027027]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993851813610414,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8010495211235305,"right":0.7996292356065998},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":7.980000000001,"stage":"lift","target_distance":0.16218361788446714,"dwell_elapsed":0.0},{"joint_position":[0.20304305913259077,-1.5730401889557457,1.7470527533686917,-3.826602818871672e-05,-0.16839559100808216,-0.20307307356404924],"joint_velocity":[0.000870164800350013,-0.04575857180776444,-0.1933147827471879,-4.4593179354423374e-05,0.21515741969996022,-0.0008271886090275376],"joint_actuator_torque":[-0.0006427490184535145,-0.8732627345763149,-0.8328792951134574,1.0301594340399699e-05,-0.10984532412836323,0.0001096187532070303],"jaw_actuator_force":[-0.802188738590047,-0.7986037348002002],"end_effector_position":[0.3376104869216857,0.0695061014348362,0.41861596306823495],"end_effector_quaternion":[0.9999960559570885,-0.0005848400914011641,0.002746979128254577,-1.1747485080940645e-05],"end_effector_velocity":[0.000294769980379749,0.00036502819488422257,0.07074277794198079],"object_position":[0.3375841993569548,0.06953447067731283,0.4121034502886012],"object_quaternion":[0.9999961635096601,-0.000651992613379012,0.002692162793719758,-1.1449191266944579e-05],"object_velocity":[0.000523140323012267,0.0002857619664215926,0.06822413264536],"object_angular_velocity":[0.00813843949944122,-0.03811633540022177,0.00011134291760073536],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.000615374404339119,-0.00012669334596050188,0.5099992951118603],[0.23090439153393133,0.047538619991556834,0.468446727389459],[0.2839610045614516,0.05846192096473789,0.45892426395307534],[0.3378302449348418,0.06955288587600983,0.45861533203365384],[0.3376104869216857,0.0695061014348362,0.41861596306823495]],"gripper_points":[[0.3636302693866197,0.06951476455103076,0.4264731254968575],[0.3116925384446747,0.06951615172304262,0.42675847168997966]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938514801369215,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8011932780646475,"right":0.7995772786518743},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.000000000001005,"stage":"lift","target_distance":0.1631550398936382,"dwell_elapsed":0.0},{"joint_position":[0.203063771198709,-1.5739547386133892,1.7425615904307243,-3.935909101033766e-05,-0.16299513863441406,-0.20309450929198222],"joint_velocity":[0.0008962275175931084,-0.043434517075220745,-0.19588959994602845,-4.499004772686376e-05,0.2153648508651371,-0.0008494138690277553],"joint_actuator_torque":[-0.0006682033916405317,-0.8742953148301922,-0.8323154145402896,1.0297209305630377e-05,-0.10983179044548486,0.00011255013211552978],"jaw_actuator_force":[-0.8024316229709854,-0.7984654914109504],"end_effector_position":[0.3376247175323055,0.06951627364639405,0.42018690035224043],"end_effector_quaternion":[0.9999960633251499,-0.0005849124661314737,0.0027442785373500184,-1.2121026819738526e-05],"end_effector_velocity":[0.0005762641965342584,0.00043214161102376374,0.07087341236312353],"object_position":[0.33759846378880354,0.06954553818432598,0.41366658518877786],"object_quaternion":[0.9999961706619717,-0.0006522132209050519,0.002689449712506476,-1.1813133555248224e-05],"object_velocity":[0.000838122131178703,0.00034489745770709433,0.06832499144613327],"object_angular_velocity":[0.008145979884434985,-0.038144550285403964,0.00011769760887098021],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0008661832872760936,-0.00017834860565917878,0.5099986034220308],[0.23086921761537185,0.0475363628647379,0.46972441469294823],[0.2839752469888953,0.05847098424337056,0.4604949131092001],[0.33784425951820607,0.06956306379839786,0.46018627049725774],[0.3376247175323055,0.06951627364639405,0.42018690035224043]],"gripper_points":[[0.36364448240441477,0.06952491856947342,0.42804420319252523],[0.311706753753555,0.0695263444002095,0.4283292688156838]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993851097069337,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8013491523838145,"right":0.7995260719815549},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.020000000000994,"stage":"lift","target_distance":0.164133981377028,"dwell_elapsed":0.0},{"joint_position":[0.20308505589951759,-1.574813664533978,1.7380091639370823,-4.045852367966097e-05,-0.15758932366189957,-0.20311649071193413],"joint_velocity":[0.0009209764169068963,-0.04102858881318184,-0.19854999397381023,-4.537057422023681e-05,0.21557312381703803,-0.0008709654793461818],"joint_actuator_torque":[-0.000693163798686669,-0.8754504955941229,-0.8316893680915882,1.0230410497353085e-05,-0.10981695814234449,0.00011539267831039979],"jaw_actuator_force":[-0.8026918210776373,-0.7983226154039151],"end_effector_position":[0.3376461156070302,0.0695281231176916,0.4217607698522536],"end_effector_quaternion":[0.9999960710744171,-0.0005849617982902379,0.0027414411370745807,-1.2486618184445591e-05],"end_effector_velocity":[0.0008790920489841429,0.000503206538374545,0.07100536958280293],"object_position":[0.3376198902933138,0.06955830102102137,0.4152327160161868],"object_quaternion":[0.9999961781983618,-0.0006524123713164443,0.002686596108326315,-1.2170360348074392e-05],"object_velocity":[0.0011770236044327425,0.0004077042749103971,0.06842589552508846],"object_angular_velocity":[0.008153864420210342,-0.038173503114507006,0.00012360140803315196],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0011017347272600018,-0.00022687349041836227,0.5099977405426874],[0.2308427155777886,0.04753602779775721,0.47100444325680974],[0.2839966521060289,0.05848169267629744,0.46206847929546274],[0.33786543062065827,0.06957491713918681,0.4617601412378685],[0.3376461156070302,0.0695281231176916,0.4217607698522536]],"gripper_points":[[0.3636658508679934,0.0695367499001291,0.4296182202780328],[0.3117281249190904,0.0695382135487972,0.42990299111791613]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850665274142,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8015178036035022,"right":0.7994747673665873},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.040000000000983,"stage":"lift","target_distance":0.16512016302341698,"dwell_elapsed":0.0},{"joint_position":[0.20310687504589034,-1.5756149866876832,1.7333934067574726,-4.156400050216512e-05,-0.1521780902987681,-0.2031389599695448],"joint_velocity":[0.000944046325651166,-0.03853599103661017,-0.20129946731842194,-4.574236545457165e-05,0.21578346823005207,-0.0008901309394297788],"joint_actuator_torque":[-0.0007170668237392874,-0.8767366618270671,-0.8310002490012494,1.0124023599067389e-05,-0.10980089526493586,0.00011791728167054316],"jaw_actuator_force":[-0.8029714821043239,-0.7981729811359495],"end_effector_position":[0.3376751982635554,0.06954174343187706,0.4233375998204515],"end_effector_quaternion":[0.9999960792477061,-0.0005849845882811807,0.002738451665052766,-1.2834518151610939e-05],"end_effector_velocity":[0.0012044166557874311,0.0005783366353896871,0.0711380984531651],"object_position":[0.3376490025989957,0.06957285325998902,0.41680187373065114],"object_quaternion":[0.9999961861491083,-0.0006525869132380472,0.002683591078961712,-1.2509117818058307e-05],"object_velocity":[0.0015410309404276976,0.0004742837179737163,0.06852621863479764],"object_angular_velocity":[0.008161572080126295,-0.03820088247408264,0.00013017279459120437],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0013214858117804253,-0.00027215554301660005,0.5099967492786472],[0.23082540600212997,0.04753771334699275,0.4722868426510689],[0.2840257353761511,0.05849414163428656,0.46364498904891555],[0.337894274138456,0.06958853920371658,0.46333697251449224],[0.3376751982635554,0.06954174343187706,0.4233375998204515]],"gripper_points":[[0.36369489873718913,0.0695503525774236,0.4311952057605892],[0.31175717589105556,0.06955185218946179,0.4314796660191135]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993850184910322,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8017001579767109,"right":0.7994224645238656},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.060000000000972,"stage":"lift","target_distance":0.16611328378914844,"dwell_elapsed":0.0},{"joint_position":[0.20312918071125008,-1.576356364306656,1.7287119254218546,-4.267510070243822e-05,-0.14676142170817424,-0.20316185704075654],"joint_velocity":[0.0009650207858478912,-0.03594020140085895,-0.2041527587668803,-4.6098790196517674e-05,0.21599389825983392,-0.0009069220099394042],"joint_actuator_torque":[-0.000740131909751085,-0.8781709558621742,-0.8302419974386339,9.93190312177216e-06,-0.10978329772055595,0.00012012567910701932],"jaw_actuator_force":[-0.803270437101637,-0.7980170043618404],"end_effector_position":[0.3377125804538066,0.06955724496645832,0.4249174081034633],"end_effector_quaternion":[0.9999960878939196,-0.0005849768118788638,0.002735292641081318,-1.3158772399581594e-05],"end_effector_velocity":[0.0015567172461825119,0.0006583111198587223,0.07127106478933114],"object_position":[0.3376864037005962,0.06958930844549832,0.4183740857470479],"object_quaternion":[0.9999961945748252,-0.0006527313352137017,0.0026804128787226594,-1.2824609259533355e-05],"object_velocity":[0.001935283772014456,0.0005453656969086106,0.06862524982743386],"object_angular_velocity":[0.008169067560694585,-0.038226164279325826,0.00013708271735864076],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0015247947917068937,-0.0003140617955713338,0.5099956720487511],[0.23081790725713028,0.047541535947957646,0.47357163370516814],[0.2840631098099888,0.05850844376418304,0.4652244582514304],[0.3379314036248388,0.06960404004888186,0.46491678218156707],[0.3377125804538066,0.06955724496645832,0.4249174081034633]],"gripper_points":[[0.36373222714074704,0.06956583722558152,0.4327751784704103],[0.31179450779477963,0.06956737032573067,0.43305931053407026]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993849655352455,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8018966923735539,"right":0.7993689319508023},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.080000000000961,"stage":"lift","target_distance":0.16711300966859086,"dwell_elapsed":0.0},{"joint_position":[0.2031519056865776,-1.5770352944395742,1.7239620540424727,-4.3791471863755956e-05,-0.1413393014006578,-0.20318510421262068],"joint_velocity":[0.0009830211702723407,-0.033235295914605716,-0.20712201749023418,-4.64524074439396e-05,0.21620421557176003,-0.0009205968670518787],"joint_actuator_torque":[-0.0007611933034326057,-0.8797614791307069,-0.8294067145598092,9.695107480396647e-06,-0.10976353236580572,0.00012192000599142716],"jaw_actuator_force":[-0.803592720710034,-0.7978509546211408],"end_effector_position":[0.33775893175444116,0.0695747426351575,0.42650024978011747],"end_effector_quaternion":[0.9999960972161194,-0.0005849232687071539,0.002731892436238958,-1.3454215067560029e-05],"end_effector_velocity":[0.001938186921113214,0.0007432752587382139,0.07140639184105549],"object_position":[0.33773277128484736,0.0696077826519211,0.41994941659861806],"object_quaternion":[0.9999962036764438,-0.0006528295089165371,0.002676989804242804,-1.3111835206529207e-05],"object_velocity":[0.0023623299179107724,0.0006210831431419679,0.06872496683101696],"object_angular_velocity":[0.008177605765972946,-0.038255441717860654,0.00014420488753728072],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.0017109755318614516,-0.0003524499512805346,0.5099945505572585],[0.230820886702064,0.047547617577069594,0.47485886247801057],[0.28410943846400527,0.058524716385649836,0.46680693395984957],[0.3379774829259561,0.06962153337359028,0.4664996253503964],[0.33775893175444116,0.0695747426351575,0.42650024978011747]],"gripper_points":[[0.36377851192349375,0.06958331878786751,0.4343581971731952],[0.31184079644524687,0.06958488235562095,0.4346419759882706]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993849075550769,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8021093285569221,"right":0.7993125520222645},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.10000000000095,"stage":"lift","target_distance":0.1681189967760751,"dwell_elapsed":0.0},{"joint_position":[0.20317495657979642,-1.577648720408813,1.7191407413048503,-4.491285257416845e-05,-0.13591172100550505,-0.20320858274166764],"joint_velocity":[0.0009969085332062154,-0.030394755765422162,-0.21022282618651886,-4.680097081352082e-05,0.21641468632552915,-0.0009294790265729712],"joint_actuator_torque":[-0.0007799848539633558,-0.8815379336773503,-0.8284915451258712,9.357928099353215e-06,-0.10974200401372158,0.00012307646249709592],"jaw_actuator_force":[-0.8039384026408625,-0.7976754665093724],"end_effector_position":[0.337815061338174,0.0695943709618583,0.4280861215968675],"end_effector_quaternion":[0.9999961071928837,-0.0005848248650986115,0.002728257876385268,-1.3708244573745584e-05],"end_effector_velocity":[0.0023552630920649076,0.0008341574932295749,0.07154025909375038],"object_position":[0.33778889870766193,0.06962841386172457,0.42152787188759056],"object_quaternion":[0.9999962134277429,-0.0006528819295803132,0.0026733306806153495,-1.335794078418586e-05],"object_velocity":[0.0028293977326091964,0.0007022944586414912,0.06882131409729611],"object_angular_velocity":[0.008184847410554379,-0.03827731151326815,0.00015200766343134177],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0018791901336574798,-0.00038714623228229333,0.509993426283969],[0.23083515846954117,0.047556104238283756,0.47614853466786966],[0.28416553002444084,0.058543099137788476,0.46839241367251355],[0.33803332175999207,0.06964115377696727,0.4680854987639745],[0.337815061338174,0.0695943709618583,0.4280861215968675]],"gripper_points":[[0.3638345453744426,0.06960293245806583,0.43594425835221523],[0.3118968341576631,0.06960452216463131,0.4362276595746926]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993848443319896,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8023388874860335,"right":0.7992532100475508},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.120000000000939,"stage":"lift","target_distance":0.16913081451470544,"dwell_elapsed":0.0},{"joint_position":[0.203198204592594,-1.5781931835893204,1.7142444245658606,-4.603898070001861e-05,-0.13047872495254692,-0.20323213058288545],"joint_velocity":[0.0010051027732520272,-0.027402813633696177,-0.2134790636695344,-4.7159411450138114e-05,0.21662199486301592,-0.0009318533436765425],"joint_actuator_torque":[-0.0007948918609343991,-0.8835181262205651,-0.8274825177488765,8.955698281020406e-06,-0.10971739687818527,0.000123367400274077],"jaw_actuator_force":[-0.8043131199499989,-0.7974856363060905],"end_effector_position":[0.337881901916827,0.06961627753015198,0.42967506024598534],"end_effector_quaternion":[0.9999961180287212,-0.0005846660349263378,0.0027243163886452176,-1.3904309389530743e-05],"end_effector_velocity":[0.0028131661236738712,0.0009314796492864248,0.07167561940917715],"object_position":[0.33785572137553355,0.06965135252755712,0.4231095057659429],"object_quaternion":[0.9999962240515953,-0.0006528701858237788,0.0026693556448102716,-1.3546721367307378e-05],"object_velocity":[0.0033426640840911836,0.0007894867370453093,0.06891699626653998],"object_angular_velocity":[0.008193000021672768,-0.03830203299275889,0.00016060261787952413],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.002028490559621115,-0.0004179539071680694,0.5099923401462638],[0.2308616522055856,0.04756715731160295,0.4774406811390211],[0.28423230992261217,0.058563745299237975,0.4699809259498613],[0.33809984703221135,0.06966304760099451,0.4696744391472527],[0.337881901916827,0.06961627753015198,0.42967506024598534]],"gripper_points":[[0.36390126002206996,0.06962482643571073,0.4375334024702104],[0.3119635534466116,0.06962643622422565,0.43781639421841745]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993847755989181,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8025884226512991,"right":0.7991885824606474},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.140000000000928,"stage":"lift","target_distance":0.17014799760672247,"dwell_elapsed":0.0},{"joint_position":[0.20322146308490543,-1.5786645340638494,1.7092689290195484,-4.716975784833885e-05,-0.12504040720561554,-0.2032555179737948],"joint_velocity":[0.001005037301626345,-0.024227400177699886,-0.2169161847202491,-4.753689327522828e-05,0.21682468904313054,-0.0009249836002247562],"joint_actuator_torque":[-0.0008041847692084048,-0.8857370641330817,-0.8263702179407346,8.462739837932116e-06,-0.10968940096580582,0.00012242922031902026],"jaw_actuator_force":[-0.8047196552172498,-0.7972799890890672],"end_effector_position":[0.33796057515015476,0.06964062854447327,0.4312670771709578],"end_effector_quaternion":[0.9999961298856395,-0.0005844341016015693,0.00272000991513529,-1.4020905237813269e-05],"end_effector_velocity":[0.0033204021592656927,0.0010360927949164096,0.0718102379463917],"object_position":[0.3379343498428356,0.06967676858553594,0.42469434611318857],"object_quaternion":[0.9999962357082673,-0.0006527797552500189,0.002665006823031316,-1.365724186235587e-05],"object_velocity":[0.003911700396360782,0.0008834432158754372,0.0690094152049819],"object_angular_velocity":[0.00820087415183333,-0.038323650556344735,0.0001701323616982992],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0021577392910147554,-0.00044463686887905864,0.5099913328287268],[0.23090148703294025,0.04758096339134798,0.47873531348965614],[0.28431089306551327,0.05858683011765001,0.4715724757244525],[0.33817817575676923,0.06968738004069515,0.47126645796958516],[0.33796057515015476,0.06964062854447327,0.4312670771709578]],"gripper_points":[[0.3639797636087619,0.06964916784446536,0.43912564406141136],[0.3120420620652213,0.06965078941726072,0.4394081884239849]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399384700927186,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8028602209343971,"right":0.7991176912846863},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.160000000000917,"stage":"lift","target_distance":0.17116998357155183,"dwell_elapsed":0.0},{"joint_position":[0.2032444783502483,-1.5790577317391152,1.7042092243939089,-4.830519429556214e-05,-0.11959693939927568,-0.20327843790665873],"joint_velocity":[0.0009937699006829178,-0.020829467155174357,-0.2205721743257943,-4.794911632328284e-05,0.21701896026020134,-0.0009057942622992523],"joint_actuator_torque":[-0.0008056807036922464,-0.8882369733134965,-0.8251375935559508,7.871324601645482e-06,-0.10965690271170914,0.00011985331040875735],"jaw_actuator_force":[-0.8051639831355537,-0.7970541006994747],"end_effector_position":[0.33805245192807887,0.06966761798500586,0.4328621756098765],"end_effector_quaternion":[0.9999961429839777,-0.0005841119065818045,0.0027152593922663095,-1.4031429096393962e-05],"end_effector_velocity":[0.0038879742223288894,0.001149228991823201,0.07194393455943811],"object_position":[0.3380261427388693,0.06970486161501019,0.4262824217000395],"object_quaternion":[0.9999962486327267,-0.0006525898187758531,0.0026601992988824884,-1.3663600311140073e-05],"object_velocity":[0.004549262044680905,0.0009853070651257483,0.06909793959032262],"object_angular_velocity":[0.008208841416121148,-0.03834348049480255,0.00018070994665220352],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.002265554788800879,-0.00046690834218193983,0.509990444940714],[0.2309560283493189,0.047597743760847064,0.4800324347136667],[0.2844026411518047,0.05861255986779121,0.47316705736996834],[0.3382696724973102,0.06971434370938051,0.47286155850425354],[0.33805245192807887,0.06966761798500586,0.4328621756098765]],"gripper_points":[[0.3640714104194155,0.06967615177842341,0.4407209905597995],[0.31213371430948345,0.06967777406488977,0.4410030414139551]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993846197687981,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8031582532701127,"right":0.7990381140564227},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.180000000000906,"stage":"lift","target_distance":0.17219609529047725,"dwell_elapsed":0.0},{"joint_position":[0.200204423415883,-1.5758629917516316,1.6987611573159993,-4.1701360857001845e-05,-0.11978625385955403,-0.19862926065765416],"joint_velocity":[-0.15703449872882613,0.18353393103635227,-0.22416461663744264,-0.0009132009302494998,-0.025805216878426615,0.21886352429710532],"joint_actuator_torque":[0.13474755967243368,-1.075846794729955,-0.8685213514000907,0.0010663300741711838,-0.08048395742317815,-0.029098895936316538],"jaw_actuator_force":[-0.769107576854557,-0.8252325989190687],"end_effector_position":[0.3393161924182645,0.0688536046642306,0.4336616827243376],"end_effector_quaternion":[0.9999984771539911,-0.00032851844168986836,0.001521019616671601,0.0007901042068223173],"end_effector_velocity":[0.06523629173094307,-0.04227131011840736,0.015801708476040573],"object_position":[0.33901220398498283,0.06874421768344412,0.42707193956286343],"object_quaternion":[0.9999988277918427,-0.00031017569211581924,0.001251022210120797,0.0008265285304732197],"object_velocity":[0.0754582056486811,-0.04038615613724354,0.011788086395758788],"object_angular_velocity":[0.011649494738750859,-0.013246085644205994,0.04919824951417445],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[-0.0013903237224575727,-0.000282128476907656,0.5099964060545586],[0.2320418649952121,0.0470866006905152,0.48057504022049874],[0.28553674157634473,0.057941934458049606,0.4738326438835267],[0.3394378530371917,0.06887998224066297,0.47366148901033434],[0.3393161924182645,0.0688536046642306,0.4336616827243376]],"gripper_points":[[0.364998167401247,0.06889939913758932,0.44158357876591936],[0.3130656687676094,0.06881738650898306,0.44174158711164474]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993280376641864,"grasp_contacts":{"left":4,"right":3},"pad_normal_forces":{"left":0.7932505876407686,"right":0.8063225678759894},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.200000000000895,"stage":"transfer","target_distance":0.17172964815107364,"dwell_elapsed":0.0},{"joint_position":[0.196964956321888,-1.572090185892065,1.693892326276797,-4.9285210070748055e-05,-0.11953164614893473,-0.19442086838302902],"joint_velocity":[-0.14031303897112413,0.16249507038299366,-0.20820471111600825,-0.0005053750662421493,0.010262836030336002,0.1634361335328104],"joint_actuator_torque":[0.12883169993756383,-1.1514222986124878,-0.8983608666029568,0.0014825763500285567,-0.08409592903153751,-0.021732857698770758],"jaw_actuator_force":[-0.8574578085613265,-0.7472668520730918],"end_effector_position":[0.3406452900663194,0.06797485443620488,0.43403213992081446],"end_effector_quaternion":[0.999998542482823,-0.0002447410075617322,0.001108821790149688,0.0012750091396884996],"end_effector_velocity":[0.05716139267940325,-0.03831069155363185,0.015389661935305964],"object_position":[0.3405719874294091,0.06788154101951915,0.4274177442594758],"object_quaternion":[0.9999986516782651,-0.00023751772313436586,0.0010493360569929276,0.001240613083677455],"object_velocity":[0.07049364301391463,-0.03619464530816344,0.012547288479217792],"object_angular_velocity":[0.006526475645052198,-0.02785660191071198,0.017996586022647462],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[-0.00035527576568446207,-7.08960645098511e-05,0.5099997656300418],[0.233260620054449,0.04654767244010229,0.48083947943910554],[0.28679759617989625,0.05723109438907591,0.47415691385368264],[0.3407339707164795,0.06799454678890601,0.4740320367701006],[0.3406452900663194,0.06797485443620488,0.43403213992081446]],"gripper_points":[[0.3665636052058843,0.06804482607997257,0.4419746646291438],[0.3146297999900655,0.06791242155129715,0.44208986820043966]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993410177346539,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.830322704489187,"right":0.7740176445697551},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.220000000000883,"stage":"transfer","target_distance":0.17067905101136502,"dwell_elapsed":0.0},{"joint_position":[0.19385778366953096,-1.5684489918389903,1.6892297924726714,-5.4328375087651753e-05,-0.1190775819286634,-0.190821356153751],"joint_velocity":[-0.13514243833838915,0.15824815789567862,-0.1988668233133967,-0.0003984862195113373,0.01771748972981383,0.1411920153869286],"joint_actuator_torque":[0.12372320075196797,-1.1515475738780196,-0.9070869808144835,0.001311892524281955,-0.08639326907621303,-0.018745570671882206],"jaw_actuator_force":[-0.8472249445121074,-0.7635218970469682],"end_effector_position":[0.3419134224385331,0.06712373384311761,0.4343618395695378],"end_effector_quaternion":[0.9999984795918082,-0.0001892618368470727,0.0008307500233408666,0.001521462595023299],"end_effector_velocity":[0.054870886949633824,-0.03722901434428375,0.013049206302085954],"object_position":[0.3419353405955799,0.06703705329721106,0.42773167958913183],"object_quaternion":[0.9999985627085081,-0.0001844147288996863,0.0008135814454582575,0.0014760275600090623],"object_velocity":[0.061371024478687225,-0.03521461086209218,0.010326604294792863],"object_angular_velocity":[0.0041240263709465316,-0.01930305046298988,0.0035915425700812718],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0006449417493364114,0.00012661709182968718,0.5099992286029589],[0.23443366431012358,0.04602479035116724,0.48108226308354207],[0.28801024656363733,0.05654312172309876,0.4744554584853424],[0.34197985930296965,0.06713897588345186,0.47436178149228625],[0.3419134224385331,0.06712373384311761,0.4343618395695378]],"gripper_points":[[0.36793097029801586,0.06720590344841464,0.44231860670390316],[0.31599375422032944,0.06704787800796855,0.4424049306895872]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993752822161092,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8273634195553436,"right":0.7832244298530626},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.240000000000872,"stage":"transfer","target_distance":0.16974049887202103,"dwell_elapsed":0.0},{"joint_position":[0.1908228985082513,-1.5648656006893602,1.6846766410922076,-5.7649658963492866e-05,-0.11845670711020703,-0.18753663461225878],"joint_velocity":[-0.1321554811276602,0.1558090690557202,-0.19459481253129635,-0.000348161968164155,0.024201035702550663,0.12931338973440562],"joint_actuator_torque":[0.12052733266317261,-1.1529919962323447,-0.9121401913671434,0.0011893260745571236,-0.08825263329551092,-0.017153401771304644],"jaw_actuator_force":[-0.8400534635607846,-0.7746779067389049],"end_effector_position":[0.3431481488579444,0.06628511246825979,0.43466086584586505],"end_effector_quaternion":[0.9999984147373574,-0.0001554533461624424,0.0006597029540730941,0.0016465567228472328],"end_effector_velocity":[0.0535126663151473,-0.03671574072584042,0.011902404050758033],"object_position":[0.3431811448875297,0.06620275821215704,0.42801867354552275],"object_quaternion":[0.9999984803834054,-0.00015240464558270177,0.0006615314503820247,0.001605733428792648],"object_velocity":[0.057996106674496166,-0.03475735839439554,0.009261420289415663],"object_angular_velocity":[0.0025807796753827055,-0.013078872237634057,-0.004600411035006757],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0016304512953827614,0.0003149596699481211,0.5099950757227343],[0.2355848161775456,0.04550869821024003,0.48130917065882645],[0.28919935812970793,0.055865596625723594,0.47473531741501424],[0.34320090453358587,0.06629763561530476,0.47466082909596663],[0.3431481488579444,0.06628511246825979,0.43466086584586505]],"gripper_points":[[0.3691703332451038,0.06637327142493758,0.44262652511562955],[0.3172326931139014,0.06620224473152456,0.44269507885583254]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399379669619773,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.825513264310321,"right":0.7891997429645021},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.260000000000861,"stage":"transfer","target_distance":0.16886543845375052,"dwell_elapsed":0.0},{"joint_position":[0.1878296258003885,-1.5613091786716844,1.680169619869301,-6.0150582439106546e-05,-0.11772015231273696,-0.18441923724106582],"joint_velocity":[-0.13044868822173433,0.15476402485482482,-0.1927983116683967,-0.0003287574702497376,0.02866059468690665,0.123002957712634],"joint_actuator_torque":[0.11922890054778179,-1.1571858536126456,-0.9143905762214217,0.0011587233955807482,-0.08921486779319565,-0.016308526714684746],"jaw_actuator_force":[-0.8389543942184341,-0.7784298303697623],"end_effector_position":[0.3443645150163608,0.06545136922811853,0.43494338348167194],"end_effector_quaternion":[0.9999983771199393,-0.00013485548474005237,0.0005547707394983366,0.0017087424944336727],"end_effector_velocity":[0.05278597168109802,-0.03652292591252089,0.01124496670784816],"object_position":[0.34439144787484127,0.06537206375325112,0.4282910683450042],"object_quaternion":[0.9999984284315623,-0.00013280314655375017,0.0005628588929597676,0.0016759139586950379],"object_velocity":[0.057163445271590146,-0.034595824353567825,0.008640126641796933],"object_angular_velocity":[0.00162143753562082,-0.008858700344462504,-0.009210671479625118],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.002609641050002,0.000496014796431965,0.5099873992573807],[0.23672491825690073,0.04499433442751888,0.48152801542099766],[0.29037633595014833,0.05519186600964296,0.47500607329182654],[0.34440887816883076,0.06546223348621638,0.4749433574051459],[0.3443645150163608,0.06545136922811853,0.43494338348167194]],"gripper_points":[[0.37037536901575147,0.06554239999950826,0.4429145158665669],[0.3184377926917551,0.06536491102570358,0.44297216697673547]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993791159064135,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8257404667732873,"right":0.7916426682717903},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.28000000000085,"stage":"transfer","target_distance":0.16801114122006847,"dwell_elapsed":0.0},{"joint_position":[0.1848613217354833,-1.5577612266789576,1.6756763761623068,-6.229841204810955e-05,-0.11690482245742857,-0.18139168678586032],"joint_velocity":[-0.12942265291081595,0.15446242375485406,-0.19229737644402395,-0.0003207300787747375,0.0317169964273673,0.11961053895737757],"joint_actuator_torque":[0.11878164918481104,-1.1624974874816871,-0.9154047883831709,0.001159550995844789,-0.08975524583821404,-0.015854537942589175],"jaw_actuator_force":[-0.8397090717513445,-0.7797444613478417],"end_effector_position":[0.34557122174644284,0.0646184319349687,0.4352162480513197],"end_effector_quaternion":[0.9999983607944608,-0.00012241013795462265,0.0004910833636611573,0.001738465208029586],"end_effector_velocity":[0.052405596699211986,-0.0364999463486802,0.01085630309271727],"object_position":[0.34559359448089966,0.06454150295150977,0.4285548365393954],"object_quaternion":[0.9999984009363567,-0.00012081933394812029,0.0004998365071267778,0.0017128020564157102],"object_velocity":[0.056963152281494844,-0.03459168889915053,0.008265852657796106],"object_angular_velocity":[0.001025991851351693,-0.006020318018372843,-0.011786696997436752],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.003587539754595266,0.0006708566947723305,0.5099762123999185],[0.23786020932365814,0.04447898135214619,0.48174211055501004],[0.2915476960999017,0.054518343252794366,0.47527179554888516],[0.34561049132667554,0.06462829302846,0.47521622755955073],[0.34557122174644284,0.0646184319349687,0.4352162480513197]],"gripper_points":[[0.3715748057570112,0.0647107868146811,0.44319070062286703],[0.3196373174706179,0.06453020914363103,0.4432417342504274]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937827276712926,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8265999565132129,"right":0.7928533554700963},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.30000000000084,"stage":"transfer","target_distance":0.16716435717154973,"dwell_elapsed":0.0},{"joint_position":[0.18190909705058478,-1.554211550660068,1.6711799396333116,-6.427185750470534e-05,-0.11603599235462257,-0.17841340880209672],"joint_velocity":[-0.12876205191584283,0.15457926167041433,-0.1924773200270186,-0.00031710408400133623,0.03380090527768639,0.11774606356803356],"joint_actuator_torque":[0.1186840261506461,-1.1680889672676358,-0.9158664761522459,0.0011667907480023805,-0.09009848911507667,-0.015605086071239782],"jaw_actuator_force":[-0.8406124845039109,-0.7806117450381578],"end_effector_position":[0.3467731537229257,0.06378415081536061,0.43548318246838963],"end_effector_quaternion":[0.9999983568052573,-0.0001149387299456157,0.00045293343923474307,0.0017515784804184949],"end_effector_velocity":[0.05222168248087122,-0.036567038465831425,0.010610933318679936],"object_position":[0.3467935005797389,0.06370923733177959,0.4288132391610024],"object_quaternion":[0.9999983890284302,-0.00011345758625449342,0.0004602676440344375,0.0017312485713846496],"object_velocity":[0.05688871896193361,-0.03467143998768567,0.008022833094291153],"object_angular_velocity":[0.0006567824261974554,-0.004134442559908016,-0.013220019214077275],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0045669068223564745,0.0008400483936306836,0.5099614932107134],[0.23899407153242191,0.043961174091674146,0.48195304868886646],[0.29271696344514525,0.05384309873080911,0.47553444681927654],[0.3468093722325874,0.06379340936652414,0.4754831649996207],[0.3467731537229257,0.06378415081536061,0.43548318246838963]],"gripper_points":[[0.37277338184592307,0.0638770577699869,0.4434596222094224],[0.32083596695358807,0.0636951173690855,0.44350669173666835]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993775489514746,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8274662843834065,"right":0.7937579280779476},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.320000000000828,"stage":"transfer","target_distance":0.16632322478682002,"dwell_elapsed":0.0},{"joint_position":[0.17896821781578326,-1.5506543494669558,1.6666713415853927,-6.613808499866786e-05,-0.1151304865136175,-0.1754633048024933],"joint_velocity":[-0.12829703305868886,0.15493751297861214,-0.1930191888525322,-0.0003153866430817002,0.03523244169955018,0.1166754734459539],"joint_actuator_torque":[0.11874966750801264,-1.1737700872171217,-0.916054645974782,0.0011751788247381248,-0.09033022364514487,-0.01546191470352909],"jaw_actuator_force":[-0.8413830522849644,-0.7813876187068685],"end_effector_position":[0.3479730978896301,0.06294740317714939,0.4357461754676182],"end_effector_quaternion":[0.9999983589825063,-0.00011047483962944942,0.0004305198753194547,0.0017562688408579816],"end_effector_velocity":[0.05215073919107279,-0.03668147334708129,0.010441431175075067],"object_position":[0.34799258740527184,0.06287431092836848,0.42906801434688174],"object_quaternion":[0.999998386014979,-0.00010888038936154809,0.00043596812542621576,0.0017395528997379908],"object_velocity":[0.05686514236635333,-0.03479525237355216,0.007848942935201216],"object_angular_velocity":[0.00042680646626339487,-0.002894887446637346,-0.014017882481103467],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.005549299635972922,0.001003889287519752,0.5099432040251176],[0.24012837981110904,0.043440131896857734,0.4821615471740863],[0.29388608568457775,0.05316510416149769,0.47579491747905833],[0.34800752390125494,0.06295630163850785,0.4757461596634539],[0.3479730978896301,0.06294740317714939,0.4357461754676182]],"gripper_points":[[0.3739717508310685,0.06304047790781626,0.4437237821658462],[0.3220343979668945,0.06285805004559958,0.44376852266454203]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993769251877541,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8282277148718148,"right":0.7945433428273143},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.340000000000817,"stage":"transfer","target_distance":0.16548784462534813,"dwell_elapsed":0.0},{"joint_position":[0.17603616550862752,-1.547086253759452,1.66214571868087,-6.792463270637476e-05,-0.11419929070578187,-0.17253048793994077],"joint_velocity":[-0.12793629350380678,0.15543623382845168,-0.19375872215395246,-0.00031452461590277556,0.03623684506292553,0.11601420817838681],"joint_actuator_torque":[0.11890293322393575,-1.1795138783428456,-0.9160927845451852,0.001184175344089669,-0.09049032171731142,-0.015373555706966968],"jaw_actuator_force":[-0.8420488757151876,-0.7820736145781595],"end_effector_position":[0.3491726664934052,0.06210760656032967,0.4360063062283854],"end_effector_quaternion":[0.9999983639054539,-0.00010780643313089944,0.00041772123575552314,0.0017567222766831665],"end_effector_velocity":[0.05214524950561293,-0.03682061896653313,0.010313206774038465],"object_position":[0.349191727850427,0.06203623190615868,0.42932010703886714],"object_quaternion":[0.999998387751439,-0.00010596119411602229,0.0004214603872708357,0.0017423082076330014],"object_velocity":[0.0568821541153405,-0.03494197279198618,0.007712488884089123],"object_angular_velocity":[0.00028266491518175467,-0.0020896303893756436,-0.014465229347369362],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.006535609108071647,0.0011625369639751354,0.5099213002281069],[0.24126418903915453,0.04291543958697041,0.48236791774805765],[0.29505615527336104,0.05248381310474016,0.47605360092971305],[0.34920606898671414,0.062116289766485644,0.47600629133932476],[0.3491726664934052,0.06210760656032967,0.4360063062283854]],"gripper_points":[[0.3751704770602497,0.06220065970109683,0.44398457920578244],[0.3232331776020499,0.062018184665596936,0.4440279897160906]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993763815020577,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8288958097392609,"right":0.7952274117463578},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.360000000000806,"stage":"transfer","target_distance":0.16465831010473245,"dwell_elapsed":0.0},{"joint_position":[0.17311162328246207,-1.5435052673256702,1.6576003445500496,-6.964326869408435e-05,-0.11324938160980866,-0.16960941637555205],"joint_velocity":[-0.12762999023520166,0.1560182728728239,-0.194609530599262,-0.00031401111792993215,0.03697033654034061,0.11556099876327257],"joint_actuator_torque":[0.1191047925569535,-1.1853126360316537,-0.9160456338229324,0.0011936812413434299,-0.09060432847597788,-0.015313063354531309],"jaw_actuator_force":[-0.8426429270696572,-0.7826619072073457],"end_effector_position":[0.3503727983612243,0.06126446700809157,0.4362641650227037],"end_effector_quaternion":[0.9999983698960824,-0.00010619550399717423,0.0004107550584023227,0.0017550521288368442],"end_effector_velocity":[0.0521778387220491,-0.03697228274333845,0.010207433378952205],"object_position":[0.3503916093507609,0.06119475629509516,0.42957003387113213],"object_quaternion":[0.9999983919040392,-0.000104018335833288,0.0004131576067392025,0.0017420305147245695],"object_velocity":[0.05692875837889793,-0.03510023161700078,0.007596238336973994],"object_angular_velocity":[0.00019071110242185576,-0.0015686557722955604,-0.014720818236038003],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.007526349161768119,0.0013160713757874333,0.5098957342019149],[0.2424020990056928,0.042386880687480165,0.48257228716943584],[0.29622779167825886,0.05179894115474308,0.4763106638911594],[0.350405643802039,0.061273020306285744,0.4762641506229275],[0.3503727983612243,0.06126446700809157,0.4362641650227037]],"gripper_points":[[0.3763701225325838,0.0613574061044313,0.4442428006822626],[0.3244328693841311,0.06117510457467176,0.44428548722897226]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993759063140573,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8294881927569688,"right":0.7958175788756178},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.380000000000795,"stage":"transfer","target_distance":0.1638346481921561,"dwell_elapsed":0.0},{"joint_position":[0.17019391846599125,-1.5399101292507602,1.6530336293808283,-7.129853790348209e-05,-0.11228506703102159,-0.16669728561916133],"joint_velocity":[-0.12735144142479646,0.15665364496104547,-0.19552522390802057,-0.0003136117083826078,0.03753701408786427,0.115213024614698],"joint_actuator_torque":[0.11933321302107913,-1.191161183620352,-0.9159510370487851,0.0012035379209937684,-0.09068990615580041,-0.015266668495049984],"jaw_actuator_force":[-0.8431773530908648,-0.7831636132832758],"end_effector_position":[0.3515740522552589,0.06041784281082757,0.4365200541660207],"end_effector_quaternion":[0.99999837617911,-0.00010520345366474642,0.00040734449045448293,0.001752324696706102],"end_effector_velocity":[0.05223318271861816,-0.03713001520913382,0.010112632587148953],"object_position":[0.3515927049893126,0.06034976928732739,0.42981805563599684],"object_quaternion":[0.999998397199785,-0.00010264941660810347,0.0004087875634601714,0.0017401016313526472],"object_velocity":[0.056994641808708515,-0.03526404038938152,0.007489607276833018],"object_angular_velocity":[0.00012951661013855156,-0.001226398061581306,-0.014871271096685106],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00852183148014544,0.0014645318019570115,0.5098664566089068],[0.24354246627204423,0.04185434642933879,0.482774684862145],[0.2974013617451877,0.05111034561478044,0.47656615383684536],[0.35160662501353007,0.06042631617743908,0.47652004000623666],[0.3515740522552589,0.06041784281082757,0.4365200541660207]],"gripper_points":[[0.377571094822856,0.060510623386498735,0.4444988674517987],[0.3256338819988083,0.06032860523386014,0.44454119948141235]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937549023216765,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8300152721180543,"right":0.7963267113874559},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.400000000000784,"stage":"transfer","target_distance":0.16301689529609845,"dwell_elapsed":0.0},{"joint_position":[0.16728273990864703,-1.5363000205704003,1.6484444968841576,-7.289159703196303e-05,-0.1113089417486404,-0.1637927376511729],"joint_velocity":[-0.12708560320106269,0.15732311674282393,-0.19648616587511655,-0.00031322331310957847,0.03800301844185418,0.11491574232856011],"joint_actuator_torque":[0.11957523379282264,-1.1970504163941769,-0.9158251839412515,0.0012136144031067077,-0.09075811434130365,-0.015227066158599811],"jaw_actuator_force":[-0.843658342318979,-0.7835926194400384],"end_effector_position":[0.35277676857751805,0.05956767766800972,0.4367741560393827],"end_effector_quaternion":[0.9999983824663393,-0.00010456428593830447,0.00040608815086285474,0.0017490635862942006],"end_effector_velocity":[0.05230236031181292,-0.0372901924467183,0.01002501392857559],"object_position":[0.35279531792630014,0.0595012301259047,0.43006433595319116],"object_quaternion":[0.9999984030155371,-0.000101610234636811,0.0004068815913681863,0.001737264835052402],"object_velocity":[0.05707259101579129,-0.03543002810621186,0.0073892843417225325],"object_angular_velocity":[8.741183977630902e-05,-0.0010011134218670713,-0.014964677394307473],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009522245863824786,0.0016079339820454293,0.5098334172003378],[0.2446855071092201,0.041317788620603896,0.48297512229886425],[0.2985770878112899,0.05041796364194021,0.47682009638394324],[0.3528092409458714,0.05957609961927369,0.4767741419720806],[0.35277676857751805,0.05956767766800972,0.4367741560393827]],"gripper_points":[[0.3787736551482498,0.0596602779870462,0.4447530348366117],[0.3268364775421931,0.05947859866790304,0.44479523618287387]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993751251274663,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8304851592379616,"right":0.796767249325049},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.420000000000773,"stage":"transfer","target_distance":0.1622051555637568,"dwell_elapsed":0.0},{"joint_position":[0.1643779604320824,-1.532674422860144,1.6438322261313572,-7.442222299400328e-05,-0.11032251358494144,-0.16089514648714312],"joint_velocity":[-0.1268249251996791,0.15801430989307017,-0.19747704146407183,-0.00031281415208161967,0.03841083689856414,0.11464169691721265],"joint_actuator_torque":[0.11982424917010803,-1.2029742848230853,-0.9156804302889441,0.0012238317892570164,-0.09081620891065612,-0.015190580345416649],"jaw_actuator_force":[-0.8440907802732394,-0.7839610350382156],"end_effector_position":[0.353981145910086,0.05871395361243282,0.4370265739966432],"end_effector_quaternion":[0.9999983886841887,-0.0001041204114082777,0.00040614517104390203,0.001745518280144839],"end_effector_velocity":[0.05237957566016132,-0.03745121419042994,0.009941220837576413],"object_position":[0.3539996277106493,0.05864912797878679,0.430308964174478],"object_quaternion":[0.999998409060601,-0.00010075718844811105,0.00040652452872706144,0.0017339152415813278],"object_velocity":[0.05715737728234501,-0.035596736704416904,0.0072922003645977266],"object_angular_velocity":[5.6560707267627854e-05,-0.0008482583312642761,-0.01502789432429902],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.010527698992790864,0.001746278306355484,0.5097965655007115],[0.24583134493502432,0.04077718644655332,0.48317359767134493],[0.2997550971301195,0.04972176956201533,0.4770725008771151],[0.35401362293188876,0.05872233994662945,0.4770265599330464],[0.353981145910086,0.05871395361243282,0.4370265739966432]],"gripper_points":[[0.3799779570832643,0.058806362260297666,0.4450054499526086],[0.3280408103001611,0.05862505130216727,0.44504765707701666]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993748040745236,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8309032001936357,"right":0.7971498287565719},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.440000000000762,"stage":"transfer","target_distance":0.16139956828647437,"dwell_elapsed":0.0},{"joint_position":[0.16147956491674517,-1.5290329075306193,1.639196184879187,-7.588979329859262e-05,-0.10932659870582918,-0.15800424306214797],"joint_velocity":[-0.12656469376711654,0.1587241024258485,-0.19849494363481895,-0.00031237415592213656,0.03878721053449122,0.11437755517490526],"joint_actuator_torque":[0.1200758167695497,-1.208931292048419,-0.9155205473787191,0.0012341261796310803,-0.09086867574108304,-0.01515542591521779],"jaw_actuator_force":[-0.8444787084608443,-0.7842791789003991],"end_effector_position":[0.35518732352940635,0.05785668114234811,0.43727737260346206],"end_effector_quaternion":[0.9999983948224114,-0.00010377890216521587,0.00040701383321872304,0.0017418157995913223],"end_effector_velocity":[0.052462622495302105,-0.03761182198684644,0.009859804156359387],"object_position":[0.35520575408437083,0.05779347855439047,0.43055200055576986],"object_quaternion":[0.9999984151936263,-0.00010000554149064787,0.00040714643501953645,0.0017302719171592186],"object_velocity":[0.05724740688348469,-0.03576299501735259,0.007197027223314889],"object_angular_velocity":[3.2452420788252285e-05,-0.0007404264477835824,-0.015074109423161355],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011538272411889688,0.0018795606007861346,0.5097558498435681],[0.24698007319684154,0.04023254072955552,0.48337010827011123],[0.30093548587672636,0.0490217653423985,0.477323375826194],[0.35521987012269896,0.057865040156644676,0.4772773584890364],[0.35518732352940635,0.05785668114234811,0.43727737260346206]],"gripper_points":[[0.381184103484977,0.05794889171167896,0.44525620348353756],[0.32924698371909533,0.05776796544032999,0.44529850071543997]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993745212221163,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.831275719026918,"right":0.7974831739900798},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.46000000000075,"stage":"transfer","target_distance":0.16060030163255612,"dwell_elapsed":0.0},{"joint_position":[0.1585875903492634,-1.5253751856452133,1.6345358576245481,-7.729359872148636e-05,-0.10832159782586853,-0.1551199426728693],"joint_velocity":[-0.1263028119400755,0.15944579283875465,-0.19953485525867395,-0.00031191338562384864,0.0391481970951648,0.11411637753637956],"joint_actuator_torque":[0.12032834751357058,-1.2149175192898838,-0.9153489556381373,0.001244500421499345,-0.09091807394837836,-0.015120673454299904],"jaw_actuator_force":[-0.8448283102258491,-0.7845530660652882],"end_effector_position":[0.3563953838679323,0.05699587908580065,0.43752660146927574],"end_effector_quaternion":[0.9999984009034592,-0.0001034833548079307,0.000408385267932442,0.00173801702887656],"end_effector_velocity":[0.05254899432419988,-0.03777170950414458,0.00978047734772436],"object_position":[0.35641377654821293,0.05693430225449608,0.43079349033211156],"object_quaternion":[0.999998421359824,-9.930391275363071e-05,0.00040838641030934027,0.0017264521809792362],"object_velocity":[0.0573404076677437,-0.03592852288723786,0.007103587344712798],"object_angular_velocity":[1.2667409217540092e-05,-0.000662081787221566,-0.01511088587251223],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.012554008740953729,0.002007770106597654,0.5097112184445435],[0.24813174477695457,0.03968385795653351,0.4835646567494334],[0.3021183092852048,0.04831796142214381,0.47757273636097064],[0.3564280402486565,0.0570042145233909,0.4775265872702892],[0.3563953838679323,0.05699587908580065,0.43752660146927574]],"gripper_points":[[0.3823921640605862,0.057087887398424964,0.44550536110950517],[0.3304550679990439,0.056907355811300346,0.44554780068438193]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993742716074152,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8316085412285854,"right":0.7977736561143294},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.48000000000074,"stage":"transfer","target_distance":0.15980754193030527,"dwell_elapsed":0.0},{"joint_position":[0.15570211323927868,-1.5217009687808798,1.6298507730743268,-7.863304083164273e-05,-0.10730764590139812,-0.15224228374292237],"joint_velocity":[-0.12603756949899253,0.16018055928624672,-0.20059463417614143,-0.00031142959556973904,0.03950435931539128,0.1138534137325449],"joint_actuator_torque":[0.12058001846627064,-1.2209350052802392,-0.9151686993517387,0.0012549164882336653,-0.09096633409430233,-0.015085687559539096],"jaw_actuator_force":[-0.8451429116258575,-0.784789989687833],"end_effector_position":[0.35760539291877386,0.05613157741488982,0.43777427907162525],"end_effector_quaternion":[0.999998406958333,-0.00010320478135501926,0.00041010287749239924,0.0017341410551617725],"end_effector_velocity":[0.05263824777477292,-0.03793034641275053,0.00970143188112767],"object_position":[0.35762375185574785,0.05607163091951441,0.43103344927748644],"object_quaternion":[0.9999984275464967,-9.862656244109988e-05,0.0004100508168650878,0.0017225085379454959],"object_velocity":[0.05743608506056807,-0.03609282459840567,0.0070101073018516424],"object_angular_velocity":[-5.0560953101919435e-06,-0.0005982379910359285,-0.015142914065010874],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01357495002672974,0.0021308961788221166,0.5096626181906458],[0.2492864092508388,0.03913115376918033,0.4837572340265705],[0.3033036186563638,0.047610379466970755,0.4778205834889699],[0.3576381867789765,0.05613989067834439,0.47777426476477747],[0.35760539291877386,0.05613157741488982,0.43777427907162525]],"gripper_points":[[0.38360219007583685,0.056223379775228274,0.44575294946264343],[0.3316651148279355,0.056043250885698274,0.4457955673439849]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993740509504509,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8319060668036595,"right":0.7980274923010078},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.500000000000728,"stage":"transfer","target_distance":0.15902147486216353,"dwell_elapsed":0.0},{"joint_position":[0.15282321929925455,-1.5180100302414659,1.625140469428095,-7.99075648112685e-05,-0.1062847344695369,-0.14937134101748512],"joint_velocity":[-0.12576866480232923,0.16092464223920844,-0.20167458497314494,-0.00031093713838375184,0.03986086765753705,0.11358742247751338],"joint_actuator_torque":[0.12083075394374987,-1.2269807028068271,-0.9149789812341851,0.001265390278453597,-0.09101412613650339,-0.015050301501119634],"jaw_actuator_force":[-0.8454277642101875,-0.7849937773787712],"end_effector_position":[0.35881739680184144,0.055263806015198244,0.4380204337801264],"end_effector_quaternion":[0.9999984130229753,-0.00010292291126837008,0.0004120548237732404,0.0017301934074656629],"end_effector_velocity":[0.05272939620715382,-0.03808778917096205,0.00962379747526075],"object_position":[0.3588357263041791,0.055205494470765365,0.4312719060782606],"object_quaternion":[0.9999984337649931,-9.795461734448806e-05,0.00041199901061801664,0.0017184671276895102],"object_velocity":[0.0575336181878712,-0.03625595474012101,0.006917754626472246],"object_angular_velocity":[-2.0925555790783324e-05,-0.0005467067146988062,-0.015172354152392218],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014601120853257122,0.002248925451505534,0.5096099955368945],[0.2504440997095114,0.03857444340586145,0.4839478430637263],[0.3044914490307364,0.04689904127040135,0.4780669331219586],[0.35885034688930617,0.05527209686979598,0.4780204193495421],[0.35881739680184144,0.055263806015198244,0.4380204337801264]],"gripper_points":[[0.38481422401373433,0.05535539868199972,0.44599900273071363],[0.3328771670495209,0.05517567992834886,0.44604182326095393]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993738555734369,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8321730366395045,"right":0.7982490184372758},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.520000000000717,"stage":"transfer","target_distance":0.1582423049687898,"dwell_elapsed":0.0},{"joint_position":[0.14995100723153565,-1.51430217982637,1.6204044774375888,-8.111684189670647e-05,-0.1052527590206,-0.14650719021860195],"joint_velocity":[-0.1254955050087725,0.16167681828066738,-0.2027748661512469,-0.00031043954080205654,0.04022158165662796,0.11331843800307236],"joint_actuator_torque":[0.12107991100247517,-1.2330526072233852,-0.9147793008260123,0.0012759112345016362,-0.091062008465153,-0.015014520673847898],"jaw_actuator_force":[-0.8456861531542712,-0.7851691482780296],"end_effector_position":[0.36003142973817553,0.054392597625028405,0.43826510349129],"end_effector_quaternion":[0.9999984191125179,-0.0001026227343031574,0.00041415480260029077,0.0017261856328965662],"end_effector_velocity":[0.052821995199626465,-0.03824388947089908,0.00954781896109622],"object_position":[0.36004973286738384,0.054335926202502376,0.4315088986968055],"object_quaternion":[0.9999984400144326,-9.727407872861783e-05,0.00041412720731344454,0.0017143526799996902],"object_velocity":[0.057632539667246234,-0.036417773785823976,0.0068267680643060895],"object_angular_velocity":[-3.5375830409643514e-05,-0.0005042693158958541,-0.01519930635270256],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.015632535265915518,0.0023618432566909703,0.5095532964169638],[0.25160483930543204,0.03801374396129013,0.48413649680663956],[0.3056818256478212,0.04618397120609411,0.47831181356260694],[0.3600645478983338,0.05440086462343946,0.47826508892683994],[0.36003142973817553,0.054392597625028405,0.43826510349129]],"gripper_points":[[0.38602829607471734,0.05448397720620358,0.44624356330089204],[0.33409125518256966,0.05430467482683458,0.4462866018548353]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993736822648017,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8324130890386882,"right":0.7984425986293724},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.540000000000706,"stage":"transfer","target_distance":0.15747025645435722,"dwell_elapsed":0.0},{"joint_position":[0.14708558180345613,-1.510577194847215,1.6156423850727346,-8.226061974672359e-05,-0.10421154187638522,-0.14364994226360148],"joint_velocity":[-0.12521784581858833,0.1624394054716156,-0.20389224294634542,-0.0003099390071825755,0.04058971044729294,0.11304498102517348],"joint_actuator_torque":[0.12132715073694555,-1.2391548616576529,-0.9145735617947821,0.0012864705816438143,-0.09111078015712515,-0.014978146858799946],"jaw_actuator_force":[-0.8459208427563549,-0.7853202615126591],"end_effector_position":[0.36124752497078977,0.05351798714697965,0.4385082893573298],"end_effector_quaternion":[0.9999984252331503,-0.00010230208098618272,0.0004163969211899915,0.0017221147196570393],"end_effector_velocity":[0.05291613729919711,-0.03839853986262453,0.009471304969057574],"object_position":[0.3612658010501604,0.05346296104240882,0.4317444252880221],"object_quaternion":[0.9999984462951854,-9.658396321628024e-05,0.00041642068542799315,0.0017101674089563274],"object_velocity":[0.05773296007287231,-0.03657818003039934,0.006734977752318662],"object_angular_velocity":[-4.973405124398751e-05,-0.0004619571856619039,-0.015225262877673241],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01666921583131583,0.0024696365591069767,0.5094924652630817],[0.2527686572124869,0.0374490751793848,0.48432318531094326],[0.30687477919567197,0.04546519652986513,0.4785552253219115],[0.3612808225779532,0.053526228667231765,0.4785082746491608],[0.36124752497078977,0.05351798714697965,0.4385082893573298]],"gripper_points":[[0.3872444353336401,0.053609150044850624,0.44648663263526045],[0.33530740857977875,0.0534302705918401,0.44652990397498943]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937352823366516,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8326293642621813,"right":0.7986120139225964},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.560000000000695,"stage":"transfer","target_distance":0.1567055292863489,"dwell_elapsed":0.0},{"joint_position":[0.14422704403917522,-1.5068349199945752,1.6108537465935435,-8.333865039004669e-05,-0.10316088958149128,-0.1407997066903561],"joint_velocity":[-0.12493588628037638,0.16320779250156592,-0.20502952578860795,-0.0003094442832225874,0.04096517767531724,0.11276719735361829],"joint_actuator_torque":[0.1215728290926279,-1.2452821764773034,-0.91435820516881,0.0012970876901314387,-0.09116011457543571,-0.014941199107548542],"jaw_actuator_force":[-0.8461359054563218,-0.7854490313914724],"end_effector_position":[0.3624657034160055,0.052640006425217115,0.4387500270048075],"end_effector_quaternion":[0.999998431411319,-0.00010195279801610242,0.00041873304590395974,0.001717976473811986],"end_effector_velocity":[0.05301106493276837,-0.03855191896326036,0.009396881194945934],"object_position":[0.3624839554388574,0.05258663042201867,0.4319785242992037],"object_quaternion":[0.9999984526311969,-9.587581889819392e-05,0.0004188194099091356,0.0017059112936464818],"object_velocity":[0.057834193323132825,-0.0367373390463625,0.0066450235688515534],"object_angular_velocity":[-6.290638499587163e-05,-0.00042663923082262385,-0.015250522256135941],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01771116604330419,0.002572289684716963,0.5094274466174796],[0.25393556619188323,0.03688045360204212,0.4845079228847531],[0.3080703245592659,0.04474274116642914,0.47879719869600323],[0.3624991879949315,0.05264822018614638,0.4787500121462685],[0.3624657034160055,0.052640006425217115,0.4387500270048075]],"gripper_points":[[0.38846266470244684,0.052730948702138784,0.4467282488614216],[0.336525650389424,0.052552499163180395,0.44677176274750535]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937339106344075,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8328252771868886,"right":0.79875983429805},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.580000000000684,"stage":"transfer","target_distance":0.1559483594617868,"dwell_elapsed":0.0},{"joint_position":[0.14137551507552412,-1.503075144157073,1.6060381546589524,-8.435095877704414e-05,-0.10210057993068881,-0.13795659679905256],"joint_velocity":[-0.12464865423275247,0.1639864299938077,-0.206183559603205,-0.00030895005830020814,0.041349852853730176,0.11248492265986937],"joint_actuator_torque":[0.12181569854116248,-1.2514396431902242,-0.9141371625047441,0.001307731150732407,-0.09121064808412171,-0.014903657159701211],"jaw_actuator_force":[-0.846332411466161,-0.7855597372864285],"end_effector_position":[0.3636859921868644,0.05175869589666762,0.43899031581022],"end_effector_quaternion":[0.9999984376332125,-0.00010157598367749165,0.00042117581471767807,0.0017137748937161798],"end_effector_velocity":[0.05310733339847603,-0.038703574934391194,0.009321676405473494],"object_position":[0.36370421787481133,0.05170697575493215,0.4322111920975063],"object_quaternion":[0.9999984590034433,-9.515153438952473e-05,0.0004213348708924641,0.0017015915641765316],"object_velocity":[0.0579367208870619,-0.03689482075954679,0.006554016934209133],"object_angular_velocity":[-7.629050724456812e-05,-0.00038878300814523803,-0.015274445011987279],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01875840430352624,0.0026697898786952113,0.5093581831448456],[0.25510559086131424,0.0363079030316063,0.4846906994926752],[0.30926848778080734,0.04401663729581509,0.4790377344890528],[0.3637196722731297,0.051766879706708874,0.4789903007936802],[0.3636859921868644,0.05175869589666762,0.43899031581022]],"gripper_points":[[0.38968300631227254,0.051849413822773416,0.446968410702888],[0.33774600295896157,0.05167140077115473,0.4470121782087764]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993732686192997,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.83300282613216,"right":0.7988894096775423},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.600000000000673,"stage":"transfer","target_distance":0.15519895906470563,"dwell_elapsed":0.0},{"joint_position":[0.13853110111288922,-1.4992977143058164,1.6011951693294895,-8.529736501115304e-05,-0.10103039462609113,-0.13512072240273262],"joint_velocity":[-0.12435693407242597,0.16477076675613866,-0.2073572510095061,-0.00030846801950118187,0.041742820087458866,0.11219831010211091],"joint_actuator_torque":[0.12205675152431184,-1.2576225571186797,-0.9139069783292371,0.0013184330243519848,-0.09126192519494225,-0.014865540098957908],"jaw_actuator_force":[-0.8465141683658866,-0.7856530919363802],"end_effector_position":[0.3649084092071262,0.05087408943893619,0.43922918707803427],"end_effector_quaternion":[0.9999984439152391,-0.00010116604079193785,0.0004236910455489176,0.0017095082423056046],"end_effector_velocity":[0.053204263199865855,-0.03885388389185376,0.009248383991432099],"object_position":[0.36492661061296594,0.050824029856244075,0.43244246291943433],"object_quaternion":[0.9999984654306135,-9.440501721891178e-05,0.00042392589834646055,0.0016972068066519023],"object_velocity":[0.05803997950236188,-0.03705097729877872,0.0064646718162718044],"object_angular_velocity":[-8.870248599557728e-05,-0.0003563986646741707,-0.015297763713645595],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.019810932511605636,0.002762122113847393,0.5092846176115842],[0.2562787420833308,0.03573144173817535,0.4848715268638066],[0.3104692817768511,0.0432869108187505,0.47927686023410754],[0.3649422906024917,0.05088224065387247,0.4792291718981407],[0.3649084092071262,0.05087408943893619,0.43922918707803427]],"gripper_points":[[0.3909054811808959,0.050964579116288176,0.44720715123878296],[0.3389684874864907,0.050787009305751876,0.44725117988617047]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993731590650495,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8331649070695766,"right":0.7990023627074199},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.620000000000662,"stage":"transfer","target_distance":0.1544575698660885,"dwell_elapsed":0.0},{"joint_position":[0.13569391858565852,-1.4955024770681131,1.596324390849382,-8.617797389166836e-05,-0.09995009238177856,-0.13229220887039878],"joint_velocity":[-0.1240601752448446,0.1655622189550734,-0.20854764549549223,-0.0003079942055228941,0.04214560479526479,0.11190669997018643],"joint_actuator_torque":[0.1222952559411965,-1.2638323835773235,-0.9136702573727007,0.0013291742881711786,-0.09131437257160613,-0.014826760202858225],"jaw_actuator_force":[-0.8466820222239964,-0.7857323668245035],"end_effector_position":[0.36613296776244425,0.049986224434963034,0.43946665592483103],"end_effector_quaternion":[0.9999984502647196,-0.00010072215230389325,0.0004262759518661385,0.0017051721379921227],"end_effector_velocity":[0.05330183289975116,-0.03900262735800887,0.009175335501773295],"object_position":[0.36615114555337425,0.04993783042309614,0.4326723494593891],"object_quaternion":[0.9999984719186863,-9.363605692192011e-05,0.0004265915553805097,0.0016927528547613143],"object_velocity":[0.05814376820837353,-0.03720559850721925,0.006375308621100971],"object_angular_velocity":[-0.00010099131998001164,-0.0003237082526785899,-0.015320525911381763],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020868752144586767,0.00284927198809737,0.5092066919560949],[0.2574550289236534,0.03515109082826716,0.4850504062433505],[0.3116727173521895,0.042553590979139404,0.47951459076751324],[0.36616705604585575,0.04999434034457003,0.4794666405763399],[0.36613296776244425,0.049986224434963034,0.43946665592483103]],"gripper_points":[[0.39213010134234677,0.050076481720489924,0.44744448573158907],[0.3401931161680881,0.0498993623603986,0.4474887827524583]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937306076508694,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.833313017926467,"right":0.7991013119713024},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.64000000000065,"stage":"transfer","target_distance":0.15372442713312823,"dwell_elapsed":0.0},{"joint_position":[0.1328640814539428,-1.4916892522676604,1.5914254377026833,-8.699286332744412e-05,-0.098859441317016,-0.1294711677556094],"joint_velocity":[-0.12375853565013575,0.16636179683947597,-0.2097542657064963,-0.0003075343719422875,0.042557632900159154,0.11161071049499599],"joint_actuator_torque":[0.12253129287155673,-1.270071202640338,-0.9134281656571375,0.0013399567814969936,-0.09136801850054255,-0.01478740043549287],"jaw_actuator_force":[-0.8468377173699846,-0.7857992871900716],"end_effector_position":[0.36735968550239473,0.04909513836072895,0.4397027208875362],"end_effector_quaternion":[0.9999984566714359,-0.00010024584920635849,0.00042894541066028515,0.0017007678709177988],"end_effector_velocity":[0.05340023206080608,-0.03914982176754933,0.009101983547320329],"object_position":[0.36737783809965086,0.04904841465796334,0.43290084985097943],"object_quaternion":[0.9999984784562591,-9.284611562692557e-05,0.00042934426091238535,0.001688232292001027],"object_velocity":[0.058248382682989396,-0.03735869780908829,0.006285397552858922],"object_angular_velocity":[-0.00011327970296227747,-0.0002896476840902906,-0.015342372918817307],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021931871604257767,0.002931226489097983,0.509124346697317],[0.2586344663685789,0.034566872015889524,0.4852273267169769],[0.31287881100206916,0.04181670744911259,0.4797509263048156],[0.3673939874426937,0.049103216379214304,0.47970270536406456],[0.36735968550239473,0.04909513836072895,0.4397027208875362]],"gripper_points":[[0.3933568822599583,0.049185159194895356,0.44768041194654573],[0.34141990460997973,0.04900849736129114,0.44772498611844974]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993729723112891,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8334489349171033,"right":0.7991879495998473},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.66000000000064,"stage":"transfer","target_distance":0.1529997557172187,"dwell_elapsed":0.0},{"joint_position":[0.1300417048615344,-1.4878578674832754,1.586497874450482,-8.774212836007244e-05,-0.09775822155996322,-0.12665770719191846],"joint_velocity":[-0.12345194677790117,0.16716856850977624,-0.21098005875056483,-0.00030708877245850126,0.04297817270738987,0.1113104485219369],"joint_actuator_torque":[0.12276478226866772,-1.2763371450326986,-0.9131779762112728,0.0013507836473924222,-0.09142255292622536,-0.014747475299243362],"jaw_actuator_force":[-0.846983334633232,-0.785854822280541],"end_effector_position":[0.3685885821594103,0.04820086979188291,0.439937401908718],"end_effector_quaternion":[0.9999984631373454,-9.973378966011562e-05,0.00043167777851861404,0.0016962990343452587],"end_effector_velocity":[0.05349947579765668,-0.03929542386885552,0.009029700575846901],"object_position":[0.36860670877516366,0.0481558212630442,0.43312798658384616],"object_quaternion":[0.9999984850463248,-9.203145329667647e-05,0.00043215927256405064,0.0016836489031734016],"object_velocity":[0.05835393654177498,-0.037510228977969635,0.006196292341653455],"object_angular_velocity":[-0.00012496756242525022,-0.0002585372842077739,-0.015363158616939196],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.023000296641792317,0.0030079727210577303,0.5090375215889414],[0.25981706817721745,0.03397880756556043,0.4854022913473556],[0.3140875783207524,0.04107629055075897,0.47998588441699214],[0.36862310279435095,0.04820890706316145,0.47993738620531534],[0.3685885821594103,0.04820086979188291,0.439937401908718]],"gripper_points":[[0.3945858436166324,0.04829065024907535,0.44791495095153183],[0.342648872617247,0.04811445264477668,0.44795980880323577]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937289247838216,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8335744372782279,"right":0.7992635454547302},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.680000000000629,"stage":"transfer","target_distance":0.15228380113715603,"dwell_elapsed":0.0},{"joint_position":[0.12722689920588126,-1.4840082025588632,1.5815413767100093,-8.842596778043868e-05,-0.09664620881303769,-0.12385195154609055],"joint_velocity":[-0.12314063638042545,0.16798060995260916,-0.21221913758884273,-0.0003066626952718031,0.043407833444817065,0.11100522580842613],"joint_actuator_torque":[0.12299601872412325,-1.2826302361995658,-0.9129239021106059,0.0013616659663417303,-0.09147825843040813,-0.01470689165672745],"jaw_actuator_force":[-0.8471201973321323,-0.7859003839075918],"end_effector_position":[0.36981965853984317,0.04730345347035511,0.4401706985680037],"end_effector_quaternion":[0.9999984696683709,-9.918688998822116e-05,0.00043448273207088485,0.0016917587394704768],"end_effector_velocity":[0.053598725858065015,-0.039439608405322506,0.008957082580914096],"object_position":[0.3698377624311242,0.04726008399489951,0.4333537550280141],"object_quaternion":[0.9999984916945933,-9.119353873484405e-05,0.0004350500585869939,0.0016789948548307343],"object_velocity":[0.05845932086475987,-0.03766035740528353,0.006106628455537922],"object_angular_velocity":[-0.00013666274855972602,-0.0002261091306969573,-0.015383671136579166],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.024074018051708848,0.0030794962366391516,0.5089461567359812],[0.2610028318809054,0.03338691683303595,0.4855752895230809],[0.3152990183834296,0.04033236738637688,0.4802194657867912],[0.3698544036811936,0.04731144721260779,0.48017068267894103],[0.36981965853984317,0.04730345347035511,0.4401706985680037]],"gripper_points":[[0.3958169911979772,0.047392989297976175,0.4481481018187335],[0.3438800260834587,0.047217263341861215,0.4481932508842233]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993728201741477,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8336907402048565,"right":0.7993296186777996},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.700000000000617,"stage":"transfer","target_distance":0.15157679574171776,"dwell_elapsed":0.0},{"joint_position":[0.12441978278537966,-1.480140136942429,1.57655562152696,-8.904467208409764e-05,-0.0955231982614657,-0.12105401182143141],"joint_velocity":[-0.12282420832098193,0.1687978745381417,-0.2134721273561164,-0.0003062546610024161,0.04384556335392529,0.11069564554682948],"joint_actuator_torque":[0.12322441013942154,-1.2889498923200335,-0.9126655631418998,0.0013725884468891586,-0.09153501709182521,-0.014665731376174662],"jaw_actuator_force":[-0.8472486755258037,-0.7859379612505402],"end_effector_position":[0.3710529153737469,0.046402927685449964,0.44040261018656673],"end_effector_quaternion":[0.9999984762561638,-9.86049236933852e-05,0.0004373611936919807,0.0016871507359194472],"end_effector_velocity":[0.053698018759216225,-0.03958219593089991,0.00888439251374814],"object_position":[0.3710709969705898,0.04636124146496224,0.4335781551305753],"object_quaternion":[0.9999984983914724,-9.033187362791612e-05,0.00043801488663183617,0.0016742753393653679],"object_velocity":[0.05856459940112209,-0.03780890569638731,0.006016675690873354],"object_angular_velocity":[-0.00014814601112979748,-0.0001938507767457214,-0.015403054622687483],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02515302619641297,0.0031457833710375888,0.5088501915368628],[0.2621917542893034,0.032791221788815425,0.4857463095010996],[0.31651312947725746,0.039584968092889514,0.48045166986790383],[0.3710878909070186,0.04641087509886633,0.48040259410594716],[0.3710529153737469,0.046402927685449964,0.44040261018656673]],"gripper_points":[[0.3970503224935891,0.04649221481109739,0.4483798638240613],[0.3451133625949462,0.04631696753285018,0.44842531173312045]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993727544485004,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8337987330250674,"right":0.7993876384856606},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.720000000000606,"stage":"transfer","target_distance":0.15087898293618318,"dwell_elapsed":0.0},{"joint_position":[0.12162046687369417,-1.47625352129562,1.57154024163122,-8.959848612505857e-05,-0.09438899290758342,-0.11826399879009644],"joint_velocity":[-0.12250302342654745,0.1696218131708455,-0.21474100490977588,-0.00030586895120919533,0.044291071350577596,0.1103816800693042],"joint_actuator_torque":[0.12345021834303083,-1.2952968233907995,-0.912401743652822,0.0013835535347380083,-0.09159273572142723,-0.014623990376456675],"jaw_actuator_force":[-0.847369772452625,-0.7859685464581814],"end_effector_position":[0.3722883625843675,0.045499329820383044,0.4406331404800028],"end_effector_quaternion":[0.9999984829033571,-9.798623622288571e-05,0.0004403025010294256,0.0016824753754439063],"end_effector_velocity":[0.05379779936287439,-0.03972324323785539,0.008811759913352495],"object_position":[0.37230641929948655,0.04545933077674353,0.433801192073359],"object_quaternion":[0.9999985051411856,-8.944461197898389e-05,0.00044104211061195357,0.0016694900157063848],"object_velocity":[0.05867038632773001,-0.03795592542662798,0.0059265364669899255],"object_angular_velocity":[-0.00015933789123897263,-0.0001624008647299958,-0.015421641371788346],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0262373189029155,0.003206821863801476,0.5087495639284851],[0.26338384023398403,0.032191744154944114,0.48591534179701257],[0.31772991803902056,0.03883412217999764,0.4806824992252168],[0.372323573542257,0.04550722797123777,0.4806331242025952],[0.3722883625843675,0.045499329820383044,0.4406331404800028]],"gripper_points":[[0.3982858436991046,0.045588364151232096,0.44861024124068233],[0.34634888842779565,0.0454136025440575,0.44865599451526345]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993726944916742,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8338994645362258,"right":0.7994385506440158},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.740000000000595,"stage":"transfer","target_distance":0.1501906080646588,"dwell_elapsed":0.0},{"joint_position":[0.11882906820644534,-1.472348269941276,1.5664949377421478,-9.008781995400677e-05,-0.09324340652934522,-0.11548203258535863],"joint_velocity":[-0.12217679566147399,0.17044906851473546,-0.216022538537002,-0.0003055080643725322,0.04474396541855071,0.11006293924181408],"joint_actuator_torque":[0.12367327190875699,-1.3016690806521183,-0.912134071254286,0.0013945712596270827,-0.09165133683023541,-0.0145816164329311],"jaw_actuator_force":[-0.8474852629474539,-0.7859921253927489],"end_effector_position":[0.3735259918642733,0.04459269764483905,0.4408622931844145],"end_effector_quaternion":[0.9999984896173828,-9.732900326450289e-05,0.00044329276577478253,0.001677731069672465],"end_effector_velocity":[0.05389712806708723,-0.0398627308819443,0.008739309231150252],"object_position":[0.3735440268816747,0.044554389433597665,0.43402286764198256],"object_quaternion":[0.9999985119504409,-8.853005485664187e-05,0.00044411943116395364,0.0016646372770139993],"object_velocity":[0.05877559191058347,-0.0381013936639931,0.005836370889375798],"object_angular_velocity":[-0.0001701869646096373,-0.00013240606037738861,-0.015439506401415204],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02732687584033095,0.003262598007509724,0.5086442127714993],[0.26457907609608483,0.031588505453150145,0.48608237682704036],[0.3189493719880284,0.03807985924277607,0.48091195608976856],[0.37356144216862053,0.04460054345142358,0.48086227670590165],[0.3735259918642733,0.04459269764483905,0.4408622931844145]],"gripper_points":[[0.3995235524168454,0.04468147499664207,0.4488392385215243],[0.34758660125368995,0.04450720621871631,0.44888530224061907]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399372639594845,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8339940740616908,"right":0.7994829759647379},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.760000000000584,"stage":"transfer","target_distance":0.14951192043528888,"dwell_elapsed":0.0},{"joint_position":[0.11604570260844523,-1.468424241697208,1.5614194249205857,-9.0513137597991e-05,-0.0920862610516324,-0.11270823032184651],"joint_velocity":[-0.1218455813824379,0.1712832436935339,-0.21731581422710727,-0.0003051733305997044,0.04520413921496691,0.10973957265650024],"joint_actuator_torque":[0.12389333253092616,-1.3080701732136504,-0.9118644887844312,0.0014056245386012845,-0.0917110613513934,-0.014538629845196382],"jaw_actuator_force":[-0.8475943829845356,-0.7860110689977793],"end_effector_position":[0.374765805449394,0.04368307054624854,0.4410900459995113],"end_effector_quaternion":[0.9999984963899755,-9.663510424825674e-05,0.0004463487286990424,0.0016729172894446212],"end_effector_velocity":[0.053996684811621454,-0.040000569854545094,0.00866534299066068],"object_position":[0.37478381609791167,0.04364645675327959,0.4342431584842065],"object_quaternion":[0.9999985188104701,-8.759015650309935e-05,0.0004472640190627555,0.001659716761186169],"object_velocity":[0.058880902546424585,-0.03824522276218543,0.005744472122641133],"object_angular_velocity":[-0.00018123154653014602,-9.937662492369727e-05,-0.015456569671123818],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02842169150782093,0.0033131006017277937,0.5085340747848226],[0.2657774615356982,0.030981529283621384,0.486247386184934],[0.32017149216708674,0.037322210856555335,0.48114002004745954],[0.3748015003609962,0.043690861079324704,0.4810900293142688],[0.374765805449394,0.04368307054624854,0.4410900459995113]],"gripper_points":[[0.40076344518273466,0.04377158671753072,0.449066832500869],[0.3488264976737227,0.04359781798243178,0.44911321348274846]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937258912293765,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8340827775939227,"right":0.7995223050062931},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.780000000000573,"stage":"transfer","target_distance":0.1488431514750945,"dwell_elapsed":0.0},{"joint_position":[0.11327047893969691,-1.4644813723365058,1.5563134435043253,-9.087492475117978e-05,-0.09091740741822264,-0.10994270386507204],"joint_velocity":[-0.12150971127286321,0.17211932620094852,-0.2186205170873705,-0.00030487296007876056,0.045669987168643116,0.10941179101361478],"joint_actuator_torque":[0.12411091799889817,-1.314495872026896,-0.9115918887051748,0.001416737006759686,-0.09177145779238494,-0.014495058126540172],"jaw_actuator_force":[-0.847699377261196,-0.7860243954058381],"end_effector_position":[0.3760077887554468,0.04277048396737424,0.4413163977326884],"end_effector_quaternion":[0.9999985032325194,-9.590174946722548e-05,0.0004494470561754234,0.0016680326492724527],"end_effector_velocity":[0.054095455747325945,-0.040136974307352136,0.008591702753365823],"object_position":[0.37602577837995776,0.04273556736859481,0.4344620639495317],"object_quaternion":[0.9999985257332644,-8.662179699682903e-05,0.00045045060763523295,0.0016547272319727847],"object_velocity":[0.05898531275926891,-0.03838761264960746,0.0056527189713915516],"object_angular_velocity":[-0.00019173957438363423,-6.949978802509641e-05,-0.015472955497747784],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.029521738603348533,0.0033583163960305756,0.5084190881761157],[0.2669789757643197,0.030370835666266183,0.48641035530587895],[0.32139625928037563,0.03656120466569518,0.4813666873564497],[0.3760437316687435,0.042778216071237316,0.4813163808367042],[0.3760077887554468,0.04277048396737424,0.4413163977326884]],"gripper_points":[[0.4020055128832437,0.04285873465907238,0.449293023194318],[0.3500685686246996,0.04268547332406772,0.4493397258330206]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399372542549352,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.834166261631295,"right":0.7995565651671009},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.800000000000562,"stage":"transfer","target_distance":0.14818455358506985,"dwell_elapsed":0.0},{"joint_position":[0.11050351221992559,-1.4605195745392532,1.551176762278767,-9.117387110210232e-05,-0.08973669724018535,-0.10718555891739966],"joint_velocity":[-0.1211688554881553,0.1729598124946104,-0.21993457877230582,-0.00030460465517181067,0.046141970124327795,0.10907984146842081],"joint_actuator_torque":[0.12432541001984276,-1.320948090803654,-0.9113183901876027,0.0014278872185123897,-0.09183281401595167,-0.014450935155144506],"jaw_actuator_force":[-0.8477992107330463,-0.7860343950917175],"end_effector_position":[0.377251929411461,0.0418549767327054,0.4415413280885245],"end_effector_quaternion":[0.9999985101346356,-9.512927425233154e-05,0.00045258966315531667,0.0016630819364252252],"end_effector_velocity":[0.05419377332913821,-0.040271746035776324,0.00851667623176339],"object_position":[0.3772698973038248,0.04182176028759768,0.43467956192945817],"object_quaternion":[0.9999985327072656,-8.562555563742689e-05,0.0004536835609656365,0.0016496735453902056],"object_velocity":[0.059089046929473546,-0.038528369390726576,0.005559383732526947],"object_angular_velocity":[-0.00020230616781700112,-3.778879831682454e-05,-0.015488134195241497],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.030626995661122446,0.003398233836735491,0.5082991899800725],[0.26818360250797474,0.029756447631495198,0.4865712561399715],[0.3226236582437117,0.03579687162612763,0.48159193796828165],[0.37728812387394745,0.04186264727880267,0.4815413109775659],[0.377251929411461,0.0418549767327054,0.4415413280885245]],"gripper_points":[[0.40324973913843315,0.04194295788646143,0.44951779021033755],[0.35131279777741553,0.04177021081170407,0.44956481909895907]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937249938805805,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8342455235274396,"right":0.7995870753268899},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.820000000000551,"stage":"transfer","target_distance":0.14753636739529252,"dwell_elapsed":0.0},{"joint_position":[0.10774491316591368,-1.4565388022606216,1.5460092228694426,-9.14106370890601e-05,-0.08854401329593156,-0.10443690635383594],"joint_velocity":[-0.120823247353883,0.17380202794186822,-0.22125513480925088,-0.0003043746821287064,0.04661860244723532,0.1087434911928085],"joint_actuator_torque":[0.12453711761827435,-1.3274260169706622,-0.9110458513213189,0.0014390890751228777,-0.09189495199577635,-0.014406229190802478],"jaw_actuator_force":[-0.8478951930093324,-0.7860406878145163],"end_effector_position":[0.37849820251574146,0.04093658546303739,0.4417648082310031],"end_effector_quaternion":[0.9999985170937541,-9.43180014737446e-05,0.00045577867050107366,0.0016580652010485016],"end_effector_velocity":[0.0542909359677397,-0.0404050153484408,0.008440339439430369],"object_position":[0.3785161507492,0.040905071429289015,0.43489562184606867],"object_quaternion":[0.9999985397306675,-8.460165475473368e-05,0.00045696440312526914,0.001644555449412152],"object_velocity":[0.05919140113619469,-0.038667614290562875,0.005464593516168349],"object_angular_velocity":[-0.00021278203562655914,-5.509733191105294e-06,-0.015502516326658547],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.031737429279633675,0.0034328407649879826,0.5081743179860472],[0.2693913130133752,0.029138386505657966,0.486730053847505],[0.3238536613690243,0.03502924073789484,0.4818157433157558],[0.3785346522444797,0.04094419134882635,0.48176479090059654],[0.37849820251574146,0.04093658546303739,0.4417648082310031]],"gripper_points":[[0.4044961019579845,0.04102429303782248,0.44974110459990885],[0.3525591631814861,0.040852067078383576,0.4497884645519499]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993724592447992,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8343208146593923,"right":0.7996139996745171},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.84000000000054,"stage":"transfer","target_distance":0.1468988284527756,"dwell_elapsed":0.0},{"joint_position":[0.10499479054474924,-1.4525389967280584,1.5408106468789902,-9.158596296665765e-05,-0.08733926677805635,-0.10169685760553986],"joint_velocity":[-0.1204729530547904,0.17464693056418126,-0.2225832747433205,-0.0003041833934418449,0.047098740006777044,0.10840273111115963],"joint_actuator_torque":[0.124745906807604,-1.3339293520139108,-0.9107734535136842,0.001450333013360115,-0.09195770392423697,-0.014360939208700962],"jaw_actuator_force":[-0.8479869833001681,-0.7860445026476377],"end_effector_position":[0.37974658795177196,0.04001534745923928,0.4419868126266692],"end_effector_quaternion":[0.9999985241176409,-9.346643015561144e-05,0.0004589984422301756,0.0016529812449819106],"end_effector_velocity":[0.054387246771030844,-0.04053673583054374,0.008362752952881174],"object_position":[0.3797645154931254,0.03998553801175253,0.43511021906478403],"object_quaternion":[0.9999985468118487,-8.354830683373161e-05,0.000460275935271074,0.0016393718107218928],"object_velocity":[0.05929272909179329,-0.03880529899654047,0.005368391243924768],"object_angular_velocity":[-0.000223048776636459,2.63461831581685e-05,-0.015516133973852668],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03285300905470482,0.0034621262154381836,0.508044409183353],[0.27060208176332406,0.028516674368090647,0.4868867145296798],[0.3250862442590493,0.0342583416530735,0.48203807617154637],[0.3797832954130957,0.04002288545988141,0.48198679507342573],[0.37974658795177196,0.04001534745923928,0.4419868126266692]],"gripper_points":[[0.40574457735000663,0.04010277731531704,0.44996294164592654],[0.3538076408782543,0.03993107945057374,0.45001063585049184]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993724217711941,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8343923000716849,"right":0.7996380618410375},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.860000000000529,"stage":"transfer","target_distance":0.14627217853866303,"dwell_elapsed":0.0},{"joint_position":[0.10225325380223234,-1.448520115310195,1.5355809349695273,-9.170075239582348e-05,-0.0861223859703195,-0.09896552126799067],"joint_velocity":[-0.12011793161759368,0.17549389002025648,-0.22391501536377775,-0.0003040353767211178,0.04758191291867169,0.10805768109539154],"joint_actuator_torque":[0.12495168845349269,-1.3404592955452017,-0.9105043449181949,0.0014616186404938086,-0.09202114750451607,-0.014315081837468213],"jaw_actuator_force":[-0.8480752930465103,-0.7860458373093193],"end_effector_position":[0.3809970572353018,0.0390913002907611,0.44220729484551546],"end_effector_quaternion":[0.999998531200536,-9.257561465899387e-05,0.0004622561189727368,0.0016478306365605509],"end_effector_velocity":[0.05448231102398252,-0.040666893908069865,0.008282775506185457],"object_position":[0.381014964646901,0.03906319720648205,0.4353233042540125],"object_quaternion":[0.9999985539437689,-8.246675338598887e-05,0.000463627763376871,0.0016341232824984141],"object_velocity":[0.05939257770709754,-0.0389414105849537,0.005269668895193115],"object_angular_velocity":[-0.00023341159017815436,6.053702170606041e-05,-0.015529078111033816],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.033973699586981015,0.0034860796373244536,0.5079094006778753],[0.2718158769405611,0.02789133374415003,0.48704118935803703],[0.3263213759174232,0.03348420447696423,0.4822588909305741],[0.381034025466588,0.0390987672666394,0.48220727706543837],[0.3809970572353018,0.0390913002907611,0.44220729484551546]],"gripper_points":[[0.4069951389100985,0.03917844834141896,0.45018325454512637],[0.35505820449384207,0.039007285491888345,0.45023128693329345]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993723866735596,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8344604160853298,"right":0.7996595333969458},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.880000000000518,"stage":"transfer","target_distance":0.14565663983224528,"dwell_elapsed":0.0},{"joint_position":[0.09952040722968772,-1.4444821243723134,1.5303200227001719,-9.175591862091523e-05,-0.08489333946265445,-0.09624299518706253],"joint_velocity":[-0.11975842950579503,0.17634236517468949,-0.22524918381881193,-0.00030393536507017035,0.04806635599972147,0.10770878414433803],"joint_actuator_torque":[0.12515467478028341,-1.347015668704671,-0.9102393998458638,0.0014729543929564402,-0.09208508852037589,-0.014268714914289049],"jaw_actuator_force":[-0.8481602044932703,-0.7860452513364553],"end_effector_position":[0.3822495791514692,0.038164480237179055,0.4424262015807441],"end_effector_quaternion":[0.9999985383353828,-9.164583006499545e-05,0.0004655516871588459,0.001642616743627454],"end_effector_velocity":[0.05457600299093315,-0.040795555238891425,0.0082002860791286],"object_position":[0.3822674665674534,0.03813808479224019,0.4355348234473068],"object_quaternion":[0.9999985611199108,-8.135703042726969e-05,0.0004670184887486972,0.0016288133327817568],"object_velocity":[0.05949081250744637,-0.0390759975161313,0.005168327476351789],"object_angular_velocity":[-0.00024375568195042952,9.611494361928905e-05,-0.015540809124078039],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03509946248201803,0.0035046909637872175,0.5077692295318577],[0.27303266341070165,0.027262386390232464,0.48719342325713516],[0.3275590219568583,0.03270685825879283,0.4824781343191779],[0.38228681118888547,0.038171873070707525,0.4824261835697575],[0.3822495791514692,0.038164480237179055,0.4424262015807441]],"gripper_points":[[0.40824775489417836,0.03825134257339079,0.4504019899917695],[0.35631082231120437,0.03808072130981181,0.45045036449334674]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993723536959183,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8345253949048226,"right":0.7996788242738538},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.900000000000507,"stage":"transfer","target_distance":0.14505243136057247,"dwell_elapsed":0.0},{"joint_position":[0.09679635674718087,-1.4404250533238596,1.5250278372649517,-9.175249246699356e-05,-0.08365212343547172,-0.09352938536948363],"joint_velocity":[-0.11939434589291817,0.17718882890497042,-0.226586699654127,-0.00030388520689790375,0.04855075431409733,0.10735567195844763],"joint_actuator_torque":[0.1253547073356316,-1.353593756479313,-0.9099764746368919,0.0014843378679684112,-0.09214912374941697,-0.014221789746721392],"jaw_actuator_force":[-0.8482423805753454,-0.7860426220673373],"end_effector_position":[0.38350411037681204,0.0372349240150741,0.44264350791714985],"end_effector_quaternion":[0.999998545544041,-9.067271088993633e-05,0.00046883585715142733,0.0016373396719121117],"end_effector_velocity":[0.05466766875094864,-0.04092270013540393,0.008117025095299895],"object_position":[0.3835219809467132,0.03721023736012356,0.4357447530074146],"object_quaternion":[0.999998568363297,-8.021448607439085e-05,0.0004703977348550038,0.001623441703033595],"object_velocity":[0.05958675590424531,-0.03920904086865978,0.005066111196428211],"object_angular_velocity":[-0.0002535254377112667,0.0001274825475950267,-0.015551714172442714],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.036230241396442854,0.003517949423403703,0.5076238347840651],[0.2742523895930097,0.02662985391895685,0.48734338019152645],[0.32879913188805626,0.03192633203252111,0.48269577601406966],[0.38354160531386994,0.03724223923287882,0.48264348967486176],[0.38350411037681204,0.0372349240150741,0.44264350791714985]],"gripper_points":[[0.4095023835664927,0.037321496670239505,0.45061912563162054],[0.3575654526121174,0.03715142355171468,0.45066784105581303]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993723226181529,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8345876355803025,"right":0.7996960758748362},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.920000000000496,"stage":"transfer","target_distance":0.14445980118288046,"dwell_elapsed":0.0},{"joint_position":[0.09408120216401544,-1.436348917424059,1.519704442865494,-9.169166602373795e-05,-0.08239874767140352,-0.0908247914986726],"joint_velocity":[-0.11902597151811865,0.17803561203218307,-0.22792000750089678,-0.0003038911842427085,0.04903528881335906,0.10699863128563541],"joint_actuator_torque":[0.1255519026735996,-1.3601978091494402,-0.9097221916472336,0.0014957638135955076,-0.0922137410232775,-0.01417434446093857],"jaw_actuator_force":[-0.8483206470952798,-0.7860396287837483],"end_effector_position":[0.38476060211702295,0.03630266657744173,0.44285913637237884],"end_effector_quaternion":[0.9999985528158627,-8.965885461431358e-05,0.00047212777279077606,0.001631999643428073],"end_effector_velocity":[0.054757302285447985,-0.041048391792090466,0.00802944538043098],"object_position":[0.3847784560481236,0.036279689090911456,0.4359530094123349],"object_quaternion":[0.9999985756601517,-7.904220222703838e-05,0.00047378999329309715,0.0016180089742120027],"object_velocity":[0.05968021933515935,-0.03934059938398564,0.004959505731071893],"object_angular_velocity":[-0.0002637193045890428,0.00016445185225307307,-0.015561816434497847],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0373659834160127,0.003525845523456093,0.5074731549117842],[0.27547500448305084,0.02599375749239298,0.48749098740540864],[0.3300416551442471,0.03114265398527435,0.48291174068519754],[0.3847983605783282,0.0363099009164192,0.4828591178969113],[0.38476060211702295,0.03630266657744173,0.44285913637237884]],"gripper_points":[[0.4107589740495591,0.03638894563049731,0.4508345829888182],[0.35882204454115074,0.03621942719340429,0.45088364013390186]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993722932411172,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8346467264233266,"right":0.7997122028403938},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.940000000000484,"stage":"transfer","target_distance":0.1438789477514931,"dwell_elapsed":0.0},{"joint_position":[0.09137504218559517,-1.432253737541729,1.514349876159457,-9.157466397788092e-05,-0.08113327489080147,-0.08812930891230479],"joint_velocity":[-0.11865333334684378,0.1788810767494173,-0.22925195123860653,-0.0003039551840323794,0.049517100869879024,0.10663782774547191],"joint_actuator_torque":[0.12574620701978034,-1.3668260532863314,-0.9094742045589328,0.0015072319889575646,-0.09227837117630422,-0.014126401458186777],"jaw_actuator_force":[-0.8483959131982228,-0.7860356414886818],"end_effector_position":[0.3860190080645206,0.035367743841758975,0.44307302404299],"end_effector_quaternion":[0.9999985601580362,-8.86028078440656e-05,0.00047540373303741685,0.0016265985020756932],"end_effector_velocity":[0.05484484431801627,-0.04117259684426872,0.007939322955488595],"object_position":[0.3860368450350237,0.03534647584391416,0.43615953231642535],"object_quaternion":[0.9999985830201515,-7.783811470220877e-05,0.0004771661791210549,0.0016125170868998813],"object_velocity":[0.05977137692796206,-0.03947063476217553,0.004850307371139602],"object_angular_velocity":[-0.00027363125921026,0.00020012239004899197,-0.015570996113845702],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.038506633581538205,0.003528370662362768,0.5073171285201946],[0.27670045587987985,0.02535411901748416,0.48763618017808236],[0.33128654015658315,0.030355853015532813,0.4831259628496816],[0.38605702877870757,0.03537489391946058,0.4830730053342566],[0.3860190080645206,0.035367743841758975,0.44307302404299]],"gripper_points":[[0.41201747819661544,0.03545372543898308,0.45104830039374066],[0.36008054996324607,0.03528476802787783,0.4510976975959128]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993722654328505,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8347032084159671,"right":0.7997269450028445},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.960000000000473,"stage":"transfer","target_distance":0.14331008601206194,"dwell_elapsed":0.0},{"joint_position":[0.08867797301898483,-1.4281396000848343,1.5089642860319126,-9.140288042094903e-05,-0.07985579379463609,-0.08544303043578387],"joint_velocity":[-0.11827654385750976,0.17972274660609996,-0.2305766148903739,-0.0003040832485072142,0.049995621844450236,0.10627335660978406],"joint_actuator_torque":[0.1259377343509982,-1.3734771189517687,-0.909236034053265,0.0015187480946676681,-0.09234304913821312,-0.014077973081363382],"jaw_actuator_force":[-0.8484683489538778,-0.7860308328666425],"end_effector_position":[0.387279261692929,0.034430190084396926,0.4432850956852007],"end_effector_quaternion":[0.9999985675730186,-8.750435598475535e-05,0.00047865033071587635,0.001621138106154007],"end_effector_velocity":[0.05492940698071297,-0.04129538620619408,0.007845588271076528],"object_position":[0.3872970854057538,0.03441063118585155,0.4363642423046381],"object_quaternion":[0.9999985904436439,-7.660225691845404e-05,0.000480516891230651,0.0016069680572538382],"object_velocity":[0.059859099835410885,-0.03959921207153346,0.004737483484093774],"object_angular_velocity":[-0.0002835413560927726,0.00023718231478416266,-0.015579274387772837],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0396521183569458,0.0035255156267022317,0.5071556967651444],[0.2779286722896032,0.024710959158477413,0.48777888515075934],[0.3325337158991705,0.029565956634509224,0.48333836582246276],[0.387317542316004,0.03443725249951147,0.48328507674414856],[0.387279261692929,0.034430190084396926,0.4432850956852007]],"gripper_points":[[0.41327783379226174,0.034515870479643745,0.4512602032953854],[0.3613409066754058,0.03434748024592823,0.451309937498245]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993722390639823,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8347571105928147,"right":0.7997406145706694},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":8.980000000000462,"stage":"transfer","target_distance":0.14275341695662705,"dwell_elapsed":0.0},{"joint_position":[0.08599008706466645,-1.4240065465504008,1.5035478510789018,-9.117778074551102e-05,-0.07856643339112307,-0.08276604446864301],"joint_velocity":[-0.11789576623426565,0.1805633120769192,-0.2318928575555989,-0.0003042766389362881,0.05046923245629912,0.1059053978521789],"joint_actuator_torque":[0.12612637011284278,-1.3801537131422492,-0.9090094870460916,0.0015302973527428574,-0.0924077643239789,-0.014029083796132547],"jaw_actuator_force":[-0.8485368145030634,-0.7860266086560168],"end_effector_position":[0.3885413056958382,0.03349004023241738,0.4434952506021408],"end_effector_quaternion":[0.999998575054579,-8.636490673770683e-05,0.00048187125095508645,0.001615620627471272],"end_effector_velocity":[0.05501155367730177,-0.041416717441069784,0.007746890015461829],"object_position":[0.3885591140572543,0.033472189808291655,0.43656703761966537],"object_quaternion":[0.9999985979257664,-7.533586965870999e-05,0.0004838447246282547,0.0016013635722463267],"object_velocity":[0.05994402853485126,-0.03972629007156198,0.004619690800628261],"object_angular_velocity":[-0.0002936448766075143,0.0002781003302661328,-0.015586737382974948],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04080237615286923,0.00351727340685096,0.5069887992104757],[0.27915959300634524,0.024064299811115526,0.4879190094946063],[0.33378312186860015,0.028772993362092825,0.48354884935138626],[0.38857984417834945,0.033497011696801804,0.4834952314294368],[0.3885413056958382,0.03349004023241738,0.4434952506021408]],"gripper_points":[[0.41453997735616,0.03357541579474062,0.45147019081102524],[0.36260305120933933,0.033407598664332405,0.4515202593413025]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399372214026443,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.834808114453243,"right":0.7997537961975079},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.000000000000451,"stage":"transfer","target_distance":0.1422091189996414,"dwell_elapsed":0.0},{"joint_position":[0.08331147183736724,-1.4198547138089803,1.4981008428497435,-9.090091161869396e-05,-0.07726537981267532,-0.08009843668323745],"joint_velocity":[-0.11751122180361744,0.18139719234812116,-0.23319702277650778,-0.00030454236654093236,0.0509353911342629,0.10553405481867446],"joint_actuator_torque":[0.1263124836340097,-1.3868520130696425,-0.9087958524760325,0.0015418979017915255,-0.09247205643314871,-0.013979746366698187],"jaw_actuator_force":[-0.8486028927592084,-0.786021507046855],"end_effector_position":[0.3898050589461931,0.03254732653549629,0.4437033961051343],"end_effector_quaternion":[0.9999985826128039,-8.518343545597155e-05,0.00048504051823851894,0.0016100471611012347],"end_effector_velocity":[0.05508997141177392,-0.041536732017911235,0.007644277174410824],"object_position":[0.3898228567936312,0.03253118319262863,0.43676782354649646],"object_quaternion":[0.9999986054768012,-7.403775790453871e-05,0.00048712347324148734,0.0015957047302146213],"object_velocity":[0.06002477996539521,-0.03985199220237651,0.004498045386374939],"object_angular_velocity":[-0.0003035491068314293,0.00031843669188415263,-0.01559326169884734],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.041957318617831335,0.0035036357348980475,0.5068163794847389],[0.28039313096704566,0.02341416052880424,0.48805646499129113],[0.3350346712970739,0.02797698912740774,0.48375731791987603],[0.3898438511607051,0.03255420367572248,0.48370337670349256],[0.3898050589461931,0.03254732653549629,0.4437033961051343]],"gripper_points":[[0.4158038343111391,0.032632393696450386,0.4516781715959828],[0.3638669089923562,0.03246515548122686,0.45172856908214554]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993721902543568,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8348568026319438,"right":0.7997660281695784},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.02000000000044,"stage":"transfer","target_distance":0.14167737598251884,"dwell_elapsed":0.0},{"joint_position":[0.0806422150620997,-1.4156841966771025,1.4926235830935317,-9.05739703051431e-05,-0.0759528627474537,-0.07744029118218362],"joint_velocity":[-0.11712286887535185,0.1822279403155782,-0.2344862492996353,-0.0003048794491840693,0.051392789930019805,0.10515938767004852],"joint_actuator_torque":[0.1264956865056419,-1.3935748620031063,-0.9085979880848072,0.0015535274145867927,-0.09253603224213158,-0.013929969573236889],"jaw_actuator_force":[-0.8486646028443552,-0.7860177439679683],"end_effector_position":[0.3910704478088444,0.03160208339374752,0.44390940833021186],"end_effector_quaternion":[0.9999985902446386,-8.396118984682853e-05,0.00048815641400882094,0.0016044196987076167],"end_effector_velocity":[0.05516528748534126,-0.04165529852956108,0.007535449042722408],"object_position":[0.391088233441177,0.031587645672205594,0.43696647376241254],"object_quaternion":[0.9999986130928553,-7.270914502762572e-05,0.0004903524558957454,0.001589993778429257],"object_velocity":[0.06010193364384467,-0.039976192194553145,0.004370240116955459],"object_angular_velocity":[-0.00031369295433076726,0.0003635180063848207,-0.015598875485556463],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04311686857683038,0.003484596703366939,0.5066383798932158],[0.2816292088344904,0.022760563210377914,0.48819113999032493],[0.3362882868102041,0.02717797220156793,0.4839636475125791],[0.3911094894901917,0.03160886293608742,0.4839093887025186],[0.3910704478088444,0.03160208339374752,0.44390940833021186]],"gripper_points":[[0.4170693241907513,0.031686838686330855,0.451884021882064],[0.3651323995663621,0.031520184991341696,0.4519347427743804]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993721676700114,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8349024609327442,"right":0.7997782594759908},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.040000000000429,"stage":"transfer","target_distance":0.14115834185320209,"dwell_elapsed":0.0},{"joint_position":[0.07798239531371738,-1.411495136561602,1.487116418770992,-9.019866819178811e-05,-0.07462916745595309,-0.07479167924474676],"joint_velocity":[-0.1167311497556472,0.18305200552169074,-0.23576038432664984,-0.00030529623420235856,0.05183873934529788,0.10478193001718422],"joint_actuator_torque":[0.12667648924830033,-1.4003196663286417,-0.908415203093341,0.001565199716761105,-0.09259915505477867,-0.013879824233882232],"jaw_actuator_force":[-0.8487234562286465,-0.7860138086076685],"end_effector_position":[0.3923373897031473,0.03065434228202774,0.4441131762597927],"end_effector_quaternion":[0.9999985979632223,-8.269649849380595e-05,0.0004911788694126692,0.0015987420670806813],"end_effector_velocity":[0.055236859588672194,-0.04177258216534625,0.007421907424804112],"object_position":[0.3923551650639351,0.030641608031717553,0.4371628776631392],"object_quaternion":[0.9999986207880294,-7.134801379655948e-05,0.0004934896864005066,0.0015842346510524998],"object_velocity":[0.06017497957787469,-0.04009904472296043,0.004237818312614379],"object_angular_velocity":[-0.0003235791140990363,0.00040743973271303895,-0.015603520601339772],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04428093562000557,0.0034601502892011742,0.5064547451222228],[0.28286773696115164,0.022103527582412172,0.4883229302956953],[0.3375438789351643,0.02637596821210636,0.4841677227312827],[0.3923766733807786,0.03066102081409744,0.4841131564121613],[0.3923373897031473,0.03065434228202774,0.4441131762597927]],"gripper_points":[[0.41833636676389124,0.030738782420262782,0.4520876327324003],[0.36639944270008373,0.030572718452613386,0.45213866731886365]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993721462477627,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8349457052417992,"right":0.799789875271231},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.060000000000418,"stage":"transfer","target_distance":0.14065217805212052,"dwell_elapsed":0.0},{"joint_position":[0.07533209141123058,-1.4072876628823734,1.4815798509568576,-8.977694034967411e-05,-0.07329461431800159,-0.0721526789447298],"joint_velocity":[-0.11633600358624178,0.18387164619460927,-0.23701115689684943,-0.0003057926601302879,0.05227258694733317,0.10440136554680801],"joint_actuator_torque":[0.12685461822217903,-1.4070906919590698,-0.9082544261674457,0.0015769017079104858,-0.09266179257295004,-0.013829268061068767],"jaw_actuator_force":[-0.8487781366987974,-0.7860111692883782],"end_effector_position":[0.3936057965293598,0.02970413578638995,0.44431453275339927],"end_effector_quaternion":[0.9999986057547321,-8.139304866839184e-05,0.0004941331020888086,0.0015930148275213063],"end_effector_velocity":[0.05530468732815327,-0.0418884947423552,0.00729993140102498],"object_position":[0.3936235615319574,0.029693102474992863,0.43735686154483844],"object_quaternion":[0.9999986285464946,-6.995841285879527e-05,0.0004965657356894741,0.0015784275154006467],"object_velocity":[0.06024368981054094,-0.040220462087456214,0.0040971001265962745],"object_angular_velocity":[-0.0003339730962329148,0.0004598999704613069,-0.01560739977222412],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04544943224788681,0.003430292123303243,0.5062654198489083],[0.2841086259779149,0.02144307494401894,0.48845169190704707],[0.3388013578743797,0.025571004340432954,0.4843693792537039],[0.3936453167495848,0.029710710194113542,0.4843145126900112],[0.3936057965293598,0.02970413578638995,0.44431453275339927]],"gripper_points":[[0.4196048731074633,0.02978825756897906,0.4522888356961149],[0.367667949477711,0.029622788477889635,0.45234017688489]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993721259425167,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8349859541880169,"right":0.7998016071192606},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.080000000000407,"stage":"transfer","target_distance":0.1401589875527846,"dwell_elapsed":0.0},{"joint_position":[0.07269137151846024,-1.4030619956748718,1.4760144035970224,-8.931066275512346e-05,-0.07194961904865008,-0.06952335230858075],"joint_velocity":[-0.11593794682898918,0.18468061572010613,-0.23823951319047385,-0.00030637572075739236,0.05268958454047049,0.10401838548758037],"joint_actuator_torque":[0.12703065823083293,-1.4138817884232822,-0.9081132315951663,0.0015886458297781885,-0.09272299217431801,-0.01377839285928495],"jaw_actuator_force":[-0.8488299510888107,-0.7860084908323657],"end_effector_position":[0.3948755638224918,0.028751492569552225,0.44451334422295347],"end_effector_quaternion":[0.9999986136416699,-8.004842732038577e-05,0.0004969630353650508,0.0015872412321030105],"end_effector_velocity":[0.05536771190621034,-0.04200325304432918,0.007172604221085878],"object_position":[0.39489332337880734,0.028742156890598232,0.43754829348760566],"object_quaternion":[0.9999986363934101,-6.85372743395889e-05,0.0004995185455413536,0.0015725759712113937],"object_velocity":[0.06030709472811762,-0.040340647519941146,0.003951226521154196],"object_angular_velocity":[-0.00034395500107109255,0.0005094508402017377,-0.015610393557242471],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.046622245663555516,0.0033950168846851657,0.5060703534783113],[0.2853517631237857,0.02077922331049837,0.48857730171052854],[0.34006061087508843,0.024763103949747227,0.4845684773470783],[0.39491531064571034,0.028757959538877435,0.4845133239525527],[0.3948755638224918,0.028751492569552225,0.44451334422295347]],"gripper_points":[[0.42087474181805085,0.028835292937102068,0.4524875000972862],[0.36893781849197715,0.02867042353338958,0.4525391349713361]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399372106746113,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.835023751572826,"right":0.7998128849375801},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.100000000000396,"stage":"transfer","target_distance":0.13967890647059125,"dwell_elapsed":0.0},{"joint_position":[0.07006030857240803,-1.3988183309457782,1.4704206680794587,-8.880197287801341e-05,-0.07059462164195013,-0.06690376279459484],"joint_velocity":[-0.11553669191261001,0.18548215885598993,-0.23944102108517118,-0.0003070428656420014,0.053089624838488586,0.10363288971804413],"joint_actuator_torque":[0.12720399455240639,-1.4206951555776186,-0.9079950953926073,0.001600408956303848,-0.0927830250402053,-0.013727186015491277],"jaw_actuator_force":[-0.8488769019249585,-0.7860078829113473],"end_effector_position":[0.39614658923495316,0.027796444950563128,0.444709446186348],"end_effector_quaternion":[0.9999986216275665,-7.866323693080985e-05,0.0004996460746975144,0.0015814262115041208],"end_effector_velocity":[0.05542636487210472,-0.042116640198485884,0.007037135978994457],"object_position":[0.3961643430293244,0.027788803698535397,0.4377370052809121],"object_quaternion":[0.9999986443300253,-6.708542959307929e-05,0.0005023304408541077,0.0015666849668086187],"object_velocity":[0.0603655013396093,-0.04045938896306377,0.0037973943091266157],"object_angular_velocity":[-0.0003540995376105983,0.0005636077358530333,-0.015612313411554944],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.047799269348739584,0.00335432152647012,0.5058694951907945],[0.28659704070414316,0.020111994098543494,0.4886996144206904],[0.3413215299730898,0.023952294062976973,0.4847648500775415],[0.3961865509138247,0.027802801213115333,0.4847094257196196],[0.39614658923495316,0.027796444950563128,0.444709446186348]],"gripper_points":[[0.42214586472153226,0.027879921091759807,0.4526834626340448],[0.3702089415708334,0.027715655673945037,0.45273537592957336]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937208863004364,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8350582701199499,"right":0.7998246464764996},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.120000000000385,"stage":"transfer","target_distance":0.13921203466498383,"dwell_elapsed":0.0},{"joint_position":[0.06743896476605063,-1.3945568934348858,1.4647993811235462,-8.825298369192485e-05,-0.06923013103293357,-0.0642939768560108],"joint_velocity":[-0.11513277995383761,0.18627423877778945,-0.24060955265341633,-0.00030780274395945137,0.05346973492735684,0.10324475709663541],"joint_actuator_torque":[0.1273752113328115,-1.4275325419329192,-0.9079048765783,0.0016122020563525807,-0.09284169332952708,-0.013675630288237706],"jaw_actuator_force":[-0.8489198542771001,-0.786008361116223],"end_effector_position":[0.39741875891299866,0.02683902179314396,0.4449026393968923],"end_effector_quaternion":[0.9999986297149899,-7.723986323484202e-05,0.0005021834068262103,0.0015755678253051107],"end_effector_velocity":[0.05547999313160332,-0.042228846530658615,0.006892391668517011],"object_position":[0.3974365089152864,0.026833070773703612,0.43792279324788],"object_quaternion":[0.9999986523594274,-6.560522681210274e-05,0.0005050031857078992,0.0015607520833443246],"object_velocity":[0.06041828096371812,-0.04057686771160822,0.0036345610223337513],"object_angular_velocity":[-0.0003644564534090727,0.0006234819865335718,-0.015613755690146116],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04898038860618999,0.003308203474599583,0.5056627964048781],[0.2878443416304047,0.019441406616467552,0.4888184590172289],[0.3425839975317872,0.02313859900314563,0.48495829836589266],[0.39745892379476255,0.026845264271656955,0.48490261874455864],[0.39741875891299866,0.02683902179314396,0.4449026393968923]],"gripper_points":[[0.42341813038800713,0.026922170841564102,0.452876523995441],[0.37148120728172745,0.0267585139098877,0.45292870057239576]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720716147603,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8350897876069063,"right":0.7998364940116599},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.140000000000374,"stage":"transfer","target_distance":0.13875843160719778,"dwell_elapsed":0.0},{"joint_position":[0.06482740085839965,-1.3902779398905718,1.4591513178630746,-8.766594646696175e-05,-0.06785673158266338,-0.06169404493112638],"joint_velocity":[-0.1147262227825038,0.187055173396985,-0.24174406864193093,-0.00030865461002644126,0.05382670760656434,0.10285466771028753],"joint_actuator_torque":[0.12754415636184646,-1.4343917248879734,-0.9078425509106296,0.0016240152647905865,-0.09289851447454911,-0.013623817036712005],"jaw_actuator_force":[-0.8489585186230837,-0.7860101935889272],"end_effector_position":[0.398691953484053,0.025879252699884035,0.4450927290166234],"end_effector_quaternion":[0.9999986379124753,-7.577855375056909e-05,0.0005045417942870297,0.0015696714250363214],"end_effector_velocity":[0.05552832925367193,-0.04233982039727197,0.00673889608714312],"object_position":[0.3987097017835186,0.025874987548134745,0.43810546209549645],"object_quaternion":[0.9999986604906316,-6.409662634815327e-05,0.0005075012561470449,0.0015547832776375559],"object_velocity":[0.060465163510789344,-0.04069302883601392,0.0034632782744220547],"object_angular_velocity":[-0.0003747444179718308,0.0006855807580400951,-0.015614145725873033],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.050165479668558374,0.0032566610775840747,0.5054502111239874],[0.28909354036541346,0.018767480883455052,0.4889336654624469],[0.34384788760844276,0.022322043755633816,0.48514862374834383],[0.3987323072568231,0.025885378333113697,0.4850927081922385],[0.398691953484053,0.025879252699884035,0.4450927290166234]],"gripper_points":[[0.4246914184230289,0.025962072069020896,0.45306649107230634],[0.3727544952267695,0.02579902756762019,0.45311891233829377]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937205571658384,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.835118189408713,"right":0.7998485217847697},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.160000000000363,"stage":"transfer","target_distance":0.13831815852121654,"dwell_elapsed":0.0},{"joint_position":[0.0622256715238779,-1.3859817319332515,1.4534773321007437,-8.704313882354776e-05,-0.06647508015403851,-0.059104022019356245],"joint_velocity":[-0.11431730580762066,0.18782538984722866,-0.24284059406498987,-0.0003096005518289682,0.05415790923336744,0.10246238889388448],"joint_actuator_torque":[0.1277109936876819,-1.4412735346932095,-0.9078108731723091,0.0016358440323069965,-0.09295326331728315,-0.013571714706138494],"jaw_actuator_force":[-0.8489923611942727,-0.7860138694863341],"end_effector_position":[0.39996605154779014,0.024917166422587844,0.44527949972369263],"end_effector_quaternion":[0.999998646236876,-7.427994448661427e-05,0.0005066886439555259,0.0015637370377402742],"end_effector_velocity":[0.05557136990148213,-0.0424496013266721,0.006575280712968772],"object_position":[0.3999837989570431,0.024914582268644,0.4382847935471084],"object_quaternion":[0.9999986687414544,-6.25601662284959e-05,0.0005097932180361182,0.0015487777181983715],"object_velocity":[0.06050612827801639,-0.04080790824888343,0.003282201322055536],"object_angular_velocity":[-0.00038507914901750453,0.0007518693842330796,-0.015613919101064145],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05135441721538735,0.0031996939381624956,0.5052316947431201],[0.2903445094386903,0.018090236774245382,0.4890450473711666],[0.34511307223986387,0.02150265284084771,0.48533560734842723],[0.40000657729208766,0.02492317219632611,0.48527947874362126],[0.39996605154779014,0.024917166422587844,0.44527949972369263]],"gripper_points":[[0.425965605193687,0.024999653531450332,0.4532531502393412],[0.3740286817679063,0.02483722540148539,0.4533057942165768]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720409514884,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8351432216555619,"right":0.7998609385327373},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.180000000000351,"stage":"transfer","target_distance":0.13789124699624458,"dwell_elapsed":0.0},{"joint_position":[0.05963383326498529,-1.381668527004645,1.4477784079357026,-8.638701327161974e-05,-0.06508589608433105,-0.05652395475030979],"joint_velocity":[-0.11390590821713677,0.18858534276542377,-0.24389314671398463,-0.0003106419428721822,0.054461012883069315,0.10206828651420793],"joint_actuator_torque":[0.1278754370693882,-1.448181150408118,-0.907814894505691,0.0016476781054705365,-0.09300590948389686,-0.013519372736744195],"jaw_actuator_force":[-0.8490212542885853,-0.7860194202913915],"end_effector_position":[0.40124092812431483,0.023952793933218936,0.44546269352389156],"end_effector_quaternion":[0.9999986546787905,-7.274717301219046e-05,0.0005086272990681497,0.0015577697932710815],"end_effector_velocity":[0.05560898578826838,-0.04255807392199701,0.006399445801001448],"object_position":[0.4012586750454787,0.023951885730082126,0.43846052498612825],"object_quaternion":[0.9999986771003221,-6.0999065930483685e-05,0.0005118848565514189,0.0015427412661115274],"object_velocity":[0.06054101984077342,-0.04092139447730907,0.0030892952656721255],"object_angular_velocity":[-0.00039568208810968346,0.0008264345399099148,-0.015612731796514316],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.052547076858531314,0.0031373034552450428,0.5050072036159297],[0.2915971209722623,0.01740969640668522,0.4891523870397923],[0.34637942274832567,0.020680453124723594,0.4855189915744275],[0.401281609187631,0.023958677085169848,0.4854626724043811],[0.40124092812431483,0.023952793933218936,0.44546269352389156]],"gripper_points":[[0.4272405655266028,0.024034946517002168,0.45343624332854093],[0.37530364173058045,0.023873138167034146,0.453489088387155]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720273499686,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8351647757844617,"right":0.7998737556058864},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.20000000000034,"stage":"transfer","target_distance":0.13747767890727353,"dwell_elapsed":0.0},{"joint_position":[0.057051932975153735,-1.3773386827376626,1.4420556065670789,-8.569992179279137e-05,-0.06368999840321082,-0.05395389014803143],"joint_velocity":[-0.11349250159362446,0.18932911999696034,-0.2448994433425178,-0.0003117812427799888,0.05473152233434295,0.10167232098064084],"joint_actuator_torque":[0.1280380062604891,-1.455109219497217,-0.9078544652164737,0.0016595238514542365,-0.09305566529493525,-0.013466784737649284],"jaw_actuator_force":[-0.8490460529042236,-0.786025891873547],"end_effector_position":[0.4025164373891241,0.022986162877214122,0.4456420724323874],"end_effector_quaternion":[0.9999986632680856,-7.117987179778761e-05,0.0005102998342618472,0.0015517698113064133],"end_effector_velocity":[0.05564000787363901,-0.04266541802730397,0.006213273044661477],"object_position":[0.4025341901023097,0.022986924820930683,0.43863241747174697],"object_quaternion":[0.9999986855995594,-5.941263005650765e-05,0.000513715590275788,0.0015366735453652372],"object_velocity":[0.06056861119588566,-0.041033653042477684,0.002886510348557011],"object_angular_velocity":[-0.00040603777155913515,0.000901439548177758,-0.015610894869829398],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.053743306565542916,0.0030694905654640664,0.5047767006626848],[0.2928512209419635,0.016725879318008223,0.4892554787778673],[0.3476467846532265,0.019855468407132926,0.48569853209592995],[0.40255725248491225,0.022991920608776275,0.4856420511945878],[0.4025164373891241,0.022986162877214122,0.4456420724323874]],"gripper_points":[[0.4285161578748646,0.023067978686450556,0.4536155353619687],[0.37657923355810063,0.022906793512228584,0.45366855385516597]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937201494750135,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8351831291057451,"right":0.7998865975163127},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.22000000000033,"stage":"transfer","target_distance":0.13707745090455234,"dwell_elapsed":0.0},{"joint_position":[0.05448001823923934,-1.3729924684009944,1.4363100431733293,-8.498440404187431e-05,-0.062288268878913415,-0.05139386988800117],"joint_velocity":[-0.11307699541345549,0.19006318172666545,-0.2458558530815943,-0.00031301557191652237,0.05496767527182443,0.10127472004725448],"joint_actuator_torque":[0.1281982259017589,-1.4620631806554911,-0.9079334252056697,0.0016713548747784076,-0.09310266403683176,-0.013413982136040392],"jaw_actuator_force":[-0.8490642098695664,-0.786035825153161],"end_effector_position":[0.40379245300581795,0.022017304137493667,0.4458173488877662],"end_effector_quaternion":[0.999998672009628,-6.958045374042628e-05,0.0005116880564680225,0.001545740234845034],"end_effector_velocity":[0.055665732988486524,-0.0427714439319452,0.006013044420331442],"object_position":[0.403810207988508,0.022019730510884905,0.4388001800923435],"object_quaternion":[0.9999986942424149,-5.780328851874156e-05,0.0005152695475799464,0.0015305781712565184],"object_velocity":[0.06059023238587753,-0.041144500953420336,0.0026701070997763358],"object_angular_velocity":[-0.00041662205361275574,0.0009855090464891273,-0.0156082071598223],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05494297843636604,0.002996259425684082,0.5045401456071499],[0.29410667825692416,0.01603880845128478,0.4893540795248243],[0.3489150261324687,0.01902772593631827,0.485873939380958],[0.4038333793917095,0.022022933841346053,0.48581732755447765],[0.40379245300581795,0.022017304137493667,0.4458173488877662]],"gripper_points":[[0.429792245134883,0.022098781091774704,0.4537907397348099],[0.3778553201442427,0.021938222162678832,0.4538439021264984]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399372003759636,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.835197291685597,"right":0.7999004472159194},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.240000000000318,"stage":"transfer","target_distance":0.13669049979994144,"dwell_elapsed":0.0},{"joint_position":[0.05191813410040795,-1.3686302658848917,1.4305430077837586,-8.424298534422734e-05,-0.060881678922799144,-0.048843935170268256],"joint_velocity":[-0.11265952217830387,0.19078022189744945,-0.246755546524287,-0.0003143482885282919,0.055165393953818344,0.10087548962711623],"joint_actuator_torque":[0.12835634507256088,-1.4690407835787482,-0.908055756997328,0.0016831803163953364,-0.09314633992431443,-0.013360964927822572],"jaw_actuator_force":[-0.8490783251800087,-0.7860463709457948],"end_effector_position":[0.4050688191273173,0.02104624772400545,0.4459882259944693],"end_effector_quaternion":[0.9999986809168842,-6.795080355476969e-05,0.0005127600997019891,0.0015396831687754335],"end_effector_velocity":[0.055684414930132944,-0.042876221055337616,0.005799610100764184],"object_position":[0.40508658334357023,0.021050332216101603,0.43896351146560897],"object_quaternion":[0.9999987030423436,-5.617290673016851e-05,0.0005165161293457321,0.0015244570584922014],"object_velocity":[0.0606040971990432,-0.04125400365352911,0.002441072335921839],"object_angular_velocity":[-0.00042712928836114176,0.0010739203695076035,-0.015604780718942947],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05614593359786919,0.0029176140499987237,0.5042975057645966],[0.29536333113423996,0.015348506108096648,0.4894479388158308],[0.35018398473632495,0.018197252204744087,0.48604491305673864],[0.4051098315113669,0.021051746940166823,0.4859882045912508],[0.4050688191273173,0.02104624772400545,0.4459882259944693]],"gripper_points":[[0.4310686815782447,0.02112738391477473,0.45396156119760706],[0.3791317557511182,0.02096745408152657,0.45401483464204023]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937199385256514,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8352081404788502,"right":0.7999141776788604},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.260000000000307,"stage":"transfer","target_distance":0.13631674301114735,"dwell_elapsed":0.0},{"joint_position":[0.04936632436494175,-1.3642524176004645,1.4247558584899849,-8.347822287216964e-05,-0.05947129604046925,-0.046304131565757585],"joint_velocity":[-0.1122401162024651,0.191483926098643,-0.24759502645219633,-0.00031577453421878857,0.05532123464292564,0.10047444610829796],"joint_actuator_torque":[0.1285120671694493,-1.476044156962189,-0.908224228247434,0.001694976264599626,-0.09318648947019081,-0.013307708924115591],"jaw_actuator_force":[-0.8490857512595529,-0.7860602059264039],"end_effector_position":[0.4063453899156634,0.02007302560852929,0.44615437399593183],"end_effector_quaternion":[0.9999986900045577,-6.62934036599678e-05,0.0005134898243448112,0.001533597911290124],"end_effector_velocity":[0.05569685392329279,-0.04297963712561014,0.005570511645188045],"object_position":[0.4063631631339639,0.020078761814599642,0.43912207896957484],"object_quaternion":[0.9999987120151228,-5.4523839821492574e-05,0.0005174285364548868,0.0015183092425233137],"object_velocity":[0.060610926717194924,-0.041362050777711136,0.002196947370276968],"object_angular_velocity":[-0.0004377311072001531,0.0011709122192092253,-0.015600793959711957],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05735202397525177,0.0028335608206131926,0.504048747997538],[0.2966210283074795,0.014654996739866696,0.4895367798790721],[0.35145350846694834,0.017364075804695622,0.4862111205185904],[0.4063864609144034,0.02007839207282833,0.48615435255060263],[0.4063453899156634,0.02007302560852929,0.44615437399593183]],"gripper_points":[[0.4323453130476006,0.020153819105477134,0.4541276713610413],[0.38040838621638495,0.019994521291797702,0.4541810202977053]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719852450199,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8352146469969862,"right":0.7999288470858724},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.280000000000296,"stage":"transfer","target_distance":0.13595605867176375,"dwell_elapsed":0.0},{"joint_position":[0.046824634955373645,-1.359859283319076,1.4189500197176663,-8.2692694366877e-05,-0.0580582836644969,-0.043774502972062604],"joint_velocity":[-0.11181866874834882,0.19217246344969455,-0.24837202152886442,-0.0003172931539137403,0.05543107470671852,0.10007167105915334],"joint_actuator_torque":[0.12866518174691777,-1.4830736864522578,-0.9084403660829707,0.001706734776303634,-0.09322252948524401,-0.013254225278294562],"jaw_actuator_force":[-0.8490877664922447,-0.7860758196956494],"end_effector_position":[0.40762201750789867,0.019097672382705926,0.44631545383401405],"end_effector_quaternion":[0.999998699296298,-6.460992980034733e-05,0.0005138276527087239,0.0015274856505426055],"end_effector_velocity":[0.05570276445182068,-0.04308158099103857,0.005325990735314239],"object_position":[0.4076398015892248,0.01910505385272396,0.43927554209284747],"object_quaternion":[0.9999987211846173,-5.285760739447721e-05,0.0005179563033097004,0.0015121363932951027],"object_velocity":[0.06061062225978816,-0.04146853332667701,0.0019380327615797245],"object_angular_velocity":[-0.00044820039815488943,0.001273035165169728,-0.01559608718025652],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05856109672652855,0.002744107797941393,0.5037938418273491],[0.29787961444146405,0.013958307110500258,0.48962031677165846],[0.35272344141780343,0.016528227786294997,0.48637221727972935],[0.40766311577138914,0.019102903959516193,0.48631543237855007],[0.40762201750789867,0.019097672382705926,0.44631545383401405]],"gripper_points":[[0.43362199209573177,0.01917812134686486,0.45428873374374223],[0.38168506408151653,0.019019458352965708,0.45434211746262787]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937197800043525,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8352172858116242,"right":0.7999437488653326},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.300000000000285,"stage":"transfer","target_distance":0.13560830340923996,"dwell_elapsed":0.0},{"joint_position":[0.04429311354508778,-1.3554512355440465,1.4131270779991603,-8.188900085094708e-05,-0.05664390107033285,-0.041255098003177754],"joint_velocity":[-0.11139509741330249,0.19284620158090174,-0.24907853576398947,-0.00031890123836673533,0.055491523407862696,0.09966696168908264],"joint_actuator_torque":[0.12881542376221233,-1.490131878455145,-0.9087100103049579,0.0017184411697249366,-0.09325429604031754,-0.01320048684746089],"jaw_actuator_force":[-0.8490836924965333,-0.7860938327254132],"end_effector_position":[0.4088985477356627,0.018120224944223308,0.44647108189955853],"end_effector_quaternion":[0.9999987088038496,-6.290369556366967e-05,0.0005137507538736588,0.0015213460887930632],"end_effector_velocity":[0.055701988567663265,-0.043181942890033985,0.005063358593280199],"object_position":[0.40891634521851994,0.01812924507381452,0.43942351114315487],"object_quaternion":[0.9999987305617846,-5.1177622459695456e-05,0.0005180801554080279,0.0015059377888048907],"object_velocity":[0.06060285457410971,-0.04157334496410344,0.0016617025500631792],"object_angular_velocity":[-0.0004587318700710327,0.0013853152215303672,-0.015590744206907852],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05977299555910732,0.0026492648190101355,0.5035327592772202],[0.29913893016441623,0.013258466239946847,0.48969823016571945],[0.3539936235114662,0.015689741565578178,0.48652781724433386],[0.40893964008704103,0.018125319760786723,0.48647106046782157],[0.4088985477356627,0.018120224944223308,0.44647108189955853]],"gripper_points":[[0.43489856499308494,0.018200327576152114,0.45444436592276166],[0.3829616356107123,0.018042302233394928,0.45449774134290555]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937197215617934,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.83521569304935,"right":0.799959187761877},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.320000000000274,"stage":"transfer","target_distance":0.13527327636687433,"dwell_elapsed":0.0},{"joint_position":[0.04177181005703706,-1.3510286650996397,1.4072887248047847,-8.10697136121544e-05,-0.05522952033595594,-0.038745968349881046],"joint_velocity":[-0.11096929513612086,0.19350382144129347,-0.249710647895672,-0.00032059495844159123,0.05549781962726891,0.09926020116003752],"joint_actuator_torque":[0.1289625114742332,-1.4972194402989771,-0.9090359760420483,0.0017300805867213626,-0.09328125582710278,-0.013146478203243994],"jaw_actuator_force":[-0.8490735960090365,-0.7861140454080804],"end_effector_position":[0.4101748231942365,0.017140722909430188,0.4466208533189809],"end_effector_quaternion":[0.9999987185458235,-6.117767993236085e-05,0.0005132232355267006,0.0015151785087277258],"end_effector_velocity":[0.05569430546293011,-0.04328060359992546,0.00478211751721162],"object_position":[0.41019263722573096,0.017151375044100473,0.43956557849939115],"object_quaternion":[0.9999987401662753,-4.94867599809247e-05,0.0005177629649705218,0.0014997127845027517],"object_velocity":[0.06058744140564442,-0.04167636958403623,0.0013675310818131435],"object_angular_velocity":[-0.00046916562735666907,0.0015058934719009878,-0.015584763916749197],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.060987559250143104,0.0025490435085075767,0.5032654753054291],[0.3003988116948159,0.012555505587186839,0.4897701828098539],[0.35526389038005346,0.01484865314688417,0.48667751161295125],[0.4102158735848564,0.017145679327538396,0.48662083194771705],[0.4101748231942365,0.017140722909430188,0.4466208533189809]],"gripper_points":[[0.4361748736842381,0.017220477419069836,0.4545941648908383],[0.38423794274014544,0.017063092633467593,0.4546474852035177]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937196775701365,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8352098813360067,"right":0.7999750186709216},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.340000000000263,"stage":"transfer","target_distance":0.1349507472149427,"dwell_elapsed":0.0},{"joint_position":[0.039260782823338426,-1.3465919586092565,1.401436714708353,-8.023738833641843e-05,-0.05381662956617013,-0.03624717789971727],"joint_velocity":[-0.11054085671791448,0.19414584733795592,-0.25026559480605953,-0.0003223661296194931,0.05544539377212864,0.09885088536264092],"joint_actuator_torque":[0.1291057673954903,-1.5043371434683195,-0.9094199860714411,0.0017416293933309535,-0.09330284051464321,-0.01309213252337349],"jaw_actuator_force":[-0.8490571061900551,-0.7861367314952519],"end_effector_position":[0.4114506907532592,0.016159211486969985,0.44676434760222666],"end_effector_quaternion":[0.9999987285555386,-5.943427414954355e-05,0.0005121848773481755,0.0015089802931132084],"end_effector_velocity":[0.05567995519865968,-0.04337730064037465,0.004481411855288252],"object_position":[0.4114685232460612,0.01617148929603734,0.4397013217106119],"object_quaternion":[0.9999987500325934,-4.778731011621801e-05,0.0005169437754518651,0.0014934586564169588],"object_velocity":[0.060564683881305224,-0.04177735279262105,0.0010546897746576908],"object_angular_velocity":[-0.0004794017517784376,0.0016339203794510481,-0.015578203397887416],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06220462783149613,0.0024434579690194914,0.5029919665292346],[0.30165909738053964,0.011849461223663076,0.48983582287845834],[0.3565340799855288,0.014005003636185565,0.4868208732918221],[0.411491658316538,0.016164028053007467,0.4867643263329642],[0.4114506907532592,0.016159211486969985,0.44676434760222666]],"gripper_points":[[0.437450761800754,0.01623861597832942,0.4547377132915952],[0.3855138290902788,0.016081874927747493,0.45479092543316335]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719648442122,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8351996979203427,"right":0.7999912975447165},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.360000000000252,"stage":"transfer","target_distance":0.1346404580980193,"dwell_elapsed":0.0},{"joint_position":[0.03676009782304741,-1.342141501151604,1.3955729758532105,-7.939454918681776e-05,-0.0524068398144937,-0.03375880042220129],"joint_velocity":[-0.11010944412326058,0.19477291160718146,-0.25073506774504656,-0.00032420973876919404,0.05532964754383895,0.0984386299528027],"joint_actuator_torque":[0.12924462515875845,-1.5114890629904494,-0.9098685297078077,0.0017530677408648812,-0.09331873855701112,-0.013037398759919938],"jaw_actuator_force":[-0.8490341027234276,-0.786161900335558],"end_effector_position":[0.4127259953205034,0.015175740917304706,0.4469010914975032],"end_effector_quaternion":[0.9999987388535737,-5.767735070216062e-05,0.0005106015348620692,0.0015027477026616925],"end_effector_velocity":[0.055658905185133244,-0.04347180983932754,0.004158402400859814],"object_position":[0.41274384882073634,0.01518963819617431,0.4398302612294413],"object_quaternion":[0.9999987601802295,-4.608323998067494e-05,0.0005155914916484643,0.0014871717298667736],"object_velocity":[0.060534494388457705,-0.041876078778183,0.0007204176038998386],"object_angular_velocity":[-0.0004895565543395999,0.0017738714215830766,-0.015571084569650387],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0634240419014431,0.002332524729907199,0.5027122113827476],[0.302919625776349,0.011140373541559036,0.4898947582921753],[0.3578040304143483,0.013158838894229249,0.4869574252922525],[0.4127668364578164,0.015180416483964392,0.48690107037425484],[0.4127259953205034,0.015175740917304706,0.4469010914975032]],"gripper_points":[[0.43872607413513187,0.01525479336258157,0.45487453964803143],[0.38678913944518917,0.015098699613575692,0.4549275870087452]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719634585925,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.835185021223754,"right":0.8000080337724625},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.38000000000024,"stage":"transfer","target_distance":0.1343420830376566,"dwell_elapsed":0.0},{"joint_position":[0.03426983236554648,-1.3376777213747053,1.3896995802647525,-7.854367538104864e-05,-0.05100189518351328,-0.0312809237087971],"joint_velocity":[-0.10967453377203601,0.19538237832223998,-0.25111341406501303,-0.0003261174581988783,0.05514503677951559,0.09802287011530227],"joint_actuator_torque":[0.1293783119456382,-1.5186755081647334,-0.9103853698283615,0.0017643718033110546,-0.09332831740246039,-0.012982201824426998],"jaw_actuator_force":[-0.8490049597100517,-0.7861890645652618],"end_effector_position":[0.41400057247870375,0.01419036780514258,0.44703058860591566],"end_effector_quaternion":[0.9999987494697108,-5.591053714347206e-05,0.0005084227257023803,0.001496475645884734],"end_effector_velocity":[0.0556306152918153,-0.043563844357356364,0.0038125836069476775],"object_position":[0.41401845272321497,0.014205878668723942,0.4399518967250574],"object_quaternion":[0.9999987706396971,-4.4378188229761185e-05,0.0005136555247814382,0.0014808469446947615],"object_velocity":[0.06049629882435323,-0.04197227062624358,0.00036430472442259366],"object_angular_velocity":[-0.0004994574444286363,0.0019234504013696551,-0.015563412972441189],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06464563037055351,0.002216262592647364,0.502426193039719],[0.3041802246064062,0.010428288027419838,0.48994657755990384],[0.3590735691187891,0.01231021052288853,0.48708666567911285],[0.4140412395523955,0.014194901509898779,0.4870305676763432],[0.41400057247870375,0.01419036780514258,0.44703058860591566]],"gripper_points":[[0.44000064802070343,0.014269065976509095,0.4550041501834382],[0.3880637111277514,0.014113623624702185,0.45505697091031816]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937196364228295,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8351659603382176,"right":0.80002500500455},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.40000000000023,"stage":"transfer","target_distance":0.1340552639552472,"dwell_elapsed":0.0},{"joint_position":[0.03179007917180904,-1.3332009572431596,1.3838186829503643,-7.768717235428779e-05,-0.04960368867504032,-0.028813654540994577],"joint_velocity":[-0.10923541837899063,0.1959799468682624,-0.25139639932366636,-0.0003280771635836026,0.05488597095874485,0.09760284353920662],"joint_actuator_torque":[0.12950567231665033,-1.525903023899673,-0.9109748608150312,0.0017755047011646253,-0.09333113217285316,-0.012926441096201113],"jaw_actuator_force":[-0.8489681103002855,-0.7862197328351286],"end_effector_position":[0.41527428189524357,0.01320315805087098,0.4471522860402699],"end_effector_quaternion":[0.999998760428541,-5.413827308917948e-05,0.0005056103630218963,0.001490157236547863],"end_effector_velocity":[0.055596444876615324,-0.04365297491545138,0.003440493701011833],"object_position":[0.4152921870270032,0.013220277271680821,0.4400656718497973],"object_quaternion":[0.9999987814369952,-4.267658496521343e-05,0.0005110968457958134,0.0014744772797910708],"object_velocity":[0.060451594012900386,-0.042065513573371675,-1.709712404590162e-05],"object_angular_velocity":[-0.0005091836628789244,0.0020876850066970883,-0.015555186473604297],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0658692470700238,0.0020946942659422923,0.5021338908448567],[0.30544074664291265,0.009713257840914478,0.4899908236272455],[0.36034254862836634,0.011459178660178938,0.4872080373898763],[0.41531472422018295,0.01320754938246476,0.48715226535444656],[0.41527428189524357,0.01320315805087098,0.4471522860402699]],"gripper_points":[[0.44127433383339676,0.01328149940677099,0.45512599399954295],[0.38933739450560606,0.013126713263435631,0.455178522284056]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937196542646186,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8351419561111986,"right":0.8000427125976233},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.420000000000218,"stage":"transfer","target_distance":0.13377957270842222,"dwell_elapsed":0.0},{"joint_position":[0.02932095129764228,-1.3287116136777248,1.377932556437414,-7.68273384876239e-05,-0.04821428603021954,-0.026357124672256305],"joint_velocity":[-0.10879117495530409,0.1965606466872578,-0.2515798715556023,-0.00033007688396354754,0.05454504464119532,0.09717754884804027],"joint_actuator_torque":[0.12962551196083716,-1.5331708040162084,-0.9116392370092399,0.0017864382685845483,-0.09332606123816412,-0.012869983217065117],"jaw_actuator_force":[-0.8489259797047355,-0.7862512977628597],"end_effector_position":[0.41654697242005784,0.012214187662913803,0.4472656288060649],"end_effector_quaternion":[0.9999987717870964,-5.23635927261809e-05,0.0005020653201211079,0.0014837832615742566],"end_effector_velocity":[0.05555552610004033,-0.04373875590120081,0.003043221848108296],"object_position":[0.41656490935258655,0.012232910763518038,0.44017102921309903],"object_quaternion":[0.9999987926305535,-4.0981438250194774e-05,0.0005078152499424918,0.0014680536879166644],"object_velocity":[0.06039961252389966,-0.04215537796344359,-0.00042259622079452255],"object_angular_velocity":[-0.0005183909100430563,0.0022587133969610494,-0.015546426384133732],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06709472783124594,0.001967845210163423,0.5018352903551706],[0.30670102852155845,0.008995343888216446,0.4900270334205714],[0.3616108057630884,0.010605812335270264,0.4873209745397258],[0.4165871313806383,0.012218436341676263,0.4872656084211424],[0.41654697242005784,0.012214187662913803,0.4472656288060649]],"gripper_points":[[0.44254698648000806,0.012292169252237544,0.4552395212482832],[0.3906100444681534,0.012138045085603497,0.45529168098564]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719688662159,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8351139349239375,"right":0.8000600482160619},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.440000000000207,"stage":"transfer","target_distance":0.13351456607786427,"dwell_elapsed":0.0},{"joint_position":[0.026862592535159182,-1.3242100856494698,1.3720437226684294,-7.596647943783868e-05,-0.0468359058801353,-0.023911503382498766],"joint_velocity":[-0.10834038830110748,0.197127237578375,-0.25165115806078053,-0.00033210080482598835,0.05411705572185259,0.09674547279471163],"joint_actuator_torque":[0.12973583573301184,-1.5404844196631302,-0.912388018869251,0.001797122710103561,-0.09331294794186196,-0.012812627444291458],"jaw_actuator_force":[-0.8488764253730494,-0.7862859933561976],"end_effector_position":[0.4178184910420165,0.011223547589183175,0.44736998088057367],"end_effector_quaternion":[0.9999987835777152,-5.05918328633271e-05,0.0004977416982290571,0.0014773411109139508],"end_effector_velocity":[0.05550812872186498,-0.043820490765025755,0.002615550700434753],"object_position":[0.41783646490951637,0.011243871198855332,0.4402673230353783],"object_quaternion":[0.9999988042502276,-3.929841720998447e-05,0.0005037713864884911,0.0014615635945386782],"object_velocity":[0.06034030043937546,-0.042241192661223205,-0.0008573304032983241],"object_angular_velocity":[-0.0005273129168219437,0.0024468731552157053,-0.015537137195463997],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06832191148318592,0.0018357452478761863,0.5015303785042635],[0.307960909391889,0.00827461884006157,0.49005468296209903],[0.3628781797459668,0.00975019403827072,0.4874248360670197],[0.41785830435012616,0.011227653757630832,0.48736996085606715],[0.4178184910420165,0.011223547589183175,0.44736998088057367]],"gripper_points":[[0.44381845035167317,0.011301165884093333,0.45534409829490213],[0.3918815054004336,0.01114771077269718,0.45539580861339285]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719739547316,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8350809632495394,"right":0.800078034652715},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.460000000000196,"stage":"transfer","target_distance":0.13325970445875007,"dwell_elapsed":0.0},{"joint_position":[0.024415175592132205,-1.3196966852841365,1.3661548201228797,-7.510667332271945e-05,-0.045470984085177114,-0.021476995561915062],"joint_velocity":[-0.10788178509132107,0.19768315497173786,-0.2516061046383047,-0.0003341325456228497,0.05359291057462811,0.09630521229008117],"joint_actuator_torque":[0.12983481358284,-1.5478519090628424,-0.9132263076048162,0.0018075113779730066,-0.09329085212460164,-0.012754187881969026],"jaw_actuator_force":[-0.8488195539524002,-0.7863235524334558],"end_effector_position":[0.4190887091234295,0.010231343802161392,0.4474646445885013],"end_effector_quaternion":[0.9999987958392041,-4.882842646111344e-05,0.000492584706321225,0.0014708148196569898],"end_effector_velocity":[0.0554553141177273,-0.04389752037344758,0.0021551537577586435],"object_position":[0.4191067202924329,0.010253265719555508,0.440353852635033],"object_quaternion":[0.9999988163384832,-3.763297819814226e-05,0.0004989056726056658,0.0014549909010534358],"object_velocity":[0.06027507049108637,-0.042322321501236444,-0.001323545962537015],"object_angular_velocity":[-0.0005357899571439653,0.0026515780345904502,-0.015527351998529521],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06955065966573028,0.0016984290600062808,0.5012191384817634],[0.30922025188797686,0.007551167225057655,0.49007319661965953],[0.36414453343890835,0.008892419721215261,0.48751891827626076],[0.41912811010707723,0.010235308031645378,0.48746462498658866],[0.4190887091234295,0.010231343802161392,0.4474646445885013]],"gripper_points":[[0.44508858945006713,0.010308594511535835,0.45543903031885324],[0.3931516412920438,0.010155817192673694,0.4554902046561672]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719807316491,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8350432108431463,"right":0.8000963430985928},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.480000000000185,"stage":"transfer","target_distance":0.1330143777201736,"dwell_elapsed":0.0},{"joint_position":[0.02197891447630715,-1.3151717528078934,1.3602686269583044,-7.424990799110612e-05,-0.044122192093976643,-0.019053851964833377],"joint_velocity":[-0.10741347170215557,0.19822631583964126,-0.25143889769205163,-0.00033615040694782885,0.052963070918546414,0.09585492877873875],"joint_actuator_torque":[0.12991992833646826,-1.555275206627698,-0.9141579004917162,0.0018175484560998666,-0.09325846502595603,-0.012694420493130298],"jaw_actuator_force":[-0.8487569435431421,-0.7863623170060343],"end_effector_position":[0.4203574980439124,0.009237701835771358,0.44754889966683487],"end_effector_quaternion":[0.9999988086403806,-4.707798875806356e-05,0.0004864775872534029,0.0014641861355243818],"end_effector_velocity":[0.05539688181109934,-0.043968954537411314,0.001661454128952299],"object_position":[0.42037555304659685,0.009261221513683979,0.4404298940804704],"object_quaternion":[0.9999988289657539,-3.5989878824438925e-05,0.000493100504603194,0.001448317555973365],"object_velocity":[0.06020379952633223,-0.042397905234136654,-0.0018217336311655578],"object_angular_velocity":[-0.0005435777219747129,0.0028677121681594617,-0.015516913867722486],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0707808266974283,0.0015559362880525108,0.5009015570909406],[0.31047891323385995,0.006825088520663209,0.49008197551294597],[0.36540972473179223,0.008032602573969826,0.48760248806798884],[0.42039641069005207,0.009241525053884137,0.4875488805566925],[0.4203574980439124,0.009237701835771358,0.44754889966683487]],"gripper_points":[[0.44635727805338143,0.009314579805223013,0.4555236031227663],[0.3944203264032654,0.009162490912227365,0.45557414278916536]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719892327402,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8350013054338732,"right":0.8001142662897502},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.500000000000174,"stage":"transfer","target_distance":0.1327779389437846,"dwell_elapsed":0.0},{"joint_position":[0.01955407948018201,-1.3106355702511094,1.354388231281455,-7.339805133302949e-05,-0.042792466270709116,-0.016642395905540883],"joint_velocity":[-0.10693288255613266,0.19876169125922893,-0.25113409456251745,-0.0003381262220043371,0.05221780846120605,0.09539168997492932],"joint_actuator_torque":[0.12998768476778988,-1.562765084460807,-0.9151955169408552,0.0018271572331955612,-0.09321515708465533,-0.012632935945775525],"jaw_actuator_force":[-0.8486868813065263,-0.7864040948191606],"end_effector_position":[0.42162474042331055,0.008242773571974638,0.4476219091331102],"end_effector_quaternion":[0.9999988220312579,-4.5347108589591154e-05,0.00047935520645119793,0.0014574286679656077],"end_effector_velocity":[0.055333678490596554,-0.04403358613743947,0.0011275512260797585],"object_position":[0.4216428432683231,0.008267892648853173,0.4404945987296807],"object_quaternion":[0.9999988421813408,-3.4376114804163054e-05,0.0004862957545931903,0.00144151680542161],"object_velocity":[0.06012713738353535,-0.04246677896202743,-0.0023586871512266986],"object_angular_velocity":[-0.0005508063513494343,0.003106548506872079,-0.015505979968158147],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.07201228300822009,0.0014083134052559076,0.5005776187146612],[0.31173676613737683,0.006096502545437699,0.4900803299673449],[0.36667362685447524,0.007170879223396025,0.4876747012960849],[0.4216630835074393,0.008246457226470008,0.48762189058608824],[0.42162474042331055,0.008242773571974638,0.4476219091331102]],"gripper_points":[[0.4476243947311375,0.008319272370468818,0.4555969831127673],[0.39568743929478367,0.00816788527849241,0.4556467826535939]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993719994419884,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8349545480218507,"right":0.800132596387624},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.520000000000163,"stage":"transfer","target_distance":0.13254960679508235,"dwell_elapsed":0.0},{"joint_position":[0.01714100150619186,-1.3060884372449286,1.3485169273956867,-7.255270334996236e-05,-0.041485070545367826,-0.014243019755422344],"joint_velocity":[-0.1064373124026419,0.19928665832832676,-0.2506843692460246,-0.00034003247065888604,0.05134329205533905,0.09491277541145575],"joint_actuator_torque":[0.1300344702500169,-1.5703262762762051,-0.9163452442057292,0.0018362613828751722,-0.09315919583228505,-0.012569373181597898],"jaw_actuator_force":[-0.8486110612677376,-0.7864470914948596],"end_effector_position":[0.4228903223795437,0.007246739147130515,0.44768279070603517],"end_effector_quaternion":[0.9999988360951962,-4.3641735299569555e-05,0.00047108298478002185,0.0014505117969815218],"end_effector_velocity":[0.05526552475806966,-0.044090159446458804,0.0005527963379460754],"object_position":[0.422908482036215,0.007273461615400811,0.4405470797733498],"object_quaternion":[0.9999988560721507,-3.279788535939816e-05,0.0004783523362909032,0.0014345583754097387],"object_velocity":[0.060045124408502036,-0.042527731072706104,-0.002934900698171099],"object_angular_velocity":[-0.0005571525116927892,0.0033600008513223903,-0.015494414448431663],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07324489464217601,0.0012556138240697088,0.5002473105190528],[0.31299368075424433,0.0053655506547099704,0.4900675277591972],[0.36793611090492667,0.0063074111783983635,0.4877346608767303],[0.42292800391023433,0.007250285146805036,0.4876827728001328],[0.4228903223795437,0.007246739147130515,0.44768279070603517]],"gripper_points":[[0.4488898261257305,0.007322850852126744,0.45565829500148936],[0.39695286658971574,0.0071721821171294034,0.4557072349835476]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720113786625,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8349037073376344,"right":0.8001504657913705},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.540000000000152,"stage":"transfer","target_distance":0.13232854872215313,"dwell_elapsed":0.0},{"joint_position":[0.014740099665486735,-1.3015305497876162,1.3426583074428027,-7.171536070492693e-05,-0.04020364449884081,-0.011856223421462543],"joint_velocity":[-0.10592271269221847,0.19980871399722663,-0.250074757277502,-0.0003418270850056931,0.05032542222041847,0.09441383978835388],"joint_actuator_torque":[0.1300548132540169,-1.5779718235129394,-0.9176197341878378,0.0018447482635612104,-0.09308931445358937,-0.012503155824428402],"jaw_actuator_force":[-0.8485275784226127,-0.7864933257360569],"end_effector_position":[0.4241541574606057,0.0062498193347732935,0.4477305360937923],"end_effector_quaternion":[0.9999988509144707,-4.196918933072315e-05,0.0004615392737795233,0.001443395241814893],"end_effector_velocity":[0.055194071214498645,-0.04413680449874715,-7.040061583488239e-05],"object_position":[0.4241723772753222,0.006278152730182093,0.4405863179099749],"object_quaternion":[0.9999988707217644,-3.126302387087126e-05,0.0004691504479471577,0.001427401722514239],"object_velocity":[0.05995939604680354,-0.042578953691148204,-0.0035578794106115286],"object_angular_velocity":[-0.0005626348241264886,0.0036377240550605774,-0.015482224810951064],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07447855605897992,0.0010979008542391416,0.4999106135391561],[0.31424955562952955,0.004632405269735789,0.4900427341582377],[0.36919707636444715,0.005442395864953771,0.4877813451334439],[0.42419107571382997,0.006253230160748991,0.4877305189113992],[0.4241541574606057,0.0062498193347732935,0.4477305360937923]],"gripper_points":[[0.45015347647068876,0.0063255340230562685,0.4557065368276494],[0.39821651250646944,0.00617560438550266,0.4557544851825268]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720250226779,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8348480863182719,"right":0.8001686847161412},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.56000000000014,"stage":"transfer","target_distance":0.13211378845853086,"dwell_elapsed":0.0},{"joint_position":[0.012351899258570576,-1.2969620855928705,1.3368162894562927,-7.088721269235295e-05,-0.03895228933639375,-0.009482631927246908],"joint_velocity":[-0.10538429741286652,0.20032734270868713,-0.24929188017150627,-0.00034346441612935773,0.04914529672330656,0.09388989691034867],"joint_actuator_torque":[0.13004237252711492,-1.5857126501108496,-0.9190306230238434,0.0018524943672405658,-0.09300333108148351,-0.012433621911978499],"jaw_actuator_force":[-0.8484385349808443,-0.7865406091297462],"end_effector_position":[0.42541617081255406,0.005252283222961186,0.44776404157918953],"end_effector_quaternion":[0.9999988666009744,-4.033710645410535e-05,0.0004505437349306895,0.0014360292571213263],"end_effector_velocity":[0.05511953484017935,-0.044171346332337345,-0.0007454404618133931],"object_position":[0.42543446006431745,0.005282239245062219,0.4406112005427104],"object_quaternion":[0.9999988862456095,-2.9779738003708337e-05,0.00045850704228851577,0.0014199971833415944],"object_velocity":[0.059870414352704,-0.04261834576938303,-0.00423082661978069],"object_angular_velocity":[-0.0005669961408461921,0.003935078225016995,-0.015469301986745985],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07571316705096344,0.000935248975907751,0.4995675085103285],[0.31550429581147044,0.0038972754812059995,0.4900050314910691],[0.3704564294857533,0.0045760732220035145,0.4878136305074888],[0.4254522096364757,0.005255561947338869,0.4877640252098504],[0.42541617081255406,0.005252283222961186,0.44776404157918953]],"gripper_points":[[0.4514152713200553,0.00532758851353488,0.45574061424570506],[0.3994783025744667,0.0051784238813099345,0.45578742017339363]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720403874884,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8347886218092817,"right":0.800186230862155},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.58000000000013,"stage":"transfer","target_distance":0.13190424399240877,"dwell_elapsed":0.0},{"joint_position":[0.009977062722708976,-1.292383142990723,1.330995290947179,-7.006919799103812e-05,-0.03773569212880512,-0.007123038819188833],"joint_velocity":[-0.10481583416686345,0.20084864376069525,-0.24831192451050768,-0.00034488488060541893,0.04778031614181328,0.09333417932610603],"joint_actuator_torque":[0.12998880594255202,-1.5935660450666091,-0.9205974790660889,0.0018593385471730693,-0.09289906959168936,-0.012359873082685269],"jaw_actuator_force":[-0.8483425558931623,-0.7865904827811905],"end_effector_position":[0.4266763092962274,0.004254462041513755,0.44778202795984245],"end_effector_quaternion":[0.9999988832751208,-3.875462054154234e-05,0.0004379125559377741,0.0014283484113612069],"end_effector_velocity":[0.055043217652135504,-0.04419095435498719,-0.0014819944004079704],"object_position":[0.4266946762502532,0.004286057764965002,0.4406204314947428],"object_quaternion":[0.9999989027664022,-2.8357995200212908e-05,0.0004462396802200374,0.0014122789964855884],"object_velocity":[0.05977936672681203,-0.04264317102658195,-0.004963224825173626],"object_angular_velocity":[-0.0005701608696040652,0.004261245321128727,-0.015455729265518817],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07694864926151541,0.0007677469745792178,0.49921797105953264],[0.31675782772043587,0.003160417580302831,0.4899533580492569],[0.3717140977839385,0.0037087379274478257,0.48783021756773537],[0.42671133783317217,0.004257612447031106,0.4877820124982963],[0.4266763092962274,0.004254462041513755,0.44778202795984245]],"gripper_points":[[0.45267515133910263,0.00432934228519869,0.4557592576107963],[0.40073817743766127,0.0041809753631237645,0.45580475121900815]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720574357993,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.834724826125341,"right":0.800203757658984},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.600000000000119,"stage":"transfer","target_distance":0.13169863988782332,"dwell_elapsed":0.0},{"joint_position":[0.007616431459801443,-1.2877937506389376,1.3252002916143768,-6.926187181829156e-05,-0.03655929970891673,-0.004778454043454316],"joint_velocity":[-0.10420918881230044,0.20137579606960557,-0.2471104031697477,-0.00034601030269171366,0.04619996076153762,0.0927380189721741],"joint_actuator_torque":[0.1298832912191824,-1.6015519637765578,-0.9223415218812647,0.001865077598948034,-0.0927732438013198,-0.012280758682507345],"jaw_actuator_force":[-0.8482405283275511,-0.7866420646037717],"end_effector_position":[0.4279345442660257,0.003256767690056223,0.4477830318316644],"end_effector_quaternion":[0.9999989010919536,-3.723193874196755e-05,0.00042339800997742455,0.0014202685637242792],"end_effector_velocity":[0.054966120383117295,-0.044191959408064876,-0.0022883186268334737],"object_position":[0.42795299982081475,0.0032900272205883753,0.44061253069476525],"object_quaternion":[0.9999989204447298,-2.700902892501244e-05,0.0004320957609848049,0.0014041627901007318],"object_velocity":[0.059687483777523774,-0.04264988061123214,-0.005763050269026938],"object_angular_velocity":[-0.000571876487582022,0.0046159488815969325,-0.015441474451973435],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.07818494356777352,0.0005955017789419163,0.49886197197992754],[0.31801009692882476,0.0024221489432738265,0.4898864956424132],[0.37297002790739897,0.002840755585099889,0.4878296156483995],[0.42796841183925366,0.0032597943489931034,0.48778301737949703],[0.4279345442660257,0.003256767690056223,0.4477830318316644]],"gripper_points":[[0.45393308279780936,0.0033312030191096674,0.4557610163966961],[0.401996103335318,0.0031836752521728993,0.4558050020618738]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720761523484,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8346572110104166,"right":0.8002207600955855},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.620000000000108,"stage":"transfer","target_distance":0.1314955056021595,"dwell_elapsed":0.0},{"joint_position":[0.005271082448143072,-1.2831937953962247,1.3194369894214633,-6.84653687347999e-05,-0.03542952164344902,-0.0024501727967972797],"joint_velocity":[-0.10355364343243222,0.20191764784783534,-0.24565417212546442,-0.0003467407568973289,0.044366426067916374,0.09208997489070755],"joint_actuator_torque":[0.12971152763557386,-1.6096981483308923,-0.9242912010532791,0.001869448596748962,-0.09262194697101789,-0.012194760222256726],"jaw_actuator_force":[-0.8481317258762493,-0.7866962106501623],"end_effector_position":[0.429190888787451,0.0022597179662353856,0.44776533076292213],"end_effector_quaternion":[0.9999989202351205,-3.578108928911934e-05,0.00040670107313813393,0.0014116807514080276],"end_effector_velocity":[0.05489038782951636,-0.04416953612874312,-0.003177753772740856],"object_position":[0.42920944217180507,0.0022946746560783883,0.4405857527060964],"object_quaternion":[0.9999989394694948,-2.574628800453862e-05,0.0004157729578310591,0.0013955392730938053],"object_velocity":[0.05959705521847886,-0.04263380545149294,-0.006643351050998136],"object_angular_velocity":[-0.0005719286788874881,0.005006771344533965,-0.015426510755969155],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07942202949496244,0.00041864394291836704,0.4984994710761092],[0.31926108653531754,0.0016828670954073888,0.4898030087025926],[0.3742242037737323,0.001972584901186123,0.4878100694086617],[0.42922342079725273,0.002262626380853824,0.4877653174280382],[0.429190888787451,0.0022597179662353856,0.44776533076292213]],"gripper_points":[[0.4551890680164485,0.0023336830186620125,0.45574418371928543],[0.4032520825530207,0.002187047170308039,0.45578643475832115]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993720965021735,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8345856620472087,"right":0.8002374835667354},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.640000000000096,"stage":"transfer","target_distance":0.13129309416611207,"dwell_elapsed":0.0},{"joint_position":[0.002942424665427544,-1.2785830927350146,1.3137120895162102,-6.767925203154296e-05,-0.03435412349153327,-0.00013990489559327377],"joint_velocity":[-0.10283400959789633,0.20247825366664968,-0.24389806285941862,-0.0003469285633684396,0.0422255575691168,0.09137334874463657],"joint_actuator_torque":[0.12945335927392265,-1.6180365368749108,-0.926483886841595,0.001872088568518229,-0.09243921264315036,-0.012099660016749003],"jaw_actuator_force":[-0.8480174427678566,-0.7867516957990901],"end_effector_position":[0.4304453851244132,0.0012639790428740155,0.4477268932720909],"end_effector_quaternion":[0.9999989409624191,-3.441626955159723e-05,0.00038738405385011323,0.0014024347241433485],"end_effector_velocity":[0.05481724545123115,-0.04411688588218625,-0.0041649327669529244],"object_position":[0.43046405307218577,0.0013006793571693617,0.44053803554854815],"object_quaternion":[0.9999989601084591,-2.45859049490291e-05,0.0003968247990015311,0.0013862566911907277],"object_velocity":[0.05950948746584512,-0.042588364563049076,-0.007618300834715226],"object_angular_velocity":[-0.0005699785878205142,0.0054335311957078684,-0.015411184540386978],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0806599063080212,0.00023733638277414695,0.4981304219700231],[0.32051079766450397,0.0009430815982758617,0.48970119666804685],[0.37547662693369793,0.001104814876828338,0.4877694992030106],[0.43047637195457517,0.0012667758039901892,0.4877268811720202],[0.4304453851244132,0.0012639790428740155,0.4477268932720909]],"gripper_points":[[0.45644314383585677,0.001337440869818974,0.45570675084628787],[0.40450615188103595,0.0011917653102482835,0.4557469951126761]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993721184550397,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8345108694241105,"right":0.8002533102772156},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.660000000000085,"stage":"transfer","target_distance":0.13108933186098826,"dwell_elapsed":0.0},{"joint_position":[0.0006323222804238873,-1.2739612429981768,1.3080337369187278,-6.690228193018649e-05,-0.03334274861570465,0.002150078645224133],"joint_velocity":[-0.10202951169591372,0.2030723197055667,-0.24177526970687102,-0.00034637831661894677,0.03970350784954345,0.09056561099380993],"joint_actuator_torque":[0.12908111924308852,-1.6266176754310777,-0.9289755978867333,0.001872509322164811,-0.0922173798946786,-0.011992467181613842],"jaw_actuator_force":[-0.8478955354999327,-0.7868108853084843],"end_effector_position":[0.4316981376140222,0.00027042044894243407,0.44766519365068447],"end_effector_quaternion":[0.9999989635869799,-3.3155235613409476e-05,0.0003648979099772264,0.00139232726446409],"end_effector_velocity":[0.05475004915559492,-0.044024709847205815,-0.005275605538330953],"object_position":[0.43171693405277756,0.0003089287368140734,0.4404668073574258],"object_quaternion":[0.9999989826851983,-2.3548379373357018e-05,0.00037469214592780465,0.0013761104019886486],"object_velocity":[0.059428240730545735,-0.04250455472165503,-0.00871308283884413],"object_angular_velocity":[-0.0005656803858224297,0.005910761287083079,-0.015395713477865006],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08189863170552658,5.1786336465570454e-05,0.4977547598884806],[0.3217592850497398,0.00020345559198619434,0.48957894349352093],[0.37672735144112196,0.00023821312970967066,0.48770531890300933],[0.4317273257235305,0.00027311350962720997,0.4876651829107041],[0.4316981376140222,0.00027042044894243407,0.44766519365068447]],"gripper_points":[[0.4576953953719064,0.0003433357828484029,0.45564622061429194],[0.40575839637649164,0.00019870999071614937,0.4556841289319765]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993721419473727,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8344322225332617,"right":0.8002690766680343},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.680000000000074,"stage":"transfer","target_distance":0.13088162432263706,"dwell_elapsed":0.0},{"joint_position":[-0.001656693572438302,-1.2693277266429261,1.3024120974298952,-6.613213682880355e-05,-0.032407738795768914,0.004416658162595162],"joint_velocity":[-0.10110953517357914,0.20370736110360463,-0.23919500415822015,-0.0003447895722846137,0.036692535839284786,0.08963253080764236],"joint_actuator_torque":[0.12855414542263244,-1.635503508536658,-0.9318410795524414,0.0018700014749291009,-0.0919445995130066,-0.011868634768051667],"jaw_actuator_force":[-0.8477676293165795,-0.7868721692336589],"end_effector_position":[0.4329492991714482,-0.0007197910222939934,0.44757709374251337],"end_effector_quaternion":[0.999998988555146,-3.202083475586657e-05,0.0003384147860358915,0.00138106436610937],"end_effector_velocity":[0.05469090455737209,-0.04387933555709166,-0.006539016072153458],"object_position":[0.4329682496147375,-0.0006793839942151853,0.44036886873960945],"object_quaternion":[0.9999990076648347,-2.266056220887035e-05,0.00034852604614288047,0.0013648023453676922],"object_velocity":[0.0593557591491238,-0.04236913143698127,-0.009956043276418936],"object_angular_velocity":[-0.0005585085722638332,0.006438775650255861,-0.015381293608783889],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08313829644708379,-0.00013773480735790333,0.49737240824924267],[0.32300663018103976,-0.0005351234976486165,0.48943360771488315],[0.37797645666173796,-0.0006261917391735716,0.48761429925909244],[0.4329763687891213,-0.000717191968296352,0.4875770844985213],[0.4329492991714482,-0.0007197910222939934,0.44757709374251337]],"gripper_points":[[0.4589459625019353,-0.0006474803803307703,0.4555594978953355],[0.40700895582613256,-0.0007909363881213336,0.45559465509755315]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993721669571274,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8343506418531678,"right":0.8002838854717357},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.700000000000063,"stage":"transfer","target_distance":0.1306667379427801,"dwell_elapsed":0.0},{"joint_position":[-0.0021800608271458233,-1.2681717690953136,1.3049056200040505,-6.597787345134238e-05,-0.03882190247387119,0.0039278693688867775],"joint_velocity":[-0.012595926039645825,0.053422208620327115,0.22399445020775127,0.001026448638751719,-0.3246326307897519,-0.027740673236606398],"joint_actuator_torque":[0.014615620265001183,-1.5040965965545183,-1.1367145202347047,-0.00011199118612762338,-0.038529873296347716,0.0037595969006675722],"jaw_actuator_force":[-0.8542242747036477,-0.778240952712177],"end_effector_position":[0.43333078245035656,-0.0009471852520965376,0.4465570060945239],"end_effector_quaternion":[0.9999990715180471,-3.6153658177420325e-05,-0.0010439200486597675,0.0008751496379807667],"end_effector_velocity":[0.01314427285536757,-0.005446837492959076,-0.08363983754895205],"object_position":[0.4335632985980268,-0.000825555421572203,0.4390338491739797],"object_quaternion":[0.9999989569656837,-3.0370065476982914e-05,-0.0011952961485404041,0.0008101927679690103],"object_velocity":[0.008402312734466306,-0.004971494809973418,-0.08588428517016615],"object_angular_velocity":[0.0029230239440652104,0.0024166669092602665,-0.027043370637110042],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08344722777870171,-0.00018192032061647997,0.49727612516094],[0.3232847509548683,-0.0007047815381008876,0.4884619835198584],[0.3782475166827398,-0.0008246039004410643,0.4864420760604439],[0.4332472663928158,-0.0009443660490279988,0.48655691880843155],[0.43333078245035656,-0.0009471852520965376,0.4465570060945239]],"gripper_points":[[0.45952302934694694,-0.0009007457990872485,0.4546117072280259],[0.4075870213612755,-0.0009916535295341946,0.4545032761328123]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993620073711204,"grasp_contacts":{"left":3,"right":4},"pad_normal_forces":{"left":0.8296258609186222,"right":0.8014860298288164},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.720000000000052,"stage":"place","target_distance":0.12929787405169013,"dwell_elapsed":0.0},{"joint_position":[-0.0024340943454273967,-1.2671783899649491,1.309670506149065,-5.6407103847068433e-05,-0.04522260259458039,0.003570198760267446],"joint_velocity":[-0.01108777444648411,0.04706744377788529,0.20547236450452225,0.00031852890449702887,-0.25066187311113786,-0.013350536568013367],"joint_actuator_torque":[0.014340961798131602,-1.649781821119575,-1.2261320571183774,0.00019598904644341913,-0.065083196382405,0.0018114318878802438],"jaw_actuator_force":[-0.8128895614200538,-0.8214731412802205],"end_effector_position":[0.43355433319729875,-0.001057427968348267,0.4448120217002856],"end_effector_quaternion":[0.9999989056140024,-3.2274957728198434e-05,-0.0013651520385453133,0.0005692881838685463],"end_effector_velocity":[0.009324861880228382,-0.0048171402313101404,-0.07847564005377279],"object_position":[0.4336645560408414,-0.0009338300711686897,0.4372752607229381],"object_quaternion":[0.9999989769228449,-2.482137559429898e-05,-0.0013147647250407394,0.0005629661462405822],"object_velocity":[0.004452000721083653,-0.004667796783724499,-0.0768144277874801],"object_angular_velocity":[0.0002465852091613576,0.020235802251498073,-0.02216567336607157],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08371264339394428,-0.00020376487434921932,0.497193098368716],[0.3234952960649187,-0.0007874196260298724,0.4869980591239813],[0.37844548730201705,-0.0009211738399566887,0.4846616959637296],[0.4334451196838352,-0.0010549081477496903,0.4848118725257447],[0.43355433319729875,-0.001057427968348267,0.4448120217002856]],"gripper_points":[[0.45959909905713997,-0.001027242785342111,0.4528831609086388],[0.4076633241999343,-0.001086380401878436,0.45274136189405817]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399360021010145,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.816467722324253,"right":0.8177802077529575},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.740000000000041,"stage":"place","target_distance":0.12753350900841434,"dwell_elapsed":0.0},{"joint_position":[-0.0026587642405723655,-1.26632388925675,1.3145248645149459,-5.057433554269536e-05,-0.051342786735039385,0.0034263126336191276],"joint_velocity":[-0.009800678010474111,0.04288404935841275,0.21230537003294217,0.00020453730760678807,-0.24406392064319976,-0.005240882500917764],"joint_actuator_torque":[0.012678439242347572,-1.6418739773271227,-1.2259772120213484,0.00018789121137600517,-0.06568952606251255,0.0007202096730348218],"jaw_actuator_force":[-0.8125188526087959,-0.8176725186173996],"end_effector_position":[0.4337224148722285,-0.0011550459267730168,0.44308068260290634],"end_effector_quaternion":[0.9999986916840741,-3.0035267892176737e-05,-0.0015708209790754693,0.0003850317836902459],"end_effector_velocity":[0.007373623808254383,-0.0042621118652952615,-0.07940647991564598],"object_position":[0.4337700747589646,-0.001030357043681652,0.43552918026120463],"object_quaternion":[0.9999987940176168,-2.370534594960544e-05,-0.0015023012622087642,0.00039305506993332824],"object_velocity":[0.005807540433506276,-0.0041251008903521675,-0.07772449039945228],"object_angular_velocity":[0.00015817127941984054,0.026819227323059785,-0.014579871959789907],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08394088079608523,-0.00022317953807044183,0.4971214681040654],[0.3236612873912702,-0.0008605410847039502,0.48555771300037753],[0.37859721390266676,-0.0010066031058074624,0.48290768578911575],[0.43359674843315027,-0.0011526914937655668,0.4830804851324531],[0.4337224148722285,-0.0011550459267730168,0.44308068260290634]],"gripper_points":[[0.4596888963397498,-0.0011345573134851229,0.4511622991754772],[0.4077520233763882,-0.0011745570648554597,0.4509991326773274]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937144670251064,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8148938962288671,"right":0.8152091274184683},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.76000000000003,"stage":"place","target_distance":0.12578189224475908,"dwell_elapsed":0.0},{"joint_position":[-0.002864399706599348,-1.2655216897214379,1.3194530310250256,-4.6695529748982995e-05,-0.057319024281661086,0.0034098811901208466],"joint_velocity":[-0.009011493339232842,0.04062972822380678,0.21518728379796706,0.00012619847348893366,-0.2382825711987258,-0.00037889989847055764],"joint_actuator_torque":[0.011650600808886802,-1.642619142542003,-1.2271933329399758,0.0001835005528642011,-0.0663954119777781,6.61909854864362e-05],"jaw_actuator_force":[-0.8139981099612168,-0.8124567278451122],"end_effector_position":[0.43385992885807156,-0.001244469283279569,0.44133856204395666],"end_effector_quaternion":[0.9999985276305545,-2.862534599111542e-05,-0.0016937592117111462,0.000274038401045795],"end_effector_velocity":[0.006072991426413136,-0.003921875000625395,-0.07974227275125308],"object_position":[0.4338909098202021,-0.0011190753583831246,0.4337751792611002],"object_quaternion":[0.9999986452960232,-2.3311446046404708e-05,-0.001620984200668947,0.0002850840505473156],"object_velocity":[0.005885940452035644,-0.0037959486996106346,-0.07800468018618438],"object_angular_velocity":[9.937980113532419e-05,0.03217176389593049,-0.00964353807990685],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08415508993424745,-0.00024105447418362668,0.49705404458816793],[0.3238051606339073,-0.0009275099437899412,0.4841167963283461],[0.37872496850257936,-0.0010848226555747217,0.4811520102688036],[0.4337244276930863,-0.0012422163913773374,0.48133833247278246],[0.43385992885807156,-0.001244469283279569,0.44133856204395666]],"gripper_points":[[0.4598051830870521,-0.001229781278543849,0.4494264979399647],[0.4078680261823601,-0.0012582519914172382,0.44925055990207785]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937462703883264,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8142695229539356,"right":0.812132870561588},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.780000000000019,"stage":"place","target_distance":0.12402193116259534,"dwell_elapsed":0.0},{"joint_position":[-0.003058609007867962,-1.2647417960869187,1.3244089254129683,-4.4012407570176994e-05,-0.06320165811788207,0.0034702977307859155],"joint_velocity":[-0.008539819729092301,0.03970638572176517,0.21628346965623169,7.87476331447159e-05,-0.23461867521103147,0.0025542430754542703],"joint_actuator_torque":[0.011042030764920607,-1.6428611257215948,-1.2275340582763192,0.00018043976467640435,-0.06692850439739395,-0.0003284977093200303],"jaw_actuator_force":[-0.8131664942085584,-0.8102747493235753],"end_effector_position":[0.4339777169920034,-0.001328976393195626,0.4395916188768525],"end_effector_quaternion":[0.9999984166825164,-2.77337110293078e-05,-0.001767182356434594,0.00020719512601548158],"end_effector_velocity":[0.005235881245828539,-0.0037186777740232176,-0.07991082679317409],"object_position":[0.43400561210369176,-0.0012031569262224674,0.43201790534767515],"object_quaternion":[0.9999985363277891,-2.3363357504656734e-05,-0.0016969657566717092,0.0002170337598224193],"object_velocity":[0.005339635323572857,-0.003600241567517075,-0.07815515358709957],"object_angular_velocity":[6.59417388781545e-05,0.03571294988791249,-0.0064838929293545965],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0843632886933213,-0.00025803511937843416,0.4969883310909383],[0.32393507485541545,-0.0009907938275739165,0.4826767155364529],[0.378836942517562,-0.001158717698202048,0.47939697030521666],[0.4338363421676263,-0.0013267869919518656,0.4795913689806413],[0.4339777169920034,-0.001328976393195626,0.4395916188768525]],"gripper_points":[[0.4599181361157794,-0.0013177747426650148,0.44768335187101255],[0.4079808597378363,-0.0013393022368889897,0.4474997863193483]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993760523265984,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8129772167837568,"right":0.810420425890716},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.800000000000008,"stage":"place","target_distance":0.12225919848894834,"dwell_elapsed":0.0},{"joint_position":[-0.003245926604872149,-1.2639653636388828,1.3293666482398263,-4.2060404447234364e-05,-0.0690228250597858,0.003576966093092057],"joint_velocity":[-0.008254864988321503,0.03957817001648994,0.21629720124607457,5.010004199060717e-05,-0.2322090279714784,0.004319164274714097],"joint_actuator_torque":[0.010677635776179306,-1.643153845622237,-1.2273237203249323,0.0001776803124280764,-0.06731831517798259,-0.0005660876652605062],"jaw_actuator_force":[-0.8116880445968082,-0.8091706468604416],"end_effector_position":[0.4340824841589983,-0.0014105237053323846,0.43784256667221594],"end_effector_quaternion":[0.9999983464027482,-2.715992658052531e-05,-0.0018106871213634274,0.00016693189105743375],"end_effector_velocity":[0.004677537713198648,-0.0035961410526949467,-0.07997409123490172],"object_position":[0.43410942837521665,-0.0012844500977662026,0.4302594162440243],"object_quaternion":[0.9999984625898375,-2.3693836833042096e-05,-0.0017446624199277559,0.00017438349227792455],"object_velocity":[0.004812913715351934,-0.003482383248042165,-0.07821855315397852],"object_angular_velocity":[4.8760933816457775e-05,0.038007162446641804,-0.004479913611089829],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08457051074028912,-0.0002745106348851738,0.49692274791976426],[0.3240561526856288,-0.0010518661816452768,0.48123762693258476],[0.37893827896476917,-0.0012300101611111337,0.47764312003968945],[0.4339376290661124,-0.0014083750957128915,0.4778423043261749],[0.4340824841589983,-0.0014105237053323846,0.43784256667221594]],"gripper_points":[[0.4600207719234828,-0.0014014218591255434,0.4459365515960163],[0.408083404167973,-0.001418767059551492,0.4457484664883714]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993771121482689,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8115678932890062,"right":0.8092512033620773},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.819999999999997,"stage":"place","target_distance":0.1204959021722343,"dwell_elapsed":0.0},{"joint_position":[-0.0034290376565183516,-1.2631808414470742,1.3343107166199106,-4.05555117415665e-05,-0.07480238125461802,0.0037114058499165916],"joint_velocity":[-0.008080648826812182,0.03993958294799461,0.21566865316056721,3.289086846725831e-05,-0.23057456567221085,0.005378662851545677],"joint_actuator_torque":[0.01045678455866983,-1.643691531101524,-1.2267342808048625,0.0001748777143824546,-0.06758355401715477,-0.0007087571007385329],"jaw_actuator_force":[-0.8103109035526144,-0.8082559215385237],"end_effector_position":[0.4341783528278619,-0.0014902707543273238,0.43609295153235983],"end_effector_quaternion":[0.9999983037070984,-2.677948390911157e-05,-0.0018361681024305595,0.0001426621349437362],"end_effector_velocity":[0.004290798638375201,-0.0035214798605932808,-0.07998036864388756],"object_position":[0.4342045082436362,-0.0013640458453460231,0.4285008813109103],"object_quaternion":[0.9999984150934552,-2.4196520829539094e-05,-0.0017740884687817975,0.00014776742183386963],"object_velocity":[0.004431821276858882,-0.00341062800751761,-0.07823527140957781],"object_angular_velocity":[4.17851212229847e-05,0.03947131889662277,-0.003218075516734833],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08477983859767318,-0.0002907143985014938,0.4968563179924565],[0.32417155201212444,-0.0011116008158700004,0.4797995394577201],[0.3790321530029362,-0.0012997206198502832,0.475890694376843],[0.4340314593232083,-0.0014881493553815914,0.47609268175392455],[0.4341783528278619,-0.0014902707543273238,0.43609295153235983]],"gripper_points":[[0.4601150258406648,-0.0014824351384955922,0.44418825393519623],[0.40817757524405396,-0.001497259336791518,0.44399752158148753]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399378029287242,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8102944936755572,"right":0.8082356477318365},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.839999999999986,"stage":"place","target_distance":0.11873305633682889,"dwell_elapsed":0.0},{"joint_position":[-0.0036095289807663317,-1.2623810923893097,1.339231751760541,-3.9324776885417554e-05,-0.08055249257118306,0.0038624556428016816],"joint_velocity":[-0.00797183661629147,0.04060049814112408,0.21464978749118982,2.2630377858338665e-05,-0.22941292518431622,0.006012115262579466],"joint_actuator_torque":[0.010320372482235163,-1.6444461013099954,-1.225895905144796,0.0001719548440192076,-0.06776417532344148,-0.000794076445683356],"jaw_actuator_force":[-0.809150934544026,-0.8073757313447043],"end_effector_position":[0.43426788025713164,-0.0015689031706928043,0.43434366887695214],"end_effector_quaternion":[0.999998278669086,-2.6516379413980185e-05,-0.0018508293946076964,0.00012800897799177574],"end_effector_velocity":[0.004009917231687752,-0.0034751059567565364,-0.07995224396294005],"object_position":[0.4342934035824659,-0.0014425880744141904,0.4267429852259312],"object_quaternion":[0.9999983856468035,-2.4805291666463466e-05,-0.0017918912183048823,0.00013120344917340733],"object_velocity":[0.004159025800995098,-0.0033660969634753046,-0.07822356562949812],"object_angular_velocity":[4.1102182443894424e-05,0.040389759618169235,-0.002428267476158235],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08499317430863707,-0.00030678665817923,0.4967884296645715],[0.3242832413620098,-0.0011705148411061271,0.4783624213280284],[0.3791205483950744,-0.0013684525496935412,0.47413979441757065],[0.43411981388888743,-0.0015668008178135022,0.4743433947751468],[0.43426788025713164,-0.0015689031706928043,0.43434366887695214]],"gripper_points":[[0.46020340943145727,-0.001561832574486453,0.44243972847427704],[0.4082658826030806,-0.0015751346805325777,0.442247472831653]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993788436417582,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8091919260848305,"right":0.807300328978065},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.859999999999975,"stage":"place","target_distance":0.11697119237484958,"dwell_elapsed":0.0},{"joint_position":[-0.0037883337513711134,-1.2615616621587487,1.344123964181356,-3.8263183764042065e-05,-0.08628053206265333,0.004023373923106065],"joint_velocity":[-0.007901455871967698,0.04144834195486361,0.21338986073229402,1.658002645534263e-05,-0.22853698319714788,0.006388231822114341],"joint_actuator_torque":[0.010233565486489571,-1.6453452336863847,-1.2248917199404445,0.00016892259072106034,-0.06789306827755581,-0.0008447506091569523],"jaw_actuator_force":[-0.8081683324100997,-0.806549863849181],"end_effector_position":[0.43435267297186325,-0.0016468242563328658,0.43259525430276574],"end_effector_quaternion":[0.9999982645681038,-2.6324720641270938e-05,-0.001859025308830036,0.00011913308076974334],"end_effector_velocity":[0.0037955899001813516,-0.0034453553402779657,-0.07990356909111762],"object_position":[0.4343777680135272,-0.0015204552648727535,0.4249861394367983],"object_quaternion":[0.9999983680640889,-2.5479632033013204e-05,-0.0018023878875995498,0.00012090429531383624],"object_velocity":[0.003950870450182136,-0.003337561785509257,-0.07819488461833837],"object_angular_velocity":[4.426041434597934e-05,0.040957271231210145,-0.001936312202772099],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0852117024713137,-0.00032281191276079,0.4967186936725833],[0.32439246666287935,-0.0012289128090579797,0.47692624506448],[0.3792047251234465,-0.0014365609311260857,0.47239047559178965],[0.4342039509543622,-0.0016447360000493266,0.4725949777693186],[0.43435267297186325,-0.0016468242563328658,0.43259525430276574]],"gripper_points":[[0.4602874867648208,-0.0016402175559169334,0.44069173687732965],[0.40834989057557686,-0.0016525976755244005,0.44049862958640007]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039937956656092476,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8082364541868494,"right":0.8064490790146451},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.879999999999963,"stage":"place","target_distance":0.11521062484043104,"dwell_elapsed":0.0},{"joint_position":[-0.003965996716716764,-1.2607197012881166,1.3489837438726773,-3.730718612868052e-05,-0.09199089911031627,0.0041900875070311],"joint_velocity":[-0.007853478476875937,0.04241633564099634,0.21197967696150116,1.3073359061523842e-05,-0.2278310467309522,0.00660886392876862],"joint_actuator_torque":[0.01017568338817143,-1.6463403160982466,-1.2237739513429915,0.00016580469955489998,-0.06799159452736347,-0.0008744909077804119],"jaw_actuator_force":[-0.8073225227580947,-0.8057980611472768],"end_effector_position":[0.43443376155254015,-0.001724269403981865,0.4308480106395451],"end_effector_quaternion":[0.9999982571788887,-2.617684211632952e-05,-0.0018633359281829862,0.00011372412639549994],"end_effector_velocity":[0.003624131322429294,-0.003425291850096061,-0.07984362703372765],"object_position":[0.43445858726678666,-0.0015978680434222232,0.42323057106006345],"object_quaternion":[0.9999983581371614,-2.6194777179386348e-05,-0.0018082945119847107,0.00011448917531670397],"object_velocity":[0.0037819258016773753,-0.003318342216305795,-0.07815705009386914],"object_angular_velocity":[4.9757354382418096e-05,0.04130556349211249,-0.0016310507168247634],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08543617848247996,-0.0003388413799122391,0.49664685370885053],[0.32450004015901607,-0.0012869728415065497,0.47549097776306304],[0.37928550845988895,-0.0015042529681219127,0.4706427561921534],[0.4342846946999273,-0.001722192212762332,0.4708477328230644],[0.43443376155254015,-0.001724269403981865,0.4308480106395451]],"gripper_points":[[0.4603681591962253,-0.0017179458875474585,0.4389447155218965],[0.4084305005916989,-0.0017297641456835951,0.43875116020878824]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993802060774747,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8074034291499153,"right":0.8056858097163155},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.899999999999952,"stage":"place","target_distance":0.11345152375984653,"dwell_elapsed":0.0},{"joint_position":[-0.0041428344044354025,-1.2598533268365097,1.3538086972739396,-3.641844368915566e-05,-0.09768620327079724,0.004360136584629035],"joint_velocity":[-0.007818508711275974,0.04346349221622046,0.21046872146957138,1.1097821169581058e-05,-0.22722625636903404,0.0067356029156668724],"joint_actuator_torque":[0.010134599139454581,-1.6474010005211426,-1.2225696434908286,0.00016262632304095978,-0.0680719970431376,-0.000891589331069087],"jaw_actuator_force":[-0.8065888226556428,-0.8051232210622103],"end_effector_position":[0.4345118353753504,-0.001801375326960328,0.4291021337088592],"end_effector_quaternion":[0.9999982538537069,-2.6056289211177385e-05,-0.00186532141483723,0.00011039305395486122],"end_effector_velocity":[0.0034814739555821175,-0.003410848646719486,-0.07977583410062182],"object_position":[0.4345364923019476,-0.001674954478105966,0.4214764345108734],"object_quaternion":[0.9999983530440517,-2.6935864312962135e-05,-0.0018113475212193657,0.00011047080805542434],"object_velocity":[0.0036392113353949968,-0.0033045233018996457,-0.07811261558454863],"object_angular_velocity":[5.6643631825352826e-05,0.04151296592458436,-0.001442142142963857],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08566709917260402,-0.00035490663621273033,0.49657273334051033],[0.32460651433208304,-0.0013447987291156122,0.47405660585618165],[0.37936346363946366,-0.001571649000405856,0.4688966599743563],[0.43436260969261864,-0.0017993073009454886,0.4691018553006263],[0.4345118353753504,-0.001801375326960328,0.4291021337088592]],"gripper_points":[[0.46044599950502474,-0.001795226675290531,0.4371989408301222],[0.4085082851621161,-0.0018066989098781607,0.43700517905256364]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993807703798999,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8066749538652557,"right":0.8050067320951586},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.919999999999941,"stage":"place","target_distance":0.11169400783564973,"dwell_elapsed":0.0},{"joint_position":[-0.004319027709363736,-1.2589612860763015,1.3585971549085871,-3.557397871890541e-05,-0.10336796221091933,0.004532034271142367],"joint_velocity":[-0.007790947419818432,0.044563145561543206,0.20888693729959187,1.0038631571126914e-05,-0.22668027518460152,0.006805580745647388],"joint_actuator_torque":[0.010103067433601787,-1.6485066183117851,-1.2212935744485662,0.00015940602237383972,-0.06814142312032878,-0.0009010451874286174],"jaw_actuator_force":[-0.8059510786406907,-0.8045206466370898],"end_effector_position":[0.43458736892134425,-0.0018782200483121313,0.42735777742834685],"end_effector_quaternion":[0.9999982529137766,-2.595348395077509e-05,-0.001865949021058365,0.00010830541023242618],"end_effector_velocity":[0.0033587256930831936,-0.003399600191323922,-0.07970150902608916],"object_position":[0.43461191978236957,-0.0017517874336752603,0.4197238590261245],"object_quaternion":[0.9999983509110273,-2.7694168002402764e-05,-0.0018126666716361958,0.00010792495303893886],"object_velocity":[0.0035150356457914877,-0.0032937691642208125,-0.07806239519159328],"object_angular_velocity":[6.433298600389495e-05,0.04162851481437906,-0.0013253678983795713],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.085904792720767,-0.0003710274871799689,0.4964962080897322],[0.3247122737711373,-0.0014024500284333325,0.47262314456787946],[0.37943898817851385,-0.0016388176941372283,0.4671522341774549],[0.4344380930355853,-0.0018761599406134431,0.46735749883320027],[0.43458736892134425,-0.0018782200483121313,0.42735777742834685]],"gripper_points":[[0.4605214089014533,-0.001872181421899901,0.4354546166805778],[0.4085836450390303,-0.0018834367930006027,0.43526078951765446]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993812675367961,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.806037330386817,"right":0.804404778877593},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.93999999999993,"stage":"place","target_distance":0.109938182439156,"dwell_elapsed":0.0},{"joint_position":[-0.00449467570834062,-1.2580425747548065,1.3633478986131435,-3.476017766300235e-05,-0.1090370027720788,0.004704876627903564],"joint_velocity":[-0.0077674095432491265,0.0457066921979756,0.20725420331940225,9.521474016432577e-06,-0.22616559846956663,0.006841032034849805],"joint_actuator_torque":[0.010076710067408179,-1.6496546067363056,-1.2199588756419644,0.00015615830759533765,-0.06820484914108604,-0.0009058526354281393],"jaw_actuator_force":[-0.8053956346379394,-0.803984890848346],"end_effector_position":[0.4346607310721894,-0.0019548463020759408,0.4256150057436899],"end_effector_quaternion":[0.9999982534525982,-2.5862599260106097e-05,-0.001865739149796635,0.00010695935738534913],"end_effector_velocity":[0.003251796786708126,-0.003390086373574394,-0.07962546884922732],"object_position":[0.43468520818694345,-0.0018284065337760573,0.4179728913302659],"object_quaternion":[0.9999983506643871,-2.8464288727013337e-05,-0.0018128880555049807,0.00010627881483228693],"object_velocity":[0.003406212317185549,-0.0032846730934160844,-0.07801092265216004],"object_angular_velocity":[7.251632424537367e-05,0.041694596050790636,-0.0012531660712227209],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08614952054825174,-0.00038721676482878647,0.4964171731936277],[0.32481763363190413,-0.0014599597589616577,0.47119057969475353],[0.3795124095469078,-0.0017057966951171072,0.46540948535126153],[0.43451147197959405,-0.0019527932624095934,0.46561472721157393],[0.4346607310721894,-0.0019548463020759408,0.4256150057436899]],"gripper_points":[[0.4605947066025262,-0.0019488790107956254,0.4337118338594556],[0.4086568988749703,-0.0019599945504040215,0.43351802832912495]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993817050766586,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8054788586051763,"right":0.803872612311457},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.95999999999992,"stage":"place","target_distance":0.1081840767686307,"dwell_elapsed":0.0},{"joint_position":[-0.004669831316865857,-1.2570964116020458,1.3680599547024372,-3.396905687768618e-05,-0.11469377580331158,0.0048781159506091605],"joint_velocity":[-0.007746011683779038,0.046883264464044255,0.20557944587427063,9.320358851783423e-06,-0.22566852230657086,0.006855571305370175],"joint_actuator_torque":[0.010053087122247728,-1.6508392347053018,-1.2185703797599103,0.00015289498490680172,-0.06826455514996965,-0.0009078445115658917],"jaw_actuator_force":[-0.8049136964237062,-0.8035074611843571],"end_effector_position":[0.43473221589212085,-0.002031276908309716,0.4238738713288364],"end_effector_quaternion":[0.9999982549048143,-2.578031893822892e-05,-0.001865013448301619,0.00010605441374669116],"end_effector_velocity":[0.003157424046340472,-0.003381493400242637,-0.07954695452586939],"object_position":[0.4347566411266274,-0.0019048328569201433,0.41622357688993167],"object_quaternion":[0.999998351600473,-2.92431714905387e-05,-0.0018124233229646384,0.00010518018264173178],"object_velocity":[0.003310101772918472,-0.003276452069718207,-0.07795722385571262],"object_angular_velocity":[8.095699183552174e-05,0.04172630538586599,-0.0012083317697104408],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08640148416839885,-0.0004034832895612214,0.4963355416288501],[0.3249228498955672,-0.001517345929775363,0.4697589090042094],[0.3795839962080433,-0.0017726061181577704,0.46366843069439595],[0.43458301485789746,-0.0020292303098264175,0.46387359301365344],[0.43473221589212085,-0.002031276908309716,0.4238738713288364]],"gripper_points":[[0.46066616470293126,-0.002025357914214203,0.4319706616620851],[0.40872831819649313,-0.002036379442044117,0.4317769313676967]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993820898555675,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8049905612172806,"right":0.803401975236279},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.979999999999908,"stage":"place","target_distance":0.10643172221427201,"dwell_elapsed":0.0},{"joint_position":[-0.004844519848009676,-1.2561222038034638,1.3727325285372762,-3.3196062610496945e-05,-0.12033850871403105,0.005051416623261141],"joint_velocity":[-0.007725611399337016,0.04808496653414483,0.20387044981357458,9.298747578379917e-06,-0.22518021878689934,0.00685728180815329],"joint_actuator_torque":[0.010030719354743756,-1.652053468480858,-1.2171310347821418,0.0001496239441723963,-0.06832193726601687,-0.0009081093202517043],"jaw_actuator_force":[-0.80449633456303,-0.8030820445293836],"end_effector_position":[0.43480206003446886,-0.002107522758997749,0.4221344319871529],"end_effector_quaternion":[0.9999982568895576,-2.570490417591973e-05,-0.0018639865411283105,0.00010541005276332692],"end_effector_velocity":[0.0030732089860270088,-0.0033733270441507366,-0.07946582393977336],"object_position":[0.4348264509330006,-0.0019810762289302866,0.41447596766478545],"object_quaternion":[0.9999983532480509,-3.002920061493638e-05,-0.0018115456176824693,0.00010441220043036602],"object_velocity":[0.0032243698884972696,-0.003268630272462503,-0.07790104680357222],"object_angular_velocity":[8.951770730785789e-05,0.04173473425172268,-0.0011802843705896486],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08666083444112402,-0.00041983341690920235,0.4962512413377076],[0.3250281293175893,-0.0015746175420883676,0.4683281468297468],[0.37965396772677923,-0.0018392555707752597,0.46192910433833917],[0.43465294115434494,-0.002105482088881766,0.4621341539786275],[0.43480206003446886,-0.002107522758997749,0.4221344319871529]],"gripper_points":[[0.4607360086115478,-0.0021016384230778413,0.43023116899522623],[0.4087981278817553,-0.0021125930069147173,0.4300375452431063]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938242797214925,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8045640246839805,"right":0.8029860741272389},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":9.999999999999897,"stage":"place","target_distance":0.1046811596120315,"dwell_elapsed":0.0},{"joint_position":[-0.005018748780440099,-1.255119401894081,1.3773648853150726,-3.243875299160548e-05,-0.12597126335678765,0.005224569544887837],"joint_velocity":[-0.007705461961254459,0.049310578104278385,0.20212971939809635,9.372927244975029e-06,-0.22469400584554627,0.00685098764127038],"joint_actuator_torque":[0.010008647058774578,-1.6532967086062627,-1.21564255100418,0.000146350755788849,-0.06837816446715905,-0.0009072970006028802],"jaw_actuator_force":[-0.8041352106437536,-0.8027034199182816],"end_effector_position":[0.43487048181609644,-0.002183587151165566,0.42039673238973607],"end_effector_quaternion":[0.9999982591875645,-2.56354532738356e-05,-0.0018627820263200604,0.00010491800029515335],"end_effector_velocity":[0.0029985097401388577,-0.0033652697682374534,-0.07938287591159526],"object_position":[0.43489484723380684,-0.002057139269084946,0.4127301058508852],"object_quaternion":[0.9999983553252372,-3.0821534938840764e-05,-0.0018104180980188162,0.0001038420108484991],"object_velocity":[0.0031485871487652965,-0.003260901464094501,-0.07784314509656381],"object_angular_velocity":[9.812659945488767e-05,0.04172953412267765,-0.001162467269088113],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08692771025104355,-0.0004362720027313943,0.49616420280956325],[0.32513366739358335,-0.0016317778970543948,0.4668983054636219],[0.37972253257208205,-0.0019057479978367492,0.46019153732184365],[0.4347214592982415,-0.0021815519536229956,0.46039645474061175],[0.43487048181609644,-0.002183587151165566,0.42039673238973607]],"gripper_points":[[0.46080444337042775,-0.0021777294706553743,0.42849340689878174],[0.40886653247655574,-0.002188632931502629,0.4282999081540921]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399382724844545,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8041917712700676,"right":0.8026188519405622},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.019999999999886,"stage":"place","target_distance":0.10293242144068913,"dwell_elapsed":0.0},{"joint_position":[-0.005192515249625593,-1.2540875662597486,1.3819564025447804,-3.1695947762097536e-05,-0.131592030408277,0.005397441203492269],"joint_velocity":[-0.0076851400481879,0.05055482056852214,0.20036198692668808,9.492334591907767e-06,-0.22420741220725204,0.006839571360708471],"joint_actuator_torque":[0.009986320910145619,-1.6545658712258842,-1.2141070796535587,0.00014307928701767303,-0.0684336251933999,-0.0009057956973850256],"jaw_actuator_force":[-0.803824639536705,-0.8023652135361274],"end_effector_position":[0.43493766820474594,-0.0022594689228367095,0.4186608199747112],"end_effector_quaternion":[0.9999982616437201,-2.5571644086811795e-05,-0.0018614866804808198,0.00010451300158019422],"end_effector_velocity":[0.002931904143850543,-0.0033571384595703375,-0.07929768516973737],"object_position":[0.43496201826760306,-0.0021330204075956857,0.41098603575303744],"object_quaternion":[0.999998357636082,-3.161988316410467e-05,-0.0018091534582623451,0.00010338802984276786],"object_velocity":[0.0030813544654455113,-0.0032530896478501926,-0.07778301676948837],"object_angular_velocity":[0.00010672526268377598,0.041713699783444226,-0.0011508849173508487],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08720222081185429,-0.0004528029308973539,0.496074364896332],[0.3252396309648377,-0.0016888269217661081,0.4654694043122313],[0.3797898707915631,-0.001972082419673531,0.45845576751170825],[0.4347887493153761,-0.002257438758830805,0.4586605427117856],[0.43493766820474594,-0.0022594689228367095,0.4186608199747112]],"gripper_points":[[0.4608716546765555,-0.0022536332867831676,0.4267574273123126],[0.4089337172284691,-0.0022644946675216796,0.4265640630242303]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993829852891631,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8038677731772753,"right":0.8022942946397296},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.039999999999875,"stage":"place","target_distance":0.10118554347444003,"dwell_elapsed":0.0},{"joint_position":[-0.005365809375784119,-1.2530262326225912,1.3865065273642885,-3.0967254252910294e-05,-0.13720074996079973,0.005569942555620896],"joint_velocity":[-0.00766434918570233,0.051819935835284645,0.19857084727494356,9.625511733092111e-06,-0.22371804336313753,0.006824726097284253],"joint_actuator_torque":[0.009963366508795257,-1.6558650835669368,-1.212528365572382,0.00013981300685409143,-0.06848898414743232,-0.0009038337523332163],"jaw_actuator_force":[-0.8035579862905866,-0.8020634909068001],"end_effector_position":[0.4350038041507769,-0.002335164009038376,0.41692670250405095],"end_effector_quaternion":[0.9999982642352283,-2.551324415168671e-05,-0.0018601148403775915,0.00010415558373776469],"end_effector_velocity":[0.002873465553129317,-0.003348811340973487,-0.07921269440217003],"object_position":[0.4350281427096179,-0.0022087153087491816,0.4092437619301855],"object_quaternion":[0.9999983601302158,-3.24240125512585e-05,-0.0018077822131561865,0.00010300015612351284],"object_velocity":[0.0030227946049171802,-0.0032450771984269874,-0.07772307973754064],"object_angular_velocity":[0.00011531455868835647,0.041696281046100896,-0.0011430797191973507],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08748448147599586,-0.0004694295562060432,0.4959816631588876],[0.325346191064593,-0.0017457623970336266,0.4640414363896659],[0.37985616617864654,-0.0020382553397232813,0.4567218010883859],[0.4348549950092567,-0.002333138452356802,0.45692642564979935],[0.4350038041507769,-0.002335164009038376,0.41692670250405095]],"gripper_points":[[0.46093782048410914,-0.0023293478602316895,0.4250232387162077],[0.40899985967221814,-0.002340172103542438,0.42483001684295996]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993832135479613,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8035861836533023,"right":0.8020076909210717},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.059999999999864,"stage":"place","target_distance":0.09944052235674036,"dwell_elapsed":0.0},{"joint_position":[-0.0055386176961630005,-1.251935037174526,1.3910147152272898,-3.025271840535679e-05,-0.14279732906400716,0.005742013772134131],"joint_velocity":[-0.007642947085069364,0.05309986719940016,0.1967552838229668,9.754935105325453e-06,-0.22322527269971412,0.006807576161378307],"joint_actuator_torque":[0.00993959907400388,-1.657189003571375,-1.2109043172601446,0.00013655387238602863,-0.06854412414772959,-0.0009015623867410505],"jaw_actuator_force":[-0.8033315441862827,-0.8017925566794215],"end_effector_position":[0.43506905423948833,-0.0024106668161644304,0.4151944247915827],"end_effector_quaternion":[0.9999982668826359,-2.546043817167335e-05,-0.0018587103964637212,0.00010382269768400013],"end_effector_velocity":[0.0028221396091921568,-0.003340226750406081,-0.07912503553311753],"object_position":[0.4350933886049933,-0.002284218237905769,0.407503330641229],"object_quaternion":[0.9999983627075507,-3.3234132137418914e-05,-0.001806361252837261,0.00010264859622092124],"object_velocity":[0.0029719113541462703,-0.003236805172287359,-0.07766041461055212],"object_angular_velocity":[0.0001238349239669783,0.04167127465846832,-0.0011374904337701735],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08777458043505121,-0.00048615481562240933,0.4958860407824111],[0.3254534951791396,-0.0018025809198775804,0.4626144236232711],[0.3799215798079931,-0.0021042619021027237,0.4549896780243015],[0.4349203574540106,-0.002408645422746977,0.4551941483553769],[0.43506905423948833,-0.0024106668161644304,0.4151944247915827]],"gripper_points":[[0.4610031075856184,-0.0024048687900392507,0.4232908882116455],[0.409065126241101,-0.0024156584445864725,0.4230978121508153]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938341337833985,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8033426537278868,"right":0.80175399767054},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.079999999999853,"stage":"place","target_distance":0.09769739687227061,"dwell_elapsed":0.0},{"joint_position":[-0.005710924113342204,-1.250813583030336,1.3954804874943738,-2.9552676746872836e-05,-0.14838167901358826,0.005913609102954678],"joint_velocity":[-0.007620820818762227,0.05439793805208078,0.19491968470939616,9.868495488823137e-06,-0.22272862689899806,0.0067886449348805045],"joint_actuator_torque":[0.009914882445819284,-1.6585417738662045,-1.2092388020003,0.0001333045179479418,-0.06859937559857343,-0.0008990524078043571],"jaw_actuator_force":[-0.8031397996708307,-0.80154977121828],"end_effector_position":[0.43513358470783636,-0.0024859707353990486,0.41346399266209805],"end_effector_quaternion":[0.9999982695938081,-2.541331876254648e-05,-0.0018572698699259958,0.00010349967343259042],"end_effector_velocity":[0.0027781938357959034,-0.003331342362544874,-0.07903778990919993],"object_position":[0.43515791740687304,-0.002359522480732787,0.4057647441066419],"object_quaternion":[0.9999983653661549,-3.405031740704707e-05,-0.0018048926275489353,0.00010231420797779483],"object_velocity":[0.0029289127140174165,-0.003228232565456943,-0.07759811202022746],"object_angular_velocity":[0.0001323150688655106,0.04164736688751831,-0.0011332653915267134],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08807261424658984,-0.000502981484626894,0.49578743692920757],[0.3255616967643677,-0.001859278357716431,0.4611883597210494],[0.37998627817469177,-0.002170096391132783,0.4532594045275131],[0.43498500316492716,-0.002483953051562075,0.4534637166543215],[0.43513358470783636,-0.0024859707353990486,0.41346399266209805]],"gripper_points":[[0.46106767759351625,-0.002480190228223993,0.42156038142554625],[0.4091296782175712,-0.002490946318888043,0.4213674549348034]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993835880637731,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8031324979411713,"right":0.8015297522752372},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.099999999999842,"stage":"place","target_distance":0.09595616214823074,"dwell_elapsed":0.0},{"joint_position":[-0.005882710855561485,-1.2496615852840147,1.3999034216300548,-2.8867623438718788e-05,-0.15395370729829697,0.0060846935239111475],"joint_velocity":[-0.007597900671582711,0.05570746834829053,0.19306515178074574,9.960206360105573e-06,-0.22222860778507597,0.00676835118150577],"joint_actuator_torque":[0.009889122862491107,-1.6599185130114051,-1.2075313591188888,0.00013006575935510653,-0.06865453485159279,-0.0008963600477066569],"jaw_actuator_force":[-0.8029801503369667,-0.8013304419987053],"end_effector_position":[0.4351975367327004,-0.002561068398778978,0.41173543906533877],"end_effector_quaternion":[0.9999982723276079,-2.5372216469258595e-05,-0.0018558158149512023,0.00010317805599389625],"end_effector_velocity":[0.0027403443119515666,-0.0033221252505231565,-0.07894848908340864],"object_position":[0.43522187566006054,-0.0024346205819223594,0.40402803542535637],"object_quaternion":[0.9999983680573672,-3.487290798233789e-05,-0.0018034038273524742,0.0001019858694453027],"object_velocity":[0.0028924651639810816,-0.003219328076159691,-0.0775336309454168],"object_angular_velocity":[0.00014071021139811334,0.041618482792531594,-0.0011297958832081766],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08837864926367868,-0.0005199120368455294,0.49568579948089364],[0.3256709215703365,-0.001915849965864781,0.45976325974827875],[0.38005040064061224,-0.002235752407931693,0.4515310110595545],[0.43504907151457517,-0.0025590539433256727,0.4517351634896517],[0.4351975367327004,-0.002561068398778978,0.41173543906533877]],"gripper_points":[[0.4611316766950628,-0.0025553052392027773,0.41983175249743654],[0.40919366150642894,-0.0025660279127753924,0.4196389769904899]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993837405143294,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8029524171314384,"right":0.8013309639828761},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.11999999999983,"stage":"place","target_distance":0.09421684482381507,"dwell_elapsed":0.0},{"joint_position":[-0.0060539582698377345,-1.2484787308352172,1.4042831010753771,-2.819815632734339e-05,-0.15951331821885395,0.006255236132700615],"joint_velocity":[-0.0075741023894774365,0.05703113071408103,0.1911927671693549,1.0025584544773267e-05,-0.22172457043826296,0.006746842754592344],"joint_actuator_torque":[0.00986222387436797,-1.661321117606576,-1.2057831953204072,0.00012683948902771167,-0.06870982786804802,-0.0008935055915699763],"jaw_actuator_force":[-0.802847867429481,-0.8011329910859954],"end_effector_position":[0.4352610564639837,-0.0026359517462937786,0.4100087805415272],"end_effector_quaternion":[0.9999982750773448,-2.5337413389367298e-05,-0.0018543521060810594,0.00010285240537525005],"end_effector_velocity":[0.0027089819846114393,-0.003312545349679284,-0.07885879050278766],"object_position":[0.4352854039339135,-0.0025095044123950583,0.4022932200413973],"object_quaternion":[0.9999983707702754,-3.570217402437828e-05,-0.0018019012546879561,0.00010165636660691712],"object_velocity":[0.0028629547424522195,-0.003210062430967754,-0.07746865463082063],"object_angular_velocity":[0.0001490389640021684,0.04158932338711546,-0.001126759357204106],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08869275890463278,-0.0005369488210597321,0.49558107275152025],[0.32578130191869176,-0.0019722905020537022,0.4583391264311472],[0.38011409302608024,-0.00230122297061482,0.4498045137327284],[0.4351127083429052,-0.0026339400146849976,0.45000850540042975],[0.4352610564639837,-0.0026359517462937786,0.4100087805415272]],"gripper_points":[[0.46119524511642773,-0.002630206041973803,0.4181050181467065],[0.409257216081017,-0.002640894880277454,0.4179123946338191]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993838732721828,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8027986340742994,"right":0.8011551064902782},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.13999999999982,"stage":"place","target_distance":0.09247945415671108,"dwell_elapsed":0.0},{"joint_position":[-0.00622464562913205,-1.2472647763534246,1.4086191689357435,-2.7544929209557564e-05,-0.16506043569623333,0.006425209011076256],"joint_velocity":[-0.007549382621194649,0.058364928066943725,0.18930463510318737,1.0062275821577e-05,-0.2212177291389188,0.006724236038147133],"joint_actuator_torque":[0.009834126266469845,-1.662747446402534,-1.2039951436369165,0.00012362650246378493,-0.06876502716986721,-0.0008905046297330577],"jaw_actuator_force":[-0.8027409684781999,-0.8009537205476613],"end_effector_position":[0.4353242734674772,-0.002710612244410518,0.4082840425020065],"end_effector_quaternion":[0.9999982778085951,-2.5309315167616436e-05,-0.0018528974800055946,0.00010251932139121107],"end_effector_velocity":[0.0026832680562743727,-0.003302582760951729,-0.07876769945435179],"object_position":[0.4353486352034211,-0.0025841653796670645,0.40056032258420665],"object_quaternion":[0.9999983734673756,-3.653852580963965e-05,-0.0018004059391577456,0.00010132123730536377],"object_velocity":[0.0028395368862180683,-0.0032004168046728433,-0.07740213888277472],"object_angular_velocity":[0.00015727745073760603,0.04155682810994332,-0.0011239436150326822],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08901499761814925,-0.0005540939722172265,0.4954732061412429],[0.3258929521389572,-0.0020285943402806516,0.4569159693276097],[0.38017748338330903,-0.00236650067462852,0.4480799358911521],[0.43517604171678476,-0.0027086026993074883,0.4482837677924359],[0.4353242734674772,-0.002710612244410518,0.4082840425020065]],"gripper_points":[[0.46125851551491504,-0.002704884272254133,0.41638020476911186],[0.4093204743795821,-0.0027155385040856525,0.4161877323133896]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993839885994184,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8026685965422746,"right":0.8009990545241443},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.159999999999808,"stage":"place","target_distance":0.0907440088776107,"dwell_elapsed":0.0},{"joint_position":[-0.006394751005673504,-1.246019432589722,1.4129112937148425,-2.690863898040062e-05,-0.17059495745946063,0.006594585077665094],"joint_velocity":[-0.0075236875207045605,0.05971200844724038,0.18740250482875984,1.0068101158308717e-05,-0.2207064228937576,0.0067005591654993885],"joint_actuator_torque":[0.009804769998335683,-1.6642017147682395,-1.2021697962727558,0.00012042865982575144,-0.06882060997391548,-0.0008873612146781396],"jaw_actuator_force":[-0.8026559622474183,-0.8007912150486325],"end_effector_position":[0.43538732246579404,-0.00278504095436309,0.40656121826280256],"end_effector_quaternion":[0.9999982805772049,-2.528804173563149e-05,-0.00185142191980941,0.0001021764332629456],"end_effector_velocity":[0.002663549791120802,-0.003292220019466148,-0.07867736557773902],"object_position":[0.43541169970728344,-0.0026585944978770137,0.3988293345793893],"object_quaternion":[0.9999983762053655,-3.7382052722708315e-05,-0.0017988865363599126,0.00010097743615079441],"object_velocity":[0.0028225496367887404,-0.0031903740441370887,-0.07733623747608823],"object_angular_velocity":[0.0001654623411582991,0.04152748247784818,-0.0011212294298522864],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08934543160673994,-0.0005713495766764536,0.4953621438914501],[0.32600599610339664,-0.0020847555887077963,0.4554937752972052],[0.3802407088005471,-0.0024315777997983125,0.44635727416102405],[0.4352392087601721,-0.002783033048237765,0.44656094399059376],[0.43538732246579404,-0.00278504095436309,0.40656121826280256]],"gripper_points":[[0.46132161897298685,-0.002779331113233658,0.4146573041084251],[0.40938356727523906,-0.0027899497211064266,0.41446498489026545]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993840884734941,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8025594414076709,"right":0.8008607651520756},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.179999999999797,"stage":"place","target_distance":0.08901049473024429,"dwell_elapsed":0.0},{"joint_position":[-0.006564252147361778,-1.2447425590410017,1.4171592210921458,-2.628997157254609e-05,-0.1761168314138871,0.006763339349044687],"joint_velocity":[-0.007497007055541448,0.06106409317064521,0.18548869734903822,1.0043541449130406e-05,-0.22019361007668597,0.006675898542149036],"joint_actuator_torque":[0.009774134415404756,-1.6656765056767426,-1.200306518076502,0.00011724626766751282,-0.06887591723584663,-0.0008840867758317383],"jaw_actuator_force":[-0.8025917136117222,-0.80064220947569],"end_effector_position":[0.435450307036745,-0.0028592286769899876,0.4048403401173189],"end_effector_quaternion":[0.9999982833260976,-2.527409175405507e-05,-0.001849956280245375,0.00010182258728816482],"end_effector_velocity":[0.0026482808472841,-0.0032814461768017546,-0.07858490409237792],"object_position":[0.4354747085124437,-0.0027327825220796495,0.3971002882777448],"object_quaternion":[0.9999983789222916,-3.823327670943481e-05,-0.0017973775134059828,0.0001006234524487349],"object_velocity":[0.002810310004462354,-0.00317992442282963,-0.07726799903780192],"object_angular_velocity":[0.00017353542223855122,0.04149248789809711,-0.0011185063963101733],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08968408715452887,-0.0005887174175405786,0.495247842447514],[0.32612052096136956,-0.002140768078249546,0.45407255972292226],[0.3803038703754372,-0.002496446354662018,0.44463655743186997],[0.43530231058250923,-0.002857221822507439,0.4448400662791574],[0.435450307036745,-0.0028592286769899876,0.4048403401173189]],"gripper_points":[[0.4613846661158272,-0.0028535374160782215,0.4129363500863572],[0.40944660522966714,-0.00286411926287442,0.4127441830804206]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938417464802665,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8024692904734472,"right":0.8007377199962077},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.199999999999786,"stage":"place","target_distance":0.08727893898966478,"dwell_elapsed":0.0},{"joint_position":[-0.006733125222144126,-1.24343389653752,1.4213626827489079,-2.5689631087027293e-05,-0.18162598841314037,0.006931444807393179],"joint_velocity":[-0.007469264974424363,0.06242875873995645,0.18356387013338898,9.98735989435773e-06,-0.21967751320938203,0.006650163607787493],"joint_actuator_torque":[0.009742139499961944,-1.6671793216928563,-1.1984081604309722,0.00011408158860311572,-0.06893155681548535,-0.000880669644863441],"jaw_actuator_force":[-0.802544187406097,-0.8005069624400765],"end_effector_position":[0.4355133522625756,-0.002933165734177098,0.4031213907987393],"end_effector_quaternion":[0.999998286110904,-2.5267571541180798e-05,-0.001848470557182391,0.0001014564115811398],"end_effector_velocity":[0.0026386572851978146,-0.0032702390464341064,-0.07849401854037105],"object_position":[0.4355377762289901,-0.0028067197296758385,0.39537316476321405],"object_quaternion":[0.9999983816746981,-3.9092272830712705e-05,-0.0017958474862348201,0.00010025758886418398],"object_velocity":[0.00280411018820479,-0.0031690457107317665,-0.07720117564170172],"object_angular_velocity":[0.000181560014504255,0.04146201263499424,-0.0011157624891642817],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09003102159907843,-0.000606199303008645,0.49513024661896154],[0.32623664108667055,-0.0021966253512405508,0.4526523009592675],[0.3803670955525771,-0.0025610979872936956,0.4429177717455876],[0.43536547466636233,-0.0029311593350534407,0.4431211174001912],[0.4355133522625756,-0.002933165734177098,0.4031213907987393]],"gripper_points":[[0.4614477718749021,-0.0029274935743335818,0.4112173238404188],[0.40950970301007766,-0.0029380373804006625,0.4110253111375038]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938424864999274,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8023954702628657,"right":0.8006288159263018},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.219999999999775,"stage":"place","target_distance":0.08554931759841396,"dwell_elapsed":0.0},{"joint_position":[-0.00690134687318844,-1.2420933428823817,1.4255214446173416,-2.5108299926643662e-05,-0.1871223817062729,0.007098876405780763],"joint_velocity":[-0.007440493183642662,0.06379638513067733,0.1816278060425457,9.90033587584745e-06,-0.21916021516901382,0.006623442463057592],"joint_actuator_torque":[0.009708812631574304,-1.6687014890234195,-1.196472147963675,0.00011093483625338905,-0.0689868578539965,-0.0008771212561253794],"jaw_actuator_force":[-0.8025137607778188,-0.8003815939531709],"end_effector_position":[0.43557655360466163,-0.0030068425269392275,0.4014044089910577],"end_effector_quaternion":[0.9999982888529753,-2.5269063852322987e-05,-0.0018470073032411194,0.00010107728637042025],"end_effector_velocity":[0.002633115527488079,-0.0032586049798453646,-0.078400408078228],"object_position":[0.43560100761466014,-0.0028803965174218193,0.3936480046548964],"object_quaternion":[0.9999983843813566,-3.9959654308654175e-05,-0.0017943416783912044,9.98791448043925e-05],"object_velocity":[0.0028023639998507295,-0.00315774513283981,-0.07713139567883677],"object_angular_velocity":[0.00018945420599256128,0.04142403719437467,-0.0011129429028299805],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09038625020347217,-0.0006237967687723102,0.4950093142735678],[0.3263544342115276,-0.0022523209124992107,0.45123301880382993],[0.3804304763800403,-0.002625524362103292,0.441200951092015],[0.43542879306891213,-0.003004835940529058,0.4414041360250974],[0.43557655360466163,-0.0030068425269392275,0.4014044089910577]],"gripper_points":[[0.46151104022714684,-0.003001190009952211,0.4095002662957809],[0.4095729644715556,-0.00301169443150716,0.4093084055659593]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993843118612704,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8023369917284713,"right":0.8005315420274763},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.239999999999764,"stage":"place","target_distance":0.0838216663079443,"dwell_elapsed":0.0},{"joint_position":[-0.007068891331438098,-1.2407207394278756,1.4296353764588663,-2.45466789696163e-05,-0.192605954769856,0.007265606527929809],"joint_velocity":[-0.007410569069447748,0.06517230485734485,0.17968726573267507,9.781415443866044e-06,-0.218639974926009,0.006595622266569634],"joint_actuator_torque":[0.009674004285022964,-1.6702494952889424,-1.19450483732237,0.00010780759770643395,-0.06904251332635525,-0.0008734269803378769],"jaw_actuator_force":[-0.8024968607736858,-0.8002667954190485],"end_effector_position":[0.4356400062771827,-0.0030802484608637645,0.39968937066415944],"end_effector_quaternion":[0.9999982916308475,-2.5278571830093846e-05,-0.0018455240467498272,0.00010068452264965402],"end_effector_velocity":[0.0026318678350474413,-0.003246494541670161,-0.07830890052602496],"object_position":[0.4356644926569617,-0.002953802166497278,0.3919247783418905],"object_quaternion":[0.9999983871284638,-4.0835353985765374e-05,-0.0017928120990346936,9.948729553672442e-05],"object_velocity":[0.002805062682049642,-0.0031459741364047067,-0.07706350452339822],"object_angular_velocity":[0.00019731034453178306,0.04139224021979195,-0.0011100217960168185],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09074980277345268,-0.0006415111794626546,0.4948849972346227],[0.3264739860826018,-0.0023078475707386473,0.4498146885351499],[0.3804941114242818,-0.002689716327072729,0.439486076124854],[0.43549236440205674,-0.0030782410438287824,0.4396890981363184],[0.4356400062771827,-0.0030802484608637645,0.39968937066415944]],"gripper_points":[[0.46157456265366753,-0.0030746161651283603,0.40778515120298975],[0.40963648096113825,-0.0030850797867283987,0.40759344452768764]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993843654593952,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022914987267085,"right":0.8004453703358282},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.259999999999753,"stage":"place","target_distance":0.08209595149293457,"dwell_elapsed":0.0},{"joint_position":[-0.00723573348021425,-1.2393160259138476,1.43370431971801,-2.4005423891014173e-05,-0.198076687635914,0.007431608636582213],"joint_velocity":[-0.007379539169706456,0.06654954212661586,0.1777385568263756,9.632158903522324e-06,-0.21811970586745638,0.006566754785157903],"joint_actuator_torque":[0.00963777464833715,-1.6718162325233834,-1.1925022882210214,0.00010470100459162874,-0.06909780905544949,-0.0008695935415286016],"jaw_actuator_force":[-0.802493063703384,-0.8001602406486006],"end_effector_position":[0.43570379253424024,-0.0031533731858720327,0.39797630475860724],"end_effector_quaternion":[0.9999982943722437,-2.52966452810075e-05,-0.0018440599438271814,0.00010027764646184605],"end_effector_velocity":[0.0026341848674331005,-0.003233925091913859,-0.07821509581728434],"object_position":[0.43572831617073227,-0.0030269263619020995,0.39020351883245546],"object_quaternion":[0.9999983898326978,-4.1719983827439836e-05,-0.001791305195286262,9.908154283640608e-05],"object_velocity":[0.0028116298873301685,-0.0031337506145284735,-0.07699305093620785],"object_angular_velocity":[0.00020503323951764048,0.04135334330529638,-0.001106995382187831],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09112168261721466,-0.0006593437165581562,0.4947572552790029],[0.3265953616763109,-0.002363198235516696,0.44839732268466076],[0.3805580797940205,-0.002753664896111361,0.437773171465124],[0.4355562677874214,-0.003151364251140573,0.4379760326628475],[0.43570379253424024,-0.0031533731858720327,0.39797630475860724]],"gripper_points":[[0.46163842241105796,-0.003147761705227833,0.40607200953961387],[0.40970033564256025,-0.003158183062424237,0.40588045493246017]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938441052309176,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022580244001543,"right":0.8003685229868723},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.279999999999742,"stage":"place","target_distance":0.08037220217651635,"dwell_elapsed":0.0},{"joint_position":[-0.007401846619283525,-1.237879100195194,1.4377281973322082,-2.3485202725493276e-05,-0.2035345411949405,0.007596854002344648],"joint_velocity":[-0.007347319810531902,0.06793238101970203,0.17578744944835464,9.451591577712555e-06,-0.21759725305095068,0.006536745177704515],"joint_actuator_torque":[0.00960001680406064,-1.6734069679900472,-1.1904696632287255,0.00010161650002994292,-0.06915335329425432,-0.000865608514928784],"jaw_actuator_force":[-0.8025001500819551,-0.8000618390375687],"end_effector_position":[0.435767993031768,-0.0032262056964101845,0.3962651911632814],"end_effector_quaternion":[0.9999982971364575,-2.5323324986146265e-05,-0.0018425828926890357,9.98558875753138e-05],"end_effector_velocity":[0.0026401386016498387,-0.0032208627383690405,-0.07812303982526442],"object_position":[0.4357925556111861,-0.0030997580079895424,0.3884842013057415],"object_quaternion":[0.999998392563179,-4.261351417006869e-05,-0.001789782429299948,9.866104451117664e-05],"object_velocity":[0.0028220013762738183,-0.0031210411012857846,-0.07692410418248884],"object_angular_velocity":[0.00021270777952487596,0.041319305452466704,-0.0011038629987993155],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09150190371939876,-0.0006772954258187125,0.4946260434776443],[0.3267186312724031,-0.002418365361764991,0.44698089939418195],[0.3806224646699666,-0.0028173605554193465,0.43606222054172183],[0.4356205864490716,-0.0032241945532810808,0.43626491950304247],[0.435767993031768,-0.0032262056964101845,0.3962651911632814]],"gripper_points":[[0.4617026982428755,-0.0032206156645079504,0.4043608195204411],[0.4097646071533654,-0.0032309932127834538,0.4041694183293252]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993844479893213,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022349127769797,"right":0.8003003425442683},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.29999999999973,"stage":"place","target_distance":0.07865038999583754,"dwell_elapsed":0.0},{"joint_position":[-0.0075672040593720595,-1.236409919242874,1.4417068828889734,-2.2986648407385415e-05,-0.20897950288121314,0.0077613154340661706],"joint_velocity":[-0.007313921296475062,0.06931610833818035,0.1738297004507083,9.241121233472519e-06,-0.217074935704278,0.006505663506129392],"joint_actuator_torque":[0.009560745170491547,-1.6750165672663684,-1.1884032491030894,9.85551910416306e-05,-0.06920857713979345,-0.0008614811983399528],"jaw_actuator_force":[-0.8025176426414049,-0.7999699210558271],"end_effector_position":[0.435832684078292,-0.0032987350016969764,0.39455605237051866],"end_effector_quaternion":[0.9999982998582208,-2.5359128977678376e-05,-0.0018411282944664187,9.941924147688573e-05],"end_effector_velocity":[0.002649440687924022,-0.0032073117146174885,-0.0780291607108676],"object_position":[0.4358572882945111,-0.0031722861289709393,0.38676685232427604],"object_quaternion":[0.9999983952444873,-4.351652099994423e-05,-0.0017882858945092559,9.822586824969353e-05],"object_velocity":[0.0028360491056469506,-0.0031078503928887733,-0.07685306164979452],"object_angular_velocity":[0.00022025094517165079,0.04127917097178643,-0.0011005743331045036],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09189046399101924,-0.0006953671650197665,0.49449132139263285],[0.32684385424512497,-0.002473341350771488,0.4455654262460269],[0.38068733951169087,-0.0028807937683395907,0.43435324194159636],[0.4356853938634542,-0.003296720918314171,0.43455578113880006],[0.435832684078292,-0.0032987350016969764,0.39455605237051866]],"gripper_points":[[0.46176746601409835,-0.0032931670440799936,0.4026516054745073],[0.4098293712872388,-0.0033034992386545515,0.40246035536966285]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938447870658186,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022213825405529,"right":0.8002394682060915},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.31999999999972,"stage":"place","target_distance":0.07693053777134547,"dwell_elapsed":0.0},{"joint_position":[-0.007731777505235297,-1.2349084493543039,1.4456403925939127,-2.2510385414057975e-05,-0.21441155263068817,0.007924962150217502],"joint_velocity":[-0.007279262852932042,0.07070222726100708,0.17187368119616883,9.000524423174093e-06,-0.21655126848128206,0.006473355180039752],"joint_actuator_torque":[0.009519847605630183,-1.676648685889063,-1.1863094384282817,9.551807819475856e-05,-0.06926397893378322,-0.0008571910245340764],"jaw_actuator_force":[-0.8025441897167429,-0.7998840282378916],"end_effector_position":[0.4358979257866607,-0.00337094932580111,0.39284886386791534],"end_effector_quaternion":[0.9999983026020844,-2.5404035263367434e-05,-0.0018396611573848957,9.896671701328235e-05],"end_effector_velocity":[0.0026614323081132975,-0.0031932333982297176,-0.07793714294695528],"object_position":[0.4359225757946959,-0.0032444988333396986,0.38505144139561437],"object_quaternion":[0.9999983979527223,-4.442890123514099e-05,-0.0017867731058977317,9.777488449846988e-05],"object_velocity":[0.0028528381395843093,-0.0030941408492262865,-0.07678359804475383],"object_angular_velocity":[0.00022774587383022572,0.041243898120209364,-0.0010971828775299753],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09228735846386853,-0.0007135595411995077,0.494353048593245],[0.32697108081275555,-0.002528118024979571,0.44415087889930205],[0.3807527671843755,-0.002943954344179169,0.4326462150111068],[0.43575075294274856,-0.003368931571647714,0.43284859306803225],[0.4358979257866607,-0.00337094932580111,0.39284886386791534]],"gripper_points":[[0.4618327891075925,-0.00336540411927381,0.40094434108433624],[0.40989469134038775,-0.0033756893123258504,0.40075324337053536]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993845034073626,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022162052101767,"right":0.8001853143348762},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.339999999999709,"stage":"place","target_distance":0.07521261217634184,"dwell_elapsed":0.0},{"joint_position":[-0.00789553884681989,-1.2333747352094981,1.4495287340990684,-2.2057006630268863e-05,-0.21983069184208132,0.008087765862841531],"joint_velocity":[-0.007243363158956812,0.07208549813738507,0.1699170356422539,8.73090430851833e-06,-0.21602818544054564,0.006439933911192771],"joint_actuator_torque":[0.009477352464933197,-1.678297529265535,-1.1841857323919953,9.250675441585619e-05,-0.06931913401158596,-0.0008527532433898477],"jaw_actuator_force":[-0.8025787324977118,-0.7998035547036482],"end_effector_position":[0.4359637666209209,-0.0034428369092924303,0.3911436379777492],"end_effector_quaternion":[0.9999983053326396,-2.5458415925822076e-05,-0.0018382006874623955,9.849847896208618e-05],"end_effector_velocity":[0.0026755529368952574,-0.0031786326969483426,-0.07784384920861574],"object_position":[0.43598846688392273,-0.0033163843693185383,0.3833379836881685],"object_quaternion":[0.9999984006435667,-4.535107026086636e-05,-0.0017852687927234795,9.73084052670033e-05],"object_velocity":[0.002871840559222148,-0.0030799181004444324,-0.07671253499947533],"object_angular_velocity":[0.0002351188948290346,0.04120415737499537,-0.0010936101842822542],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09269256104371483,-0.0007318729248006951,0.4942111910748278],[0.3271003442675616,-0.002582687143033117,0.44273725931503705],[0.3808187945896932,-0.003006832068044714,0.4309411499534183],[0.43581671061452576,-0.0034408147242675877,0.43114336760735733],[0.4359637666209209,-0.0034428369092924303,0.3911436379777492]],"gripper_points":[[0.4618987153688243,-0.003437315116205381,0.39923903966724344],[0.4099606150997009,-0.0034475516771614034,0.39904809365396204]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993845227509857,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022184740223834,"right":0.8001371268964205},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.359999999999697,"stage":"place","target_distance":0.07349662606025323,"dwell_elapsed":0.0},{"joint_position":[-0.008058459105366981,-1.2318087697541267,1.4533718951692298,-2.162708605905933e-05,-0.22523692602578999,0.008249695544450876],"joint_velocity":[-0.007206177178569641,0.07346973271086721,0.16796001805526684,8.432560350939225e-06,-0.21550513610562755,0.006405277983435781],"joint_actuator_torque":[0.00943320703008066,-1.6799660125686273,-1.1820331172605734,8.952288142243534e-05,-0.06937420058381605,-0.0008481517279474993],"jaw_actuator_force":[-0.8026197962047075,-0.7997284972983865],"end_effector_position":[0.436030265364558,-0.0035143857170631173,0.3894403700688227],"end_effector_quaternion":[0.9999983080401553,-2.5522526746100535e-05,-0.0018367522234232381,9.801375993463524e-05],"end_effector_velocity":[0.002692360747156723,-0.003163495462679291,-0.0777511231378538],"object_position":[0.4360550151364853,-0.0033879306775438816,0.38162647394271293],"object_quaternion":[0.9999984033086217,-4.628326903998088e-05,-0.0017837776990507377,9.68255423379134e-05],"object_velocity":[0.0028937273603919242,-0.0030651679257548163,-0.07664176291385906],"object_angular_velocity":[0.0002424055089219628,0.04116477434240806,-0.001089916067121683],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09310605891928471,-0.0007503076096826433,0.49406570930548627],[0.3272316896706698,-0.002637040271482893,0.4413245558754653],[0.38088548005119555,-0.0030694165064787836,0.4292380415477522],[0.43588332523517637,-0.0035123583205373954,0.42944010012401235],[0.436030265364558,-0.0035143857170631173,0.3894403700688227]],"gripper_points":[[0.4619652978595695,-0.003508888036604348,0.39753569684821793],[0.41002719556981243,-0.003519074255248597,0.39734490129014133]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399384537329068,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022271840038292,"right":0.8000944327067864},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.379999999999686,"stage":"place","target_distance":0.07178257156987908,"dwell_elapsed":0.0},{"joint_position":[-0.008220508771001974,-1.2302106587999215,1.4571699765295465,-2.1221185750032108e-05,-0.23063025981898985,0.00841072055002589],"joint_velocity":[-0.007167683316274471,0.07484883084364746,0.16600721715846567,8.105782416230034e-06,-0.21498240002227112,0.006369410869277326],"joint_actuator_torque":[0.009387364101903106,-1.6816500574230986,-1.1798536757545435,8.656697207218289e-05,-0.06942909150720666,-0.0008433894801369579],"jaw_actuator_force":[-0.802667731354556,-0.79965714474372],"end_effector_position":[0.4360974505552853,-0.003585583259796983,0.3877390645092187],"end_effector_quaternion":[0.9999983107157707,-2.5596613743545268e-05,-0.0018353206201904401,9.751225283038801e-05],"end_effector_velocity":[0.002710395912116093,-0.0031478012858738537,-0.07765792300618088],"object_position":[0.43612225642482927,-0.0034591251929543647,0.379916914660676],"object_quaternion":[0.9999984059443464,-4.7225714666276905e-05,-0.0017823018230570468,9.632605405114987e-05],"object_velocity":[0.0029168318023644647,-0.003049871335876274,-0.0765701741597987],"object_angular_velocity":[0.0002495879939105536,0.041123527281517844,-0.0010860603839595523],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09352780907958826,-0.0007688634940517903,0.49391657351841256],[0.32736513187637883,-0.0026911685583376845,0.43991276614828956],[0.3809528516839767,-0.0031316968022365352,0.4275368936259697],[0.43595062495402165,-0.003583549851456563,0.42773879498466144],[0.4360974505552853,-0.003585583259796983,0.3877390645092187]],"gripper_points":[[0.4620325730928891,-0.003580110401567517,0.39583431727675095],[0.41009446921208853,-0.003590244535850883,0.3956436704240518]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399384547676955,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022419219111332,"right":0.8000562831453313},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.399999999999675,"stage":"place","target_distance":0.07007044951823921,"dwell_elapsed":0.0},{"joint_position":[-0.008381657039498289,-1.2285804664036997,1.460923112586469,-2.08398459837707e-05,-0.2360107006979199,0.008570808732730672],"joint_velocity":[-0.0071278204111907585,0.07622585815361567,0.1640605862497733,7.750932286835925e-06,-0.21445971317443863,0.006332268142264164],"joint_actuator_torque":[0.009339755812245443,-1.68335307443715,-1.1776502414995775,8.364124824664304e-05,-0.06948411271405064,-0.0008384581883971176],"jaw_actuator_force":[-0.8027203816157193,-0.7995905274419357],"end_effector_position":[0.43616535337529194,-0.003656416511232606,0.3860396948075935],"end_effector_quaternion":[0.9999983134172341,-2.5680601860831533e-05,-0.0018338744355050028,9.699354935590697e-05],"end_effector_velocity":[0.0027298982114091577,-0.003131525786521271,-0.07756632390697496],"object_position":[0.4361902164160909,-0.00352995483280581,0.378209277632262],"object_quaternion":[0.9999984086062103,-4.8178307991796114e-05,-0.0017808100495746767,9.580951449283107e-05],"object_velocity":[0.0029413551688901546,-0.003034004462818216,-0.07649985161870233],"object_angular_velocity":[0.00025670952733361773,0.04108582686852417,-0.0010820402733889049],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09395777917646726,-0.000787540323476573,0.49376374942828133],[0.32750069222761663,-0.0027450627649608992,0.4385018650098654],[0.3810209431351717,-0.0031936616578010575,0.4258376831639784],[0.4360186434686218,-0.003654376296467982,0.4260394257071984],[0.43616535337529194,-0.003656416511232606,0.3860396948075935]],"gripper_points":[[0.4621005673319968,-0.0036509692083075565,0.3941348728106182],[0.410162462231756,-0.0036610494736771717,0.3939443761794008]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938455425454364,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022615056970643,"right":0.8000227346350935},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.419999999999664,"stage":"place","target_distance":0.06836023061107384,"dwell_elapsed":0.0},{"joint_position":[-0.008541873728037238,-1.2269182825636644,1.4646313505075594,-2.0483564370482023e-05,-0.24137827761777542,0.008729928829496907],"joint_velocity":[-0.007086626316580048,0.07759827235158191,0.16211490171381535,7.3696077176644004e-06,-0.21393871376536977,0.006293890538861256],"joint_actuator_torque":[0.009290431747655425,-1.6850708155848793,-1.1754185094124523,8.074707407735074e-05,-0.06953875593590553,-0.0008333632026644722],"jaw_actuator_force":[-0.802777708454169,-0.7995275444991652],"end_effector_position":[0.43623401052817695,-0.003726872769202888,0.384342275572822],"end_effector_quaternion":[0.9999983160787113,-2.5774954876099348e-05,-0.0018324495543742556,9.645737120370376e-05],"end_effector_velocity":[0.0027510764059917965,-0.0031146876409714626,-0.07747339492373552],"object_position":[0.4362589302527523,-0.0036004069507687836,0.3765035818623755],"object_quaternion":[0.9999984112196666,-4.914157572311998e-05,-0.0017793442027836423,9.527568178272171e-05],"object_velocity":[0.0029677705070293926,-0.003017585908607925,-0.07642787156288501],"object_angular_velocity":[0.0002636923325371028,0.04104267112107303,-0.0010778570594580682],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0943959296434015,-0.0008063377226528607,0.4936072045415964],[0.3276383908531068,-0.0027987138315408206,0.4370918550666101],[0.3810897882136643,-0.0032553000231609784,0.4241404208119257],[0.43608741461178835,-0.00372482491654639,0.4243420068899646],[0.43623401052817695,-0.003726872769202888,0.384342275572822]],"gripper_points":[[0.46216931407722334,-0.003721451762165388,0.39243737991044525],[0.4102312080987109,-0.0037314763453471646,0.3922470312890465]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993845575029285,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8022856513852221,"right":0.7999929354869735},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.439999999999653,"stage":"place","target_distance":0.06665193208138356,"dwell_elapsed":0.0},{"joint_position":[-0.00870112691805044,-1.2252242570882812,1.4682949024688452,-2.0152836631164276e-05,-0.24673301019776409,0.008888048330011502],"joint_velocity":[-0.007044009975467802,0.07896468919477066,0.16017926002968855,6.96131842504327e-06,-0.2134180769701096,0.006254223686209024],"joint_actuator_torque":[0.009239251137358018,-1.6868041471377637,-1.1731645269536557,7.78851024310493e-05,-0.06959338235749257,-0.0008280972940734044],"jaw_actuator_force":[-0.8028395880681378,-0.7994673906778909],"end_effector_position":[0.43630343078765765,-0.0037969383413026386,0.3826467893183648],"end_effector_quaternion":[0.9999983187394129,-2.587964890423801e-05,-0.0018310245968386903,9.59036884299852e-05],"end_effector_velocity":[0.0027726540603057203,-0.003097236332370496,-0.07738176711792688],"object_position":[0.4363284127307991,-0.003670467705168474,0.3747998040964981],"object_quaternion":[0.9999984138377087,-5.0115400595791555e-05,-0.0017778745110798957,9.472452302016663e-05],"object_velocity":[0.0029944429392233457,-0.003000566674801413,-0.07635683970277443],"object_angular_velocity":[0.00027060917847257846,0.041002529154295614,-0.0010734702080324363],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09484220479187828,-0.00082525488776212,0.49344691143489555],[0.3277782258599723,-0.002852111921971074,0.4356827188972399],[0.38115939735474386,-0.0033165999923106264,0.4224450914406938],[0.4361569488676286,-0.00379488202103213,0.4226465210526984],[0.43630343078765765,-0.0037969383413026386,0.3826467893183648]],"gripper_points":[[0.46223882990787735,-0.0037915443712434097,0.3907418200080379],[0.4103007233464337,-0.003801511455795452,0.39055161940552374]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938455779892454,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8023138342133421,"right":0.7999664768329766},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.459999999999642,"stage":"place","target_distance":0.06494553013666571,"dwell_elapsed":0.0},{"joint_position":[-0.008859385071294234,-1.2234984907070494,1.4719139078330494,-1.984811434847553e-05,-0.2520749349104124,0.009045133160781234],"joint_velocity":[-0.0070000016124076815,0.08032675436375843,0.15824903773116533,6.527552334478026e-06,-0.21289915400408546,0.006213204881788229],"joint_actuator_torque":[0.009186274164257657,-1.6885538604841486,-1.1708865031196183,7.505798869746343e-05,-0.06964787683494222,-0.0008226522020730043],"jaw_actuator_force":[-0.8029042912073434,-0.7994109677798189],"end_effector_position":[0.4363736384160794,-0.0038665998286418007,0.3809532218556512],"end_effector_quaternion":[0.999998321401387,-2.5994802515990966e-05,-0.0018295984762197212,9.533149758617003e-05],"end_effector_velocity":[0.002795413901512897,-0.0030791917178207115,-0.07729055295075891],"object_position":[0.4363986808727072,-0.003740123759327414,0.3730979332346492],"object_quaternion":[0.9999984164502913,-5.109995606512086e-05,-0.001776406639136995,9.415496099036775e-05],"object_velocity":[0.0030223589765522836,-0.002982966277187448,-0.07628587357411153],"object_angular_velocity":[0.0002774246564019167,0.040961561704382726,-0.0010689613534127645],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09529656152335868,-0.0008442910237240061,0.4932828375236259],[0.3279202089887791,-0.002905247414189898,0.43427443898036444],[0.3812297948662713,-0.0033775499203383317,0.420751680980867],[0.4362272705854249,-0.003864534201400326,0.4209529540071461],[0.4363736384160794,-0.0038665998286418007,0.3809532218556512]],"gripper_points":[[0.46230913088685205,-0.0038612336884209257,0.3890481788283408],[0.4103710240040571,-0.003871141353688723,0.3888581263665293]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993845554758733,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8023452516679968,"right":0.799943337803348},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.479999999999631,"stage":"place","target_distance":0.06324101294701095,"dwell_elapsed":0.0},{"joint_position":[-0.009016615483568434,-1.2217411841769397,1.475488626139374,-1.956983750956506e-05,-0.25740409595919567,0.009201150895460407],"joint_velocity":[-0.006954538856049309,0.0816799254874954,0.15633025673904877,6.068464788051814e-06,-0.21238197567444483,0.006170907348126837],"joint_actuator_torque":[0.00913139123333817,-1.6903167326154858,-1.1685873050536202,7.226603871206163e-05,-0.06970217069387274,-0.0008170376724961903],"jaw_actuator_force":[-0.8029725432565114,-0.7993567282231515],"end_effector_position":[0.4364446287176712,-0.003935843063029674,0.3792615609823694],"end_effector_quaternion":[0.999998324077891,-2.612046877993901e-05,-0.0018281638971260564,9.474120367744112e-05],"end_effector_velocity":[0.002817967202583634,-0.003060513975481632,-0.0771998679529058],"object_position":[0.43646973686518376,-0.0038093608245259093,0.37139795416360366],"object_quaternion":[0.9999984190783574,-5.209524586661096e-05,-0.0017749287262052644,9.356755594704312e-05],"object_velocity":[0.0030499205857570113,-0.002964746468809528,-0.07621505451162877],"object_angular_velocity":[0.00028414863339565235,0.04092084302267982,-0.0010642102602876821],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09575893005786165,-0.0008634448507462365,0.4931149592424636],[0.32806432384725026,-0.0029581100265875238,0.4328670016492124],[0.3813009765906518,-0.0034381374627178185,0.4190601780340923],[0.43629837565303514,-0.003933767285225199,0.4192612935531283],[0.4364446287176712,-0.003935843063029674,0.3792615609823694]],"gripper_points":[[0.46238022029176795,-0.003930505522146387,0.3873564438193615],[0.41044211331487046,-0.003940351889538663,0.3871665403777708]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938455084953514,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.802379775636463,"right":0.7999228218845644},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.49999999999962,"stage":"place","target_distance":0.06153836553950829,"dwell_elapsed":0.0},{"joint_position":[-0.009172785842725994,-1.2199525190681746,1.4790192531106436,-1.9318412849981134e-05,-0.2627205516101448,0.009356067247244866],"joint_velocity":[-0.006907649135058891,0.08302515821812617,0.15441938278411838,5.584997284693745e-06,-0.2118673517577961,0.006127248344387676],"joint_actuator_torque":[0.009074655967368006,-1.6920915622427515,-1.1662649361085187,6.951179337547357e-05,-0.06975613635619027,-0.0008112427707589465],"jaw_actuator_force":[-0.8030425766017073,-0.7993057897239302],"end_effector_position":[0.43651640703065203,-0.00400465412075449,0.37757180769665494],"end_effector_quaternion":[0.9999983267286336,-2.6256947680524204e-05,-0.0018267429091673544,9.413208407539519e-05],"end_effector_velocity":[0.002840866584830717,-0.003041219443263276,-0.07710892225706423],"object_position":[0.43654158026472417,-0.003878165029781703,0.3696998703912188],"object_quaternion":[0.9999984216748601,-5.310161116983646e-05,-0.0017734672748932346,9.296145463386978e-05],"object_velocity":[0.0030777920827509586,-0.0029459233649439883,-0.0761436185510178],"object_angular_velocity":[0.0002907512754445064,0.040877385742590706,-0.0010593115522536558],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09622924536123889,-0.0008827150168585246,0.49294325081926993],[0.3282105611902387,-0.0030106896294012195,0.43146040093172644],[0.3813729460677178,-0.0034983504781089204,0.41737058116583103],[0.43637026764471987,-0.0040025673248642165,0.41757154068232827],[0.43651640703065203,-0.00400465412075449,0.37757180769665494]],"gripper_points":[[0.4624520963033114,-0.0039993459827013175,0.38566661709808275],[0.4105139894409422,-0.004009129098680087,0.3854768612656952]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993845441897709,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8024165934097317,"right":0.7999050947379245},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.519999999999609,"stage":"place","target_distance":0.05983759165804146,"dwell_elapsed":0.0},{"joint_position":[-0.009327862392991423,-1.218132695322301,1.4825060220095192,-1.9094243292939083e-05,-0.2680243316339186,0.009509847041841895],"joint_velocity":[-0.006859256912421172,0.08436184716809232,0.152518664293587,5.076951035073453e-06,-0.21135373570540017,0.006082195852847095],"joint_actuator_torque":[0.00901595211913353,-1.6938784904094177,-1.1639210289197308,6.679617493953642e-05,-0.06981000407421689,-0.0008052632266769555],"jaw_actuator_force":[-0.8031147424978586,-0.7992571104312143],"end_effector_position":[0.4365889700354932,-0.004073018355252454,0.3758839556885097],"end_effector_quaternion":[0.9999983293569249,-2.640432147537373e-05,-0.0018253337310562689,9.350369635356821e-05],"end_effector_velocity":[0.0028636813430942334,-0.003021270638370155,-0.0770183439917052],"object_position":[0.4366142095403974,-0.003946521638482161,0.36800367432869824],"object_quaternion":[0.9999984242501613,-5.4119084338262246e-05,-0.0017720164592738476,9.233626814402511e-05],"object_velocity":[0.00310552879877118,-0.0029264604019082954,-0.07607218981934578],"object_angular_velocity":[0.00029725802172493826,0.04083403164500883,-0.001054221906058781],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09670743726235105,-0.0009020998309202826,0.49276768788046127],[0.3283589053131013,-0.003062975520285404,0.43005462730941807],[0.38144570007473155,-0.0035581761990982445,0.4156828842618873],[0.436442943383455,-0.004070919667099474,0.41588368908527623],[0.4365889700354932,-0.004073018355252454,0.3758839556885097]],"gripper_points":[[0.4625247577443069,-0.004067740444771806,0.3839786922698433],[0.4105866511781686,-0.004077458309853516,0.38378908282057395]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399384535758978,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8024555715529611,"right":0.7998895968705749},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.539999999999598,"stage":"place","target_distance":0.058138684075641454,"dwell_elapsed":0.0},{"joint_position":[-0.009481810824809634,-1.216281953721809,1.4859492377943855,-1.889770657364916e-05,-0.2733154743326511,0.009662454991985515],"joint_velocity":[-0.006809343600231058,0.08568808776097847,0.15063121092793907,4.544897483786224e-06,-0.2108416587201163,0.0060357470147626565],"joint_actuator_torque":[0.008955248536124394,-1.6956764691789203,-1.161557809472697,6.412086711211754e-05,-0.06986378101700197,-0.0007990987034303121],"jaw_actuator_force":[-0.8031885120437119,-0.7992106668737806],"end_effector_position":[0.4366622998100792,-0.004140920721276123,0.37419799170481344],"end_effector_quaternion":[0.9999983319864008,-2.6562548624946617e-05,-0.0018239234205518655,9.28558178789231e-05],"end_effector_velocity":[0.0028857625689268926,-0.0030006524577233054,-0.07692836535552398],"object_position":[0.4366876085704879,-0.004014415552424231,0.36630935130167647],"object_quaternion":[0.9999984268273496,-5.5147605343937756e-05,-0.0017705632387162511,9.169179603584495e-05],"object_velocity":[0.0031323267005720318,-0.0029063435203772322,-0.07600097365057834],"object_angular_velocity":[0.0003036738508830989,0.04079138246853023,-0.0010489263922584273],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09719342456925013,-0.0009215972840002363,0.49258824969702597],[0.32850932729813315,-0.003114956645971387,0.4286496672961693],[0.38151922167350216,-0.0036176014997564426,0.41399707549597303],[0.4365163859825024,-0.00413880926988274,0.4141977255126364],[0.4366622998100792,-0.004140920721276123,0.37419799170481344]],"gripper_points":[[0.4625981891682965,-0.004135673874926639,0.3822926554184525],[0.41066008305262414,-0.004145324466458698,0.3821031924705218]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0399384525782719,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.802496267120623,"right":0.7998762190072762},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.559999999999587,"stage":"place","target_distance":0.05644162937581067,"dwell_elapsed":0.0},{"joint_position":[-0.009634596288235223,-1.2144005038822243,1.4893491580240723,-1.872916503260521e-05,-0.2785940360305861,0.009813855024513957],"joint_velocity":[-0.006757884700602956,0.08700534828151564,0.14875454400843197,3.9891303798752e-06,-0.21033197495235834,0.005987868951089698],"joint_actuator_torque":[0.00889252077214664,-1.6974858624994908,-1.1591743009352058,6.148802140787651e-05,-0.06991735653792475,-0.0007927449431661682],"jaw_actuator_force":[-0.8032629428036762,-0.7991668764411282],"end_effector_position":[0.4367363885510398,-0.0042083460075995685,0.3725139051942695],"end_effector_quaternion":[0.9999983346094165,-2.6731734635546838e-05,-0.0018225161621412457,9.218810344200916e-05],"end_effector_velocity":[0.0029076198654004017,-0.0029793580448208177,-0.07683877314042828],"object_position":[0.4367617648069392,-0.004081831562370553,0.36461689241936557],"object_quaternion":[0.9999984293921913,-5.6187312219956936e-05,-0.0017691156257945747,9.102768765564389e-05],"object_velocity":[0.003158849543478231,-0.0028855659903743312,-0.07592977705247364],"object_angular_velocity":[0.0003099814420492804,0.040747952503642666,-0.001043429767912951],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.097687134002166,-0.0009412052214438672,0.4924049122695191],[0.32866180682487284,-0.0031666218057527103,0.42724550745739853],[0.38159350268007647,-0.003676613106323487,0.4123131438546209],[0.4365905873037368,-0.004206220913534906,0.4125136394118898],[0.4367363885510398,-0.0042083460075995685,0.3725139051942695]],"gripper_points":[[0.4626723772936745,-0.0042031310791825595,0.38060849618992354],[0.4107342717634959,-0.004212712338684374,0.3804191794268025]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993845144689333,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8025382206573918,"right":0.7998648977709822},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.579999999999576,"stage":"place","target_distance":0.054746419744758176,"dwell_elapsed":0.0},{"joint_position":[-0.009786183512985063,-1.212488592182152,1.4927060661084532,-1.8588956686934614e-05,-0.2838600866527872,0.009964010937494498],"joint_velocity":[-0.006704861731617546,0.0883117839004601,0.1468899738241475,3.4102841094366476e-06,-0.20982521302377566,0.005938558296675562],"joint_actuator_torque":[0.008827728295744741,-1.6993048516633849,-1.1567709268151702,5.889873684870547e-05,-0.06997056633495902,-0.0007862014223477543],"jaw_actuator_force":[-0.8033384747071439,-0.7991247898236926],"end_effector_position":[0.4368112200336566,-0.004275278715259703,0.37083169284946077],"end_effector_quaternion":[0.9999983371960122,-2.6912093498360654e-05,-0.0018211283962812743,9.150035231608003e-05],"end_effector_velocity":[0.0029288294359258588,-0.002957374270503615,-0.07674921071125783],"object_position":[0.4368366647507941,-0.004148754132810523,0.3629262942044815],"object_quaternion":[0.9999984319171475,-5.723841529776107e-05,-0.001767689173783166,9.034376196283248e-05],"object_velocity":[0.003184658383142333,-0.002864115395110154,-0.07585823972485511],"object_angular_velocity":[0.00031616905125595064,0.040702650616148785,-0.0010377173385495715],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09818848235531895,-0.0009609211829976255,0.492217654941919],[0.32881631407632783,-0.003217959519607825,0.4258421397754579],[0.3816685255123924,-0.003735197471747662,0.4106310842164772],[0.4366655298072112,-0.004273139082070987,0.41083142747082907],[0.4368112200336566,-0.004275278715259703,0.37083169284946077]],"gripper_points":[[0.4627473084064445,-0.0042700965650470275,0.37892621213977806],[0.41080920358326495,-0.004279606413272951,0.3787370395370878]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938450201506895,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8025814050695426,"right":0.7998551505141996},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.599999999999564,"stage":"place","target_distance":0.0530530528752021,"dwell_elapsed":0.0},{"joint_position":[-0.009936536452784656,-1.2105464987624799,1.4960202985275086,-1.8477414758064027e-05,-0.28911363972110987,0.01011288461718932],"joint_velocity":[-0.006650238178379101,0.0896061292363819,0.14504004446345567,2.8080203860762013e-06,-0.20931868036976542,0.005887735119840235],"joint_actuator_torque":[0.008760814397214212,-1.7011325695377764,-1.1543496304345808,5.635479802179599e-05,-0.07002388929779002,-0.0007794575023194472],"jaw_actuator_force":[-0.8034145568058575,-0.7990845679041341],"end_effector_position":[0.43688676401665644,-0.0043417028404667555,0.36915134432608804],"end_effector_quaternion":[0.9999983397852616,-2.7103462006477527e-05,-0.0018197387099163091,9.079179681756442e-05],"end_effector_velocity":[0.0029487718908820576,-0.0029346778486478682,-0.0766601642691772],"object_position":[0.4369122797695802,-0.004215167190862475,0.36123754488708104],"object_quaternion":[0.9999984344492074,-5.8300679416082836e-05,-0.0017662573367888427,8.963919632503045e-05],"object_velocity":[0.0032089410034647227,-0.00284196930591787,-0.07578683345101161],"object_angular_velocity":[0.0003222711380208696,0.04065887699453518,-0.001031821900468701],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09869737732032056,-0.000980742365536346,0.4920264602182435],[0.32897280858531575,-0.0032689578917784587,0.4244395544936436],[0.3817442615835438,-0.0037933406165422765,0.4089508885984228],[0.43674118496469394,-0.00433954778449382,0.40915107935140244],[0.43688676401665644,-0.0043417028404667555,0.36915134432608804]],"gripper_points":[[0.4628229549467651,-0.004336554370789914,0.3772457918214771],[0.4108848509278572,-0.004345990648658876,0.37705676357908224]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938448858227005,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.802625399884097,"right":0.7998470049329441},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.619999999999553,"stage":"place","target_distance":0.05136151916010236,"dwell_elapsed":0.0},{"joint_position":[-0.010085618220639758,-1.2085744626643948,1.4992921675071116,-1.839485743459272e-05,-0.2943547651131124,0.010260438227132851],"joint_velocity":[-0.006593976738895786,0.09089037180544562,0.14320346268298945,2.182578300157122e-06,-0.20881518381171557,0.0058354157701096835],"joint_actuator_torque":[0.008691737282017442,-1.7029705586587625,-1.1519105429965748,5.3858524314480015e-05,-0.07007698949309926,-0.0007725155466428157],"jaw_actuator_force":[-0.8034903512211509,-0.7990466519497534],"end_effector_position":[0.4369630005269329,-0.0044076020800881575,0.3674728420229441],"end_effector_quaternion":[0.9999983423801414,-2.7305854438639078e-05,-0.001818345444286723,9.00622281128628e-05],"end_effector_velocity":[0.002967963086564237,-0.0029112562656883516,-0.07657193663372783],"object_position":[0.4369885851918489,-0.004281054421754047,0.35955062777504593],"object_quaternion":[0.9999984369793731,-5.937417717583739e-05,-0.0017648251591496258,8.891386768687527e-05],"object_velocity":[0.0032323693211065594,-0.002819115577314915,-0.0757158754117936],"object_angular_velocity":[0.0003282685030250158,0.04061519926100031,-0.0010256955949574933],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0992137371225928,-0.0010006658042315704,0.49183130644389594],[0.3291312589219392,-0.0033196047791235984,0.42303773340340184],[0.38182069100095606,-0.0038510282942030216,0.40727253958162196],[0.4368175329357819,-0.00440543071649346,0.40747257745288296],[0.4369630005269329,-0.0044076020800881575,0.3674728420229441]],"gripper_points":[[0.46289929161659044,-0.004402488204878373,0.3755672175282827],[0.4109611884831087,-0.004411848731612854,0.37537833401829285]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993844743255228,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8026698342722928,"right":0.7998404389216278},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.639999999999542,"stage":"place","target_distance":0.04967180393290419,"dwell_elapsed":0.0},{"joint_position":[-0.010233391294450006,-1.2065727476457757,1.5025219670523684,-1.834159247055359e-05,-0.2995835089223637,0.01040663343308256],"joint_velocity":[-0.0065360498718806765,0.0921629329117055,0.14137919308718042,1.534083616281639e-06,-0.20831356033889512,0.005781578422222908],"joint_actuator_torque":[0.008620446397372028,-1.7048166493420354,-1.149452602045244,5.1411294208276786e-05,-0.07012991057135665,-0.0007653725840566228],"jaw_actuator_force":[-0.80356630841188,-0.7990102003138171],"end_effector_position":[0.43703990681083166,-0.004472959795593387,0.365796183355078],"end_effector_quaternion":[0.9999983449662077,-2.7519374231263524e-05,-0.0018169565170161415,8.931150571452748e-05],"end_effector_velocity":[0.0029862416771752566,-0.002887094629557939,-0.07648357972311312],"object_position":[0.43706555969952304,-0.0043463991559410595,0.3578655414408916],"object_quaternion":[0.9999984394971424,-6.045899750706942e-05,-0.0017633985532896574,8.816763102339324e-05],"object_velocity":[0.0032548253983388053,-0.0027955399586653195,-0.07564442023544482],"object_angular_velocity":[0.0003341438432508214,0.04056994786689709,-0.0010193307511213007],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09973747326592562,-0.0010206882205038355,0.49163217428688943],[0.3292916295197436,-0.003369887729812203,0.4216366700865255],[0.3818977903279102,-0.003908245950695371,0.4055960337072754],[0.43689455033341656,-0.004470771231308313,0.405795919188014],[0.43703990681083166,-0.004472959795593387,0.365796183355078]],"gripper_points":[[0.46297629704103704,-0.004467881434142557,0.3738904870914495],[0.411038194862057,-0.004477164014411882,0.3737017478634614]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993844593956054,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.802714748064248,"right":0.799835020501757},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.659999999999531,"stage":"place","target_distance":0.04798390764681684,"dwell_elapsed":0.0},{"joint_position":[-0.010379817220277523,-1.2045416792202164,1.505710070798676,-1.8317913739534365e-05,-0.3047999123303962,0.010551430080117621],"joint_velocity":[-0.006476414208474614,0.0934213116204893,0.13957122825177548,8.625440744127503e-07,-0.20781351252378386,0.005726148112888981],"joint_actuator_torque":[0.008546868784664596,-1.7066685713592165,-1.146978008042197,4.901466577636286e-05,-0.07018270743036936,-0.0007580185981438392],"jaw_actuator_force":[-0.8036422543608142,-0.7989751025369554],"end_effector_position":[0.43711744100635314,-0.004537758711491094,0.3641213650210439],"end_effector_quaternion":[0.9999983475497847,-2.7743998335900133e-05,-0.0018155684532353315,8.85390440749225e-05],"end_effector_velocity":[0.003002733219937347,-0.0028621635007372503,-0.07639538656048744],"object_position":[0.4371431653724078,-0.004411184029109629,0.35618228077616465],"object_quaternion":[0.9999984420135777,-6.155507372665732e-05,-0.0017619712413767233,8.739985084306181e-05],"object_velocity":[0.003275200528009377,-0.002771214354308697,-0.07557274760729968],"object_angular_velocity":[0.00033991259562256824,0.04052465363568318,-0.0010127492382686557],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10026848087835573,-0.0010408058837594266,0.4914290505384953],[0.32945386694995105,-0.003419793739219034,0.4202363597058168],[0.38197551792469164,-0.003964978456095194,0.4039213680566613],[0.43697219557359107,-0.004535552055187492,0.4041211012563609],[0.43711744100635314,-0.004537758711491094,0.3641213650210439]],"gripper_points":[[0.4630539339807496,-0.004532716813053276,0.37221559704587404],[0.4111158328121384,-0.004541919190685763,0.37202700201039157]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938444391144926,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8027598802062912,"right":0.7998307248792836},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.67999999999952,"stage":"place","target_distance":0.04629782822084934,"dwell_elapsed":0.0},{"joint_position":[-0.010524856831652829,-1.2024815012675616,1.5088567845849372,-1.8324129242361174e-05,-0.3100040332553608,0.010694786879311339],"joint_velocity":[-0.00641503989013549,0.0946695483631215,0.13777626986912628,1.6691310155795815e-07,-0.20731582323529799,0.0056690815968014644],"joint_actuator_torque":[0.008470981058347427,-1.708529547787066,-1.1444862667233338,4.667162655132696e-05,-0.07023539345910379,-0.0007504480057733964],"jaw_actuator_force":[-0.8037170176062132,-0.7989422520656744],"end_effector_position":[0.4371955809125236,-0.004601981405700925,0.36244837133518254],"end_effector_quaternion":[0.9999983501345623,-2.797971935405124e-05,-0.0018141792277701926,8.774405038173602e-05],"end_effector_velocity":[0.003018403126102607,-0.0028364583440960546,-0.0763079902004556],"object_position":[0.4372213727849168,-0.0044753916395761885,0.3545008316166024],"object_quaternion":[0.9999984445242284,-6.266244234979433e-05,-0.0017605457367887922,8.660975335784115e-05],"object_velocity":[0.003294673558751287,-0.0027461340104993127,-0.0755015190340455],"object_angular_velocity":[0.000345573962617341,0.04047975390383101,-0.0010059606005623977],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10080667623447978,-0.0010610150124665287,0.49122191384663755],[0.3296179376267774,-0.003469309705111035,0.41883678570045635],[0.3820538516958456,-0.004021210572175401,0.40224852716695647],[0.43705044661734976,-0.004599755766520308,0.40244810797285174],[0.4371955809125236,-0.004601981405700925,0.36244837133518254]],"gripper_points":[[0.4631321721902812,-0.00459697696224756,0.37054253157151074],[0.4111940720760308,-0.004606096798707189,0.37035408084935817]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938442798412715,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8028048039037006,"right":0.7998277032499705},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.699999999999509,"stage":"place","target_distance":0.044613554155909556,"dwell_elapsed":0.0},{"joint_position":[-0.010668469735326322,-1.2003924799892898,1.5119624280894286,-1.836054104666274e-05,-0.3151958975551549,0.010836662254100562],"joint_velocity":[-0.006351868781434279,0.09590615407867562,0.13599499092245337,-5.52941940348109e-07,-0.20681906708092188,0.00561036955642052],"joint_actuator_torque":[0.008392682232056359,-1.710398678920285,-1.1419777378007439,4.4383481273651626e-05,-0.07028810597140733,-0.000742659490592934],"jaw_actuator_force":[-0.8037915824141493,-0.798910349187195],"end_effector_position":[0.43727429764216336,-0.004665609817355472,0.36077718941476306],"end_effector_quaternion":[0.9999983527455465,-2.8226395079514833e-05,-0.0018127750273410276,8.692620160528641e-05],"end_effector_velocity":[0.003032881964333253,-0.0028099485097647444,-0.07622106719921293],"object_position":[0.43730015624382684,-0.004539003851950055,0.35282118106138066],"object_quaternion":[0.9999984470589838,-6.378092251709489e-05,-0.0017591050213869492,8.579707519413254e-05],"object_velocity":[0.003312874241540127,-0.002720269263375607,-0.07543040066928773],"object_angular_velocity":[0.00035113098075136836,0.04043549833544979,-0.0009989190028897948],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1013519695443613,-0.0010813114436142815,0.4910107450566754],[0.32978380215617786,-0.003518421998045352,0.4174379352574536],[0.38213276379638583,-0.004076926500102472,0.4005774996784653],[0.43712927568257515,-0.004663364315680594,0.40077692645876073],[0.43727429764216336,-0.004665609817355472,0.36077718941476306]],"gripper_points":[[0.4632109868256445,-0.004660643839242227,0.3688712770829741],[0.4112728877928876,-0.004669678762368213,0.36868297222979984]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938441173027334,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8028497635500598,"right":0.7998253939939288},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.719999999999498,"stage":"place","target_distance":0.04293107515010438,"dwell_elapsed":0.0},{"joint_position":[-0.010810614124162054,-1.1982749531458912,1.5150269044240736,-1.8427440017363855e-05,-0.3203755746439007,0.010977012251837647],"joint_velocity":[-0.006286830207842657,0.09712815148486932,0.13423488493719005,-1.2956169838718635e-06,-0.2063251109734173,0.00554991265293039],"joint_actuator_torque":[0.008311738672795776,-1.7122570311647678,-1.1394435359744648,4.214520032329999e-05,-0.07033836785709724,-0.0007346386206932287],"jaw_actuator_force":[-0.8038743977487988,-0.7988707680547602],"end_effector_position":[0.43735360904002174,-0.004728625737113094,0.3591079793431219],"end_effector_quaternion":[0.9999983549260865,-2.8486760636986334e-05,-0.0018116078635795094,8.608469108586328e-05],"end_effector_velocity":[0.0030448803874902814,-0.002782587948876971,-0.07613575582711295],"object_position":[0.4373795517742238,-0.004602002355159308,0.3511434870302315],"object_quaternion":[0.999998449189556,-6.49132125696508e-05,-0.0017578926012907447,8.496092852720335e-05],"object_velocity":[0.0033291251652729577,-0.002693573408210373,-0.07536096062014899],"object_angular_velocity":[0.0003566269579954423,0.04039582471738063,-0.0009916427057812948],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1019042521411491,-0.001101690465803402,0.4907955323115615],[0.3299514384275497,-0.0035671166438693298,0.41603991378949867],[0.38221225195151654,-0.004132110143009438,0.3989084178781926],[0.4372086804531718,-0.0047263592761474255,0.39910771672435813],[0.43735360904002174,-0.004728625737113094,0.3591079793431219]],"gripper_points":[[0.46329040683234113,-0.004723699229917976,0.36720200679135184],[0.411352308994331,-0.004732646785008576,0.36701382318473685]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993843952372121,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8028980150977396,"right":0.799820359811886},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.739999999999487,"stage":"place","target_distance":0.04125054752758784,"dwell_elapsed":0.0},{"joint_position":[-0.010951244693192055,-1.1961291917443606,1.5180504496540432,-1.852524337145266e-05,-0.3255428714635563,0.011115788070511666],"joint_velocity":[-0.006219765534185963,0.0983386392310511,0.13249018344752006,-2.0687147278919155e-06,-0.20582220494283177,0.005487513782585142],"joint_actuator_torque":[0.008228040484402399,-1.714121076991546,-1.1368928197391597,3.99663807466007e-05,-0.07038989597050715,-0.0007263602717320072],"jaw_actuator_force":[-0.8039577928355008,-0.7988318522334517],"end_effector_position":[0.43743348897279505,-0.004791008937699603,0.35744074476676074],"end_effector_quaternion":[0.9999983568202347,-2.8760088627882074e-05,-0.0018105986774271453,8.52180581839987e-05],"end_effector_velocity":[0.003055056104539464,-0.0027543126186471436,-0.07605213692602969],"object_position":[0.43745952583624387,-0.004664366803496612,0.3494677541610003],"object_quaternion":[0.9999984510727697,-6.605838150614709e-05,-0.001756819732560407,8.40998098681274e-05],"object_velocity":[0.0033430726010032024,-0.002665985378839465,-0.0752929280703102],"object_angular_velocity":[0.00036213245373420823,0.04036693379056688,-0.0009841492940034474],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10246343260530767,-0.0011221469825300112,0.4905762571012317],[0.3301208132046819,-0.0036153783353613522,0.41464272790593515],[0.38229229625870514,-0.004186743853718535,0.39724129413201303],[0.43728864112054167,-0.004788720478046287,0.3974404824391837],[0.43743348897279505,-0.004791008937699603,0.35744074476676074]],"gripper_points":[[0.46337040166899124,-0.004786122995569326,0.3655347202215061],[0.41143230512596346,-0.0047949805758364765,0.36534664145144563]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993843783358661,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8029466475334409,"right":0.7998161805059706},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.759999999999476,"stage":"place","target_distance":0.03957197927227636,"dwell_elapsed":0.0},{"joint_position":[-0.011090314123120051,-1.1939554780112367,1.5210333303448635,-1.8654357277472216e-05,-0.3306976560371468,0.011252940519777271],"joint_velocity":[-0.006150594321763502,0.09953641651166478,0.13075615946337343,-2.871765224691762e-06,-0.20531448281066672,0.005423168351877387],"joint_actuator_torque":[0.008141510613931757,-1.7159906460715888,-1.1343245424519637,3.785100448462013e-05,-0.07044232794012828,-0.0007178242434032756],"jaw_actuator_force":[-0.8040398417590966,-0.7987953177157454],"end_effector_position":[0.4375139081150543,-0.004852738239525355,0.35577548680974885],"end_effector_quaternion":[0.9999983585337164,-2.904582865512344e-05,-0.0018096893093238608,8.432565603741694e-05],"end_effector_velocity":[0.003064029588945547,-0.0027250923989873923,-0.0759678926993825],"object_position":[0.4375400398482323,-0.00472607596992037,0.34779398722095134],"object_quaternion":[0.9999984527809684,-6.721599323818575e-05,-0.0017558454484561282,8.321321523861436e-05],"object_velocity":[0.0033555420121254404,-0.0026374771446119154,-0.0752239156251237],"object_angular_velocity":[0.00036753953644902014,0.040339661379796755,-0.0009763710060613266],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10302941639672099,-0.0011426754399597447,0.49035290213437227],[0.33029188871734116,-0.003663190984232678,0.41324638051583207],[0.38237287195748326,-0.004240809129795226,0.3955761359782499],[0.43736913301200725,-0.004850426785306223,0.39577522474422433],[0.4375139081150543,-0.004852738239525355,0.35577548680974885]],"gripper_points":[[0.4634509330190211,-0.004847894000774709,0.36386941544463947],[0.41151283784965476,-0.004856658931968244,0.3636814311425224]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938436102216486,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8029949383554154,"right":0.7998133771413377},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.779999999999465,"stage":"place","target_distance":0.037895379090861894,"dwell_elapsed":0.0},{"joint_position":[-0.01122777490484361,-1.1917540627016447,1.5239757937973188,-1.8815170094415012e-05,-0.3358398337267015,0.011388418850578745],"joint_velocity":[-0.006079316279220046,0.100723662683438,0.12903265856352716,-3.7045766020010843e-06,-0.20480286991466778,0.005356811110884185],"joint_actuator_torque":[0.008052136518274189,-1.7178674006332812,-1.1317389051001783,3.580115085534408e-05,-0.07049546387271022,-0.0007090216923737458],"jaw_actuator_force":[-0.8041212169873884,-0.798760152012389],"end_effector_position":[0.4375948449350574,-0.0049137924295882375,0.3541122008074441],"end_effector_quaternion":[0.9999983601493215,-2.934352600780462e-05,-0.0018088341656767172,8.340615267901045e-05],"end_effector_velocity":[0.003072125051044648,-0.0026949293085629196,-0.07588389704727837],"object_position":[0.4376210694570352,-0.004787108647365562,0.34612218148109536],"object_quaternion":[0.9999984543887754,-6.838561776209218e-05,-0.001754927409910947,8.229977473685783e-05],"object_velocity":[0.003367087943597952,-0.0026080505641959315,-0.07515483121658192],"object_angular_velocity":[0.00037286287827869707,0.040315604225768915,-0.0009683643384333378],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10360211697463192,-0.0011632701312140358,0.49012544696929694],[0.33046463421263217,-0.0037105384487100407,0.4118508681038904],[0.3824539610796739,-0.004294287438136209,0.393912943780568],[0.43745013824330625,-0.004911457020789021,0.39411193898807756],[0.4375948449350574,-0.0049137924295882375,0.3541122008074441]],"gripper_points":[[0.4635319777077158,-0.004908991109392904,0.36220608542243754],[0.41159388396283636,-0.004917660578686289,0.36201818995569757]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938434340264894,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8030430856241312,"right":0.7998114127181999},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.799999999999454,"stage":"place","target_distance":0.03622074558750461,"dwell_elapsed":0.0},{"joint_position":[-0.011363577397021311,-1.189525251399915,1.526878191156352,-1.9008094702772332e-05,-0.3409693455215162,0.011522171320150614],"joint_velocity":[-0.006005824856349002,0.10189760186272893,0.12732410228429594,-4.5690971294684965e-06,-0.2042888844626534,0.005288404604356785],"joint_actuator_torque":[0.007959751428791684,-1.7197501913102542,-1.1291388189335976,3.3819188216063e-05,-0.07054913517472983,-0.0006999476626450285],"jaw_actuator_force":[-0.8042023529048388,-0.7987257127097935],"end_effector_position":[0.43767625802630916,-0.004974149103069438,0.3524508728921361],"end_effector_quaternion":[0.9999983617617171,-2.9652629374833916e-05,-0.0018079809598568436,8.245879168458855e-05],"end_effector_velocity":[0.003078438993977358,-0.0026637650016870813,-0.07580034581974267],"object_position":[0.43770257795363937,-0.004847442272944514,0.34445232125480296],"object_quaternion":[0.9999984559892826,-6.9566686248941e-05,-0.0017540126202075033,8.135880884053962e-05],"object_velocity":[0.0033766015771294665,-0.0025776494367178325,-0.07508583283719224],"object_angular_velocity":[0.00037810137801128665,0.04029483095072939,-0.0009600612515903495],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10418143334124272,-0.001183924741963575,0.4898938769366636],[0.3306390005045392,-0.0037574036063915952,0.41045618134436057],[0.38253552631279464,-0.004347159179489683,0.39225170943779114],[0.4375316195908633,-0.0049717888233197245,0.39245061131818176],[0.43767625802630916,-0.004974149103069438,0.3524508728921361]],"gripper_points":[[0.4636135014273194,-0.004969391963712281,0.36054471359751217],[0.41167540912910866,-0.004977963079444144,0.3603569067648821]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993843255670954,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8030911008149932,"right":0.7998100675177717},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.819999999999443,"stage":"place","target_distance":0.03454806763362384,"dwell_elapsed":0.0},{"joint_position":[-0.011497669719276097,-1.18726923776593,1.529740671183147,-1.9233551398939983e-05,-0.34608615282509625,0.011654143389640867],"joint_velocity":[-0.005930022272460704,0.10306330714772864,0.1256213667606394,-5.465994370809202e-06,-0.2037735546345873,0.005217833533562313],"joint_actuator_torque":[0.007864253081299566,-1.7216404791370792,-1.1265192124538999,3.190889935140908e-05,-0.07060308176360053,-0.000690587015565014],"jaw_actuator_force":[-0.8042821785856118,-0.7986929173262762],"end_effector_position":[0.43775814788189726,-0.005033785312426188,0.3507915084374294],"end_effector_quaternion":[0.9999983633652137,-2.9973196695938535e-05,-0.0018071328387147543,8.14825410461957e-05],"end_effector_velocity":[0.0030848753263870835,-0.0026315769606239914,-0.07571638147440807],"object_position":[0.43778455531841626,-0.004907053922791863,0.3427844168004065],"object_quaternion":[0.9999984575643766,-7.075936065906897e-05,-0.0017531113905888578,8.038926631053061e-05],"object_velocity":[0.003386430831008657,-0.0025462512483341126,-0.07501613819074356],"object_angular_velocity":[0.00038319971890195937,0.040273079346446194,-0.0009514694425951128],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10476729340701865,-0.0012046328201552065,0.48965816584874866],[0.33081497429261686,-0.00380376892894887,0.4090623194437962],[0.3826175678288998,-0.004399404287214084,0.3905924379759946],[0.437613577296026,-0.005031399240596984,0.39079124710723023],[0.43775814788189726,-0.005033785312426188,0.3507915084374294]],"gripper_points":[[0.46369549277697986,-0.005029073670787843,0.3588853054638969],[0.4117574019417449,-0.005037543434114579,0.3586975867371921]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993843075860458,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8031387565503788,"right":0.7998094196676093},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.839999999999431,"stage":"place","target_distance":0.03287735864097994,"dwell_elapsed":0.0},{"joint_position":[-0.011629997370622478,-1.1849862560097706,1.532563437464863,-1.9492004816993795e-05,-0.35119021359869157,0.011784276532807704],"joint_velocity":[-0.005851789015451753,0.10421877978938983,0.1239272048240095,-6.397959559158123e-06,-0.2032564543550263,0.005144937770685424],"joint_actuator_torque":[0.007765441575538823,-1.7235374996936912,-1.1238814409076667,3.0072448797308906e-05,-0.07065725551563418,-0.0006809181689918509],"jaw_actuator_force":[-0.8043625097584464,-0.7986597773531852],"end_effector_position":[0.43784050221546794,-0.00509267679233225,0.34913411145196327],"end_effector_quaternion":[0.9999983649701841,-3.0305195523207812e-05,-0.001806284090725393,8.04756950245202e-05],"end_effector_velocity":[0.003090789415011576,-0.0025983044518811307,-0.07563209691873644],"object_position":[0.437866996986808,-0.004965919184484959,0.34111847106192694],"object_quaternion":[0.9999984591337515,-7.196356634922663e-05,-0.0017522125136562488,7.938939036659942e-05],"object_velocity":[0.003395820447058826,-0.0025137973522978796,-0.07494582798198289],"object_angular_velocity":[0.00038816545415666084,0.04025112839170092,-0.0009426132611232351],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10535961431142561,-0.0012253872852467092,0.48941829175705565],[0.3309925304428716,-0.003849615822600301,0.4076692820835212],[0.38270007372299464,-0.004451001529077166,0.38893513403333624],[0.43769599952936966,-0.005090264009611795,0.38913385036551357],[0.43784050221546794,-0.00509267679233225,0.34913411145196327]],"gripper_points":[[0.46377794835964387,-0.005088012052899474,0.3572278647657802],[0.4118398589952017,-0.005096377287765825,0.3570402342100733]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993842895228318,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8031866240168408,"right":0.7998087222449459},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.85999999999942,"stage":"place","target_distance":0.031208624869085263,"dwell_elapsed":0.0},{"joint_position":[-0.011760501975013203,-1.1826764838049273,1.5353466672552667,-1.9783988447996518e-05,-0.3562814688332283,0.01191250867916968],"joint_velocity":[-0.0057709472036306395,0.10536698955611194,0.12224063591568193,-7.3689268299696415e-06,-0.2027367534515687,0.005069578299206599],"joint_actuator_torque":[0.007663086211706194,-1.725444301068137,-1.1212263828148252,2.831438346940704e-05,-0.07071193578491375,-0.0006709228526574629],"jaw_actuator_force":[-0.8044425572788452,-0.7986270938124314],"end_effector_position":[0.4379233182777846,-0.005150797663419051,0.34747866843352665],"end_effector_quaternion":[0.9999983666295451,-3.064833348453531e-05,-0.0018054054192480327,7.943672769186544e-05],"end_effector_velocity":[0.0030966284072167934,-0.00256387369750432,-0.07554853755095566],"object_position":[0.43794989822580394,-0.005024012041485434,0.3394544705140891],"object_quaternion":[0.9999984607503605,-7.317899180536093e-05,-0.0017512857604488985,7.835771220081847e-05],"object_velocity":[0.003405158846119026,-0.002480215736942581,-0.07487596151110576],"object_angular_velocity":[0.00039302588255571056,0.04023177413059519,-0.0009334459790255025],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10595832763695291,-0.0012461805748052218,0.4891742268018854],[0.33117165579755287,-0.003894924481962687,0.4062770557129982],[0.3827830435010237,-0.004501928294019606,0.3872797873384616],[0.43777888588538816,-0.005148357273984988,0.3874784075992828],[0.4379233182777846,-0.005150797663419051,0.34747866843352665]],"gripper_points":[[0.46386086427070294,-0.005146181314871642,0.35557237647530615],[0.4119227763723582,-0.005154438686563898,0.35538483719887826]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938427139263454,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8032344409346246,"right":0.7998082490562397},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.87999999999941,"stage":"place","target_distance":0.029541856797518203,"dwell_elapsed":0.0},{"joint_position":[-0.011889120270371896,-1.1803400704574947,1.5380903903689005,-2.0110093777930278e-05,-0.36135984177149877,0.012038771555442241],"joint_velocity":[-0.005687275394556844,0.10650833373464869,0.12055461948355839,-8.381876803458602e-06,-0.2022141876606768,0.004991503257405284],"joint_actuator_torque":[0.007556893144443855,-1.727358633089068,-1.118549048957334,2.663885771141952e-05,-0.07076691182285089,-0.0006605676005561056],"jaw_actuator_force":[-0.8045225333639641,-0.7985945990622545],"end_effector_position":[0.4380066166139471,-0.005208120157143476,0.34582520073634426],"end_effector_quaternion":[0.9999983683047197,-3.100292321651184e-05,-0.0018045181859930508,7.836346726920833e-05],"end_effector_velocity":[0.0031034244745738754,-0.0025281990549495988,-0.0754635878941401],"object_position":[0.4380332764002175,-0.005081304596692195,0.3377924409953503],"object_quaternion":[0.9999984623709923,-7.4405995748982e-05,-0.001750355776292655,7.729201946477137e-05],"object_velocity":[0.0034157570328170075,-0.002445423178010905,-0.07480446127155958],"object_angular_velocity":[0.000397701750328796,0.04020888532165811,-0.0009239769783769932],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10656337205104754,-0.0012670044448186398,0.48892594006172263],[0.33135235418692566,-0.003939673618387792,0.40488565002292937],[0.3828664959263977,-0.004552160303997389,0.38562641688903926],[0.4378622552002618,-0.0052056512399972854,0.3858249401565791],[0.4380066166139471,-0.005208120157143476,0.34582520073634426]],"gripper_points":[[0.4639442566658618,-0.005203553796492178,0.3539188630402496],[0.41200617023509106,-0.005211699744820906,0.35373141593238694]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938425321383524,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8032823996295531,"right":0.7998077543884495},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.899999999999398,"stage":"place","target_distance":0.027877083409891125,"dwell_elapsed":0.0},{"joint_position":[-0.012015783840345752,-1.177977138559559,1.540794682762052,-2.047100932941047e-05,-0.36642522533574096,0.012162990831673305],"joint_velocity":[-0.005600543627877502,0.10764492913960409,0.11887214016714537,-9.442246703243292e-06,-0.2016868676423876,0.004910473827102316],"joint_actuator_torque":[0.007446530004242113,-1.7292843740220292,-1.1158524663184153,2.505049163029809e-05,-0.07082256935839126,-0.000649820578446314],"jaw_actuator_force":[-0.8046034110527209,-0.7985613252088948],"end_effector_position":[0.4380904132007032,-0.005264614176531411,0.3441737001569599],"end_effector_quaternion":[0.9999983700502826,-3.1368696203347693e-05,-0.0018035921680694164,7.725331171682771e-05],"end_effector_velocity":[0.0031109244923186127,-0.0024911761367216387,-0.07537930641616143],"object_position":[0.4381171518996025,-0.005137766528292992,0.3361323719216212],"object_quaternion":[0.9999984640586115,-7.564422325415156e-05,-0.001749386605923107,7.61897211049763e-05],"object_velocity":[0.0034272156072199527,-0.0024093181038136982,-0.07473339017143109],"object_angular_velocity":[0.0004022667601418522,0.04018905982484862,-0.000914196719589531],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10717469284490497,-0.001287849922497374,0.48867339765847095],[0.3315346302964694,-0.003983840182778759,0.4034950547346585],[0.38295044929578625,-0.004601671284093243,0.3839750178146182],[0.43794612586857196,-0.005262115831602933,0.3841734398426636],[0.4380904132007032,-0.005264614176531411,0.3441737001569599]],"gripper_points":[[0.46402814756658317,-0.005260099539300953,0.35226731470940087],[0.4120900625932795,-0.005268130233633437,0.3520799637988139]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993842349888817,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8033308280463888,"right":0.7998069121065843},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.919999999999387,"stage":"place","target_distance":0.026214298117226774,"dwell_elapsed":0.0},{"joint_position":[-0.012140418055507965,-1.1755877347629928,1.543459469504463,-2.086753260843025e-05,-0.37147749941216096,0.01228508409134112],"joint_velocity":[-0.005510471296364361,0.1087794666416475,0.11718596122756751,-1.0555414384742879e-05,-0.20115483296931116,0.00482616505870505],"joint_actuator_torque":[0.0073316369735021425,-1.7312224384571095,-1.1131327736325147,2.35552583670931e-05,-0.07087883625275992,-0.0006386387020793638],"jaw_actuator_force":[-0.8046847278580191,-0.7985278206556652],"end_effector_position":[0.4381747538700028,-0.005320247244390773,0.3425241735374573],"end_effector_quaternion":[0.9999983718649382,-3.1745781182522005e-05,-0.0018026280953659065,7.610274577125424e-05],"end_effector_velocity":[0.003120480935727188,-0.0024526977548428295,-0.07529451744923157],"object_position":[0.4382015654157402,-0.005193365196904059,0.33447427407785424],"object_quaternion":[0.9999984658030804,-7.689385673801718e-05,-0.0017483840324478866,7.5047286256929e-05],"object_velocity":[0.003441125690455444,-0.0023717961232949314,-0.07466160446739879],"object_angular_velocity":[0.0004066600401750181,0.0401681114365967,-0.0009041233418198099],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10779225462129331,-0.0013087073315624343,0.4884165573812534],[0.3317185146921151,-0.00402739931285207,0.40210526747891456],[0.3830349492916784,-0.004650432891897612,0.38232559687629525],[0.438030543663892,-0.005317718560826898,0.3825239134993897],[0.4381747538700028,-0.005320247244390773,0.3425241735374573]],"gripper_points":[[0.4641125769480127,-0.005315786247405541,0.35061773834162346],[0.41217449342445256,-0.005323697491974107,0.35043048758119283]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938421669659774,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8033797325385061,"right":0.7998058048412751},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.939999999999376,"stage":"place","target_distance":0.02455351539591338,"dwell_elapsed":0.0},{"joint_position":[-0.012262940005910222,-1.1731718901405617,1.5460845557636913,-2.130060712631299e-05,-0.3765164787077457,0.012404961007036789],"joint_velocity":[-0.005416680218099652,0.10991238141063014,0.11549093618469776,-1.1729105304367008e-05,-0.20061523026440814,0.004738264828321528],"joint_actuator_torque":[0.007211691806745968,-1.7331713296698013,-1.1103859966023037,2.2159494524634678e-05,-0.07093585229790733,-0.0006269805397569606],"jaw_actuator_force":[-0.8047676142689459,-0.7984930205119865],"end_effector_position":[0.4382597014035974,-0.005374983454324853,0.34087665569936254],"end_effector_quaternion":[0.9999983737120846,-3.213459838609017e-05,-0.0018016462678019172,7.490847002793741e-05],"end_effector_velocity":[0.003132802080831016,-0.00241260668197366,-0.07520792481706541],"object_position":[0.43828658110503166,-0.005248064414349231,0.3328181853050849],"object_quaternion":[0.9999984675728729,-7.81552738005175e-05,-0.0017473660569528686,7.386150691594473e-05],"object_velocity":[0.003458342911524828,-0.0023327042744663087,-0.07458784985293243],"object_angular_velocity":[0.0004108462520850727,0.04014394687709631,-0.0008936733605279761],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10841602561650177,-0.0013295658650534531,0.4881553750053106],[0.33190405113380006,-0.004070323500156871,0.40071630651779166],[0.38312005698151425,-0.004698413791534737,0.38067818665606856],[0.43811556974400057,-0.00537242348732001,0.38087639594240996],[0.4382597014035974,-0.005374983454324853,0.34087665569936254]],"gripper_points":[[0.4641976084744834,-0.005370578178693206,0.34897016981590745],[0.41225952640311964,-0.005378365435137333,0.3487830210498251]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938419831120495,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.803429639369905,"right":0.7998039708273516},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.959999999999365,"stage":"place","target_distance":0.022894776523298816,"dwell_elapsed":0.0},{"joint_position":[-0.01238325711625385,-1.1707294840487235,1.548669684524688,-2.1771338737169294e-05,-0.3815419398287435,0.01252251758470402],"joint_velocity":[-0.00531873580144274,0.11105166339143216,0.11378538962912586,-1.297199711137104e-05,-0.20006605688785922,0.004646218619169121],"joint_actuator_torque":[0.007086110081717223,-1.7351409171440082,-1.1076140311440668,2.0871223824360952e-05,-0.07099416233430134,-0.0006147722882976492],"jaw_actuator_force":[-0.8048526718975335,-0.7984565028754016],"end_effector_position":[0.4383453435927905,-0.00542878296867297,0.3392311319200241],"end_effector_quaternion":[0.9999983756702479,-3.253483289621429e-05,-0.0018006031726629011,7.366522114451212e-05],"end_effector_velocity":[0.0031489568192708123,-0.002370725676328525,-0.0751226537284899],"object_position":[0.43837228554419616,-0.005301824023686228,0.3311640897481634],"object_quaternion":[0.9999984694466809,-7.942809716538965e-05,-0.001746287718188503,7.262698910848508e-05],"object_velocity":[0.003480006590865653,-0.0022918692232723106,-0.0745152833510034],"object_angular_velocity":[0.00041491651353514034,0.04012491274835015,-0.0008829164370597409],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10904601278401689,-0.0013504138409415043,0.4878897894030825],[0.33209131507267964,-0.0041125823574939945,0.39932815238092023],[0.3832058635138315,-0.00474557930920394,0.37903277723000806],[0.4382012953812245,-0.005426190797615529,0.3792308724616],[0.4383453435927905,-0.00542878296867297,0.3392311319200241]],"gripper_points":[[0.46428333004127775,-0.00542443577386375,0.3473245921502064],[0.41234524941383954,-0.005432093956873035,0.34713755174259525]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993841797767936,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8034809395917404,"right":0.7998011976402749},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.979999999999354,"stage":"place","target_distance":0.0212380695665084,"dwell_elapsed":0.0},{"joint_position":[-0.01250126453256527,-1.1682603991483482,1.5512144478808096,-2.2281021254191687e-05,-0.3865535971420313,0.012637636948913077],"joint_velocity":[-0.005216080060085145,0.11219526723050215,0.11206154811251796,-1.4293739258610587e-05,-0.19950552469403077,0.004549519586495535],"joint_actuator_torque":[0.0069541363472538364,-1.7371272120400931,-1.1048109920992601,1.9699486337771896e-05,-0.07105371808593475,-0.0006019467208948637],"jaw_actuator_force":[-0.8049406243224357,-0.7984177765294582],"end_effector_position":[0.43843178808238725,-0.005481600816968028,0.33758763349905957],"end_effector_quaternion":[0.9999983777349998,-3.294678707890132e-05,-0.0017995012716402806,7.236747632030752e-05],"end_effector_velocity":[0.0031698238523851755,-0.0023268213384055876,-0.07503542300026492],"object_position":[0.4384587873752432,-0.0053545986251375115,0.3295120239478819],"object_quaternion":[0.9999984714167791,-8.071261509909821e-05,-0.0017451534101795211,7.133831299622695e-05],"object_velocity":[0.0035071204179601685,-0.002249064661362948,-0.07444063360139999],"object_angular_velocity":[0.0004187566570021579,0.04010286871045885,-0.0008717698662103732],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10968222165596911,-0.0013712379012761993,0.48761973907142475],[0.33228039486126126,-0.004154141522715829,0.3979408188443137],[0.3832924762208074,-0.004791890269295745,0.37738939962560075],[0.4382878280234554,-0.0054789754963068425,0.3775873743558342],[0.43843178808238725,-0.005481600816968028,0.33758763349905957]],"gripper_points":[[0.46436985026920735,-0.005477314344085735,0.34568103677551604],[0.4124317710864792,-0.005484837794712629,0.3454941108347892]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993841610119581,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8035340780304587,"right":0.7997972744605758},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":10.999999999999343,"stage":"place","target_distance":0.01958343580253736,"dwell_elapsed":0.0},{"joint_position":[-0.012616842347742211,-1.1657643465121215,1.5537182268870033,-2.2831201962218717e-05,-0.3915510996576683,0.012750183370159065],"joint_velocity":[-0.005108032438266676,0.11335220420199477,0.11031128516824616,-1.57078188207e-05,-0.19893037682878775,0.004447407336022634],"joint_actuator_torque":[0.006814868101990612,-1.7391377517323576,-1.1019734710382636,1.8656017428288988e-05,-0.07111495617234453,-0.0005884028097289384],"jaw_actuator_force":[-0.8050321445355921,-0.7983764531489346],"end_effector_position":[0.43851919093163005,-0.005533386043623157,0.3359461802045837],"end_effector_quaternion":[0.999998379925301,-3.3370681880093595e-05,-0.001798330073489923,7.100786910969604e-05],"end_effector_velocity":[0.003197503938127671,-0.0022806222629300375,-0.07494778840031731],"object_position":[0.4385462377305866,-0.005406336807263433,0.3278620101083049],"object_quaternion":[0.9999984735005583,-8.200900060862648e-05,-0.001743953196734486,6.998804268660427e-05],"object_velocity":[0.0035421191885200926,-0.0022040254144879744,-0.074365546957828],"object_angular_velocity":[0.0004224026229582684,0.04008221452894887,-0.0008602524156437491],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11032470134538183,-0.001392023227658614,0.48734514284203223],[0.33247142719411116,-0.0041949621756794874,0.3965543077982729],[0.3833800518677783,-0.004837302351267604,0.37574807476741134],[0.4383753245692587,-0.005530726609044707,0.37594592139621125],[0.43851919093163005,-0.005533386043623157,0.3359461802045837]],"gripper_points":[[0.4644573200307201,-0.005529163313337169,0.34403952289645817],[0.4125192422995419,-0.005536545607425125,0.34385271862082]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938414191670976,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8035896270726944,"right":0.7997919136902055},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.019999999999332,"stage":"place","target_distance":0.017930902538120238,"dwell_elapsed":0.0},{"joint_position":[-0.012729850921160328,-1.1632409076146382,1.5561801696539455,-2.3423750322176826e-05,-0.39653399807124307,0.012859997669750213],"joint_velocity":[-0.0049936940438080335,0.11452736354212853,0.10852417580735178,-1.723111175234534e-05,-0.19833685372311896,0.004338944190366478],"joint_actuator_torque":[0.006667091148318427,-1.7411766905360082,-1.0990957859215769,1.775485907398386e-05,-0.07117823628459519,-0.0005740159286611313],"jaw_actuator_force":[-0.8051289737220007,-0.7983311473242773],"end_effector_position":[0.4386077542921552,-0.005584079643118457,0.33430680337099833],"end_effector_quaternion":[0.999998382255601,-3.380687002186272e-05,-0.0017970816017485003,6.95772474016453e-05],"end_effector_velocity":[0.003233988385036852,-0.002231760604431277,-0.07485880085587396],"object_position":[0.43863483816296467,-0.005456978914364351,0.3262140842924189],"object_quaternion":[0.9999984757113681,-8.331754162015038e-05,-0.0017426794579328976,6.856701122262984e-05],"object_velocity":[0.0035873193257373705,-0.0021563931827550302,-0.07428911825923584],"object_angular_velocity":[0.00042580938875682776,0.04006109015196024,-0.0008483320131005534],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11097353350949495,-0.0014127528503727726,0.4870659039814514],[0.33266459215637834,-0.004234999426658865,0.39516862741524006],[0.3834687930962891,-0.0048817642670577616,0.37410883486881663],[0.4384639878084177,-0.0055813851007712745,0.3743065449193833],[0.4386077542921552,-0.005584079643118457,0.33430680337099833]],"gripper_points":[[0.4645459410288009,-0.005579924145502505,0.3424000814316302],[0.41260786476559985,-0.005587157908227833,0.34221340684785223]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993841223650997,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8036485777302587,"right":0.7997844805152596},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.03999999999932,"stage":"place","target_distance":0.016280511914015708,"dwell_elapsed":0.0},{"joint_position":[-0.012840124852149595,-1.160689549644207,1.5585991810913058,-2.406086840758686e-05,-0.40150171891002867,0.012966889319946603],"joint_velocity":[-0.004871892931376452,0.11572567081314145,0.10668985332851445,-1.8882202249614547e-05,-0.19771979439540677,0.0042228718275964736],"joint_actuator_torque":[0.006509225841951682,-1.7432473019841837,-1.0961717928519192,1.701359086059241e-05,-0.07124405972211889,-0.0005586188610833265],"jaw_actuator_force":[-0.8052326870518733,-0.7982807966401211],"end_effector_position":[0.4386977258948176,-0.005633611920204777,0.33266955380327384],"end_effector_quaternion":[0.9999983847361438,-3.4255826946250513e-05,-0.001795750252269263,6.806374181186649e-05],"end_effector_velocity":[0.0032812377243549642,-0.0021797487573088172,-0.07476765694605986],"object_position":[0.43872483725546624,-0.0055064543638198675,0.32456830187871716],"object_quaternion":[0.999998478061664,-8.463857819570061e-05,-0.0017413251233187024,6.706326627861045e-05],"object_velocity":[0.0036448872578039014,-0.0021056933603599472,-0.07421061065838554],"object_angular_velocity":[0.00042894689594192415,0.04003900116989328,-0.0008359975155555926],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11162882822484833,-0.0014334068670650594,0.48678191146165417],[0.3328601120426531,-0.004274200293609974,0.3937837988300872],[0.3835589479175667,-0.00492521545385985,0.3724717313520198],[0.4385540659201585,-0.005630881236514175,0.3726692957318794],[0.4386977258948176,-0.005633611920204777,0.33266955380327384]],"gripper_points":[[0.4646359621497413,-0.005629527753568621,0.3407627628991806],[0.4126978873865693,-0.005636604377207945,0.34057622661618125]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938410217952615,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8037118913253225,"right":0.7997745259231973},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.05999999999931,"stage":"place","target_distance":0.014632328828640821,"dwell_elapsed":0.0},{"joint_position":[-0.012947466030773964,-1.1581094436382804,1.5609738130414759,-2.4745269357559614e-05,-0.4064535348043645,0.013070627115234768],"joint_velocity":[-0.0047411450756455744,0.11696106544434867,0.10479371815312938,-2.068852284890034e-05,-0.197072542547658,0.004097559748279445],"joint_actuator_torque":[0.006339294787434113,-1.7453632400266201,-1.0931957015798162,1.6455712507163368e-05,-0.07131343068530782,-0.0005419949721199302],"jaw_actuator_force":[-0.8053448347041021,-0.7982244750117466],"end_effector_position":[0.43878943400472326,-0.005681899900453249,0.3310344554202349],"end_effector_quaternion":[0.9999983874643086,-3.471755669639813e-05,-0.001794281933396775,6.645161461117634e-05],"end_effector_velocity":[0.003342743725675463,-0.002123982427347499,-0.07467624671083482],"object_position":[0.4388165567876359,-0.0055546791234673204,0.3229246911533286],"object_quaternion":[0.9999984806449167,-8.597196304292391e-05,-0.0017398366420550253,6.546096869386156e-05],"object_velocity":[0.0037188217688545262,-0.002051336409095657,-0.07413200996302576],"object_angular_velocity":[0.0004318586115129152,0.040022019116373375,-0.0008232671919333561],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11229077045126361,-0.001453962182788188,0.4864930191358679],[0.33305829174706614,-0.004312501899472187,0.3923998191074094],[0.38365084871068755,-0.004967583917878936,0.37083679410088766],[0.438645891496956,-0.005679132039030725,0.3710341977679977],[0.43878943400472326,-0.005681899900453249,0.3310344554202349]],"gripper_points":[[0.46472770611955694,-0.0056778919807573495,0.33912758838890894],[0.4127896328903521,-0.005684801222592687,0.33894120463445176]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993840811387843,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8037807277631872,"right":0.7997615142334223},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.079999999999298,"stage":"place","target_distance":0.012986396341129336,"dwell_elapsed":0.0},{"joint_position":[-0.0130516301045635,-1.1554995058895865,1.5633020076926378,-2.548027520473094e-05,-0.4113885282770614,0.013170923844626486],"joint_velocity":[-0.004599330992044507,0.11824301022695675,0.10280830343416172,-2.2684177763092168e-05,-0.1963881444982187,0.003960757318105736],"joint_actuator_torque":[0.006154466669475944,-1.7475283951188203,-1.0901500917140083,1.6111882204490526e-05,-0.07138668920437397,-0.0005238452722731157],"jaw_actuator_force":[-0.8054680650511568,-0.7981602907507828],"end_effector_position":[0.4388833220462618,-0.005728841859385302,0.32940160386064976],"end_effector_quaternion":[0.9999983903895446,-3.519330121155713e-05,-0.0017927049460226788,6.472038527413542e-05],"end_effector_velocity":[0.0034235642346535453,-0.0020635996688505914,-0.07458037610799864],"object_position":[0.43891043286502146,-0.005601549977296459,0.32128336101337956],"object_quaternion":[0.9999984834003031,-8.731883253725148e-05,-0.0017382490591235367,6.373950056575736e-05],"object_velocity":[0.003815110792221074,-0.001992482759083524,-0.07404925842418121],"object_angular_velocity":[0.00043435899970722567,0.03999946999467134,-0.0008100990028547886],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11295960897913371,-0.001474390752490557,0.4861990493955632],[0.33325953638746525,-0.004349827191060247,0.3910167304010588],[0.38374493641854124,-0.005008781374899135,0.36920411563148486],[0.43873990569920657,-0.005726035681784561,0.36940134665828245],[0.4388833220462618,-0.005728841859385302,0.32940160386064976]],"gripper_points":[[0.46482160710370124,-0.00572491614665803,0.3374946549763366],[0.41288353547964435,-0.005731645636830373,0.3373084350383997]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993840589753395,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8038568923020566,"right":0.7997444012974564},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.099999999999287,"stage":"place","target_distance":0.011342845970940088,"dwell_elapsed":0.0},{"joint_position":[-0.013152308687489034,-1.1528582588196754,1.565581198190266,-2.6269954502815605e-05,-0.4163054754468293,0.013267411619715917],"joint_velocity":[-0.0044435226985455045,0.11959050165451801,0.10071337824578887,-2.4913639847728166e-05,-0.1956527749963438,0.0038092166101043458],"joint_actuator_torque":[0.005950790231714187,-1.7497617130195522,-1.0870258201098295,1.60236088993476e-05,-0.0714656797278721,-0.0005037379255423691],"jaw_actuator_force":[-0.8056068317222156,-0.7980848051063729],"end_effector_position":[0.438979943662132,-0.005774309469335719,0.3277710642920348],"end_effector_quaternion":[0.9999983936330401,-3.568325382679813e-05,-0.0017909519816093908,6.284142443323917e-05],"end_effector_velocity":[0.0035283574716549284,-0.0019973791933314516,-0.07448285582972472],"object_position":[0.43900701922774754,-0.005646936375271072,0.319644382123244],"object_quaternion":[0.9999984864595823,-8.867892490940687e-05,-0.001736486889069101,6.186984180307367e-05],"object_velocity":[0.00393898901494739,-0.0019279418053829622,-0.07396531457502842],"object_angular_velocity":[0.00043655221406946917,0.03998324260890557,-0.0007965508337965033],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11363569162928229,-0.0014946578787979946,0.48589977644726473],[0.3334643653650473,-0.0043860791785140735,0.3896345496701874],[0.3838417697628268,-0.005048696559699009,0.3675737685337738],[0.4388366675543664,-0.005771463817293096,0.3677708075894512],[0.438979943662132,-0.005774309469335719,0.3277710642920348]],"gripper_points":[[0.46491822113928316,-0.0057704734061713656,0.33586402434220286],[0.41298015120198117,-0.005777007800661522,0.33567798650052144]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993840353330973,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8039428869569539,"right":0.7997216954072152},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.119999999999276,"stage":"place","target_distance":0.009701792168270655,"dwell_elapsed":0.0},{"joint_position":[-0.013249101862577078,-1.1501836629899997,1.567807768542103,-2.7119500622045614e-05,-0.4212027606710609,0.01335960702243216],"joint_velocity":[-0.00426952411057419,0.1210267486770611,0.09846238848393647,-2.7442325914730417e-05,-0.19485130400245945,0.0036382878397246826],"joint_actuator_torque":[0.005722683547428886,-1.7520789516275954,-1.0837963949921914,1.6251052534864592e-05,-0.07155192277815559,-0.0004810551830491949],"jaw_actuator_force":[-0.8057643907761705,-0.7979961461417302],"end_effector_position":[0.4390800617681702,-0.005818137041341236,0.32614296656321684],"end_effector_quaternion":[0.9999983972304176,-3.6188536138767076e-05,-0.001789003483296715,6.0774357978303194e-05],"end_effector_velocity":[0.0036663372940671335,-0.0019236035652261834,-0.07437995919731544],"object_position":[0.4391070610524775,-0.005690669623757563,0.31800790396127415],"object_quaternion":[0.9999984898410298,-9.005300753865958e-05,-0.0017345399244743174,5.981108881879834e-05],"object_velocity":[0.00410119829072914,-0.001856039954084666,-0.07387668294607179],"object_angular_velocity":[0.00043825010053238217,0.03996553139027172,-0.0007827016953847212],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11431950756869466,-0.0015147194323212655,0.4855949056892421],[0.3336734915387952,-0.004421132774566845,0.38825332938225543],[0.3839421128652766,-0.00508718583216479,0.3659458848119043],[0.4389369415429485,-0.005815250661133335,0.36614271041577096],[0.4390800617681702,-0.005818137041341236,0.32614296656321684]],"gripper_points":[[0.46501829180190724,-0.0058144001500775545,0.3342358252507987],[0.41308022367310465,-0.005820719911037756,0.33404998981659334]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938400973654586,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8040413831584152,"right":0.7996921152835499},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.139999999999265,"stage":"place","target_distance":0.008063470164802447,"dwell_elapsed":0.0},{"joint_position":[-0.013341468688605557,-1.1474728832169605,1.5699767986573072,-2.8035528566903542e-05,-0.4260781529694978,0.013446845158605248],"joint_velocity":[-0.004070828643217949,0.12258751502091207,0.09600011833648252,-3.0361634909046175e-05,-0.19395754073924792,0.003440640769647657],"joint_actuator_torque":[0.0054614128133883,-1.7545092190310925,-1.0804316116216341,1.688254143285793e-05,-0.07164840252782056,-0.00045482257870710363],"jaw_actuator_force":[-0.8059484351171919,-0.7978883223672408],"end_effector_position":[0.4391847052004889,-0.005860100562652575,0.32451746928872366],"end_effector_quaternion":[0.9999984013133629,-3.670989549482808e-05,-0.0017867864051371387,5.845891089222567e-05],"end_effector_velocity":[0.0038489739291167413,-0.0018395714633925807,-0.07427144034578972],"object_position":[0.4392115729782801,-0.0057325208649328515,0.3163741051226466],"object_quaternion":[0.9999984936769721,-9.144097889982552e-05,-0.0017323324957398362,5.750180888041776e-05],"object_velocity":[0.004315135433815105,-0.0017741435548140473,-0.07378344867137487],"object_angular_velocity":[0.0004394245327048399,0.03995256472246711,-0.0007687683222754984],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11501174613340999,-0.0015345166562628072,0.4852840447618607],[0.3338878848040487,-0.004454819075278213,0.3868731319807427],[0.38404699991607005,-0.005124055046302577,0.3643206311350698],[0.4390417623449172,-0.005857172131994977,0.3645172137724617],[0.4391847052004889,-0.005860100562652575,0.32451746928872366]],"gripper_points":[[0.46512283439202295,-0.005856475483410534,0.33261021247538664],[0.4131847682260671,-0.005862554811646068,0.3324246073475649]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938398158596684,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8041570896586759,"right":0.7996526523713385},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.159999999999254,"stage":"place","target_distance":0.006428248468348412,"dwell_elapsed":0.0},{"joint_position":[-0.013428641144870109,-1.1447217472694862,1.5720812035625216,-2.902671177544937e-05,-0.43092850298280966,0.013528165292554243],"joint_velocity":[-0.0038369296010161156,0.12433167825929246,0.09323312579677527,-3.381136274086359e-05,-0.1929336140138584,0.0032043106978851877],"joint_actuator_torque":[0.00515293863290367,-1.7570990779647673,-1.0768811968677028,1.8058993530028697e-05,-0.07175954572229415,-0.00042344980947017774],"jaw_actuator_force":[-0.8061680411749865,-0.7977547030134726],"end_effector_position":[0.4392953487516167,-0.005899882302844051,0.32289477938278055],"end_effector_quaternion":[0.9999984060946815,-3.7247903101395286e-05,-0.001784182431896797,5.5800893930522576e-05],"end_effector_velocity":[0.004095711092185819,-0.0017409310761800744,-0.07415570311551004],"object_position":[0.4393219935820468,-0.0057721646110269285,0.31474322686816575],"object_quaternion":[0.9999984981600947,-9.284214812620346e-05,-0.001729754272846378,5.4845648639584916e-05],"object_velocity":[0.00460358751621257,-0.0016780093065871862,-0.07368452558321802],"object_angular_velocity":[0.0004399457484856298,0.03994776814002453,-0.0007552021743945221],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11571343358531967,-0.001553967584545258,0.48496663796003203],[0.3341089434735758,-0.004486898813539916,0.3854940328114053],[0.3841579144896345,-0.005159028886851191,0.36269822746484504],[0.43915261421829305,-0.0058969104400634804,0.36289452460723204],[0.4392953487516167,-0.005899882302844051,0.32289477938278055]],"gripper_points":[[0.4652332870100924,-0.005896386558935817,0.3309873866558377],[0.4132952229998046,-0.005902189870783595,0.3308020520233296]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938395005440774,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8042963503775005,"right":0.7995994135417378},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.179999999999243,"stage":"place","target_distance":0.004796853425959948,"dwell_elapsed":0.0},{"joint_position":[-0.013509451738554615,-1.1419240246205864,1.5741102741894994,-3.0104711244938388e-05,-0.43574909254874455,0.013602073390086365],"joint_velocity":[-0.003549224990465322,0.1263487317168902,0.09000426327868724,-3.801935936582174e-05,-0.1917146307967569,0.0029076559302659327],"joint_actuator_torque":[0.004772370160835315,-1.7599126000716865,-1.0730560468056183,2.0021375075990507e-05,-0.07189244885228874,-0.00038405969846810883],"jaw_actuator_force":[-0.8064385519781014,-0.79758335430832],"end_effector_position":[0.4394141953416329,-0.0059369988427033825,0.32127526306722365],"end_effector_quaternion":[0.9999984117904193,-3.7803591002516407e-05,-0.0017810717479000674,5.2639876263547185e-05],"end_effector_velocity":[0.004438310709392506,-0.0016199381639312122,-0.07402589161297676],"object_position":[0.4394404650586061,-0.005809103540694686,0.31311569529623723],"object_quaternion":[0.999998503483246,-9.425516696008032e-05,-0.001726695308856014,5.1677286019166955e-05],"object_velocity":[0.005004099225046351,-0.0015600861401718308,-0.07357391421552059],"object_angular_velocity":[0.0004394899143344907,0.039948088043716565,-0.000743165789344378],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11642611468750595,-0.0015729486691249599,0.4846418772536365],[0.33433875475176217,-0.004517008067607674,0.3841161899170948],[0.3842770680998209,-0.005191688346426629,0.36107905323580397],[0.4392717096689,-0.0059339820606580974,0.36127500917556904],[0.4394141953416329,-0.0059369988427033825,0.32127526306722365]],"gripper_points":[[0.4653517885915345,-0.005933658273044133,0.3293677075659646],[0.4134137269997319,-0.005939133319470974,0.32918269606340944]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993839139929241,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8044695531997045,"right":0.7995254269752691},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.199999999999232,"stage":"place","target_distance":0.003171289641109869,"dwell_elapsed":0.0},{"joint_position":[-0.013575324980071465,-1.1393527210550625,1.5758398671168459,-3.10772255457132e-05,-0.43979406126630094,0.013655643882726703],"joint_velocity":[-0.0028406657212622327,0.11358200333258163,0.07516128268022346,-3.7402878749762096e-05,-0.15867170369767972,0.00207310127440099],"joint_actuator_torque":[0.0038114809211906575,-1.740171886941937,-1.056187326034319,2.516621206761615e-05,-0.07585968590073833,-0.00027321518636314046],"jaw_actuator_force":[-0.8061141318516016,-0.7980255399000757],"end_effector_position":[0.4395240734917522,-0.005967445808453907,0.3198099582984857],"end_effector_quaternion":[0.9999986318474312,-3.658148406889275e-05,-0.001653112015173428,4.675175291330805e-05],"end_effector_velocity":[0.004135020716711638,-0.0013050573427052746,-0.06541626063573303],"object_position":[0.43955042833259683,-0.005838921709321796,0.311650523986637],"object_quaternion":[0.999998770162133,-9.313475090851018e-05,-0.001564905209367808,4.551730443364532e-05],"object_velocity":[0.004495111670308068,-0.0012534629124726626,-0.0649897409011473],"object_angular_velocity":[0.0004778099908463849,0.040283789153915,-0.0007960444102776556],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11708032645224248,-0.0015895011243234713,0.4843416415847239],[0.33455844726629036,-0.004542018665267378,0.3828795816442672],[0.38439718328617634,-0.0052186372684003566,0.3596278595745792],[0.4393918245746552,-0.005964525476603077,0.3598097395690825],[0.4395240734917522,-0.005967445808453907,0.3198099582984857]],"gripper_points":[[0.4654671146220543,-0.0059644303527402924,0.3278957757708753],[0.4135290116877304,-0.005969293049140965,0.32772405624016127]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039938387033671655,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8042132654399379,"right":0.7998805287890579},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.21999999999922,"stage":"place","target_distance":0.0017182230153049414,"dwell_elapsed":0.0},{"joint_position":[-0.013619262269214411,-1.1373711474192771,1.5770321426776017,-3.1775225998824045e-05,-0.44229454439526783,0.013680860043880633],"joint_velocity":[-0.0018358709449694949,0.08426545337836391,0.049679092377390786,-3.000632996493536e-05,-0.09728364586159637,0.0009344083978157659],"joint_actuator_torque":[0.0024555931937220166,-1.6918027643388314,-1.0245159893128175,3.3146366956961736e-05,-0.08281550573537544,-0.0001221783768845519],"jaw_actuator_force":[-0.8045020162498151,-0.7996688033088324],"end_effector_position":[0.4396035768017345,-0.0059878473295861675,0.31869244744784553],"end_effector_quaternion":[0.9999991322431462,-3.233987221400835e-05,-0.001316455402080926,3.7580073565046784e-05],"end_effector_velocity":[0.0031219147131849485,-0.0008498977818511314,-0.04768512642568813],"object_position":[0.4396273017882708,-0.005858309819480733,0.31054187219680457],"object_quaternion":[0.9999992934121987,-8.83269849254678e-05,-0.001184933239346018,3.6147810723606905e-05],"object_velocity":[0.003048551895774155,-0.0008123229708998101,-0.04737090360850442],"object_angular_velocity":[0.0005001735856459854,0.038186329709761026,-0.000841984857635398],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11758397625590075,-0.001601506030588184,0.4841091177157675],[0.3347388769008013,-0.004559178445048088,0.3819572635975374],[0.3845035416319243,-0.005236978373361816,0.358547463695443],[0.4394982603637303,-0.005985264099853367,0.3586923087197901],[0.4396035768017345,-0.0059878473295861675,0.31869244744784553]],"gripper_points":[[0.4655563872843758,-0.005985376266756412,0.3267608067098629],[0.41361817973530285,-0.005989284382681464,0.3266240578125945]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03993838771992113,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.8032952192485874,"right":0.8008025061001982},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":0,"time":11.23999999999921,"stage":"place","target_distance":0.0006727596464945962,"dwell_elapsed":0.0},{"joint_position":[-0.013644321624486054,-1.1360391553302254,1.5776596316620002,-3.005575899472637e-05,-0.44393647427098276,0.013688773835336548],"joint_velocity":[-0.0007365057521991585,0.03459041353314371,0.006352926626768033,0.0003158743371818855,-0.07797501883196317,0.00019961646218773582],"joint_actuator_torque":[-0.009249947288241245,-0.8784729406158931,-0.43017428463383567,-0.00155548376626688,-0.007667953357533008,0.00028426153795169107],"jaw_actuator_force":[-0.7994904390171502,-0.8567135591366624],"end_effector_position":[0.43968257971165897,-0.005999918583893171,0.31799525896252645],"end_effector_quaternion":[0.9999993290162422,-2.9402745538454286e-05,-0.0011577050023705892,2.866481025157227e-05],"end_effector_velocity":[0.005093702114481355,-0.0003892878829851239,-0.012958690168803567],"object_position":[0.43968296476767393,-0.005868748665708536,0.30990731232804464],"object_quaternion":[0.9999997841955888,-6.631146960224382e-05,-0.0006530153234801005,2.7974119551472824e-05],"object_velocity":[0.0012202173600067364,-0.00022363046460338425,-0.0031708776657145667],"object_angular_velocity":[0.006527397224437591,0.04595412559952319,0.00010008160314092436],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11792227150618823,-0.0016090692524998122,0.48395225688889143],[0.33487653521062466,-0.0045694467152696434,0.3813750487686479],[0.38459522064289137,-0.0052478665504877295,0.35786777190775876],[0.4395899633061875,-0.005997569020659933,0.3579951516708949],[0.43968257971165897,-0.005999918583893171,0.31799525896252645]],"gripper_points":[[0.46563241261025945,-0.005997958144332285,0.3260553649730615],[0.4136479884530268,-0.0060009419367137275,0.32593499956282296]],"object_size":[0.04,0.04,0.04],"gripper_width":0.039984563590493544,"grasp_contacts":{"left":2,"right":2},"pad_normal_forces":{"left":0.7976991497132425,"right":0.8615222687668929},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.259999999999199,"stage":"place","target_distance":0.00035542827099407595,"dwell_elapsed":0.0},{"joint_position":[-0.013654664115719138,-1.135499046167612,1.5776796409586362,-2.765726892420303e-05,-0.4451919155639122,0.013687837745380002],"joint_velocity":[-0.0003623495779483099,0.02080084428025939,-0.0008420771741887842,8.557873947176288e-05,-0.05048294189055363,-2.1779151030960788e-05],"joint_actuator_torque":[-0.008923928396995073,-0.6842379674160384,-0.33270359306413866,-0.0006808191676710923,0.0022465918164797927,-2.3314720873690575e-05],"jaw_actuator_force":[-0.7609476764433509,-0.8726579638041922],"end_effector_position":[0.4397767008952829,-0.006005719811167197,0.3178204792386632],"end_effector_quaternion":[0.9999988661619748,-3.307212724912504e-05,-0.0015053483690906455,2.2523037575671217e-05],"end_effector_velocity":[0.0039749984378273946,-0.0002125072149320507,-0.006095013573733108],"object_position":[0.4396878895124891,-0.00587148808504202,0.30993978317795495],"object_quaternion":[0.9999998273331355,-1.531644289889428e-05,-0.0005867225288317429,2.9253714887910187e-05],"object_velocity":[0.0003125807379802059,-8.9114020065356e-05,0.0013804217467298357],"object_angular_velocity":[0.002985935958976599,0.009082539172461004,-2.076835918763113e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.1180593868055112,-0.0016121614695383327,0.4838885230224139],[0.3349561358192783,-0.004573997805383154,0.3811897995990988],[0.3846616408015999,-0.005252751965680926,0.3576546754812558],[0.4396562731027106,-0.006003076756388573,0.357820297865265],[0.4397767008952829,-0.006005719811167197,0.3178204792386632]],"gripper_points":[[0.46557731128574326,-0.006004025323682146,0.3258981935176684],[0.41368727863944443,-0.006006367940659625,0.32574196791187826]],"object_size":[0.04,0.04,0.04],"gripper_width":0.03989026787328932,"grasp_contacts":{"left":4,"right":4},"pad_normal_forces":{"left":0.7798606962562236,"right":0.8751571130629234},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.279999999999188,"stage":"place","target_distance":0.00034286197566610045,"dwell_elapsed":0.0},{"joint_position":[-0.013660610343765289,-1.1350540686999702,1.5777388649879311,-2.7688232307422298e-05,-0.4458701487166455,0.013683318455917639],"joint_velocity":[-0.00031699579298648104,0.02547976822944493,0.008084943243871245,-4.3158265063293454e-05,-0.0221996807461135,-0.00017797438830106544],"joint_actuator_torque":[-0.0029641229801429247,-0.9852312386698259,-0.5530672033404471,8.938492245588519e-05,-0.03653789286184406,-5.3720928003153645e-05],"jaw_actuator_force":[-0.3658482355216819,-0.4555509521620289],"end_effector_position":[0.4398328733154339,-0.006009101837513551,0.3176430909667045],"end_effector_quaternion":[0.9999987314636595,-3.4273306061301833e-05,-0.0015923557933651008,1.7304320420271166e-05],"end_effector_velocity":[0.0017714821422635011,-0.00016414508110968224,-0.012584930680781993],"object_position":[0.4396912873406944,-0.005872564858507424,0.3099600301023003],"object_quaternion":[0.999999843804865,2.251751415537179e-06,-0.0005581792135798671,2.8655556207492975e-05],"object_velocity":[0.00038482125735569,-2.831250602954939e-05,0.0009378605329288424],"object_angular_velocity":[0.0008081500259197753,0.012778423714766708,-9.834910248442541e-05],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11817232965621775,-0.0016144065727923542,0.48383595922374745],[0.3350172574682516,-0.004576824913489013,0.38102787899768487],[0.3847108867585094,-0.0052557124498986635,0.35746769394587885],[0.4397054849661155,-0.006006362180877591,0.3576428880249739],[0.4398328733154339,-0.006009101837513551,0.3176430909667045]],"gripper_points":[[0.4656669061299423,-0.006007656117676633,0.32572540574357073],[0.41364239482104975,-0.006009462300686378,0.3255597221111823]],"object_size":[0.04,0.04,0.04],"gripper_width":0.04002477516777399,"grasp_contacts":{"left":2,"right":2},"pad_normal_forces":{"left":0.4199093077361792,"right":0.5097367579281891},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.299999999999176,"stage":"release","target_distance":0.00033636410929957104,"dwell_elapsed":0.0},{"joint_position":[-0.013665412783287749,-1.1344901277015047,1.577972916747819,-3.0612601712422344e-05,-0.4461441419884007,0.01367925459025999],"joint_velocity":[-0.0002332313522176865,0.03046472258651315,0.015137306863350608,3.279847947238145e-05,-0.007517086206382546,-0.00031390730754715695],"joint_actuator_torque":[0.0002780659855332601,-1.3244251799904987,-0.7933438771881356,8.083638956452423e-05,-0.06608779730659364,-6.342011791282687e-06],"jaw_actuator_force":[0.003925370993112409,-0.05655557621428642],"end_effector_position":[0.4398541702166505,-0.006011541171689647,0.3173348456177191],"end_effector_quaternion":[0.9999991144635226,-3.200844834155819e-05,-0.00133036280385459,1.3507037973150377e-05],"end_effector_velocity":[0.00043940745816590035,-0.0001081914226196456,-0.01785473325393649],"object_position":[0.4397040128712577,-0.0058730321282078925,0.3099771364497666],"object_quaternion":[0.9999999552959289,1.185326414811614e-05,-0.00029797269468102177,2.1906930002884016e-05],"object_velocity":[0.0007535400293289962,1.043101209254728e-05,0.0008404450134941548],"object_angular_velocity":[-0.0005791549808674853,0.033519290337281606,-0.00030124128169733885],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.1183154382415117,-0.0016169299538487253,0.48376927042343687],[0.3350782503469074,-0.004579267658741118,0.38078816612035077],[0.3847530614543939,-0.005258136716112291,0.3571883297175602],[0.4397477412520018,-0.006008981935630767,0.35733470394654065],[0.4398541702166505,-0.006011541171689647,0.3173348456177191]],"gripper_points":[[0.46571349029266335,-0.006010327977821804,0.32540367863468017],[0.4136327486762816,-0.006011739330174338,0.32526510574897594]],"object_size":[0.04,0.04,0.04],"gripper_width":0.04008092598782101,"grasp_contacts":{"left":0,"right":2},"pad_normal_forces":{"left":0.0,"right":0.1400774170471914},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.319999999999165,"stage":"release","target_distance":0.00032288072531168295,"dwell_elapsed":0.0},{"joint_position":[-0.01366788854007362,-1.1338986507351714,1.578240171145597,-3.086302145977242e-05,-0.4462726745319471,0.013671372760080965],"joint_velocity":[-9.042141294053292e-05,0.026059811108353145,0.011510688467235335,-1.1371428602819158e-05,-0.005014565213322203,-0.00031174695977555754],"joint_actuator_torque":[7.383804566529761e-05,-1.4084843375729292,-0.8313865221090282,-4.6079036891862046e-07,-0.06881259285869135,4.1905279147824714e-05],"jaw_actuator_force":[0.0308619034531441,0.04070406948016814],"end_effector_position":[0.43986631921540364,-0.006012799236910494,0.3169958129346905],"end_effector_quaternion":[0.9999995336983434,-2.7123973121452696e-05,-0.0009652963331115212,8.389001728418402e-06],"end_effector_velocity":[0.000547676200935879,-4.739684137469366e-05,-0.014887606540415523],"object_position":[0.43971377260051864,-0.005872685191054091,0.3099882320830539],"object_quaternion":[0.9999999974473571,3.0950760508105775e-06,-6.807730037529992e-05,2.1475249923989487e-05],"object_velocity":[0.0002377831715224777,1.0587102616464761e-05,0.0002806494036762387],"object_angular_velocity":[-0.0005274836312966275,0.011803327580152567,-8.848929419840009e-07],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11846549819162325,-0.0016192740592142424,0.48369923864633824],[0.33513979820647566,-0.004580938667629857,0.3805320139292752],[0.38479432529321267,-0.005259653473725102,0.35688952493161497],[0.4397890955265608,-0.006010629967902422,0.3569957383320728],[0.43986631921540364,-0.006012799236910494,0.3169958129346905]],"gripper_points":[[0.46627753058951926,-0.006011920612118171,0.32504681718191886],[0.41328104260123816,-0.006012812563803879,0.32494450243201295]],"object_size":[0.04,0.04,0.04],"gripper_width":0.04099658675986258,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.339999999999154,"stage":"release","target_distance":0.0003134863133536259,"dwell_elapsed":0.0},{"joint_position":[-0.013667768135767026,-1.1334260340660218,1.578413625412035,-3.111922262572553e-05,-0.44638030109752874,0.013664018040367626],"joint_velocity":[1.4973556137886206e-05,0.020224796528086963,0.0072679650095258674,-1.1446595503917111e-05,-0.004252060128600574,-0.0002897725490697858],"joint_actuator_torque":[-3.974214246760255e-05,-1.3985452908121374,-0.8259756261646771,2.17164021204053e-06,-0.06861657282787803,3.878912766830389e-05],"jaw_actuator_force":[-0.0014060775160285033,0.002896927033315677],"end_effector_position":[0.43988273543732337,-0.006012973591168069,0.31673808350011634],"end_effector_quaternion":[0.9999997574347212,-2.3554390257927738e-05,-0.000696097937077579,4.832314017775711e-06],"end_effector_velocity":[0.0007109777846824698,-3.2626240260284387e-06,-0.010998666136383376],"object_position":[0.4397160132279091,-0.005872583641131963,0.30999088156945104],"object_quaternion":[0.9999999996922815,5.700059858223217e-07,-1.2408961525273961e-05,2.147393571571556e-05],"object_velocity":[4.482178444251416e-05,2.0560018221505723e-06,5.321734051835744e-05],"object_angular_velocity":[-0.00010219288465308734,0.0022275665210308424,-2.701388293077175e-09],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11858537644145797,-0.001620898362950282,0.48364321631523033],[0.33519298447698187,-0.004581625290698273,0.3803360130949893],[0.38483222798512273,-0.005260125211640521,0.35666144569035074],[0.43982704760675934,-0.006011089509505618,0.3567380446915445],[0.43988273543732337,-0.006012973591168069,0.31673808350011634]],"gripper_points":[[0.4675850972844215,-0.006012328025186618,0.32477665837966824],[0.41211948626713657,-0.006012865898923457,0.32469943934137263]],"object_size":[0.04,0.04,0.04],"gripper_width":0.043465664771910384,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.359999999999143,"stage":"release","target_distance":0.000311394542350177,"dwell_elapsed":0.0},{"joint_position":[-0.01366604121716651,-1.1330602961109626,1.5785202661702398,-3.136280207530632e-05,-0.44646817704856345,0.013657258857392144],"joint_velocity":[8.24282782688573e-05,0.015649111129290832,0.004457222256343775,-1.0716286026474123e-05,-0.003471900457459181,-0.0002661225995471216],"joint_actuator_torque":[-0.00010490884455105487,-1.3904707316705185,-0.8217762155736636,3.442133741507654e-06,-0.0684542513434323,3.554487364776371e-05],"jaw_actuator_force":[-0.01077293728455242,-0.009436859524335262],"end_effector_position":[0.43990013527153177,-0.006012454430196489,0.3165477582915295],"end_effector_quaternion":[0.999999872836943,-2.103303633578869e-05,-0.0005038631561375392,2.372645872467247e-06],"end_effector_velocity":[0.0007489147262166242,2.5906774906783454e-05,-0.008125486227401203],"object_position":[0.439716423489138,-0.005872564792425536,0.30999137057336223],"object_quaternion":[0.9999999997669767,1.0185782236648985e-07,-2.215024759427468e-06,2.1473931704795603e-05],"object_velocity":[8.030195266304202e-06,3.6936836588891484e-07,9.634942645237927e-06],"object_angular_velocity":[-1.835468302659801e-05,0.00039903338787577493,-8.246664280390767e-12],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.1186781295959056,-0.001621961184750392,0.4835998241275664],[0.3352369230119393,-0.004581646834778562,0.3801903020561214],[0.384864979836447,-0.005259908129576685,0.3564922865814153],[0.4398598262201743,-0.006010771883142703,0.356547737945892],[0.43990013527153177,-0.006012454430196489,0.3165477582915295]],"gripper_points":[[0.4691295162061224,-0.0060119785608334034,0.3245772175710554],[0.4106445303229235,-0.006012257328881475,0.3245182806953135]],"object_size":[0.04,0.04,0.04],"gripper_width":0.04648501557998436,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.379999999999132,"stage":"release","target_distance":0.0003110142065024114,"dwell_elapsed":0.0},{"joint_position":[-0.013663379570491118,-1.1327782006009126,1.578583399926392,-3.1586124862022576e-05,-0.44653762331562846,0.013651188590478112],"joint_velocity":[0.00012100780137000343,0.012067932201229198,0.002630403129797354,-9.714542387071487e-06,-0.002742507036282155,-0.0002386559596326037],"joint_actuator_torque":[-0.00014733844548775465,-1.3844748344874915,-0.8186051991983732,4.0268983823774605e-06,-0.06831635120690294,3.182484875119407e-05],"jaw_actuator_force":[-0.013055575019123467,-0.01249142874191822],"end_effector_position":[0.43991676911460603,-0.006011513248796845,0.3164071923511989],"end_effector_quaternion":[0.9999999328426407,-1.9246990259156334e-05,-0.0003659832647277331,7.194523646891059e-07],"end_effector_velocity":[0.0007133093528599838,4.33825153427753e-05,-0.0060033410431749226],"object_position":[0.43971649676196867,-0.005872561421501439,0.30999145888382945],"object_quaternion":[0.999999999769357,1.8144156332859722e-08,-3.945208660510692e-07,2.1473931692596208e-05],"object_velocity":[1.4308288654286846e-06,6.583372750631095e-08,1.7368125669072486e-06],"object_angular_velocity":[-3.2713209610919306e-06,7.109875542843869e-05,-2.5174703961245432e-14],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11874966188361784,-0.0016226226801359718,0.48356633234355934],[0.3352727536110449,-0.004581243983448946,0.38008204702071524],[0.38489262879858027,-0.005259261365458169,0.3563668983008968],[0.4398874904542863,-0.006009973510744121,0.35640718160606316],[0.43991676911460603,-0.006011513248796845,0.3164071923511989]],"gripper_points":[[0.4707306714463812,-0.006011160520288189,0.32442974923719514],[0.4090885074175666,-0.006011250085931794,0.324384629228973]],"object_size":[0.04,0.04,0.04],"gripper_width":0.049642180542048074,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.399999999999121,"stage":"release","target_distance":0.000310946342524598,"dwell_elapsed":0.0},{"joint_position":[-0.013660271975299924,-1.132561236831501,1.5786186839641176,-3.1786195554881245e-05,-0.44659123398208134,0.01364586218428636],"joint_velocity":[0.00013870252280554838,0.009279630447685231,0.001464213230310842,-8.620640402605969e-06,-0.002115363356267044,-0.00020911083687447142],"joint_actuator_torque":[-0.00016790838068114766,-1.3799765524420877,-0.8163026110128158,4.203514517238209e-06,-0.0682169858387951,2.7849488742459627e-05],"jaw_actuator_force":[-0.013587031458933474,-0.01322432405849483],"end_effector_position":[0.43993176546251045,-0.006010353129690448,0.3163033533337821],"end_effector_quaternion":[0.9999999642811273,-1.7978671180868638e-05,-0.00026667281950523393,-3.445940384093904e-07],"end_effector_velocity":[0.0006413172141386998,5.216817867423464e-05,-0.004436637460181081],"object_position":[0.43971650981347093,-0.005872560820979228,0.30999147479902445],"object_quaternion":[0.9999999997694325,3.2309771700070087e-09,-7.025246418500866e-08,2.1473931692560425e-05],"object_velocity":[2.5479863776755083e-07,1.1723886142856882e-08,3.129519928656578e-07],"object_angular_velocity":[-5.825656131693871e-07,1.2661067157426963e-05,-7.684831575293534e-17],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11880467370448479,-0.0016230051085531427,0.4835405595962676],[0.33530166648820053,-0.004580596879297591,0.3800016549926099],[0.3849155606678021,-0.00525837832675986,0.3562739893542717],[0.4399104316382077,-0.0060089148286958435,0.3563033476187721],[0.43993176546251045,-0.006010353129690448,0.3163033533337821]],"gripper_points":[[0.47234327440903107,-0.006010087499230106,0.324320641005634],[0.4075111808559735,-0.006010043439384515,0.3242860630867833]],"object_size":[0.04,0.04,0.04],"gripper_width":0.05283210277406425,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.41999999999911,"stage":"release","target_distance":0.0003109342523097887,"dwell_elapsed":0.0},{"joint_position":[-0.013657053987046213,-1.1323948965156956,1.5786366299938952,-3.196246025044517e-05,-0.44663191425226145,0.013641283259200904],"joint_velocity":[0.00014221842492316176,0.007112379625330361,0.0007395649756766903,-7.531785260599153e-06,-0.0016040369245843553,-0.00017953529819299],"joint_actuator_torque":[-0.00017209737366119526,-1.3765846539884024,-0.8146585571187188,4.127520558750656e-06,-0.06814871699226899,2.38852709617543e-05],"jaw_actuator_force":[-0.01369846036401512,-0.013410278063986425],"end_effector_position":[0.43994475733225924,-0.0060091166972870294,0.3162266419709179],"end_effector_quaternion":[0.9999999808654898,-1.707632576865522e-05,-0.00019487546770447867,-9.853984976031e-07],"end_effector_velocity":[0.0005544805209365302,5.491750952813621e-05,-0.0032785938556779562],"object_position":[0.43971651213757124,-0.005872560714041685,0.30999147766668145],"object_quaternion":[0.999999999769435,5.753284170508357e-10,-1.2509584911816938e-08,2.1473931692560365e-05],"object_velocity":[4.5371198860121955e-08,2.0876429992552295e-09,5.63879458844464e-08],"object_angular_velocity":[-1.0373595527237024e-07,2.254516029876289e-06,-2.3426188805004815e-19],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11884684736664514,-0.0016231987289685623,0.4835207922378274],[0.33532476696361346,-0.004579833185207204,0.3799419882301507],[0.38493429020458536,-0.0052573952480952256,0.35620517897839143],[0.43992916729648734,-0.006007750575889277,0.356226638909474],[0.43994475733225924,-0.0060091166972870294,0.3162266419709179]],"gripper_points":[[0.4739565716078851,-0.00600891028315075,0.3242398987122022],[0.4059268414750587,-0.006008776663128253,0.32421338405745126]],"object_size":[0.04,0.04,0.04],"gripper_width":0.05602973530001389,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.439999999999099,"stage":"release","target_distance":0.0003109320985604233,"dwell_elapsed":0.0},{"joint_position":[-0.013653945936239666,-1.1322676591152436,1.578644060860334,-3.2116107314415243e-05,-0.4466624128319319,0.013637421757200402],"joint_velocity":[0.00013648629181297248,0.005439515035994227,0.00030117361363270954,-6.513055358934437e-06,-0.0012018418831588678,-0.00015121997387367906],"joint_actuator_torque":[-0.00016523587330130596,-1.3740311247180443,-0.8134914947294192,3.898916649233523e-06,-0.06810192926481307,2.00995112891178e-05],"jaw_actuator_force":[-0.013709810394486155,-0.013468771508646782],"end_effector_position":[0.4399557186899422,-0.006007900574298872,0.3161699502811637],"end_effector_quaternion":[0.9999999896689378,-1.6433650572728027e-05,-0.00014279459577931183,-1.3277591345475443e-06],"end_effector_velocity":[0.0004671558693463837,5.360255011301604e-05,-0.0024239626382835267],"object_position":[0.43971651255141525,-0.005872560694999686,0.30999147818337724],"object_quaternion":[0.999999999769435,1.0244628644794369e-10,-2.227528289620153e-09,2.1473931692560365e-05],"object_velocity":[8.079058627708108e-09,3.7173795024012316e-10,1.0159996266163714e-08],"object_angular_velocity":[-1.8471831248988892e-08,4.014521737442046e-07,-7.381830087240407e-22],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1188791057686822,-0.001623269759891316,0.4835056670114598],[0.3353430851132394,-0.004579040914996408,0.37989770851792626],[0.38494941371303376,-0.005256405138041325,0.35615421802982483],[0.43994429512414346,-0.00600658586709889,0.3561699486283348],[0.4399557186899422,-0.006007900574298872,0.3161699502811637]],"gripper_points":[[0.4755682048835654,-0.0060077320413867,0.3241801211460927],[0.40433902854757137,-0.00600754322529987,0.32415977885947966]],"object_size":[0.04,0.04,0.04],"gripper_width":0.05922917924101327,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.459999999999088,"stage":"release","target_distance":0.0003109317148870586,"dwell_elapsed":0.0},{"joint_position":[-0.013651077355965656,-1.1321705793174182,1.5786454432041408,-3.224883524988916e-05,-0.44668511304989245,0.013634217242138329],"joint_velocity":[0.00012541633227169694,0.0041493813990954006,4.973478520256674e-05,-5.5856670865443305e-06,-0.000894252844391231,-0.00012536187441594833],"joint_actuator_torque":[-0.0001519129741280878,-1.3721070960805264,-0.8126660401178469,3.5887977234117484e-06,-0.06806923801947562,1.6648260438012485e-05],"jaw_actuator_force":[-0.01369790707544638,-0.013497070607181527],"end_effector_position":[0.4399647747478316,-0.0060067635094886674,0.31612803991640676],"end_effector_quaternion":[0.9999999943675856,-1.5975866370926754e-05,-0.0001049163984927164,-1.4661876427096477e-06],"end_effector_velocity":[0.0003855305221973784,4.985894547567577e-05,-0.0017925297515686946],"object_position":[0.4397165126251068,-0.005872560691608958,0.30999147827647566],"object_quaternion":[0.999999999769435,1.8242168843902932e-11,-3.9664635316998285e-10,2.1473931692560365e-05],"object_velocity":[1.4386031691846663e-09,6.619377920794788e-11,1.83063296846487e-09],"object_angular_velocity":[-3.2891996384708886e-09,7.148485903478106e-08,-5.626394547196204e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11890371785029719,-0.0016232646843654366,0.4834941239814869],[0.335357504112593,-0.004578275624217989,0.37986485049632873],[0.3849614967977025,-0.005255465631267532,0.3561164753226467],[0.4399563814378733,-0.006005485427880022,0.3561280390153924],[0.4399647747478316,-0.0060067635094886674,0.31612803991640676]],"gripper_points":[[0.4771778366468241,-0.006006616896000685,0.3241358486111762],[0.4027487896725692,-0.00600639889160482,0.32412023095232995]],"object_size":[0.04,0.04,0.04],"gripper_width":0.06242904861312308,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.479999999999077,"stage":"release","target_distance":0.0003109316465380282,"dwell_elapsed":0.0},{"joint_position":[-0.013648515359446165,-1.132096646662177,1.5786435994138655,-3.236284154273974e-05,-0.44670192755362204,0.013631595957934072],"joint_velocity":[0.00011163927384262596,0.003159817880972195,-8.34826734156858e-05,-4.76505174619523e-06,-0.0006621246059684227,-0.00010244879368822588],"joint_actuator_torque":[-0.00013528792378636467,-1.3706615016160981,-0.812083988422728,3.2450478521508716e-06,-0.06804620148356122,1.3594078577039426e-05],"jaw_actuator_force":[-0.013681842515863352,-0.013516982106208886],"end_effector_position":[0.43997213698060955,-0.006005737968896811,0.3160970257838037],"end_effector_quaternion":[0.9999999968902749,-1.5649730870915203e-05,-7.728113330724263e-05,-1.4705640471608675e-06],"end_effector_velocity":[0.0003131448742351361,4.479583760819108e-05,-0.0013271357990418322],"object_position":[0.4397165126382288,-0.005872560691005183,0.30999147829325024],"object_quaternion":[0.999999999769435,3.24830420846444e-12,-7.062910434367895e-11,2.1473931692560365e-05],"object_velocity":[2.5616585766053834e-10,1.1786840797165059e-11,3.2984059753061343e-10],"object_angular_velocity":[-5.85693700542581e-10,1.2729000279239467e-08,-1.2488537114429014e-24],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1189224614318221,-0.0016232158346357296,0.48348533160195095],[0.33536878488080546,-0.004577570254658379,0.3798404530242857],[0.3849710673378641,-0.0052546098092469025,0.35608850168357076],[0.4399659544918053,-0.006004485981339282,0.3560970252864207],[0.43997213698060955,-0.006005737968896811,0.3160970257838037]],"gripper_points":[[0.47878562425456,-0.006005601636573571,0.3241030249778508],[0.40115660727282126,-0.006005373507462334,0.32409102645735194]],"object_size":[0.04,0.04,0.04],"gripper_width":0.06562901790933348,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.499999999999066,"stage":"release","target_distance":0.00031093163436195703,"dwell_elapsed":0.0},{"joint_position":[-0.013646283873367662,-1.1320404965296347,1.5786401937796604,-3.2460432969594237e-05,-0.4467143121318165,0.013629479353218938],"joint_velocity":[9.698246013166395e-05,0.002398943164053915,-0.00014793928996151008,-4.05282373534779e-06,-0.0004877307211088819,-8.26530298988302e-05],"joint_actuator_torque":[-0.00011757330131612065,-1.3695701653347214,-0.811669911428794,2.8994759015566612e-06,-0.06802965200713373,1.0958170685082536e-05],"jaw_actuator_force":[-0.01366655482164525,-0.013533171366647778],"end_effector_position":[0.4399780489138683,-0.006004837850333227,0.31607409350692367],"end_effector_quaternion":[0.9999999982498252,-1.541813647276522e-05,-5.710248686992177e-05,-1.3915706769280608e-06],"end_effector_velocity":[0.0002513170741719004,3.919948957470832e-05,-0.0009812541499475116],"object_position":[0.4397165126405653,-0.005872560690897671,0.30999147829627255],"object_quaternion":[0.999999999769435,5.784113634343692e-13,-1.2576619467128025e-11,2.1473931692560365e-05],"object_velocity":[4.561434759515707e-11,2.0988314412059694e-12,5.943328015967806e-11],"object_angular_velocity":[-1.0429198047913111e-10,2.266597903236583e-09,-1.7530627779157476e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11893669677595392,-0.0016231446829925722,0.4834786530683854],[0.3353775603278001,-0.004576941504156074,0.3798223572187344],[0.3849785915584315,-0.00525385327567271,0.35606778941985606],[0.43997348071664316,-0.006003604393060593,0.35607409322705064],[0.4399780489138683,-0.006004837850333227,0.31607409350692367]],"gripper_points":[[0.48039183695988885,-0.006004703567543469,0.32407870901265],[0.3995628268044993,-0.006004478751307614,0.3240694779341553]],"object_size":[0.04,0.04,0.04],"gripper_width":0.06882901068281996,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.519999999999055,"stage":"release","target_distance":0.00031093163219290216,"dwell_elapsed":0.0},{"joint_position":[-0.0136466273785185,-1.1339550042853224,1.5761454976624554,-3.2765107473491595e-05,-0.4404293862091218,0.013631220263222733],"joint_velocity":[-2.6731444175493765e-05,-0.11101996941811589,-0.1313439830681877,-1.3007927348008841e-05,0.30503232269799985,7.78452156357329e-05],"joint_actuator_torque":[2.1810035264913097e-05,-1.196926678148202,-0.6888831448287647,7.746783308369438e-06,-0.10689137121278236,-1.0471123382593817e-05],"jaw_actuator_force":[-0.013291575142105216,-0.013922677368023884],"end_effector_position":[0.4399766207726677,-0.00600498704119602,0.3173726292440884],"end_effector_quaternion":[0.9999996122027563,-2.802182202938846e-06,0.0008806735979475629,-7.061683635366187e-07],"end_effector_velocity":[-8.421411800492093e-05,-1.144749193756432e-05,0.07432983427403057],"object_position":[0.4397165126409815,-0.005872560690878528,0.30999147829681717],"object_quaternion":[0.999999999769435,1.0299379297155335e-13,-2.2394641306360607e-12,2.1473931692560365e-05],"object_velocity":[8.122350200604548e-12,3.7372693032965677e-13,1.0709914539782069e-11],"object_angular_velocity":[-1.8570875722474085e-11,4.0360359120985913e-10,-1.1277454573271932e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11845123688286156,-0.0016165602444188467,0.48370591481850883],[0.3353469932049982,-0.004576639565500676,0.38100504422891146],[0.38505227069548786,-0.005254991076581929,0.3574694280521287],[0.44004707463334,-0.006004762916459026,0.35737256719658134],[0.4399766207726677,-0.00600498704119602,0.3173726292440884]],"gripper_points":[[0.48200642324954646,-0.006005001764024142,0.3252986124926637],[0.39797750477330335,-0.006004882672023278,0.32544661676444797]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07202904881983231,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.539999999999043,"stage":"retreat","target_distance":0.00031093163180638767,"dwell_elapsed":0.0},{"joint_position":[-0.01364478364427159,-1.136261973362996,1.5733841300695877,-3.285539354046331e-05,-0.43424081419998006,0.0136288866522369],"joint_velocity":[9.266725774227494e-05,-0.10283140615114825,-0.11949129504129248,-4.8849599293971835e-06,0.24360664288413816,-0.00010241697646810843],"joint_actuator_torque":[-0.00010812248208846853,-1.1789906261018928,-0.6839294998216019,5.866106218993441e-06,-0.09584017459918215,1.3648800929022542e-05],"jaw_actuator_force":[-0.013587638515343059,-0.013613652600472648],"end_effector_position":[0.439982454113096,-0.006004270016002529,0.3189366991232001],"end_effector_quaternion":[0.9999989621219324,4.753900623465926e-06,0.0014407398888777877,-1.0155344624104014e-06],"end_effector_velocity":[0.0007932200204492567,2.935724250383743e-05,0.07037172751078201],"object_position":[0.4397165126410556,-0.005872560690875118,0.30999147829691526],"object_quaternion":[0.999999999769435,1.8339648266476568e-14,-3.9877223758109556e-13,2.1473931692560365e-05],"object_velocity":[1.4463132405405081e-12,6.654721316102385e-14,1.932428857050448e-12],"object_angular_velocity":[-3.3066469096583713e-12,7.186799049221918e-11,-1.4748313102189624e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1178656879610619,-0.00160835162691751,0.48397852823912074],[0.3352791358387137,-0.004575095203074178,0.38237837511667255],[0.38510305097734226,-0.005254973939276747,0.35909500669277816],[0.440097713184195,-0.006004650444707369,0.3589365330628779],[0.439982454113096,-0.006004270016002529,0.3189366991232001]],"gripper_points":[[0.48361986727821044,-0.0060044340883496135,0.32681099161916394],[0.3963911883888795,-0.006004258115225767,0.3270623400768622]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07522904101763456,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.559999999999032,"stage":"retreat","target_distance":0.00031093163173753053,"dwell_elapsed":0.0},{"joint_position":[-0.013641262417220157,-1.1385151212356341,1.5706994713230222,-3.283760646387048e-05,-0.428657311887186,0.013624368313859301],"joint_velocity":[0.00016183302310602003,-0.10154747502668485,-0.11705308929987507,-6.24263261239432e-07,0.22178804372078487,-0.00018331993705472771],"joint_actuator_torque":[-0.00019408716863633657,-1.1801105357064898,-0.6873686064950562,5.89988711429193e-06,-0.09265859020266021,2.445802370809602e-05],"jaw_actuator_force":[-0.06947011316472462,-0.06878364891488253],"end_effector_position":[0.4399973723051106,-0.006002935959336756,0.3204874237935065],"end_effector_quaternion":[0.999998444887999,9.121111602849701e-06,0.0017635577224800847,-1.5962389363476285e-06],"end_effector_velocity":[0.001065757660899151,5.618627982236471e-05,0.07029484005347708],"object_position":[0.4397165126410687,-0.0058725606908745145,0.3099914782969338],"object_quaternion":[0.999999999769435,2.176430536823634e-15,-4.7312764718637994e-14,2.1473931692560365e-05],"object_velocity":[2.312436815941846e-13,1.0641821717647482e-14,4.061719584075067e-13],"object_angular_velocity":[-7.65163445549548e-13,1.6635612561407918e-11,-3.4515489771305537e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11729319698702531,-0.0016001265337561696,0.4842434768792286],[0.33520563802832903,-0.004572911724224958,0.3837182035016764],[0.3851439057669611,-0.005254174997040721,0.36068116168598735],[0.44013845670234186,-0.006003665872334996,0.36048717497598365],[0.4399973723051106,-0.006002935959336756,0.3204874237935065]],"gripper_points":[[0.4851423743427831,-0.006003224525475895,0.32832824117654746],[0.3949110937534462,-0.006002939365633186,0.3286464988072867]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0782318418563673,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.579999999999021,"stage":"retreat","target_distance":0.0003109316317253255,"dwell_elapsed":0.0},{"joint_position":[-0.013636752449483954,-1.1407401068367642,1.5680409061506435,-3.2764993318358434e-05,-0.423404638498134,0.013618894991269774],"joint_velocity":[0.00020271102068019378,-0.10035511678791657,-0.11599457299495809,1.6096826050602172e-06,0.20899163039927024,-0.00021856156668432635],"joint_actuator_torque":[-0.000243987949128055,-1.1800107124931287,-0.6895392310308353,5.8574711549090955e-06,-0.09074147232227148,2.9152867290660467e-05],"jaw_actuator_force":[-0.02683297849359434,-0.025849652133347334],"end_effector_position":[0.44001680545834915,-0.006001226721458134,0.3220371998805926],"end_effector_quaternion":[0.9999981023782676,1.1625938037173912e-05,0.0019481016396756595,-2.1686043938197327e-06],"end_effector_velocity":[0.001205557838362688,7.233831977701454e-05,0.07020348109794668],"object_position":[0.43971651264106887,-0.005872560690874508,0.3099914782969373],"object_quaternion":[0.999999999769435,-2.6503822222399294e-15,5.768907501834123e-14,2.1473931692560365e-05],"object_velocity":[-2.210799837529964e-13,-1.0161027311125289e-14,1.5156312439143872e-13],"object_angular_velocity":[-1.1274610442210134e-12,2.45222928141224e-11,6.686262037641284e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11672727885750896,-0.0015918796829602015,0.48450384729822127],[0.33512800748453936,-0.004570340982220662,0.3850440538967114],[0.38517817446156716,-0.005252905029967851,0.36225118457553207],[0.4401726532917654,-0.006002157132709119,0.3620368962617797],[0.44001680545834915,-0.006001226721458134,0.3220371998805926]],"gripper_points":[[0.4858246888477639,-0.006001609274439661,0.3298587827566964],[0.3942753208859269,-0.006001216350400905,0.33021547973952076]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07955006284598484,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.59999999999901,"stage":"retreat","target_distance":0.0003109316317250803,"dwell_elapsed":0.0},{"joint_position":[-0.01363162653202294,-1.142941339164556,1.5653867852814276,-3.2665709417231244e-05,-0.41833792841912987,0.013612999560361098],"joint_velocity":[0.0002284165799602443,-0.09936815264844627,-0.11585112658909033,2.682569145736031e-06,0.20183801099715343,-0.00023416943389683854],"joint_actuator_torque":[-0.00027530878867665365,-1.179660980602705,-0.6912070600799325,5.8433004107277114e-06,-0.08966393895290281,3.12127073660573e-05],"jaw_actuator_force":[-0.007215771548139571,-0.006086214436972881],"end_effector_position":[0.44003824184498436,-0.005999272680298368,0.3235869411454942],"end_effector_quaternion":[0.9999978909233666,1.3066705223604889e-05,0.002053769965029068,-2.6477330947020163e-06],"end_effector_velocity":[0.001254740244735982,8.302508484815834e-05,0.07018637028887077],"object_position":[0.43971651264106415,-0.0058725606908747304,0.3099914782969374],"object_quaternion":[0.999999999769435,-4.281221292090059e-15,9.324349312129754e-14,2.1473931692560365e-05],"object_velocity":[-2.539302487550882e-13,-1.16658104799286e-14,-3.36220761160374e-14],"object_angular_velocity":[3.9225193684249756e-13,-8.534197001539562e-12,3.2585135724357315e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11616683462528181,-0.0015836409976132696,0.4847601982538346],[0.3350478698442751,-0.004567530350292539,0.38636208431971114],[0.38520810708196107,-0.005251338326948205,0.3638125165431412],[0.44020254309289425,-0.006000318449538338,0.3635866036941495],[0.44003824184498436,-0.005999272680298368,0.3235869411454942]],"gripper_points":[[0.4860197055248583,-0.0059997226887868755,0.3313981367346073],[0.3941277312603903,-0.005999241006934213,0.33177558908260946]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07989274946767391,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.619999999999,"stage":"retreat","target_distance":0.0003109316317292882,"dwell_elapsed":0.0},{"joint_position":[-0.013626084124556532,-1.1451216269793203,1.5627244903632358,-3.255516198616294e-05,-0.41337411427504794,0.013606892314306118],"joint_velocity":[0.00024600382187387637,-0.09848798910707829,-0.11622518144415145,3.130844719312523e-06,0.197885409644371,-0.00024212470860919059],"joint_actuator_torque":[-0.00029670768582690243,-1.1791610405581991,-0.6925762699437428,5.870727495971718e-06,-0.08906325824724348,3.2250746491380156e-05],"jaw_actuator_force":[-0.0021824132000531904,-0.0009841508050936199],"end_effector_position":[0.4400602116591685,-0.00599714190890401,0.32513737736651444],"end_effector_quaternion":[0.9999977645954817,1.3898153379861378e-05,0.002114379749773008,-3.0256512396355343e-06],"end_effector_velocity":[0.0012516559890441222,9.083786103704987e-05,0.07020719244376905],"object_position":[0.4397165126410578,-0.005872560690875025,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.398899368640431e-15,1.177981156550013e-13,2.1473931692560365e-05],"object_velocity":[-3.368683546372448e-13,-1.5449366778241667e-14,-1.9795636123111856e-14],"object_angular_velocity":[-3.635323885594059e-14,8.051277146457918e-13,-2.7481190242653226e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11561116874083595,-0.0015754250153505705,0.4850128932003223],[0.3349661089625619,-0.0045645588839019055,0.3876759768785131],[0.3852349494300408,-0.005249568728778253,0.3653696002214318],[0.44022936165766674,-0.0059982542704790165,0.3651370197029236],[0.4400602116591685,-0.00599714190890401,0.32513737736651444]],"gripper_points":[[0.4860839794555938,-0.005997639979167455,0.3329428241394254],[0.39411005810414607,-0.005997088818951784,0.33333176234894035]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07997474371802776,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.639999999998988,"stage":"retreat","target_distance":0.00031093163173494167,"dwell_elapsed":0.0},{"joint_position":[-0.01362023148310593,-1.147282459151261,1.5600467178268265,-3.2441748702143804e-05,-0.408465765394549,0.013600642787626236],"joint_velocity":[0.0002593234395210781,-0.09766322379945402,-0.1169026509782874,3.252813332802178e-06,0.195759768364541,-0.0002476191536696098],"joint_actuator_torque":[-0.0003142696617306484,-1.1786266269278372,-0.6937064569511904,5.864399730221102e-06,-0.0887253683921827,3.2967159897090426e-05],"jaw_actuator_force":[-0.0007764529371261375,0.00023734646673290172],"end_effector_position":[0.4400818767868162,-0.005994869943747145,0.3266889168194695],"end_effector_quaternion":[0.9999976902542232,1.4380115865135045e-05,0.0021492483365557072,-3.319385289122975e-06],"end_effector_velocity":[0.0012195158474702385,9.71604592588807e-05,0.07025022716784181],"object_position":[0.439716512641051,-0.005872560690875338,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.321124395146977e-15,9.429455214756305e-14,2.1473931692560365e-05],"object_velocity":[-2.786391213686349e-13,-1.2776245152678889e-14,-2.2164574501905787e-14],"object_angular_velocity":[5.483567177698597e-13,-1.1954130560142003e-11,-3.148004637344162e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11505991952977021,-0.0015672396528662385,0.4852621371799455],[0.3348832388067342,-0.004561469302978192,0.38898782653135994],[0.3852594161410384,-0.005247646931128848,0.3669249636743924],[0.44025381625278465,-0.005996020921093868,0.3666885472614535],[0.4400818767868162,-0.005994869943747145,0.3266889168194695]],"gripper_points":[[0.48611602742575,-0.005995402679799872,0.3344911117063027],[0.39412284934561764,-0.005994797640380051,0.33488654682491376]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999402797237463,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.659999999998977,"stage":"retreat","target_distance":0.0003109316317410389,"dwell_elapsed":0.0},{"joint_position":[-0.013614126768496541,-1.1494245653216557,1.5573490685901998,-3.2330268199493854e-05,-0.40358572792910347,0.013594263764944768],"joint_velocity":[0.0002700222930011216,-0.09687112764162215,-0.11775296336726566,3.1473865505569083e-06,0.19468998415525102,-0.00025272258380107756],"joint_actuator_torque":[-0.0003224347798607141,-1.1779036857012102,-0.6949194706304525,6.034087102223685e-06,-0.08858148041525027,3.36313917224107e-05],"jaw_actuator_force":[-0.0002635725366459951,0.0005280134271874459],"end_effector_position":[0.44010278427703775,-0.005992476334458377,0.32824181746525877],"end_effector_quaternion":[0.9999976467628882,1.4660614719446844e-05,0.002169387273746762,-3.55089505806606e-06],"end_effector_velocity":[0.0011692882127743967,0.00010257028222054106,0.07030587074580627],"object_position":[0.4397165126410435,-0.005872560690875683,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.5318582975361115e-15,1.2057769218774835e-13,2.1473931692560365e-05],"object_velocity":[-3.336570576109203e-13,-1.5313747916987972e-14,-2.221731009557548e-14],"object_angular_velocity":[3.9694409898650146e-13,-8.646313106613548e-12,-6.759284967789338e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11451291760347286,-0.0015590897009474566,0.4855080447681534],[0.33479957979101505,-0.00455828554243279,0.3902988472787507],[0.3852819398756601,-0.005245601256106513,0.3684800728540959],[0.4402763348463662,-0.005993649797137264,0.3682414409487726],[0.44010278427703775,-0.005992476334458377,0.32824181746525877]],"gripper_points":[[0.48613680282500443,-0.005993034780732024,0.3360421601196291],[0.3941419498995947,-0.005992387299747782,0.3364413078732791]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999571883580364,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.679999999998966,"stage":"retreat","target_distance":0.00031093163174772994,"dwell_elapsed":0.0},{"joint_position":[-0.013607801261672114,-1.151548144644694,1.554628809177716,-3.222314249547388e-05,-0.39871846881008666,0.013587749598833184],"joint_velocity":[0.00027961194613130945,-0.09608436224349923,-0.11871697597700373,2.9268371310977995e-06,0.1942171727044012,-0.00025808152109178237],"joint_actuator_torque":[-0.0003345606517539679,-1.1772152043226924,-0.695984269027349,6.220632616457406e-06,-0.08850511518697601,3.432520367430136e-05],"jaw_actuator_force":[0.000623620536845948,0.0006000941600472487],"end_effector_position":[0.44012271400476594,-0.005989971926851861,0.32979620773451673],"end_effector_quaternion":[0.9999976212899899,1.4824423012490932e-05,0.0021810961975940266,-3.7383194089470052e-06],"end_effector_velocity":[0.0011119444360336555,0.00010758527319285425,0.07036830685577994],"object_position":[0.4397165126410365,-0.0058725606908760055,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.544301758939559e-15,1.2105375132080548e-13,2.1473931692560365e-05],"object_velocity":[-4.0973503283135515e-13,-1.8776509225719766e-14,-2.2238126777287194e-14],"object_angular_velocity":[-5.516519508702912e-13,1.2060002428182676e-11,-2.0772132152160176e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11397012830289775,-0.0015509785896293197,0.48575066826899116],[0.3347153586917463,-0.0045550212382958,0.39160971549954465],[0.3853028073225241,-0.005243447678615201,0.3700357471565465],[0.44029720128108435,-0.00599115853016256,0.3697958271424858],[0.44012271400476594,-0.005989971926851861,0.32979620773451673]],"gripper_points":[[0.4861567623567452,-0.005990550194350586,0.3375954730329467],[0.3941616122950693,-0.0059898683240381285,0.33799677645071563]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999602534766553,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.699999999998955,"stage":"retreat","target_distance":0.00031093163175397473,"dwell_elapsed":0.0},{"joint_position":[-0.013601275176662722,-1.1536531403640229,1.551884113020971,-3.212222206680802e-05,-0.3938549373958918,0.0135810904325597],"joint_velocity":[0.000288410644837097,-0.0952894269663372,-0.11976392148552065,2.6821627485814257e-06,0.19408895349634206,-0.00026384313898490934],"joint_actuator_torque":[-0.00034492993232326796,-1.1765875524325224,-0.6969188698403741,6.279966834637184e-06,-0.08847488132838777,3.508656709616531e-05],"jaw_actuator_force":[0.0003115328763900749,0.0006093140001031117],"end_effector_position":[0.44014157655301334,-0.005987364461730201,0.3313521683871286],"end_effector_quaternion":[0.9999976061730034,1.4920280594777215e-05,0.0021880151886469554,-3.896443078947585e-06],"end_effector_velocity":[0.0010536738268554732,0.00011226289189971286,0.07043559273652372],"object_position":[0.4397165126410299,-0.005872560690876306,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.320052934909995e-15,9.447973878947174e-14,2.1473931692560365e-05],"object_velocity":[-2.710715203587508e-13,-1.2403163960794184e-14,-2.2236738998506407e-14],"object_angular_velocity":[4.552404113836468e-13,-9.941543812355026e-12,-2.2038705074618907e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11343158205231205,-0.0015429093057321831,0.48599003032146365],[0.33463074673091014,-0.004551685551534691,0.39292082590349797],[0.3853222219697556,-0.005241196774531099,0.37159246655771416],[0.44031661734443583,-0.005988558763358589,0.37135178537648217],[0.44014157655301334,-0.005987364461730201,0.3313521683871286]],"gripper_points":[[0.4861756925587727,-0.0059879587870567165,0.33915079684087457],[0.3941805093597635,-0.005987247880489108,0.33955337345873404]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999606404764228,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.719999999998944,"stage":"retreat","target_distance":0.00031093163175987447,"dwell_elapsed":0.0},{"joint_position":[-0.01359455985221225,-1.1557392844928736,1.5491136175979363,-3.2028383208069795e-05,-0.3889899787666394,0.013574280214437249],"joint_velocity":[0.0002966822007335483,-0.09448373358283721,-0.1208647204128025,2.3885267681208832e-06,0.1941621553337748,-0.000269833586550413],"joint_actuator_torque":[-0.00035485800868428896,-1.1759544205255565,-0.6978281200015317,6.365689624966003e-06,-0.08847523359237641,3.587806393179349e-05],"jaw_actuator_force":[0.00035794548870349274,0.000607994870783557],"end_effector_position":[0.44015938038679764,-0.005984659086572483,0.3329097525492166],"end_effector_quaternion":[0.9999975970628697,1.497541856711391e-05,0.0021921742519450957,-4.033878950688892e-06],"end_effector_velocity":[0.0009956904601841443,0.00011670251707276874,0.07050506898796721],"object_position":[0.4397165126410228,-0.005872560690876629,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.795744037387065e-15,1.268749895111143e-13,2.1473931692560365e-05],"object_velocity":[-3.522525268354764e-13,-1.6099608191815373e-14,-2.2228412325821717e-14],"object_angular_velocity":[1.4027457979063932e-13,-3.0648277036906055e-12,4.087800533621843e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11289736321952834,-0.0015348845176651217,0.4862261296347337],[0.3345458994316638,-0.0045482844491906895,0.3942324025884272],[0.3853403556469448,-0.005238855266831965,0.3731505068069819],[0.440334753900708,-0.005985857824616299,0.37290936808103947],[0.44015938038679764,-0.005984659086572483,0.3329097525492166]],"gripper_points":[[0.48619359878650115,-0.005985266926595692,0.3407079979194083],[0.3941983811747519,-0.005984530766331682,0.34111133993266207]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999610181281969,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.739999999998933,"stage":"retreat","target_distance":0.00031093163176622014,"dwell_elapsed":0.0},{"joint_position":[-0.01358766480250615,-1.1578063006458443,1.546316319231264,-3.194236025181741e-05,-0.38412049033149287,0.013567314349748432],"joint_velocity":[0.00030457822480138086,-0.09366467945894792,-0.12200976611935375,2.0799557077968936e-06,0.19435386981250632,-0.00027600409871099543],"joint_actuator_torque":[-0.0003643295655058054,-1.1753487605885198,-0.6986781369397477,6.414024793758785e-06,-0.0884907101940513,3.6697465509050176e-05],"jaw_actuator_force":[0.00014346490982575233,0.0006018360191593075],"end_effector_position":[0.44017615711901503,-0.005981860456205657,0.334469007014853],"end_effector_quaternion":[0.999997591388104,1.5005648328162214e-05,0.002194760928914841,-4.157615962126866e-06],"end_effector_velocity":[0.0009399318851318643,0.00012094517248694288,0.07057707421036792],"object_position":[0.4397165126410159,-0.005872560690876941,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.833852272620423e-15,1.059872038745183e-13,2.1473931692560365e-05],"object_velocity":[-5.316755713554917e-13,-2.4239494301535684e-14,-2.22214734319178e-14],"object_angular_velocity":[-1.4884113906060336e-12,3.273150699567172e-11,2.6025633811816175e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11236755833823515,-0.001526906686729067,0.48645896433752006],[0.3344609364027464,-0.004544822792231543,0.39554458922404184],[0.3853573355425302,-0.005236428566409193,0.3747100449272031],[0.440351737565431,-0.005983061635178333,0.37446862163879663],[0.44017615711901503,-0.005981860456205657,0.334469007014853]],"gripper_points":[[0.48621052491311206,-0.0059824801593196695,0.3422670137541766],[0.3942152147676963,-0.005981721251023304,0.3426708321081021]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999619643545136,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.759999999998922,"stage":"retreat","target_distance":0.000310931631772368,"dwell_elapsed":0.0},{"joint_position":[-0.01358059768618978,-1.159853746297166,1.543491299602656,-3.1864560217041056e-05,-0.3792446543131186,0.013560193841922532],"joint_velocity":[0.0003120893266234677,-0.09282799501819362,-0.12318951317840074,1.7328532275639906e-06,0.19461915835456134,-0.00028211985077093596],"joint_actuator_torque":[-0.0003730267305339652,-1.1747209185290899,-0.6995469666782128,6.5323255158079505e-06,-0.08852324988824734,3.750507411792725e-05],"jaw_actuator_force":[0.0004961667366671918,0.0006004145943396821],"end_effector_position":[0.4401919909604957,-0.005978973116413036,0.33602994947670095],"end_effector_quaternion":[0.9999975876873239,1.5019898306691297e-05,0.002196446150981514,-4.270972646255426e-06],"end_effector_velocity":[0.0008870739276151327,0.00012497721919795885,0.07064912648574782],"object_position":[0.4397165126410089,-0.0058725606908772605,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.836181735481359e-15,1.0615974614129463e-13,2.1473931692560365e-05],"object_velocity":[-2.982565480284519e-13,-1.3594331832497937e-14,-2.223118788338326e-14],"object_angular_velocity":[3.7951424698581715e-13,-8.330625147149386e-12,7.57031631287454e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11184229659830765,-0.0015189786186249686,0.486688514342914],[0.3343759941743496,-0.004541305044517386,0.39685745631669445],[0.3853732998688592,-0.005233921517117731,0.3762711721856858],[0.4403677062235611,-0.00598017545585587,0.3760295635085976],[0.4401919909604957,-0.005978973116413036,0.33602994947670095]],"gripper_points":[[0.48622611059179477,-0.005979603472808079,0.34382780226478976],[0.39423108934054113,-0.005978823720646037,0.3442319294217294]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999590890026356,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.77999999999891,"stage":"retreat","target_distance":0.00031093163177861426,"dwell_elapsed":0.0},{"joint_position":[-0.013573366372768833,-1.1618812428864553,1.540637850444941,-3.179541875590918e-05,-0.3743613064258862,0.013552920240438826],"joint_velocity":[0.00031932772881471133,-0.09197307482677783,-0.12440228464143169,1.3878581487077743e-06,0.19492681181333038,-0.0002881748801749371],"joint_actuator_torque":[-0.0003820973291528418,-1.1741427133013076,-0.7003455367167817,6.59345198934921e-06,-0.08855560784976291,3.83080697730076e-05],"jaw_actuator_force":[0.00045598048350825593,0.0005972519769343876],"end_effector_position":[0.44020695176470304,-0.005976001509639242,0.3375925939051391],"end_effector_quaternion":[0.999997585048106,1.5023627358597765e-05,0.002197647170903247,-4.377092784862144e-06],"end_effector_velocity":[0.0008381049756003628,0.00012883538146610146,0.07072216474001103],"object_position":[0.43971651264100176,-0.005872560690877584,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.9537851241341874e-15,1.306612196424437e-13,2.1473931692560365e-05],"object_velocity":[-3.9721793246677997e-13,-1.8105735724655512e-14,-2.2222861210698558e-14],"object_angular_velocity":[-3.0451035219237055e-13,6.716495598216005e-12,8.37821922767816e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11132169091217797,-0.0015111028971164294,0.4869147673849985],[0.33429117795268715,-0.004537735308775381,0.39817105016999266],[0.38538835206613714,-0.005231338569780558,0.3778339483082205],[0.4403827631085375,-0.005977204166469869,0.37759220751483535],[0.44020695176470304,-0.005976001509639242,0.3375925939051391]],"gripper_points":[[0.48624113798328106,-0.005976641690419232,0.3453903359066533],[0.3942460833452089,-0.005975842417597603,0.3457946841911421]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999594325858009,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.7999999999989,"stage":"retreat","target_distance":0.0003109316317850105,"dwell_elapsed":0.0},{"joint_position":[-0.013565977533288415,-1.1638883387421441,1.5377552018548586,-3.173520018979213e-05,-0.3694697418371892,0.013545498949317246],"joint_velocity":[0.00032622731332674054,-0.09109933667228269,-0.12564649513938514,1.0286367479699546e-06,0.19526332795574558,-0.00029400689245394964],"joint_actuator_torque":[-0.0003902001968247859,-1.1735714040325433,-0.7011280177493973,6.663506503586103e-06,-0.08859523652168377,3.9081310340360886e-05],"jaw_actuator_force":[0.000522838086075339,0.0005960269258711293],"end_effector_position":[0.44022114326778405,-0.00597295000625523,0.33915696846351995],"end_effector_quaternion":[0.9999975830472284,1.5019329859767742e-05,0.0021985572726253154,-4.47662564298722e-06],"end_effector_velocity":[0.000793323467140416,0.0001324862989558153,0.07079619390817811],"object_position":[0.4397165126409949,-0.0058725606908779,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.432164095452305e-15,9.723142585328732e-14,2.1473931692560365e-05],"object_velocity":[-2.8218667922931725e-13,-1.2868044231504654e-14,-2.2240902334848716e-14],"object_angular_velocity":[5.077410626897478e-13,-1.1137487787542542e-11,2.8579031470153373e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11080587307828002,-0.0015032822050887208,0.48713770364139913],[0.3342066093655721,-0.004534117504108932,0.39948540724429393],[0.3854026114314099,-0.005228683926801064,0.37939842265329066],[0.44039702741911047,-0.0059741523371093595,0.37915658175314704],[0.44022114326778405,-0.00597295000625523,0.33915696846351995]],"gripper_points":[[0.48625524228777545,-0.005973599277444314,0.3469546271189359],[0.39426030289240194,-0.005972781693225186,0.34735914235031407]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999582875108696,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.819999999998888,"stage":"retreat","target_distance":0.0003109316317911063,"dwell_elapsed":0.0},{"joint_position":[-0.013558439211249424,-1.16587458964691,1.534842717897235,-3.168419069254021e-05,-0.3645694415348543,0.01353793558534296],"joint_velocity":[0.00033279843672631915,-0.09020475069566289,-0.12691934006613087,6.739365967567025e-07,0.19561884722019676,-0.0002996178575046404],"joint_actuator_torque":[-0.0003981020404904001,-1.173045250369455,-0.7018530958414431,6.682981494462569e-06,-0.08863379217009282,3.982840464056281e-05],"jaw_actuator_force":[0.00025651917400182356,0.0005936803536421564],"end_effector_position":[0.44023465459807143,-0.005969823381286289,0.3407230715505607],"end_effector_quaternion":[0.9999975813255774,1.5009085225069093e-05,0.002199340089771416,-4.570796936563377e-06],"end_effector_velocity":[0.0007528817498316104,0.00013593286759922365,0.07086997127544364],"object_position":[0.43971651264098754,-0.0058725606908782355,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.313906468594736e-15,1.1616628217014705e-13,2.1473931692560365e-05],"object_velocity":[-3.293245507985917e-13,-1.5065655214853303e-14,-2.2246453449971853e-14],"object_angular_velocity":[2.018261284557748e-13,-4.448714746055861e-12,1.3813855342806018e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11029497311571097,-0.0014955193304934046,0.48735730478720973],[0.3341223958843315,-0.004530455810271282,0.40080053741849986],[0.38541618026880703,-0.005225962086887045,0.3809646115631705],[0.44041060137420585,-0.005971024909419083,0.38072268456479247],[0.44023465459807143,-0.005969823381286289,0.3407230715505607]],"gripper_points":[[0.4862688761835596,-0.005970481157541969,0.34852065764767787],[0.3942738420992511,-0.005969646243786327,0.34892531732938337]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999592407453804,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.839999999998877,"stage":"retreat","target_distance":0.00031093163179770006,"dwell_elapsed":0.0},{"joint_position":[-0.013550758771348677,-1.1678395403867883,1.5318998591599697,-3.1642518778140786e-05,-0.3596600823329935,0.013530237238692474],"joint_velocity":[0.0003390085606627495,-0.08929262309638643,-0.12822525448426939,3.009951238472973e-07,0.19598848460353893,-0.00030494363750984516],"joint_actuator_torque":[-0.00040539636473191365,-1.1725211319787832,-0.7025768623888098,6.738215861773391e-06,-0.08867804929855794,4.053477608545464e-05],"jaw_actuator_force":[0.0003041926792199945,0.0005946567043721984],"end_effector_position":[0.4402475690238569,-0.0059666260269480905,0.3422908762096575],"end_effector_quaternion":[0.9999975796205578,1.4994445327228456e-05,0.0022001151058786187,-4.659785018464552e-06],"end_effector_velocity":[0.000717217716594408,0.00013915450330156829,0.07094671367487798],"object_position":[0.4397165126409809,-0.005872560690878542,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.541875389210955e-15,9.931160877396929e-14,2.1473931692560365e-05],"object_velocity":[-4.733676579509942e-13,-2.1634618570652576e-14,-2.2213146759233106e-14],"object_angular_velocity":[-1.132107355382528e-12,2.485585039221177e-11,1.8991275023854623e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10978912399937453,-0.0014878170019865186,0.4875735519264713],[0.33403863787275057,-0.004526754077665539,0.4021164258982425],[0.3854291514687326,-0.0052231771575086475,0.38253250118344007],[0.4404235778007285,-0.005967826399835962,0.3822904889511525],[0.4402475690238569,-0.0059666260269480905,0.3422908762096575]],"gripper_points":[[0.48628183892881016,-0.005967291761173118,0.35008839079252163],[0.39428677962444575,-0.00596644047035167,0.3504931931838072]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799959499223428,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.859999999998866,"stage":"retreat","target_distance":0.00031093163180364794,"dwell_elapsed":0.0},{"joint_position":[-0.013542944808427219,-1.1697827286940068,1.5289262024356158,-3.1610368677714656e-05,-0.35474141962042627,0.013522412315246228],"joint_velocity":[0.00034484708294208057,-0.08835987993459589,-0.1295621266306315,-7.595629002285634e-08,0.1963675167405775,-0.0003099339283113347],"joint_actuator_torque":[-0.000412105342000757,-1.172022806186419,-0.7032767209952908,6.789192522105997e-06,-0.0887246020898047,4.1196607322380174e-05],"jaw_actuator_force":[0.0003673787578826193,0.0005964969817267018],"end_effector_position":[0.4402599566649585,-0.005963362698451355,0.34386031863691996],"end_effector_quaternion":[0.9999975776200132,1.4977238160765786e-05,0.0022010241446298057,-4.743715877691091e-06],"end_effector_velocity":[0.0006865090859159329,0.00014214447034848572,0.07102465795168976],"object_position":[0.4397165126409743,-0.005872560690878844,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.701750763646407e-15,1.0289361046073229e-13,2.1473931692560365e-05],"object_velocity":[-2.8786827570838334e-13,-1.3160483345076333e-14,-2.2233963440944815e-14],"object_angular_velocity":[4.142366182786367e-13,-9.062431245981397e-12,3.359693238029344e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10928846064087405,-0.0014801780855861742,0.4877864260266298],[0.3339554268222194,-0.004523016441499336,0.4034330298791715],[0.385441606572111,-0.005220333564729435,0.38410204326204567],[0.4404360381643077,-0.005964561709884426,0.3838599310583917],[0.4402599566649585,-0.005963362698451355,0.34386031863691996]],"gripper_points":[[0.48629406610207604,-0.005964035882508136,0.35165775029439583],[0.39429918872231345,-0.005963169146374155,0.35206271914284415]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999576873224654,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.879999999998855,"stage":"retreat","target_distance":0.00031093163180954665,"dwell_elapsed":0.0},{"joint_position":[-0.013535007061125811,-1.1717037495060725,1.5259211956975998,-3.158785516311407e-05,-0.34981338316396027,0.013514470371895083],"joint_velocity":[0.0003502933158471007,-0.08740821558469715,-0.13092431482218675,-4.4005111478859153e-07,0.1967467171210355,-0.00031454455873705683],"joint_actuator_torque":[-0.00041903169860013634,-1.171575096619847,-0.7039140163790307,6.779605363656065e-06,-0.08876452068263774,4.181091133514947e-05],"jaw_actuator_force":[0.00012043924302673759,0.0005975590492255378],"end_effector_position":[0.44027190669276706,-0.005960038909823302,0.34543141262788285],"end_effector_quaternion":[0.9999975754080599,1.4956885179873484e-05,0.0022020288450245278,-4.822726132259044e-06],"end_effector_velocity":[0.0006600789737417024,0.0001449032562245026,0.07110321430588536],"object_position":[0.4397165126409671,-0.005872560690879169,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.466883834560254e-15,1.1956535383775454e-13,2.1473931692560365e-05],"object_velocity":[-3.656660304446711e-13,-1.6727193049400772e-14,-2.2238126777287153e-14],"object_angular_velocity":[-1.6288687125857037e-13,3.5553266339876304e-12,7.794756473979313e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10879310330703099,-0.0014726053479014506,0.487995914902378],[0.33387285519591847,-0.004519247425942866,0.40475035489053596],[0.38545363167045515,-0.005217436235494023,0.38567324738782216],[0.44044806856747665,-0.0059612363073191085,0.38543102469550344],[0.44027190669276706,-0.005960038909823302,0.34543141262788285]],"gripper_points":[[0.4863061791268515,-0.0059607190440631634,0.3532287511352031],[0.3943111639770566,-0.005959837763943091,0.35363390544921425]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799959073176943,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.899999999998844,"stage":"retreat","target_distance":0.0003109316318159426,"dwell_elapsed":0.0},{"joint_position":[-0.013526954326969012,-1.1736020734428179,1.5228841660108183,-3.157499127197616e-05,-0.3448758705582451,0.01350642164944877],"joint_velocity":[0.00035530012093168146,-0.08643480925491043,-0.13231329459633803,-8.195959162847653e-07,0.19713285658450588,-0.00031874739902657044],"joint_actuator_torque":[-0.0004248307354570713,-1.1711269895913574,-0.7045573138715326,6.811871042185225e-06,-0.08881121745689313,4.236809322888391e-05],"jaw_actuator_force":[0.00016120151902931923,0.0006028567100191395],"end_effector_position":[0.44028353781416824,-0.005956660156478035,0.3470041559987681],"end_effector_quaternion":[0.9999975730297426,1.4933097141555483e-05,0.0022031086343796418,-4.8961589430098904e-06],"end_effector_velocity":[0.0006381604741858707,0.00014740651590339871,0.07118128049289518],"object_position":[0.43971651264096046,-0.005872560690879475,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.295662890497591e-15,9.39918721665426e-14,2.1473931692560365e-05],"object_velocity":[-2.747128166022353e-13,-1.2562819770644645e-14,-2.223535121972559e-14],"object_angular_velocity":[5.179285739184199e-13,-1.1320194003469725e-11,2.2513256832635914e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1083032044171477,-0.0014651018614156457,0.4882019933879543],[0.3337910466446122,-0.004515451656252827,0.4060683926283918],[0.38546534382173947,-0.005214490150903014,0.38724610912099205],[0.4404597860713191,-0.0059578556642915885,0.38700376768591593],[0.44028353781416824,-0.005956660156478035,0.3470041559987681]],"gripper_points":[[0.48631785623342666,-0.005957346672126251,0.35480139496268925],[0.39432282114675504,-0.00595645187413149,0.35520674803954183]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999592813008363,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.919999999998833,"stage":"retreat","target_distance":0.00031093163182189046,"dwell_elapsed":0.0},{"joint_position":[-0.013518796945877596,-1.1754773415418966,1.5198145170466986,-3.1571867071235035e-05,-0.33992876514576253,0.013498276414197676],"joint_velocity":[0.0003598596109699296,-0.08544666614800062,-0.13372865429793732,-1.198887196391969e-06,0.19752296566844585,-0.0003225440979382504],"joint_actuator_torque":[-0.00043001222327365696,-1.1706951025457784,-0.7051729119573338,6.837376694384875e-06,-0.08885850216569224,4.287136330849428e-05],"jaw_actuator_force":[0.00020821199770182375,0.0006095149691578428],"end_effector_position":[0.4402949365508435,-0.00595323217631298,0.348578595934683],"end_effector_quaternion":[0.9999975706178525,1.4905013823580742e-05,0.0022042031646396128,-4.964104417803257e-06],"end_effector_velocity":[0.0006199515053147372,0.0001496620201404073,0.07126198698809377],"object_position":[0.4397165126409534,-0.005872560690879791,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.183628053556774e-15,1.1365000755388985e-13,2.1473931692560365e-05],"object_velocity":[-3.1496121638757237e-13,-1.437565980570096e-14,-2.2231187883383252e-14],"object_angular_velocity":[2.7530345581470097e-13,-6.018739606666011e-12,1.3084343443942265e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10781887250106674,-0.00145767024559417,0.4884046553954744],[0.33371008784816225,-0.004511633765286038,0.40738717496172794],[0.38547682469853833,-0.005211500405215425,0.38882066902899437],[0.44047127236970735,-0.005954425449873642,0.38857820723598296],[0.4402949365508435,-0.00595323217631298,0.348578595934683]],"gripper_points":[[0.48632910975703436,-0.005953924498602811,0.3563757348417729],[0.39433424997161665,-0.005953017192564682,0.35678128853308244]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999575371482323,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.939999999998822,"stage":"retreat","target_distance":0.00031093163182818875,"dwell_elapsed":0.0},{"joint_position":[-0.013510544102448386,-1.1773290845564603,1.5167116587042548,-3.157847718184379e-05,-0.3349718987638857,0.013490044175443631],"joint_velocity":[0.0003640137161639833,-0.08443801748048874,-0.13516739115709772,-1.5885707541453762e-06,0.1979216112475779,-0.0003259650085687349],"joint_actuator_torque":[-0.00043493085538326426,-1.1702780657560652,-0.7057811868401132,6.8891387466582e-06,-0.0889087363675074,4.3321588196310046e-05],"jaw_actuator_force":[0.00043727027778572847,0.0006198098180441036],"end_effector_position":[0.4403061983895527,-0.005949760315729185,0.3501547265571143],"end_effector_quaternion":[0.9999975681201778,1.48729545162248e-05,0.002205336087859027,-5.0264701364844005e-06],"end_effector_velocity":[0.0006054887128479542,0.00015168761626810928,0.07134156087534063],"object_position":[0.43971651264094636,-0.005872560690880114,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.268585602274955e-15,1.155348591938271e-13,2.1473931692560365e-05],"object_velocity":[-4.456896683870476e-13,-2.0345433487374907e-14,-2.2239514556067933e-14],"object_angular_velocity":[-8.057278489248198e-13,1.761226820474391e-11,1.6707641769519107e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10734024460304321,-0.0014503133539711483,0.4886038833423315],[0.3336300835958057,-0.0045077982383486155,0.40870669593994907],[0.3854881716983138,-0.005208471857685118,0.3903969238269031],[0.44048262484155176,-0.005950951036001423,0.39015433745883715],[0.4403061983895527,-0.005949760315729185,0.3501547265571143]],"gripper_points":[[0.48634035739232506,-0.0059504578695442935,0.3579517612980787],[0.3943455429512081,-0.005949539079315891,0.358357523240315]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999570928936565,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.95999999999881,"stage":"retreat","target_distance":0.0003109316318344838,"dwell_elapsed":0.0},{"joint_position":[-0.01350220601116011,-1.1791568925736053,1.5135750384367725,-3.1594970054699066e-05,-0.33000509017766916,0.013481735458555386],"joint_velocity":[0.0003677733712752159,-0.08340954212370799,-0.13663405975870954,-1.952094255805426e-06,0.19832365970837976,-0.0003289692396576613],"joint_actuator_torque":[-0.0004398718320368644,-1.169928064433293,-0.7063061921968483,6.841928933754623e-06,-0.0889505717226271,4.3722650063582336e-05],"jaw_actuator_force":[0.00015049105550701825,0.0006265979436381741],"end_effector_position":[0.44031740527100544,-0.005946250192235707,0.35173255521736374],"end_effector_quaternion":[0.9999975654940001,1.4837109124854734e-05,0.0022065267037882324,-5.083146211977963e-06],"end_effector_velocity":[0.0005955002254770252,0.00015347911561319996,0.07142211199304824],"object_position":[0.4397165126409393,-0.005872560690880436,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.9133402836209175e-15,1.0757283999269208e-13,2.1473931692560365e-05],"object_velocity":[-3.043828334300311e-13,-1.390689880466872e-14,-2.2236738998506363e-14],"object_angular_velocity":[4.941350257530175e-13,-1.081963024975574e-11,-2.956180343206506e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10686744248479414,-0.0014430339183443518,0.4887996665180806],[0.3335511245225918,-0.004503949706258637,0.4100269612685719],[0.38549946832292037,-0.005205409574322327,0.39197488298222616],[0.4404939269715308,-0.005947438055363841,0.391732165698945],[0.44031740527100544,-0.005946250192235707,0.35173255521736374]],"gripper_points":[[0.48635176118906953,-0.005946952396178979,0.35952947955292053],[0.39435678515594386,-0.005946023165130408,0.35993546127417825]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999587184953919,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.9799999999988,"stage":"retreat","target_distance":0.00031093163184077953,"dwell_elapsed":0.0},{"joint_position":[-0.01349379235394404,-1.1809603430759674,1.5104040473009113,-3.1621198393405824e-05,-0.32502823570061573,0.013473360340830255],"joint_velocity":[0.0003709864332528922,-0.08236663796451646,-0.13812167753976184,-2.3480336765337557e-06,0.1987354758296641,-0.00033157364281509834],"joint_actuator_torque":[-0.000442747008417399,-1.1695363651147659,-0.7068827722823698,6.909170816891703e-06,-0.08900779230787492,4.406395685974118e-05],"jaw_actuator_force":[0.0005436051120071284,0.000640314730524949],"end_effector_position":[0.4403286506382152,-0.005942707335808304,0.353312107035917],"end_effector_quaternion":[0.9999975628304504,1.4796988085336728e-05,0.002207733645654484,-5.134029701771661e-06],"end_effector_velocity":[0.0005880705464455858,0.00015499430886744859,0.07150335345402405],"object_position":[0.4397165126409323,-0.005872560690880755,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.542174451519905e-15,1.2102723108311682e-13,2.1473931692560365e-05],"object_velocity":[-3.497808479041551e-13,-1.6023098945357992e-14,-2.2229800104602456e-14],"object_angular_velocity":[-1.3697501054010482e-14,2.945306421354793e-13,-1.6288706343889923e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1064005911882211,-0.0014358346316425583,0.48899199326177567],[0.3334733072602683,-0.0045000926963428296,0.41134798552018403],[0.3855108046934458,-0.005202318502836641,0.3935545670794026],[0.4405052688933404,-0.005943891998735718,0.3933117170913729],[0.4403286506382152,-0.005942707335808304,0.353312107035917]],"gripper_points":[[0.48636263862561585,-0.005943413583484439,0.3611089219572666],[0.39436806787452183,-0.0059424749814416524,0.3615151239591474]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999546754392495,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":11.999999999998789,"stage":"retreat","target_distance":0.00031093163184702573,"dwell_elapsed":0.0},{"joint_position":[-0.013485314144723924,-1.1827390701730955,1.5071981550561853,-3.165726307959618e-05,-0.32004116151959083,0.013464930059391488],"joint_velocity":[0.0003738442526115989,-0.08130464675297959,-0.13963639213220325,-2.7153929142050525e-06,0.19914929247790675,-0.00033373156154942787],"joint_actuator_torque":[-0.00044691464905977085,-1.169223423831113,-0.7073694297469046,6.8741528362992015e-06,-0.08905199941149533,4.4349675009325296e-05],"jaw_actuator_force":[0.0004114205084704281,0.0006515983854900043],"end_effector_position":[0.44034000638923854,-0.005939137574872541,0.3548934022085845],"end_effector_quaternion":[0.9999975601190174,1.4752610513199728e-05,0.002208961645214308,-5.179063928927019e-06],"end_effector_velocity":[0.0005848787461416459,0.00015629613563302166,0.07158571924916413],"object_position":[0.4397165126409261,-0.00587256069088104,0.30999147829693724],"object_quaternion":[0.999999999769435,-3.760191837272611e-15,8.215991334413481e-14,2.1473931692560365e-05],"object_velocity":[-2.4295035765509773e-13,-1.1125619884106626e-14,-2.2236738998506354e-14],"object_angular_velocity":[4.657827973983963e-13,-1.0165042786564619e-11,-1.1834722091062158e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10593980109263777,-0.0014287181051038508,0.4891808582998145],[0.3333967111980014,-0.004496231940761749,0.4126697845641222],[0.38552225309714727,-0.00519920386143335,0.395135996833026],[0.440516722883575,-0.005940318696062314,0.39489301183024933],[0.44034000638923854,-0.005939137574872541,0.3548934022085845]],"gripper_points":[[0.4863742096194129,-0.005939847266623907,0.3626901032038473],[0.39437946240312455,-0.005938900362194613,0.3630965319289676]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999564500884826,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.019999999998777,"stage":"retreat","target_distance":0.00031093163185257766,"dwell_elapsed":0.0},{"joint_position":[-0.013476781415102933,-1.1844926846607984,1.5039568497191174,-3.170308464052942e-05,-0.3150437203220018,0.01345645513448248],"joint_velocity":[0.0003761835818828607,-0.08022718284415606,-0.14117106053722167,-3.089869601200145e-06,0.1995716605998075,-0.00033547520609204096],"joint_actuator_torque":[-0.0004494964284873504,-1.168911715173408,-0.7078547070101422,6.865427412141266e-06,-0.0891031367740105,4.4579858313076315e-05],"jaw_actuator_force":[0.0004559079669625987,0.0006648220148122164],"end_effector_position":[0.44035154500534374,-0.0059355463073868546,0.35647644612059176],"end_effector_quaternion":[0.9999975573325129,1.4704181175129412e-05,0.002210222967477978,-5.218088585741089e-06],"end_effector_velocity":[0.0005842107552239393,0.000157335181514706,0.07166805996721383],"object_position":[0.43971651264091904,-0.005872560690881364,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.339316627337877e-15,1.168631877427745e-13,2.1473931692560365e-05],"object_velocity":[-3.212707567211947e-13,-1.4688500669407233e-14,-2.223396344094478e-14],"object_angular_velocity":[3.7160636025544307e-13,-8.113992602528287e-12,-4.0969684622837474e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.105485188587072,-0.0014216869008097431,0.48936625415636853],[0.33332141781259805,-0.004492371865765232,0.41399236248199955],[0.38553388701011443,-0.005196070503567532,0.39671917897329],[0.44052836240469656,-0.00593672356165861,0.39647605529644947],[0.44035154500534374,-0.0059355463073868546,0.35647644612059176]],"gripper_points":[[0.48638577928591575,-0.005936258824212656,0.3642730309372935],[0.3943910438732033,-0.005935304723447701,0.3646796916854407]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999563423081212,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.039999999998766,"stage":"retreat","target_distance":0.0003109316318588723,"dwell_elapsed":0.0},{"joint_position":[-0.013468204799793049,-1.1862208432468198,1.5006795852187815,-3.1758626030804456e-05,-0.31003576316650094,0.013447946684694014],"joint_velocity":[0.00037806633357256587,-0.07913517577235624,-0.1427299323975516,-3.460589386225986e-06,0.19999950909721145,-0.00033677714720843356],"joint_actuator_torque":[-0.00045151160309675475,-1.1686204042150052,-0.7083127309683732,6.850365923899773e-06,-0.0891548783795919,4.475131068271132e-05],"jaw_actuator_force":[0.0004998767467547793,0.0006790730792065602],"end_effector_position":[0.4403633367260649,-0.00593193916549041,0.35806127576551144],"end_effector_quaternion":[0.9999975545303431,1.4651358967410842e-05,0.0022114906960455064,-5.2509396050713045e-06],"end_effector_velocity":[0.000586593710698581,0.00015813191530335613,0.07175237792950094],"object_position":[0.43971651264091216,-0.005872560690881679,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.477441704903675e-15,1.1998583524314155e-13,2.1473931692560365e-05],"object_velocity":[-4.0548115124200756e-13,-1.851671039572644e-14,-2.224229011362947e-14],"object_angular_velocity":[-5.529921729836775e-13,1.2150110991873455e-11,-3.4273891915188357e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10503685811487998,-0.0014147434589558679,0.4895481784530571],[0.3332475019646719,-0.004488517003262433,0.415315746525619],[0.3855457745135826,-0.005192923440499354,0.39830414754224774],[0.44054025554294324,-0.005933112200333773,0.39806088449305055],[0.4403633367260649,-0.00593193916549041,0.35806127576551144]],"gripper_points":[[0.4863974589514796,-0.005932653868327016,0.3658577444471355],[0.39440287982325234,-0.005931693706835888,0.36626463775791135]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999547897624068,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.059999999998755,"stage":"retreat","target_distance":0.0003109316318650191,"dwell_elapsed":0.0},{"joint_position":[-0.013459595613524855,-1.1879231833547803,1.4973658911564345,-3.182386467346844e-05,-0.30501714398932017,0.013439415506120135],"joint_velocity":[0.0003795021897828022,-0.07802509257655933,-0.14431110122919855,-3.80685861695309e-06,0.20043064643018813,-0.0003376541295216805],"joint_actuator_torque":[-0.000453891631619463,-1.1683925679741947,-0.7087004407886752,6.753246049607739e-06,-0.08919826838242884,4.487015213361367e-05],"jaw_actuator_force":[0.00013885976825811497,0.0006912008358259669],"end_effector_position":[0.44037544328902767,-0.005928321964686787,0.359647894464261],"end_effector_quaternion":[0.9999975516701718,1.4594417462374017e-05,0.0022127839496694783,-5.277951414198849e-06],"end_effector_velocity":[0.0005922726756423659,0.0001586878399887847,0.07183659922892383],"object_position":[0.4397165126409056,-0.005872560690881977,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.29325168096592e-15,9.411444250318163e-14,2.1473931692560365e-05],"object_velocity":[-2.6987946454506997e-13,-1.2317887982161635e-14,-2.2242290113629478e-14],"object_angular_velocity":[4.5166478726711115e-13,-9.891477250587885e-12,-6.315589882066258e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10459491905500544,-0.0014078903328759026,0.4897266269612869],[0.33317503553298616,-0.0044846720655311685,0.4166399403139752],[0.3855579788925234,-0.005189767879264667,0.39989090795729965],[0.44055246556542893,-0.005929490449542516,0.3996475027341966],[0.44037544328902767,-0.005928321964686787,0.359647894464261]],"gripper_points":[[0.48640992827357254,-0.005929038256003828,0.367444242561812],[0.3944150329023557,-0.005928073101573643,0.3678513752220566]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999579627513256,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.079999999998744,"stage":"retreat","target_distance":0.000310931631870869,"dwell_elapsed":0.0},{"joint_position":[-0.013450964488070512,-1.1895993486259127,1.4940152606009351,-3.1898656486076545e-05,-0.29998771969118887,0.013430873649563772],"joint_velocity":[0.0003804086583094925,-0.07690146951158612,-0.1459125528486011,-4.159832187138443e-06,0.20086973436821984,-0.0003380508903034588],"joint_actuator_torque":[-0.00045479202240805705,-1.1681622001650567,-0.7090890104973369,6.689512139383246e-06,-0.08924824595754899,4.4924102790888654e-05],"jaw_actuator_force":[1.3034050745375225e-05,0.000705492472336644],"end_effector_position":[0.4403879297034483,-0.005924700259320353,0.36123632062179073],"end_effector_quaternion":[0.9999975487601779,1.4533381681342934e-05,0.0022140989911868304,-5.29850829033979e-06],"end_effector_velocity":[0.000600173486115681,0.00015898049089005986,0.07192178746921779],"object_position":[0.4397165126408985,-0.005872560690882299,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.75152248847105e-15,1.2660840727444569e-13,2.1473931692560365e-05],"object_velocity":[-3.514611063243484e-13,-1.597862654153086e-14,-2.2231187883383233e-14],"object_angular_velocity":[1.4004221041719516e-13,-3.0529998622201326e-12,-1.649000703749228e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10415947910578648,-0.0014011299569888825,0.4899015962768503],[0.33310409124759893,-0.004480841542693937,0.41796495785258175],[0.38557056486343094,-0.005186608781084678,0.40147947821368685],[0.44056505718239986,-0.0059258638655186255,0.4012359284261458],[0.4403879297034483,-0.005924700259320353,0.36123632062179073]],"gripper_points":[[0.48642244870011214,-0.005925417476922459,0.3690325475847177],[0.39442756857700645,-0.005924448519028042,0.3694399221369843]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999578209803583,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.099999999998733,"stage":"retreat","target_distance":0.00031093163187721534,"dwell_elapsed":0.0},{"joint_position":[-0.013442322644922957,-1.1912490605811878,1.4906272965003464,-3.198286301743117e-05,-0.2949473811571387,0.013422332487415856],"joint_velocity":[0.0003808225342138371,-0.0757663709856195,-0.14752974656802906,-4.5151253156552755e-06,0.2013139325569203,-0.00033799835986039354],"joint_actuator_torque":[-0.0004551145478792762,-1.1679416919852201,-0.7094719188506815,6.650580963333402e-06,-0.08930142841043676,4.491572923037701e-05],"jaw_actuator_force":[3.1484918746826906e-05,0.0007221926411151713],"end_effector_position":[0.4404008370251025,-0.005921079539586551,0.3628265717399631],"end_effector_quaternion":[0.9999975458107514,1.446826196739496e-05,0.002215431091130937,-5.312626377920579e-06],"end_effector_velocity":[0.0006095148593222794,0.00015903672539290052,0.07200747104827296],"object_position":[0.4397165126408916,-0.005872560690882608,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.798222320565677e-15,1.057817262763164e-13,2.1473931692560365e-05],"object_velocity":[-5.305546199162287e-13,-2.4090268012739495e-14,-2.2247841228752614e-14],"object_angular_velocity":[-1.483274473724511e-12,3.265615350765017e-11,-7.980974634987628e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10373062563384329,-0.0013944645303469463,0.49007309121530646],[0.33303471849571903,-0.0044770298017449035,0.41929081385621164],[0.3855835731098989,-0.0051834510097736024,0.4030698752947524],[0.4405780710712769,-0.005922237939283926,0.4028261790724231],[0.4404008370251025,-0.005921079539586551,0.3628265717399631]],"gripper_points":[[0.4864353380805026,-0.005921797025817653,0.3706226762289724],[0.3944405276382688,-0.005920825448065842,0.37103029557062434]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999571350217452,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.119999999998722,"stage":"retreat","target_distance":0.0003109316318833646,"dwell_elapsed":0.0},{"joint_position":[-0.013433681853278607,-1.1928719946642907,1.4872015879710716,-3.2076373846624985e-05,-0.289896001776911,0.013413804405512049],"joint_velocity":[0.0003807208400686485,-0.0746168213278619,-0.1491646760613205,-4.863562974496861e-06,0.20176320079158314,-0.0003374532485022289],"joint_actuator_torque":[-0.0004547923852609159,-1.1677448424404702,-0.7098322431809265,6.606021822631956e-06,-0.0893554055243726,4.4841884497826e-05],"jaw_actuator_force":[5.096319871356059e-05,0.0007395521437079111],"end_effector_position":[0.44041421265969094,-0.005917465621861728,0.3644186484337085],"end_effector_quaternion":[0.9999975427771773,1.4399392143611515e-05,0.0022168003883476645,-5.320083967626118e-06],"end_effector_velocity":[0.0006209167328535474,0.0001588383302375354,0.07209299888721325],"object_position":[0.4397165126408846,-0.005872560690882925,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.807688246592683e-15,1.0592845114303233e-13,2.1473931692560365e-05],"object_velocity":[-2.9761304673224225e-13,-1.3513410077475316e-14,-2.2242290113629487e-14],"object_angular_velocity":[3.774099185057109e-13,-8.3133383918988e-12,-2.3987616872357848e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10330845785651806,-0.0013878964449610149,0.49024111181511293],[0.3329669756687571,-0.004473241508085603,0.42061751062897124],[0.38559705266739525,-0.0051802997517183215,0.40466210202381375],[0.4405915562488565,-0.005918618513887752,0.4044182552808042],[0.44041421265969094,-0.005917465621861728,0.3644186484337085]],"gripper_points":[[0.48644860704434245,-0.005918182703515197,0.3722146274202042],[0.3944539563050363,-0.0059172097308694506,0.37262249799578856]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999555491435453,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.139999999998711,"stage":"retreat","target_distance":0.00031093163188961157,"dwell_elapsed":0.0},{"joint_position":[-0.013425053921868477,-1.1944679242696281,1.483737736416443,-3.217896562088203e-05,-0.2848334765725219,0.013405301714404523],"joint_velocity":[0.00038008654415249885,-0.07345905305549963,-0.1508157113527264,-5.2145329627661546e-06,0.20221781823043822,-0.00033642014585498963],"joint_actuator_torque":[-0.00045389186587474484,-1.1675544520399512,-0.7101881360936204,6.591366360864624e-06,-0.0894129010192728,4.4700068157155215e-05],"jaw_actuator_force":[0.00023807418830656957,0.0007596277972545806],"end_effector_position":[0.4404280893640789,-0.0059138641394669966,0.366012591194764],"end_effector_quaternion":[0.9999975397336278,1.4326440680319589e-05,0.002218173377884676,-5.320732665655838e-06],"end_effector_velocity":[0.0006332841558660813,0.00015839233483521257,0.07218053688455069],"object_position":[0.43971651264087747,-0.005872560690883246,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.9185954496783234e-15,1.303839480286858e-13,2.1473931692560365e-05],"object_velocity":[-3.963793860512016e-13,-1.79983754512375e-14,-2.2225636768260115e-14],"object_angular_velocity":[-3.0331097117517486e-13,6.703151185436052e-12,-1.2104395384674187e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10289304937292224,-0.0013814277295418765,0.4904056682335649],[0.33290090095152647,-0.004469481063751386,0.42194508001815567],[0.38561103360495663,-0.005177159952841065,0.406256195218791],[0.4406055427916277,-0.005915011196086277,0.4060121975548935],[0.4404280893640789,-0.0059138641394669966,0.366012591194764]],"gripper_points":[[0.4864625513354865,-0.0059145801272736855,0.37380844356663523],[0.3944678877668226,-0.005913607008993269,0.37421656682004184]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999556886420447,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.1599999999987,"stage":"retreat","target_distance":0.0003109316318960089,"dwell_elapsed":0.0},{"joint_position":[-0.013416451327219496,-1.196036558180891,1.4802353594951894,-3.229055033885172e-05,-0.2797596907285711,0.01339683701352438],"joint_velocity":[0.0003789192807727497,-0.07228712168343127,-0.15248425587932288,-5.547461936328075e-06,0.20267573335202227,-0.00033488893783649535],"joint_actuator_torque":[-0.0004522559077848598,-1.1673973963906406,-0.7105026995456001,6.537750335642179e-06,-0.08946817299431231,4.449506723513963e-05],"jaw_actuator_force":[0.0002686214232081596,0.0007781166194114064],"end_effector_position":[0.44044250515482675,-0.005910281092898912,0.3676084056685171],"end_effector_quaternion":[0.9999975366537964,1.4249622789544205e-05,0.0022195619032036426,-5.314592478411988e-06],"end_effector_velocity":[0.00064763948300292,0.00015768535026917073,0.07226803606714567],"object_position":[0.4397165126408707,-0.005872560690883561,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.40592181249981e-15,9.704096378293635e-14,2.1473931692560365e-05],"object_velocity":[-2.8163044679458767e-13,-1.279195490701055e-14,-2.223812677728714e-14],"object_angular_velocity":[5.047776846148785e-13,-1.1114778178025178e-11,-2.2806613560491455e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10248449043165411,-0.0013750606828367626,0.49056676386117],[0.3328365428818638,-0.004465753227639638,0.42327352830536297],[0.3856255549017035,-0.00517403693582363,0.40785216182382383],[0.4406200696636206,-0.005911422003599295,0.40760801153586956],[0.44044250515482675,-0.005910281092898912,0.3676084056685171]],"gripper_points":[[0.48647681430459083,-0.005910995298643987,0.37540413097459624],[0.39448235964349876,-0.005910023284588377,0.37581250878003786]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999536108830982,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.179999999998689,"stage":"retreat","target_distance":0.00031093163190205447,"dwell_elapsed":0.0},{"joint_position":[-0.013407886213448251,-1.1975776817946835,1.476694169170159,-3.241082547668302e-05,-0.27467455325581236,0.013388423455200102],"joint_velocity":[0.0003772125543582388,-0.07110720294145603,-0.1541631399666259,-5.882618801155693e-06,0.20313873627020312,-0.0003328343972245209],"joint_actuator_torque":[-0.0004504527378630385,-1.1672530106936279,-0.710818405242776,6.51280908242147e-06,-0.08952564482287073,4.4216598018120834e-05],"jaw_actuator_force":[0.0005144997523025552,0.0007994599492722188],"end_effector_position":[0.4404574761520796,-0.005906722036863467,0.3692061002260348],"end_effector_quaternion":[0.9999975335181271,1.4169216660007251e-05,0.0022209747391891367,-5.3012693761654216e-06],"end_effector_velocity":[0.0006621518204881346,0.00015673862818644428,0.07235567353461313],"object_position":[0.4397165126408633,-0.005872560690883895,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.279538399139935e-15,1.1593187646811428e-13,2.1473931692560365e-05],"object_velocity":[-3.2866111933895e-13,-1.4972669898199968e-14,-2.2245065671191054e-14],"object_angular_velocity":[2.0227541642990237e-13,-4.4402537251043475e-12,5.82250831479126e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10208285116260042,-0.0013687972772556524,0.490724409851721],[0.3327739282315195,-0.004462062351485841,0.4246028651634533],[0.3856406333931468,-0.005170935597663592,0.40945001117239194],[0.44063515368696604,-0.005907856513319248,0.4092057055916701],[0.4404574761520796,-0.005906722036863467,0.3692061002260348]],"gripper_points":[[0.48649185742001305,-0.005907433745160578,0.37700169523149873],[0.39449738883311647,-0.0059064641531173636,0.377410333050604]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999537616854893,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.199999999998678,"stage":"retreat","target_distance":0.0003109316319086489,"dwell_elapsed":0.0},{"joint_position":[-0.013399371740104457,-1.1990911006150091,1.4731138856061858,-3.253968118167495e-05,-0.26957795322937594,0.0133800741730355],"joint_velocity":[0.0003749291643324147,-0.06991803910861341,-0.15585587552970673,-6.197249885662483e-06,0.20360475969592723,-0.0003302618430892226],"joint_actuator_torque":[-0.0004475037454252373,-1.1671352935716186,-0.7110920303999251,6.449683054681778e-06,-0.08958208903294462,4.387301421004963e-05],"jaw_actuator_force":[0.0005530200440269084,0.0008184294638766687],"end_effector_position":[0.4404730131656579,-0.005903192906793134,0.37080568762785077],"end_effector_quaternion":[0.9999975302980846,1.4085463755256278e-05,0.0022224246766900254,-5.2808582923394345e-06],"end_effector_velocity":[0.0006774751612764755,0.0001555275344796722,0.07244416959625505],"object_position":[0.43971651264085665,-0.005872560690884201,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.512862782862513e-15,9.910595591809576e-14,2.1473931692560365e-05],"object_velocity":[-4.724259909093428e-13,-2.152652220869244e-14,-2.221453453801386e-14],"object_angular_velocity":[-1.130817553941461e-12,2.480974799595921e-11,-4.533891637343492e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10168819625018884,-0.0013626394949814522,0.49087861920247466],[0.3327130787002627,-0.004458413053353852,0.4259331045382209],[0.3856562809284046,-0.0051678611604808605,0.41104975742766275],[0.4406508066947443,-0.005904320680015385,0.41080529247826325],[0.4404730131656579,-0.005903192906793134,0.37080568762785077]],"gripper_points":[[0.4865072314337321,-0.005903901409940827,0.37860114996410277],[0.394512987003203,-0.005902935545216126,0.37901005356511047]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999515319532732,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.219999999998667,"stage":"retreat","target_distance":0.0003109316319145968,"dwell_elapsed":0.0},{"joint_position":[-0.013390921828741058,-1.2005766333884285,1.4694942295328453,-3.2676902467986724e-05,-0.26446983218759845,0.013371804115390403],"joint_velocity":[0.0003720897326794949,-0.06871899070553501,-0.15756355812380396,-6.474419829089553e-06,0.20406964008406406,-0.0003270949242462483],"joint_actuator_torque":[-0.00044506136890820613,-1.1670853641069812,-0.7112873866558971,6.2789854421404015e-06,-0.0896268573297867,4.345501495617299e-05],"jaw_actuator_force":[8.378780636064675e-05,0.0008338475401927781],"end_effector_position":[0.44048912638876764,-0.005899699963376834,0.37240718851986837],"end_effector_quaternion":[0.9999975270374938,1.3998223970503096e-05,0.00222389193834344,-5.252940699352702e-06],"end_effector_velocity":[0.0006939601673485248,0.0001540568825409358,0.07253381681633587],"object_position":[0.43971651264085004,-0.005872560690884503,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.6680348841915534e-15,1.026978283619645e-13,2.1473931692560365e-05],"object_velocity":[-2.8731563576955243e-13,-1.3069258091387591e-14,-2.2235351219725577e-14],"object_angular_velocity":[4.119038594032829e-13,-9.044734522744138e-12,-5.459451410046093e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10130058670745273,-0.0013565893251876809,0.49102940600271205],[0.33265401266953737,-0.0044548101569400035,0.4272642640889366],[0.3856725061191818,-0.005164819097549911,0.41265141906702973],[0.44066703729798445,-0.005900820753082905,0.4124067928485641],[0.44048912638876764,-0.005899699963376834,0.37240718851986837]],"gripper_points":[[0.4865238518267327,-0.005900404522462211,0.38020251361333257],[0.39452916256022436,-0.005899443757742433,0.38061168915799165]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999559923600058,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.239999999998656,"stage":"retreat","target_distance":0.0003109316319204959,"dwell_elapsed":0.0},{"joint_position":[-0.013382549406392344,-1.2020341237311771,1.4658349496156984,-3.28220916451376e-05,-0.259350152008004,0.013363627538247182],"joint_velocity":[0.0003685170108299357,-0.0675180397810344,-0.15927663273148523,-6.78603534126599e-06,0.2045429950017131,-0.0003233641622695643],"joint_actuator_torque":[-0.00043911190314194215,-1.166965921929716,-0.7115488082037587,6.26703116991768e-06,-0.08969299145188714,4.2956735198940166e-05],"jaw_actuator_force":[0.00037165860327093014,0.0008542438445129363],"end_effector_position":[0.4405058191297263,-0.005896248932932018,0.37401062547451847],"end_effector_quaternion":[0.9999975237995137,1.3907330091466424e-05,0.002225348109957042,-5.216968754900726e-06],"end_effector_velocity":[0.0007089100413545848,0.00015228291412894908,0.07262433342030206],"object_position":[0.4397165126408429,-0.0058725606908848265,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.409274621052183e-15,1.1935385809689253e-13,2.1473931692560365e-05],"object_velocity":[-3.6501869777961065e-13,-1.6555255697209632e-14,-2.2227024547040886e-14],"object_angular_velocity":[-1.6009180585827973e-13,3.5520684319797966e-12,-3.058184260547597e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10092007682999411,-0.0013506485456364688,0.4911767865663682],[0.33259674110094856,-0.00445125805252968,0.4285963626866179],[0.38568930999637563,-0.005161814397859375,0.41425501554750843],[0.4406838465318859,-0.0058973624453500725,0.4140102292851085],[0.4405058191297263,-0.005896248932932018,0.37401062547451847]],"gripper_points":[[0.4865399649252877,-0.005896948737662272,0.38180581917970174],[0.3945459208125097,-0.005895994564664099,0.3822152597788534]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999495526787553,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.259999999998644,"stage":"retreat","target_distance":0.00031093163192689213,"dwell_elapsed":0.0},{"joint_position":[-0.01337426873272384,-1.2034634713099146,1.4621359224105475,-3.297507614144896e-05,-0.25421881897664855,0.013355558169284354],"joint_velocity":[0.00036450703290026614,-0.06630815552699741,-0.16099831781271284,-7.049497945454911e-06,0.20501403776221513,-0.0003190911344518169],"joint_actuator_torque":[-0.00043582254730711867,-1.1669456302601589,-0.7117272821877805,6.115706103309183e-06,-0.08973964700977888,4.238781070386999e-05],"jaw_actuator_force":[0.00010966103228327029,0.0008717236684887553],"end_effector_position":[0.4405230686397882,-0.0058928457866186425,0.37561599850332833],"end_effector_quaternion":[0.9999975205055813,1.3813361188919114e-05,0.002226828488560335,-5.17329288083522e-06],"end_effector_velocity":[0.0007241244972963912,0.0001503139345422189,0.07271426735071938],"object_position":[0.4397165126408362,-0.00587256069088513,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.2453849334799615e-15,9.383377416518189e-14,2.1473931692560365e-05],"object_velocity":[-2.742490938383193e-13,-1.2417207439213222e-14,-2.2238126777287143e-14],"object_angular_velocity":[5.118714572584077e-13,-1.1300733649401975e-11,-2.0312320633691796e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10054670602571936,-0.0013448188505939573,0.4913207825061694],[0.33254125515416266,-0.0044477613062440784,0.4299294075190655],[0.38570667266276426,-0.005158852285663898,0.4158605507511875],[0.44070121447144345,-0.0058939517743766216,0.4156156017868542],[0.4405230686397882,-0.0058928457866186425,0.37561599850332833]],"gripper_points":[[0.48655776707299314,-0.005893540091135897,0.3834110535538653],[0.3945632345965827,-0.005892593914293394,0.3838207687059393]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999544484894038,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.279999999998633,"stage":"retreat","target_distance":0.0003109316319328411,"dwell_elapsed":0.0},{"joint_position":[-0.013366094262735705,-1.2048645666606768,1.4583969921856397,-3.3135569391566706e-05,-0.2490757938637937,0.013347611324294135],"joint_velocity":[0.0003597513415518937,-0.06509570131836584,-0.1627261836562908,-7.309919131363226e-06,0.2054886029422429,-0.00031420983161557504],"joint_actuator_torque":[-0.0004298955271586635,-1.166908933158311,-0.7118998521153799,5.994245954186756e-06,-0.08979379804697629,4.174053838501557e-05],"jaw_actuator_force":[-3.682840312535518e-05,0.0008881767929356243],"end_effector_position":[0.4405408589268869,-0.005889496670790223,0.377223316633929],"end_effector_quaternion":[0.9999975171634329,1.3716435078922375e-05,0.002228329553433227,-5.121579713723173e-06],"end_effector_velocity":[0.0007381387647220124,0.00014803246919790558,0.07280523844130919],"object_position":[0.4397165126408292,-0.0058725606908854415,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.120573230019245e-15,1.1345528634619329e-13,2.1473931692560365e-05],"object_velocity":[-3.1442239272141157e-13,-1.4202494050745891e-14,-2.2235351219725574e-14],"object_angular_velocity":[2.7235972357717544e-13,-6.008709276765813e-12,2.6402419931159763e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10018051581688582,-0.0013391019632748163,0.4914614140874226],[0.3324875493382498,-0.004444324591990538,0.4312634093951572],[0.3857245778535624,-0.005155938111071224,0.4174680333198464],[0.4407191248429353,-0.005890594895877478,0.41722291938266987],[0.4405408589268869,-0.005889496670790223,0.377223316633929]],"gripper_points":[[0.4865756038003844,-0.005890184683418521,0.38501823337942825],[0.39458109298929633,-0.005889247985591317,0.38542822462041343]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799954244137527,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.299999999998622,"stage":"retreat","target_distance":0.00031093163193909054,"dwell_elapsed":0.0},{"joint_position":[-0.013358040880718406,-1.2062374018789777,1.4546180725418576,-3.330320376700875e-05,-0.24392105662621982,0.013339804054133871],"joint_velocity":[0.0003543457001928272,-0.06388382550062285,-0.16445629039380014,-7.56718785124881e-06,0.20596496591837832,-0.0003086482621652884],"joint_actuator_torque":[-0.00042335939715165694,-1.1668756280550951,-0.712073270727501,5.9011710150220185e-06,-0.08985063972226826,4.09994997352392e-05],"jaw_actuator_force":[-2.6035209698349604e-05,0.0009060445169648546],"end_effector_position":[0.440559151242298,-0.00588620761634784,0.37883261016223546],"end_effector_quaternion":[0.9999975138381486,1.361636967570222e-05,0.0022298220789828804,-5.0608505036650655e-06],"end_effector_velocity":[0.0007500734578745885,0.00014549237104551262,0.07289734467864567],"object_position":[0.4397165126408222,-0.005872560690885759,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.181630771602875e-15,1.153424479389988e-13,2.1473931692560365e-05],"object_velocity":[-4.4494863959103934e-13,-2.0009422551768294e-14,-2.221453453801385e-14],"object_angular_velocity":[-7.899886648096017e-13,1.7581824405029215e-11,-7.028168399445168e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09982152089322519,-0.0013334992731278597,0.4915987112855337],[0.33243559296271574,-0.004440952387930377,0.4325983959440956],[0.3857429844786407,-0.00515307706007262,0.41907749034501607],[0.4407375365596079,-0.005887297825997392,0.4188322123788827],[0.440559151242298,-0.00588620761634784,0.37883261016223546]],"gripper_points":[[0.4865939293310169,-0.005886888457612673,0.38662738944709873],[0.39459945417243314,-0.005885962896439281,0.38703765514329475]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999538998505001,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.319999999998611,"stage":"retreat","target_distance":0.0003109316319453881,"dwell_elapsed":0.0},{"joint_position":[-0.013350124317360745,-1.207581924227862,1.4507991076028544,-3.3477697398073255e-05,-0.23875456541999798,0.013332151131574784],"joint_velocity":[0.0003482491445207651,-0.06266909764672875,-0.16618851110773705,-7.811000073813277e-06,0.2064429988662076,-0.0003025080189667329],"joint_actuator_torque":[-0.0004159757061028557,-1.1668571186260124,-0.7122303524971585,5.804692541082519e-06,-0.08990787014719714,4.018172330577663e-05],"jaw_actuator_force":[-1.311045973828584e-05,0.0009232375903920342],"end_effector_position":[0.4405779084654304,-0.0058829850533678885,0.3804438770072521],"end_effector_quaternion":[0.9999975104865834,1.351359036607652e-05,0.0022313254136931285,-4.991674747996841e-06],"end_effector_velocity":[0.000760406526775846,0.000142669358584539,0.07298899177290948],"object_position":[0.4397165126408151,-0.005872560690886075,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.82037679738629e-15,1.0740107438226127e-13,2.1473931692560365e-05],"object_velocity":[-3.03894928814112e-13,-1.3647256073860437e-14,-2.223535121972557e-14],"object_angular_velocity":[4.852051773133566e-13,-1.080216912767361e-11,1.0067478266729573e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09946974735613705,-0.001328012389323695,0.4917326990347215],[0.3323853619704918,-0.004437649541284573,0.4339343718478511],[0.3857618569862814,-0.005150274721942274,0.42068892186752666],[0.4407564140487362,-0.005884067028949851,0.4204434786875946],[0.4405779084654304,-0.0058829850533678885,0.3804438770072521]],"gripper_points":[[0.4866126416689826,-0.005883657902262406,0.3882385181854513],[0.39461828021147705,-0.005882745031448643,0.3886490599771361]],"object_size":[0.04,0.04,0.04],"gripper_width":0.079995277516676,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.3399999999986,"stage":"retreat","target_distance":0.0003109316319516863,"dwell_elapsed":0.0},{"joint_position":[-0.013342360101209434,-1.2088980978135013,1.4469400793566112,-3.3658551134014696e-05,-0.2335763348794347,0.013324669893903966],"joint_velocity":[0.0003413784628190279,-0.061456580852195075,-0.16791602746316867,-8.086905502000946e-06,0.20692621605222636,-0.00029567189188797863],"joint_actuator_torque":[-0.00040653109159016765,-1.1667886312351925,-0.7124591338990172,5.867473283279433e-06,-0.08998247587465258,3.926221312644529e-05],"jaw_actuator_force":[0.0007736540400049563,0.0009465561265677991],"end_effector_position":[0.4405970886684203,-0.00587983525524551,0.3820571116010731],"end_effector_quaternion":[0.9999975071050677,1.340839532967498e-05,0.0022328411777279658,-4.913260861034765e-06],"end_effector_velocity":[0.000767467387100599,0.0001395477574281824,0.07307984179218134],"object_position":[0.4397165126408082,-0.005872560690886387,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.406849810302959e-15,1.2080976490429464e-13,2.1473931692560365e-05],"object_velocity":[-3.4915969488164066e-13,-1.563993329387433e-14,-2.223118788338323e-14],"object_angular_velocity":[-1.0957419295431403e-14,2.9352913171371664e-13,1.1825670608732597e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09912521660420538,-0.0013226428209710517,0.49186340341700585],[0.3323368263557002,-0.004434420751671996,0.4352713375841837],[0.38578115359041776,-0.005147536527457629,0.4223023224974953],[0.4407757155120691,-0.0058809088018403205,0.4220567127403123],[0.4405970886684203,-0.00587983525524551,0.3820571116010731]],"gripper_points":[[0.4866312124689917,-0.005880499217903357,0.38985161605043667],[0.394637528950633,-0.005879600741632751,0.39026243370408953]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799946008156335,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.359999999998589,"stage":"retreat","target_distance":0.00031093163195788475,"dwell_elapsed":0.0},{"joint_position":[-0.013334766472353179,-1.2101860432480547,1.4430410885462384,-3.384574317858441e-05,-0.22838632729243347,0.013317378292600494],"joint_velocity":[0.00033391544758611986,-0.06024315459232377,-0.16964717306147167,-8.275966705143665e-06,0.20740033076549969,-0.00028812796335689393],"joint_actuator_torque":[-0.0003993519691238845,-1.1668431723506387,-0.7125449351229918,5.670365067999856e-06,-0.09002730014994853,3.8259257720607565e-05],"jaw_actuator_force":[0.000432064761527684,0.000959827908262767],"end_effector_position":[0.4406166106499043,-0.0058767651815838816,0.3836723327381051],"end_effector_quaternion":[0.9999975036736076,1.3300953005456713e-05,0.00223437829142881,-4.825807369399242e-06],"end_effector_velocity":[0.0007732067706456196,0.00013618464764618852,0.07317209477349197],"object_position":[0.43971651264080197,-0.005872560690886664,0.30999147829693724],"object_quaternion":[0.999999999769435,-3.655496995483799e-15,8.199426417901659e-14,2.1473931692560365e-05],"object_velocity":[-2.42466574708301e-13,-1.0819950427096568e-14,-2.2240902334848697e-14],"object_angular_velocity":[4.531400309794967e-13,-1.01452111182597e-11,6.621697418473477e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09878790873389172,-0.001317391778628374,0.4919908654264227],[0.3322899169403212,-0.004431271096926268,0.43660931688220433],[0.3858007938209612,-0.005144868440702869,0.4239177120074876],[0.44079536046186457,-0.005877830117782375,0.42367193332824393],[0.4406166106499043,-0.0058767651815838816,0.3836723327381051]],"gripper_points":[[0.4866511441037266,-0.005877419400548817,0.391466693944342],[0.39465712136497644,-0.005876536971095611,0.39187779592944044]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999494130265271,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.379999999998578,"stage":"retreat","target_distance":0.0003109316319634398,"dwell_elapsed":0.0},{"joint_position":[-0.013327359847782527,-1.211445780951335,1.4391021805360438,-3.4038556035082115e-05,-0.22318463005355538,0.013310296058072138],"joint_velocity":[0.0003255244637456008,-0.059036757765422866,-0.1713687613252305,-8.5122419922067e-06,0.20788005541861662,-0.0002797963955940465],"joint_actuator_torque":[-0.0003887943934817173,-1.1668134272260886,-0.7127250407106658,5.678117702216743e-06,-0.09009512562767696,3.71430003258677e-05],"jaw_actuator_force":[0.0011967584133252274,0.0009795253664428571],"end_effector_position":[0.4406364191914558,-0.005873781320096468,0.3852895395741779],"end_effector_quaternion":[0.9999975002619308,1.3191236887132742e-05,0.0022359055277272025,-4.72778819566816e-06],"end_effector_velocity":[0.0007743637487577955,0.00013247193193846848,0.07326388268078786],"object_position":[0.4397165126407949,-0.00587256069088698,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.205366334477471e-15,1.1662259920880485e-13,2.1473931692560365e-05],"object_velocity":[-3.206098801756238e-13,-1.4314934017729774e-14,-2.2236738998506344e-14],"object_angular_velocity":[3.6107894103197827e-13,-8.097266999358278e-12,-3.592791430992229e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09845782972976021,-0.0013122606214902616,0.4921151154301614],[0.33224458788155475,-0.004428205360375117,0.4379483119315374],[0.38582071995800765,-0.005142276029702897,0.42553508612976937],[0.4408152911815505,-0.005874837462080488,0.4252891396183749],[0.4406364191914558,-0.005873781320096468,0.3852895395741779]],"gripper_points":[[0.4866704987223974,-0.0058744247788346925,0.3930837623053567],[0.39467700057303257,-0.005873560347395346,0.3934951429437763]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999441796399438,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.399999999998567,"stage":"retreat","target_distance":0.00031093163196973774,"dwell_elapsed":0.0},{"joint_position":[-0.013320160262301444,-1.2126774708046564,1.435123520579446,-3.423701172961014e-05,-0.21797120552788254,0.0133034414196448],"joint_velocity":[0.0003164535387263636,-0.05783098078516999,-0.17309075408055763,-8.667533123159366e-06,0.2083517117830063,-0.0002707503956904709],"joint_actuator_torque":[-0.00037975019292257883,-1.1668912146204207,-0.7127748346180738,5.457089507992976e-06,-0.09013827100659455,3.59413637625039e-05],"jaw_actuator_force":[0.0007819836927485113,0.0009896555603443602],"end_effector_position":[0.4406564193071904,-0.005870891245920031,0.3869087435773854],"end_effector_quaternion":[0.9999974968219618,1.3079566838825938e-05,0.002237444388068915,-4.62015008821323e-06],"end_effector_velocity":[0.0007735384838936949,0.00012848754325304527,0.07335648041464618],"object_position":[0.4397165126407881,-0.005872560690887287,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.3762099417081985e-15,1.1972131674989942e-13,2.1473931692560365e-05],"object_velocity":[-4.045851948801396e-13,-1.818059429977091e-14,-2.2239514556067905e-14],"object_angular_velocity":[-5.50644287287827e-13,1.2120826410743825e-11,1.0593990503985512e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0981349486854665,-0.0013072505584418828,0.4922361968578677],[0.3322007575603594,-0.004425229050941669,0.4392883420773157],[0.3858408387608557,-0.005139765788806204,0.4271544586901059],[0.4408354144053438,-0.005871938435634209,0.42690834307110825],[0.4406564193071904,-0.005870891245920031,0.3869087435773854]],"gripper_points":[[0.48669096356325126,-0.00587152303695291,0.3947028226560962],[0.3946970716689486,-0.005870678363814394,0.39511448819280365]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799948129792557,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.419999999998556,"stage":"retreat","target_distance":0.0003109316319758371,"dwell_elapsed":0.0},{"joint_position":[-0.013313186033102371,-1.2138812610957124,1.431105350340491,-3.444058950319406e-05,-0.212746129407153,0.013296835323792935],"joint_velocity":[0.00030637199890922703,-0.05663588008598526,-0.17479935699158475,-8.841846568807235e-06,0.20882636740506835,-0.0002608697645494731],"joint_actuator_torque":[-0.0003663117596266474,-1.1669081676191695,-0.7128456714082176,5.349921511591839e-06,-0.09019917207200479,3.4629655783824376e-05],"jaw_actuator_force":[0.0005152743937930637,0.0009991513526035334],"end_effector_position":[0.44067651410655956,-0.005868101741239768,0.3885299297420368],"end_effector_quaternion":[0.9999974933338551,1.2966360842194431e-05,0.002239003710321848,-4.501679080688524e-06],"end_effector_velocity":[0.0007672436940638506,0.00012412934721553167,0.07344892960974768],"object_position":[0.4397165126407816,-0.00587256069088758,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.227771936670762e-15,9.3909203291722e-14,2.1473931692560365e-05],"object_velocity":[-2.692892955952271e-13,-1.212681353538263e-14,-2.2236738998506347e-14],"object_angular_velocity":[4.44397677391733e-13,-9.869640817288637e-12,4.594193122704663e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09781923735948354,-0.0013023626494779357,0.49235415120393716],[0.33215834247474313,-0.00442234708252575,0.44062940363648273],[0.3858610540636568,-0.005137343515099208,0.4287758156522744],[0.4408556339497209,-0.005869139853849049,0.42852952867757754],[0.44067651410655956,-0.005868101741239768,0.3885299297420368]],"gripper_points":[[0.48671109205317514,-0.005868720839259314,0.3963238652131875],[0.39471724278607073,-0.005867897920992229,0.396735817461343]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999477163573307,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.439999999998545,"stage":"retreat","target_distance":0.0003109316319816385,"dwell_elapsed":0.0},{"joint_position":[-0.013306458227864465,-1.21505731436433,1.4270478578270844,-3.464883072518758e-05,-0.2075094915561322,0.013290500849700076],"joint_velocity":[0.00029542101639241605,-0.055447586108770625,-0.1764987305354042,-9.001749538732185e-06,0.2092966072868099,-0.000250069124733076],"joint_actuator_torque":[-0.00035326705233451605,-1.1669434660915954,-0.7129200695708278,5.237177772560945e-06,-0.09025566831060772,3.31915783997605e-05],"jaw_actuator_force":[0.0005372275569097695,0.0010093181711301469],"end_effector_position":[0.4406966106292506,-0.005865420858224815,0.3901531070656591],"end_effector_quaternion":[0.9999974898696601,1.2851467637308854e-05,0.0022405512958095625,-4.371458933072676e-06],"end_effector_velocity":[0.0007568193926198114,0.0001194424536815276,0.07354129342620841],"object_position":[0.4397165126407745,-0.0058725606908879,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.6963828883121e-15,1.263340711330074e-13,2.1473931692560365e-05],"object_velocity":[-3.507012903557761e-13,-1.5817729971862635e-14,-2.2243677892410264e-14],"object_angular_velocity":[1.3670571443842865e-13,-3.0462362051817505e-12,2.3505873679924476e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09751066340155926,-0.0012975981552631399,0.49246902057579156],[0.3321172588684872,-0.004419565280405101,0.44197150890752485],[0.3858812703296582,-0.005135016079916801,0.43039916248354704],[0.4408758542784949,-0.0058664497566133286,0.43015270544683754],[0.4406966106292506,-0.005865420858224815,0.3901531070656591]],"gripper_points":[[0.48673129717129526,-0.005866026155949857,0.39794689967324404],[0.3947374115469876,-0.005865227152772823,0.398359136827038]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999480926860805,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.459999999998534,"stage":"retreat","target_distance":0.00031093163198798595,"dwell_elapsed":0.0},{"joint_position":[-0.013299997913779097,-1.2162058837687642,1.4229513537164322,-3.486141437363148e-05,-0.202261349991239,0.01328445975278486],"joint_velocity":[0.0002835483145994999,-0.05427039567451673,-0.17818457947642297,-9.146304599422767e-06,0.20976423711071707,-0.0002384112228023109],"joint_actuator_torque":[-0.00033907793505605355,-1.1669786910024413,-0.7129838390669647,5.125052303728544e-06,-0.09031212374356556,3.163956117946398e-05],"jaw_actuator_force":[0.0005663282724928109,0.0010176190634432203],"end_effector_position":[0.44071658737902325,-0.005862856276839885,0.3917782792109676],"end_effector_quaternion":[0.9999974864299875,1.2735094192510389e-05,0.0022420868934551635,-4.229216518298268e-06],"end_effector_velocity":[0.0007410625368702486,0.00011441968426718666,0.07363382791213838],"object_position":[0.4397165126407676,-0.005872560690888207,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.7572137708305096e-15,1.0555082619251169e-13,2.1473931692560365e-05],"object_velocity":[-5.294313245098351e-13,-2.3855674000495633e-14,-2.2233963440944803e-14],"object_angular_velocity":[-1.4657637879756191e-12,3.2592428585843004e-11,4.262870732016404e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0972091703060182,-0.0012929580002589308,0.49258085510567057],[0.3320773973581803,-0.004416889129572598,0.4433146701947875],[0.38590136605763414,-0.005132790013373647,0.43202450281937677],[0.44089595387533953,-0.005863875840396116,0.43177787704170195],[0.44071658737902325,-0.005862856276839885,0.3917782792109676]],"gripper_points":[[0.486751277745437,-0.005863446643546746,0.3995719305270946],[0.3947574614189799,-0.005862673767630408,0.39998444990729093]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999474123634623,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.479999999998522,"stage":"retreat","target_distance":0.0003109316319941359,"dwell_elapsed":0.0},{"joint_position":[-0.013293826821029904,-1.2173272217467368,1.41881622461693,-3.5077960241879564e-05,-0.19700179238956345,0.01327873434378178],"joint_velocity":[0.0002707151678349384,-0.05310392522966241,-0.1798531313764137,-9.276350043750097e-06,0.2102283902469076,-0.00022586891542164485],"joint_actuator_torque":[-0.0003237699138969319,-1.167017333342585,-0.7130389481779957,5.011780785591207e-06,-0.09036823757790913,2.9969960828601927e-05],"jaw_actuator_force":[0.0005932055467443575,0.0010238795396304567],"end_effector_position":[0.4407363165671634,-0.005860415888157424,0.39340542351409113],"end_effector_quaternion":[0.9999974829627348,1.2617791399774284e-05,0.002243633745181606,-4.074734315506968e-06],"end_effector_velocity":[0.0007196984035222013,0.00010904742739553636,0.07372504682294129],"object_position":[0.4397165126407606,-0.00587256069088852,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.745844909774176e-15,1.057257140325821e-13,2.1473931692560365e-05],"object_velocity":[-2.970340016928081e-13,-1.3346723535503161e-14,-2.2242290113629497e-14],"object_angular_velocity":[3.736228554969148e-13,-8.296012597526929e-12,5.873541448889264e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09691470136172385,-0.0012884431576049838,0.49268970397447537],[0.332038644941644,-0.004414324288517646,0.44465888030277567],[0.38592121534537566,-0.005130672047685131,0.4336518165446778],[0.44091580681088,-0.005861426040305563,0.43340502078996385],[0.4407363165671634,-0.005860415888157424,0.39340542351409113]],"gripper_points":[[0.4867709799278473,-0.005860990182463632,0.4011989326417915],[0.3947772635575256,-0.005860245685578884,0.4016117361810342]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999464255563737,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.499999999998511,"stage":"retreat","target_distance":0.0003109316320003846,"dwell_elapsed":0.0},{"joint_position":[-0.013287969291518846,-1.2184216617005266,1.4146428944029161,-3.529808512499781e-05,-0.19173094254961592,0.013273350694998695],"joint_velocity":[0.0002567982656632064,-0.05195258139143881,-0.18150348944644534,-9.391510291866199e-06,0.2106872421919237,-0.00021228611001027848],"joint_actuator_torque":[-0.0003071894094199834,-1.1670537739083215,-0.7130846065843457,4.897980791901055e-06,-0.09042370826841406,2.8161912873692074e-05],"jaw_actuator_force":[0.0006199532517872086,0.0010279974823088622],"end_effector_position":[0.4407556552633596,-0.005858108537206197,0.39503454055327153],"end_effector_quaternion":[0.9999974795052614,1.2499589502278433e-05,0.0022451751864646704,-3.907216388176794e-06],"end_effector_velocity":[0.0006920038336644552,0.00010328078227104105,0.07381661334726965],"object_position":[0.43971651264075345,-0.005872560690888835,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.816974228995417e-15,1.3013193116199526e-13,2.1473931692560365e-05],"object_velocity":[-3.956160632695636e-13,-1.7695952984819684e-14,-2.223396344094481e-14],"object_angular_velocity":[-2.974803578147759e-13,6.6908230665022105e-12,8.434638711736563e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0966271781963248,-0.001284054552714051,0.49279562332299476],[0.3320008696478236,-0.0044118770322584735,0.4460041486825108],[0.3859406739387921,-0.005128669683820737,0.43528110241073326],[0.44093526882165346,-0.00585910920363679,0.4350341372758429],[0.4407556552633596,-0.005858108537206197,0.39503454055327153]],"gripper_points":[[0.4867902871885501,-0.005858665545210925,0.40282790801044593],[0.39479667533258533,-0.005857951825306469,0.40324099469215813]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799945393130587,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.5199999999985,"stage":"retreat","target_distance":0.00031093163200678444,"dwell_elapsed":0.0},{"joint_position":[-0.013282450313980483,-1.2194895259175864,1.4104318280242547,-3.552141289698895e-05,-0.18644893416033811,0.013268336128566425],"joint_velocity":[0.0002417790158333638,-0.050814948971957354,-0.18313326225688786,-9.492775330325004e-06,0.21114081086942252,-0.00019761956522316317],"joint_actuator_torque":[-0.0002893068726450565,-1.1670892621024223,-0.7131225760084021,4.784926313661491e-06,-0.0904786504750561,2.6209602508764362e-05],"jaw_actuator_force":[0.0006475824652607542,0.0010298455560384667],"end_effector_position":[0.4407744589762891,-0.005855943337697619,0.3966656107840266],"end_effector_quaternion":[0.9999974760475127,1.2380799920935326e-05,0.002246715700855205,-3.7255601888106838e-06],"end_effector_velocity":[0.0006579898645674136,9.711121425902456e-05,0.0739070082607323],"object_position":[0.4397165126407467,-0.0058725606908891425,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.334784980580205e-15,9.685711196526618e-14,2.1473931692560365e-05],"object_velocity":[-2.8109624719520906e-13,-1.2584757706834443e-14,-2.2238126777287156e-14],"object_angular_velocity":[4.965948177165688e-13,-1.1093624152899044e-11,2.837452355993804e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09634652495318034,-0.001279793193359501,0.4928986672823362],[0.33196394008997904,-0.004409553859616734,0.4473504699258497],[0.3859595977254954,-0.005126790678967349,0.4369123413649882],[0.44095419577501915,-0.0058569344688133755,0.4366652069532487],[0.4407744589762891,-0.005855943337697619,0.3966656107840266]],"gripper_points":[[0.48680905999476937,-0.0058564817489859065,0.40445883665385046],[0.3948155507480754,-0.005855801406944435,0.40487220631539156]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799944379756815,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.53999999999849,"stage":"retreat","target_distance":0.0003109316320128329,"dwell_elapsed":0.0},{"joint_position":[-0.01327729662017262,-1.22053122930984,1.4061835380351564,-3.5747560902170354e-05,-0.18115590809060966,0.013263718624541126],"joint_velocity":[0.0002255746647216618,-0.04969604639880646,-0.18474101447456612,-9.579625211798324e-06,0.21158847801290287,-0.00018184446288676637],"joint_actuator_torque":[-0.0002700267100799181,-1.1671178597336507,-0.7131521502291207,4.67302390472343e-06,-0.09053289628588956,2.4109851059606058e-05],"jaw_actuator_force":[0.0006761962070811478,0.0010292582575779363],"end_effector_position":[0.44079256388930765,-0.005853929918565383,0.3982986378360994],"end_effector_quaternion":[0.9999974726380808,1.2261394692463215e-05,0.0022482336741864073,-3.5292027566433222e-06],"end_effector_velocity":[0.000616721918444388,9.051452367584144e-05,0.07399791064383475],"object_position":[0.4397165126407393,-0.00587256069088947,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.1767121788597095e-15,1.1573402881119012e-13,2.1473931692560365e-05],"object_velocity":[-3.2809524457093845e-13,-1.468550951324976e-14,-2.223812677728716e-14],"object_angular_velocity":[1.9908413990621285e-13,-4.431431859690854e-12,1.0089765330346854e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09607264102732675,-0.00127565991346949,0.4929988979783368],[0.33192770283695444,-0.004407361556331913,0.4486978566407251],[0.38597782116832746,-0.005125043182821218,0.4385455346675224],[0.4409724221252127,-0.00585491146241946,0.43829823345969976],[0.44079256388930765,-0.005853929918565383,0.3982986378360994]],"gripper_points":[[0.4868271376471793,-0.005854448370519822,0.4060917241762139],[0.3948337271414238,-0.0058538041107212,0.4065053726869769]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999434048889076,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.559999999998478,"stage":"retreat","target_distance":0.0003109316320194298,"dwell_elapsed":0.0},{"joint_position":[-0.013272536102315479,-1.2215471877288808,1.401898619228044,-3.597616928721373e-05,-0.17585202446292975,0.013259527282986011],"joint_velocity":[0.0002081373570986056,-0.04859485844609342,-0.1863223954407412,-9.653534137328994e-06,0.21202979457249838,-0.00016491522066485395],"joint_actuator_torque":[-0.00024928900629550554,-1.167140936947078,-0.713176271507109,4.5634616470634215e-06,-0.09058651829611719,2.185659765707726e-05],"jaw_actuator_force":[0.0007061106311549992,0.0010259758690605025],"end_effector_position":[0.44080979933450576,-0.005852078333481494,0.3999335967755061],"end_effector_quaternion":[0.999997469255897,1.2141750472507166e-05,0.002249738512077861,-3.3175944655138148e-06],"end_effector_velocity":[0.0005679951239453054,8.347215919527838e-05,0.07408732343394239],"object_position":[0.4397165126407327,-0.005872560690889769,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.439894914550671e-15,9.893577589771437e-14,2.1473931692560365e-05],"object_velocity":[-4.716027627528957e-13,-2.119578052925538e-14,-2.2238126777287162e-14],"object_angular_velocity":[-1.1173281927296554e-12,2.4765625637597195e-11,-3.13237518985403e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09580542515298329,-0.0012716556367275641,0.4930963766439928],[0.33189200079252124,-0.004405307245583016,0.4500463007974737],[0.38599517437658204,-0.005123435739279057,0.44018065841597975],[0.44098977795676847,-0.005853050268158685,0.4399331918578425],[0.44080979933450576,-0.005852078333481494,0.3999335967755061]],"gripper_points":[[0.4868443488406973,-0.005852575418832292,0.40772654478106996],[0.3948510326260294,-0.00585197004695095,0.40814046974366014]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999424744196246,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.579999999998467,"stage":"retreat","target_distance":0.00031093163202533026,"dwell_elapsed":0.0},{"joint_position":[-0.013268197936272383,-1.2225378853365516,1.3975777129419444,-3.620688233794461e-05,-0.1705374523355954,0.01325579449954221],"joint_velocity":[0.0001894097586838987,-0.047515227333002834,-0.18787611690064648,-9.714689411255874e-06,0.21246411274825863,-0.00014669623194670268],"joint_actuator_torque":[-0.00022702849538980274,-1.1671541582765599,-0.7131946428700644,4.457069764521662e-06,-0.09063939117666209,1.943160361106422e-05],"jaw_actuator_force":[0.0007372560996827815,0.0010199044259984191],"end_effector_position":[0.4408259797384576,-0.005850399007207428,0.4015704754828145],"end_effector_quaternion":[0.9999974659143918,1.2022044338509634e-05,0.0022512242718247815,-3.0891756784809407e-06],"end_effector_velocity":[0.0005110924941345227,7.596825219537526e-05,0.07417645543723035],"object_position":[0.4397165126407261,-0.005872560690890064,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.610080357596187e-15,1.0251789594106111e-13,2.1473931692560365e-05],"object_velocity":[-2.86813481452384e-13,-1.2902004845400879e-14,-2.224090233484873e-14],"object_angular_velocity":[4.061147965976625e-13,-9.028812801098796e-12,-4.3984292464779885e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09554475768744897,-0.0012677811531867575,0.4931911700824978],[0.33185666030337,-0.004403398257269113,0.45139580446117583],[0.38601147131951863,-0.005121977176954653,0.4418176998396229],[0.44100607722084895,-0.005851361324671499,0.44157007003039433],[0.4408259797384576,-0.005850399007207428,0.4015704754828145]],"gripper_points":[[0.48686050905872613,-0.005850873177954456,0.4093632868909218],[0.3948672822100129,-0.005850309786674149,0.40977748481672727]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999415930524055,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.599999999998456,"stage":"retreat","target_distance":0.00031093163203123217,"dwell_elapsed":0.0},{"joint_position":[-0.013264313701546371,-1.2235037874226697,1.393221540274341,-3.643934737433438e-05,-0.16521239142458075,0.0132525528691287],"joint_velocity":[0.0001692808330587263,-0.04645529571032669,-0.18939793769440552,-9.763404819087456e-06,0.21289047230786576,-0.0001271875443089546],"joint_actuator_torque":[-0.00020311095299963,-1.167160094874248,-0.7132104973920832,4.3547490515293864e-06,-0.09069154371085197,1.6835121018354826e-05],"jaw_actuator_force":[0.0007698351300327033,0.0010108838098705775],"end_effector_position":[0.4408409174248426,-0.005848903398599584,0.403209225909803],"end_effector_quaternion":[0.9999974625504652,1.1902906697781882e-05,0.00225271899406,-2.8434837319325934e-06],"end_effector_velocity":[0.00044602137743580093,6.795367418791466e-05,0.07426299885146449],"object_position":[0.4397165126407189,-0.005872560690890384,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.359644116261597e-15,1.1914295950758223e-13,2.1473931692560365e-05],"object_velocity":[-3.643763263282186e-13,-1.6401094255782504e-14,-2.2236738998506382e-14],"object_angular_velocity":[-1.59604511667428e-13,3.5462598848806565e-12,-1.7177389379293293e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09529052354372827,-0.0012640375303761132,0.4932833422985282],[0.33182150908162644,-0.004401642737042345,0.45274634297645583],[0.3860265266007281,-0.005120677263570022,0.4434566139651476],[0.44102113448436686,-0.00584985614116475,0.4432088199190394],[0.4408409174248426,-0.005848903398599584,0.403209225909803]],"gripper_points":[[0.48687542968121184,-0.005849353074077501,0.41100189988204683],[0.3948822871423811,-0.005848834841527265,0.4114163724423099]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999407623288252,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.619999999998445,"stage":"retreat","target_distance":0.0003109316320376299,"dwell_elapsed":0.0},{"joint_position":[-0.013260918522934921,-1.224445499472587,1.3888308406076493,-3.6673208240824045e-05,-0.15987707147230906,0.01324984093919858],"joint_velocity":[0.0001475899170728131,-0.04542291992109252,-0.19088843067178488,-9.799429297070937e-06,0.21330704012223706,-0.00010613933526919596],"joint_actuator_torque":[-0.00017735110081140704,-1.16714850057798,-0.7132206331530142,4.256995919198897e-06,-0.09074247251000322,1.4033682974146089e-05],"jaw_actuator_force":[0.0008036644949402927,0.000998791173753233],"end_effector_position":[0.44085440101331186,-0.005847604216392307,0.40484985537149254],"end_effector_quaternion":[0.9999974592720969,1.1783973873370351e-05,0.0022541747576924837,-2.578849635389248e-06],"end_effector_velocity":[0.0003715823229460749,5.9373481222493286e-05,0.07435063847221973],"object_position":[0.4397165126407123,-0.005872560690890685,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.218880113027206e-15,9.36774003177681e-14,2.1473931692560365e-05],"object_velocity":[-2.737886717984957e-13,-1.2335805958284468e-14,-2.2235351219725592e-14],"object_angular_velocity":[5.083081644622811e-13,-1.128174169622549e-11,3.555462227443221e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09504257032241732,-0.001260425664896631,0.4933729696716268],[0.331786343625808,-0.004400049591983139,0.45409793226019723],[0.386040125007835,-0.005119546741940464,0.44509740285341126],[0.44103473453331654,-0.005848547396961207,0.4448494488560765],[0.44085440101331186,-0.005847604216392307,0.40484985537149254]],"gripper_points":[[0.48688890139945346,-0.005848027656652053,0.4126423954687927],[0.3948958374911532,-0.005847558067775286,0.4130571355205861]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799939988084423,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.639999999998434,"stage":"retreat","target_distance":0.0003109316320435293,"dwell_elapsed":0.0},{"joint_position":[-0.013258047849992,-1.2253635631368582,1.3844064581610096,-3.6908148303286494e-05,-0.1545317160524802,0.013247695836248482],"joint_velocity":[0.0001243377109391331,-0.04441295516825385,-0.1923412231681901,-9.825458036261599e-06,0.2137150561470509,-8.362610141663268e-05],"joint_actuator_torque":[-0.00014974252534383226,-1.1671257509619295,-0.7132305687962344,4.165830728893646e-06,-0.09079266060906654,1.1037373350397672e-05],"jaw_actuator_force":[0.0008392002990049718,0.0009833203560027926],"end_effector_position":[0.44086622148267646,-0.005846514345347171,0.4064923046803037],"end_effector_quaternion":[0.9999974559903576,1.1666021700389139e-05,0.002255631054120838,-2.2944688195982393e-06],"end_effector_velocity":[0.0002881017971842403,5.022359341383078e-05,0.07443475624587467],"object_position":[0.4397165126407054,-0.005872560690890994,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.089417633697007e-15,1.1326122962859238e-13,2.1473931692560365e-05],"object_velocity":[-3.138857138272399e-13,-1.4114982723970228e-14,-2.2238126777287156e-14],"object_angular_velocity":[2.704718629533514e-13,-5.9988046396997355e-12,4.0008338337428243e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09480076201815554,-0.0012569466868656686,0.4934601214715492],[0.3317509711348749,-0.0043986279767729035,0.45545054059756945],[0.38605206072412307,-0.005118596605709978,0.44674001164728244],[0.44104667150579696,-0.0058474480387469335,0.4464918976396998],[0.44086622148267646,-0.005846514345347171,0.4064923046803037]],"gripper_points":[[0.48690071279050595,-0.005846909748582507,0.4142847108411959],[0.3949077218039635,-0.005846492436762557,0.4146997185078223]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999392709406192,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.659999999998423,"stage":"retreat","target_distance":0.0003109316320497288,"dwell_elapsed":0.0},{"joint_position":[-0.013255741418986755,-1.2262586290551714,1.37994922972694,-3.714384185980975e-05,-0.1491765857734645,0.013246161373334382],"joint_velocity":[9.931597352649727e-05,-0.04343247567379343,-0.19375861500728514,-9.840473807867458e-06,0.2141119501793559,-5.936304501788983e-05],"joint_actuator_torque":[-0.00012004601950277305,-1.1670830447615685,-0.7132366595462827,4.081729966986126e-06,-0.09084153009536955,7.808092048033899e-06],"jaw_actuator_force":[0.0008760722961991263,0.0009646135712966242],"end_effector_position":[0.44087615405987646,-0.005845648350019114,0.4081365655097383],"end_effector_quaternion":[0.9999974527892587,1.154882652676914e-05,0.002257050656354271,-1.988334691254008e-06],"end_effector_velocity":[0.00019468870345335561,4.042413533438041e-05,0.07451932991663728],"object_position":[0.43971651264069833,-0.005872560690891312,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.17263470677447e-15,1.151003493564227e-13,2.1473931692560365e-05],"object_velocity":[-4.439786102494351e-13,-1.9971493725955198e-14,-2.221592231679465e-14],"object_angular_velocity":[-7.902149550856014e-13,1.753244869827467e-11,-1.6113802052912377e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09456493351610534,-0.001253601732262623,0.49354487631481564],[0.3317151755439627,-0.004397388156666871,0.456804172551191],[0.38606210600867996,-0.005117839212259511,0.44838442793869365],[0.44105671765061305,-0.005846572612809641,0.448136157956855],[0.44087615405987646,-0.005845648350019114,0.4081365655097383]],"gripper_points":[[0.48691064088286024,-0.0058460137262629115,0.4159288410894433],[0.39491771671586734,-0.0058456526938992365,0.4163441096466318]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799938614522678,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.679999999998412,"stage":"retreat","target_distance":0.00031093163205602635,"dwell_elapsed":0.0},{"joint_position":[-0.013254040572589403,-1.2271313303064317,1.3754600712331406,-3.737999701963288e-05,-0.14381193415666685,0.013245281217604894],"joint_velocity":[7.246803486122464e-05,-0.04247884578884577,-0.19513559190109486,-9.846899227804256e-06,0.2144989280052969,-3.337328639381956e-05],"joint_actuator_torque":[-8.818887436667922e-05,-1.1670227619691218,-0.7132423608584872,4.006650689762029e-06,-0.09088941347738277,4.349094509858986e-06],"jaw_actuator_force":[0.0009146682229204117,0.0009423246486637282],"end_effector_position":[0.44088397102957866,-0.005845021462617675,0.40978259224363534],"end_effector_quaternion":[0.999997449635825,1.1432838320679812e-05,0.0022584482244009116,-1.65930990053488e-06],"end_effector_velocity":[9.13805213449111e-05,2.9949714719606355e-05,0.07460131786934844],"object_position":[0.4397165126406913,-0.0058725606908916275,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.818418392102517e-15,1.0711929156060375e-13,2.1473931692560365e-05],"object_velocity":[-3.031127520820982e-13,-1.3640523167345738e-14,-2.2236738998506366e-14],"object_angular_velocity":[4.850008404336065e-13,-1.0775576130784742e-11,-1.5330229804482115e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09433492392469356,-0.0012503921285923379,0.4936273101324046],[0.331678742580814,-0.004396340948719342,0.4581588064742049],[0.38607003435617493,-0.0051172875533317804,0.45003060771920084],[0.44106464642522386,-0.005845936387147937,0.449782184186108],[0.44088397102957866,-0.005845021462617675,0.40978259224363534]],"gripper_points":[[0.4869184565487137,-0.005845354724305631,0.41757473925500643],[0.3949255929609797,-0.0058450541832782725,0.41799026467646877]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999380203327633,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.6999999999984,"stage":"retreat","target_distance":0.0003109316320623246,"dwell_elapsed":0.0},{"joint_position":[-0.013252990953236586,-1.2279823979520208,1.37093996096322,-3.761633493655516e-05,-0.138438056212595,0.013245104269187855],"joint_velocity":[4.359091994582746e-05,-0.04155775063132837,-0.19647051975638158,-9.845065689062342e-06,0.21487357457314735,-5.436064714713837e-06],"joint_actuator_torque":[-5.393614325122087e-05,-1.1669385010858946,-0.7132470638266568,3.941691655411691e-06,-0.0909358932946649,6.309426048289879e-07],"jaw_actuator_force":[0.0009547887964895807,0.0009163779497409763],"end_effector_position":[0.440889424886477,-0.005844650544631711,0.411430361363863],"end_effector_quaternion":[0.9999974465841264,1.131800109660803e-05,0.0022597998639614474,-1.3057862166183273e-06],"end_effector_velocity":[-2.282469291816757e-05,1.8724368158241034e-05,0.0746827150534397],"object_position":[0.43971651264068434,-0.00587256069089194,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.402179231677703e-15,1.2045786709477421e-13,2.1473931692560365e-05],"object_velocity":[-3.4815490781373516e-13,-1.5625470900234203e-14,-2.2225636768260106e-14],"object_angular_velocity":[-1.1903103177854327e-14,2.9034653405640964e-13,-1.909330575633557e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09411054612947636,-0.0012473192444328457,0.49370750710192957],[0.33164143446156724,-0.004395498278015664,0.4595144367960868],[0.38607559637100475,-0.005116955973211726,0.4516785248509978],[0.4410702084127949,-0.005845556218472716,0.4514299528179812],[0.440889424886477,-0.005844650544631711,0.411430361363863]],"gripper_points":[[0.4869239141720216,-0.0058449494553283075,0.41922238400943207],[0.394931104376831,-0.005844713913342945,0.4196381578750994]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799937493636223,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.71999999999839,"stage":"retreat","target_distance":0.0003109316320685231,"dwell_elapsed":0.01800000000000001},{"joint_position":[-0.013252640438203995,-1.2288125455628867,1.3663899281175085,-3.785261201098761e-05,-0.13305523413161438,0.013245682403200567],"joint_velocity":[1.2596986031705258e-05,-0.04066720344129804,-0.19776043210219194,-9.837250274693117e-06,0.21523705796656042,2.456037863419876e-05],"joint_actuator_torque":[-1.717960892833048e-05,-1.1668318397061626,-0.7132529173751436,3.889054826148805e-06,-0.0909812644776693,-3.3613011030109163e-06],"jaw_actuator_force":[0.0009967484443631491,0.000886574896638237],"end_effector_position":[0.44089226793715813,-0.005844553434664263,0.41307982151635586],"end_effector_quaternion":[0.9999974435965231,1.1204786046662794e-05,0.0022611222909312955,-9.257792452494773e-07],"end_effector_velocity":[-0.00014779639500080415,6.708017306154574e-06,0.07476147545100256],"object_position":[0.4397165126406774,-0.0058725606908922486,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.2208085319813404e-15,9.446419311911474e-14,2.1473931692560365e-05],"object_velocity":[-2.7961004294922326e-13,-1.2503806854502983e-14,-2.223396344094479e-14],"object_angular_velocity":[5.372869422321446e-13,-1.2007544268682488e-11,-2.6911151439789685e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09389161723103379,-0.0012443846956335242,0.4937855487331904],[0.331603016696039,-0.004394872845646005,0.46087103842534294],[0.3860785457401027,-0.0051168597133571985,0.45332812981312787],[0.4410731572571755,-0.0058454499827204865,0.4530794124923909],[0.44089226793715813,-0.005844553434664263,0.41307982151635586]],"gripper_points":[[0.48692676427506904,-0.0058448155827111395,0.420871722468838],[0.39493400141170404,-0.005844649912816719,0.42128773943459585]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999370353115778,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.739999999998378,"stage":"retreat","target_distance":0.00031093163207472293,"dwell_elapsed":0.03800000000000003},{"joint_position":[-0.013253041966633745,-1.229622568715846,1.3618110598705613,-3.808859700939195e-05,-0.12766378855371752,0.013247073658106552],"joint_velocity":[-2.0750611583538166e-05,-0.039811815231378535,-0.19900349937507314,-9.823962627473482e-06,0.2155872454812314,5.686767407675358e-05],"joint_actuator_torque":[2.235596274058338e-05,-1.1666973323430625,-0.7132596187337867,3.8502200897946e-06,-0.0910251660518977,-7.661186631313655e-06],"jaw_actuator_force":[0.0010403584301421631,0.0008528569809307385],"end_effector_position":[0.44089223598664046,-0.005844749975244148,0.41473093774604197],"end_effector_quaternion":[0.9999974407059564,1.1093257479188485e-05,0.002262400983427179,-5.167500701984836e-07],"end_effector_velocity":[-0.00028436970989672346,-6.192217378828531e-06,0.07483903738739675],"object_position":[0.4397165126406699,-0.005872560690892584,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.346490686901025e-15,1.199722966101621e-13,2.1473931692560365e-05],"object_velocity":[-3.321595454466012e-13,-1.4814249649554804e-14,-2.2232575662164004e-14],"object_angular_velocity":[3.851845540515669e-13,-8.619569207749771e-12,-7.463955043533681e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09367793231470986,-0.0012415902614285256,0.49386152324820565],[0.33156323522184317,-0.004394478760656141,0.4622285980769089],[0.38607861713806124,-0.005117015708395803,0.45497938605848676],[0.4410732276016441,-0.00584563752709888,0.45473052825954036],[0.44089223598664046,-0.005844749975244148,0.41473093774604197]],"gripper_points":[[0.48692674431745037,-0.005844972716340641,0.42252272100663407],[0.3949340210878193,-0.005844882258721307,0.42293897305852896]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999366496113955,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.759999999998367,"stage":"retreat","target_distance":0.00031093163208141794,"dwell_elapsed":0.058000000000000045},{"joint_position":[-0.013254253674511668,-1.230413256180636,1.3572044997470496,-3.832408766344888e-05,-0.12226404382238885,0.013249341006665007],"joint_velocity":[-5.667998993335297e-05,-0.038990331015902276,-0.20019667726197773,-9.807117132525368e-06,0.2159244617365257,9.16776827079517e-05],"joint_actuator_torque":[6.494377299048892e-05,-1.1665357845103017,-0.7132691697782434,3.827528725966305e-06,-0.09106775453614624,-1.2294182981875679e-05],"jaw_actuator_force":[0.0010858738219923225,0.0008150423953932062],"end_effector_position":[0.4408890634292156,-0.005845262269747462,0.41638365099758906],"end_effector_quaternion":[0.9999974378781415,1.098387112886165e-05,0.002263651143882748,-7.628588127894525e-08],"end_effector_velocity":[-0.00043249256896133945,-2.0077023815565505e-05,0.07491369656389768],"object_position":[0.4397165126406629,-0.0058725606908928965,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.366125412369381e-15,1.2026767096271926e-13,2.1473931692560365e-05],"object_velocity":[-4.071093637900495e-13,-1.8177054866584516e-14,-2.221731009557541e-14],"object_angular_velocity":[-5.362253985661753e-13,1.196451239207789e-11,-2.066477189143457e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09346928787543553,-0.0012389382033822817,0.49393551723136314],[0.3315218370414569,-0.004394331854903118,0.463587085204932],[0.3860755462253368,-0.0051174429000433105,0.4566322361988749],[0.4410701550566792,-0.005846140991001179,0.45638324105861733],[0.4408890634292156,-0.005845262269747462,0.41638365099758906]],"gripper_points":[[0.48692358739996017,-0.005845442744699503,0.4241753191747011],[0.39493089640026197,-0.00584543328370009,0.4245918010964104]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999363377189285,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.779999999998356,"stage":"retreat","target_distance":0.00031093163208766695,"dwell_elapsed":0.07800000000000006},{"joint_position":[-0.013256340893706493,-1.2311854020512643,1.3525714126426045,-3.855890018125119e-05,-0.11685635024085445,0.013252555915531754],"joint_velocity":[-9.551717464697918e-05,-0.038203389407944585,-0.20133947321730516,-9.787870941410804e-06,0.21624736651487458,0.0001293351172253714],"joint_actuator_torque":[0.00011096783159381118,-1.1663462614299078,-0.713281741144101,3.823238692630352e-06,-0.0911088721294071,-1.7306238166758803e-05],"jaw_actuator_force":[0.0011331624602402002,0.0007732600256034061],"end_effector_position":[0.44088248504238425,-0.005846115583494432,0.4180378968527516],"end_effector_quaternion":[0.999997435089932,1.0877026112327494e-05,0.0022648830187054717,3.986790892418391e-07],"end_effector_velocity":[-0.0005921786221113716,-3.508918606995574e-05,0.07498556221777353],"object_position":[0.43971651264065637,-0.005872560690893187,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.185908775578868e-15,9.382195900079248e-14,2.1473931692560365e-05],"object_velocity":[-2.691975789083063e-13,-1.201700366157613e-14,-2.2239514556067914e-14],"object_angular_velocity":[4.4098472566036993e-13,-9.873528791854546e-12,-6.455252316673909e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09326547863257355,-0.001236431405483429,0.4940076168083348],[0.33147856881788984,-0.004394450323316052,0.46494646437287646],[0.38606906865202484,-0.005118162991986028,0.4582866169397506],[0.4410636752194899,-0.005846985671114611,0.4580374864676798],[0.44088248504238425,-0.005846115583494432,0.4180378968527516]],"gripper_points":[[0.4869170282154398,-0.00584625065723407,0.42582945161249486],[0.39492436203777004,-0.005846328541463653,0.42624616007300287]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799936099760375,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.799999999998345,"stage":"retreat","target_distance":0.00031093163209352007,"dwell_elapsed":0.09800000000000007},{"joint_position":[-0.013259376371327118,-1.2319399284832961,1.3479129791393494,-3.879286303093459e-05,-0.11144109211861417,0.013256799174005436],"joint_velocity":[-0.00013758868580698107,-0.03745756381298895,-0.20243182329773038,-9.767278529717592e-06,0.21655427073007014,0.00017021043814309845],"joint_actuator_torque":[0.00016081051146876746,-1.1661188970643934,-0.7132944293542209,3.839710532301671e-06,-0.09114803654642856,-2.2746790735439504e-05],"jaw_actuator_force":[0.001182140981589086,0.000727307075067074],"end_effector_position":[0.44087221360945983,-0.00584733813906112,0.41969366211140513],"end_effector_quaternion":[0.9999974324839708,1.0772164451385775e-05,0.002266033670262885,9.121665228623976e-07],"end_effector_velocity":[-0.0007645295246048031,-5.1357061452147776e-05,0.07505753083353478],"object_position":[0.43971651264064926,-0.005872560690893502,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.6351074375282486e-15,1.2597054689986116e-13,2.1473931692560365e-05],"object_velocity":[-3.497498227723563e-13,-1.5649275359484996e-14,-2.2232575662164007e-14],"object_angular_velocity":[1.3481183638352747e-13,-3.0435847657880387e-12,1.1867376884443148e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09306626513484398,-0.001234072958970021,0.49407791910302323],[0.3314331481614967,-0.004394854411099318,0.46630673733540823],[0.386058892188438,-0.005119200160545615,0.4599425081803298],[0.44105349583842074,-0.00584819974464461,0.4596932513094344],[0.44087221360945983,-0.00584733813906112,0.41969366211140513]],"gripper_points":[[0.4869067813660309,-0.005847424297623434,0.4274851109018082],[0.394914132028988,-0.005847596615289573,0.4279020309928822]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999359409458995,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.819999999998334,"stage":"retreat","target_distance":0.00031093163209986927,"dwell_elapsed":0.11800000000000009},{"joint_position":[-0.01326343669566673,-1.2326776723993935,1.3432304952572267,-3.902587664016375e-05,-0.10601862322519955,0.013262153840998096],"joint_velocity":[-0.000183047517482621,-0.036746731071238777,-0.20346687841405264,-9.749536410978316e-06,0.21684749103877174,0.00021437677135326222],"joint_actuator_torque":[0.00021466007905868167,-1.1658614216363503,-0.7133135535322026,3.880852490826571e-06,-0.09118595905770199,-2.8625398449833028e-05],"jaw_actuator_force":[0.0012333045945442933,0.0006768885822854287],"end_effector_position":[0.44085796998747373,-0.005848959935688739,0.42135085254128146],"end_effector_quaternion":[0.9999974299410823,1.0670231882071586e-05,0.002267155756278977,1.4674199873991273e-06],"end_effector_velocity":[-0.0009488988543290416,-6.895553558903549e-05,0.07512432152804487],"object_position":[0.4397165126406424,-0.0058725606908938055,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.724417010589066e-15,1.0521728216644372e-13,2.1473931692560365e-05],"object_velocity":[-5.277958021694448e-13,-2.374860112455919e-14,-2.223812677728714e-14],"object_angular_velocity":[-1.4688127943905299e-12,3.249009249877989e-11,-8.525727687620548e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09287143007257372,-0.0012318665705944602,0.49414651233932155],[0.33138531095189744,-0.004395565850861672,0.4676678485749272],[0.38604474198674243,-0.005120580269256241,0.46159982146225353],[0.44103934198309075,-0.005849813285895881,0.4613504413325553],[0.44085796998747373,-0.005848959935688739,0.42135085254128146]],"gripper_points":[[0.486892564863963,-0.00584899338145886,0.4291421979787945],[0.3948999244866766,-0.005849267818066771,0.42955932448027384]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999358607086851,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.839999999998323,"stage":"retreat","target_distance":0.00031093163210602065,"dwell_elapsed":0.1380000000000001},{"joint_position":[-0.013268613049456516,-1.2333996001798766,1.3385252682559987,-3.92580014254051e-05,-0.10058932636194276,0.013268721585787582],"joint_velocity":[-0.0002326011569580484,-0.0360790154645842,-0.20444865699032314,-9.7252628358421e-06,0.21712296934810937,0.00026260753809112053],"joint_actuator_torque":[0.00027415180252354787,-1.1655551704483855,-0.7132988566364702,3.92302226372588e-06,-0.0912194719418089,-3.503955906891676e-05],"jaw_actuator_force":[0.0009780480799754798,0.0006192588229225748],"end_effector_position":[0.44083945308072026,-0.0058510170893846915,0.4230094270471195],"end_effector_quaternion":[0.9999974275088253,1.057115628615264e-05,0.0022682283172189683,2.069699755396319e-06],"end_effector_velocity":[-0.001146286232934982,-8.818138717681649e-05,0.07519106655700553],"object_position":[0.43971651264063544,-0.005872560690894119,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.755379606571519e-15,1.0538604975572678e-13,2.1473931692560365e-05],"object_velocity":[-2.9608391521158516e-13,-1.3359707775806581e-14,-2.2243677892410267e-14],"object_angular_velocity":[3.7242648680028265e-13,-8.269647594655747e-12,-3.350609263819115e-27],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0926807215908255,-0.00122981680502714,0.4942134958627777],[0.33133476395589334,-0.004396610792497271,0.4690297813104456],[0.3860263153312214,-0.005122334414625843,0.4632585133922028],[0.44102091088104833,-0.005851862404147919,0.46300901544940365],[0.44083945308072026,-0.0058510170893846915,0.4230094270471195]],"gripper_points":[[0.4868737464981113,-0.005850993540877432,0.43080067517853615],[0.39488144352822063,-0.005851378748300789,0.43121799748821904]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799932495554033,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.859999999998312,"stage":"retreat","target_distance":0.00031093163211221876,"dwell_elapsed":0.1580000000000001},{"joint_position":[-0.013275006939980846,-1.2341065874725687,1.3337985955079579,-3.948895462882427e-05,-0.09515362546540476,0.013276616944103802],"joint_velocity":[-0.00028666228729953694,-0.035448877319475484,-0.2053710870705685,-9.719289027990533e-06,0.21738372171273654,0.0003154010388828385],"joint_actuator_torque":[0.0003380526751213253,-1.1652255338293571,-0.7133251517008148,4.019536970323312e-06,-0.09125340208765031,-4.206720941857256e-05],"jaw_actuator_force":[0.0010191987848973127,0.0005602984323846982],"end_effector_position":[0.44081638373095444,-0.005853550507366789,0.4246693086715266],"end_effector_quaternion":[0.9999974251897692,1.0475325712412535e-05,0.002269250244294424,2.725521206312419e-06],"end_effector_velocity":[-0.001356089028507041,-0.00010922348072881064,0.07525297684408541],"object_position":[0.4397165126406283,-0.005872560690894437,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.8642996929783486e-15,1.2974288483394681e-13,2.1473931692560365e-05],"object_velocity":[-3.9442717452082887e-13,-1.7833089744142394e-14,-2.2228412325821676e-14],"object_angular_velocity":[-3.0052086229492465e-13,6.671331125790591e-12,1.2188376824988032e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09249391145355627,-0.0012279294482529463,0.49427895968709246],[0.33128123749765054,-0.004398019078059031,0.47039248961614166],[0.38600333304942214,-0.005124497951556259,0.4649185068915488],[0.440997923285351,-0.005854388036474851,0.4646688967030143],[0.44081638373095444,-0.005853550507366789,0.4246693086715266]],"gripper_points":[[0.48685075834356695,-0.005853465086964077,0.43246046241971325],[0.39485840136452727,-0.0058539709186475756,0.43287797299649877]],"object_size":[0.04,0.04,0.04],"gripper_width":0.0799933044188362,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.8799999999983,"stage":"retreat","target_distance":0.0003109316321186172,"dwell_elapsed":0.17800000000000013},{"joint_position":[-0.013282735702042957,-1.23479959522937,1.329051846780489,-3.9718822578042846e-05,-0.0897119304799115,0.013285971638539232],"joint_velocity":[-0.0003459464499879029,-0.034860808020410375,-0.20623488500634887,-9.722032171863107e-06,0.21762708933341543,0.0003734456006839049],"joint_actuator_torque":[0.0004082296712768496,-1.164851395781909,-0.713356656552719,4.15892953242996e-06,-0.0912859619897457,-4.9794162306548984e-05],"jaw_actuator_force":[0.0010781216465680643,0.0004969453689831482],"end_effector_position":[0.4407884630151076,-0.005856607776519679,0.42633043058597997],"end_effector_quaternion":[0.9999974229852201,1.0382989244513706e-05,0.0022702209725864063,3.4420994686530923e-06],"end_effector_velocity":[-0.001578909991209819,-0.00013238660496680543,0.07531236102237474],"object_position":[0.4397165126406215,-0.0058725606908947466,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.361467493116877e-15,9.656870665592908e-14,2.1473931692560365e-05],"object_velocity":[-2.8025720857856115e-13,-1.2664751262930687e-14,-2.223673899850636e-14],"object_angular_velocity":[4.99857673204806e-13,-1.1060600458056651e-11,1.309007034495702e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09231074855171227,-0.001226211390246643,0.494343000867148],[0.33122444160232684,-0.004399825474206099,0.47175593716770264],[0.38597549625975935,-0.005127112035113474,0.46657973506991307],[0.4409700802277422,-0.005857437788372558,0.4663300182650943],[0.4407884630151076,-0.005856607776519679,0.42633043058597997]],"gripper_points":[[0.4868228976681176,-0.005856454947766011,0.43412149475694095],[0.39483050432560557,-0.005857092583473639,0.43453918410082215]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999334159425903,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.89999999999829,"stage":"retreat","target_distance":0.00031093163212466486,"dwell_elapsed":0.19800000000000015},{"joint_position":[-0.01329193645202956,-1.2354796473423668,1.3242864345108292,-3.994765055654203e-05,-0.08426467274328912,0.013296940890187738],"joint_velocity":[-0.0004113523632822308,-0.0343174786558893,-0.20703767617093913,-9.738142898820885e-06,0.2178529035987144,0.0004376855334711636],"joint_actuator_torque":[0.00048563111556276795,-1.164431894862048,-0.7133926941943969,4.341809788965638e-06,-0.0913165593924985,-5.834635661638998e-05],"jaw_actuator_force":[0.001138844071434164,0.0004289407240971599],"end_effector_position":[0.4407553799452305,-0.005860244983085507,0.42799273853819114],"end_effector_quaternion":[0.9999974209437505,1.0294188365357978e-05,0.0022711191066941447,4.228505754008525e-06],"end_effector_velocity":[-0.0018153329647297143,-0.00015805648883112386,0.07536951373784855],"object_position":[0.4397165126406141,-0.005872560690895076,0.30999147829693724],"object_quaternion":[0.999999999769435,-5.210223277137921e-15,1.1537736273602362e-13,2.1473931692560365e-05],"object_velocity":[-3.2708794448548135e-13,-1.4779744968184918e-14,-2.2238126777287143e-14],"object_angular_velocity":[2.001997680127978e-13,-4.4178881538180105e-12,2.7295107623880016e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09213096479777355,-0.0012246710533597206,0.49440572139468253],[0.33116407196206354,-0.004402071048912707,0.47312009693465584],[0.38594249235388,-0.005130225214560266,0.46824214132923303],[0.44093706900866086,-0.0058610677477555755,0.46799232589115375],[0.4407553799452305,-0.005860244983085507,0.42799273853819114]],"gripper_points":[[0.48678986540945857,-0.00586001837531199,0.43578371985224884],[0.39479744115099524,-0.005860800663808324,0.43620157458197595]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999337326207932,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.919999999998279,"stage":"retreat","target_distance":0.0003109316321312611,"dwell_elapsed":0.21800000000000017},{"joint_position":[-0.01330276908526445,-1.236147645389516,1.3195036995556564,-4.017536660705407e-05,-0.0788122837884661,0.01330970876063609],"joint_velocity":[-0.00048400731463295955,-0.03381656254946648,-0.20777810693132845,-9.83281274019725e-06,0.21806800658944184,0.0005092767468656429],"joint_actuator_torque":[0.0005733653518813497,-1.1639014946161979,-0.7135120857778929,4.789317412274251e-06,-0.09136648777411782,-6.788606025187605e-05],"jaw_actuator_force":[0.0020060124090122144,0.00036267046506566203],"end_effector_position":[0.4407168548301188,-0.005864528593553901,0.42965614791512186],"end_effector_quaternion":[0.9999974190565322,1.0209416698456953e-05,0.002271948517159515,5.096837635530148e-06],"end_effector_velocity":[-0.002065158812362639,-0.0001867315288135507,0.07542250057084651],"object_position":[0.4397165126406075,-0.0058725606908953745,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.445202465035466e-15,9.866668799525179e-14,2.1473931692560365e-05],"object_velocity":[-4.703583351453847e-13,-2.1182256363819395e-14,-2.220620786532917e-14],"object_angular_velocity":[-1.1089592540645112e-12,2.4708849854963166e-11,-3.363186830455726e-25],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0919543241057959,-0.001223319301844819,0.4944672111399294],[0.33109985736590153,-0.004404804779900983,0.4744849171802108],[0.38590404207134243,-0.005133895201955521,0.4699056414811086],[0.44089861024655275,-0.005865344418401567,0.46965573496677815],[0.4407168548301188,-0.005864528593553901,0.42965614791512186]],"gripper_points":[[0.4867503508968756,-0.005864220741079342,0.4374470574212921],[0.3947589278025899,-0.0058651627466103345,0.4378650602027395]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999237278233753,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.939999999998268,"stage":"verify","target_distance":0.0003109316321371616,"dwell_elapsed":0.23800000000000018},{"joint_position":[-0.013310642501705905,-1.236526082513449,1.3164788661742965,-4.031666780611151e-05,-0.07526966790400143,0.013319293217548003],"joint_velocity":[-0.0006427318961557831,-0.03602889038647513,-0.23903372421205663,-1.2603884217949166e-05,0.26863497785520707,0.0007343244081041429],"joint_actuator_torque":[0.0006926910937625763,-1.208661274967028,-0.7227256564368076,7.3677768087851425e-06,-0.1014452941135513,-9.588989658237956e-05],"jaw_actuator_force":[-0.0031188043389622777,0.003001772007854342],"end_effector_position":[0.4406929977239992,-0.0058676948790343806,0.4306839120220046],"end_effector_quaternion":[0.9999972583353104,1.1080947191272187e-05,0.002341615767653361,5.888288897923879e-06],"end_effector_velocity":[-0.002793757036304702,-0.0002471860118469334,0.08454626813240289],"object_position":[0.43971651264060363,-0.005872560690895548,0.30999147829693724],"object_quaternion":[0.999999999769435,-4.379332895978517e-15,9.739157714685373e-14,2.1473931692560365e-05],"object_velocity":[-4.881697615412994e-13,-2.195566004243754e-14,-2.2228412325821666e-14],"object_angular_velocity":[-1.3277909253105347e-12,2.959802806158876e-11,7.61307776835552e-26],"target_position":[0.44,-0.006,0.31],"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09185423254426024,-0.0012227110630635989,0.4945019942105565],[0.33106635482372426,-0.004406966161913695,0.47533376335791394],[0.38588579951276814,-0.005136691288733509,0.47094104378751667],[0.4408803264770373,-0.005868580249330453,0.4706834733590294],[0.4406929977239992,-0.0058676948790343806,0.4306839120220046]],"gripper_points":[[0.48673020916695137,-0.00586732784188783,0.4384683950639171],[0.3947363217012959,-0.0058684159980130135,0.43889922727023667]],"object_size":[0.04,0.04,0.04],"gripper_width":0.07999489631831627,"grasp_contacts":{"left":0,"right":0},"pad_normal_forces":{"left":0.0,"right":0.0},"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"table_contacts":4,"time":12.951999999998261,"stage":"verify","target_distance":0.00031093163214063326,"dwell_elapsed":0.25000000000000017}],"controller_failure":null,"controller_diagnostics":{"revision":"dimension-aware-contact-rates-recovery-round2","phase":"verify","action_phase":"verify","phase_elapsed_seconds":0.06,"failure_reason":null,"failure_phase":null,"failure_simulation_time":null,"grip_normal_demand_n":0.8,"grip_normal_target_n":0.8,"grip_force_limited":false,"pad_normal_forces_n":{"left":0.0,"right":0.0},"commanded_grip_gap_m":0.03352020843772292,"loaded_translation_tracking_step_m":0.006,"recovery_count":0,"recovery_reason":null,"saturated_joint_indices":[],"actuator_saturation_control_samples":0,"last_cartesian_goal_m":[0.44,-0.006,0.446],"observations":"privileged simulator state","policy_origin":"learned movement head with authored phase/contact/gripper supervisor","recovery_scope":"at most one resettled upright, axis-aligned box on the same table","command_rate_scope":"native-tick target ramp before gravity feedforward; actual velocity is measured separately","movement_head_sha256":"23c09ebe66b99367f5c834cf21db1311ce9a86f6f6b79d11ebd22e15c9f57398","teacher_fallback_calls":0,"student_inference_calls":648,"student_inference_seconds":0.020272056106477976}}],"hardware":{"system":"Darwin","machine":"arm64","python":"3.12.9","mujoco":"3.15.0","numpy":"2.5.3"},"network_guard":{"enabled":true,"scope":"Python socket calls during rollouts/training after dependency imports; not native C or installation","guard_self_test_passed":true,"attempted_calls":[]},"limitations":["Hybrid controller: joint-movement mapping distilled from authored simulator demonstrations; phases, grasp and recovery remain authored.","One original arm profile, privileged simulator observations, rigid box proxy for placement skills.","Native jaw/object/table contacts; arm links and palm are collision-excluded.","No camera perception, physical arm calibration, selfcollision, cup/handle, cable tying or broad skill qualification.","Installation may fetch one public JSON envelope; installed execution and replay can run offline."],"timing_scope":"Episode wall clock includes model compilation, reset/settling, IK/controller, native physics, observations and traces; excludes installation, web UI, process startup and output I/O. No GPU benchmark.","summary":{"successes":1,"episodes":1,"simulated_seconds":12.951999999998261,"episode_wall_seconds":0.8155908340122551},"policy_origin":"learned joint-movement head with authored task phases, grasp and recovery","movement_head_sha256":"23c09ebe66b99367f5c834cf21db1311ce9a86f6f6b79d11ebd22e15c9f57398","installation_id":"05375404d771f98d3892021c","source_url":null,"capsule_sha256":"d8da48f20a45d5d59a7c180d7348943356d100648c8fcb7e16cc1ab4350a87a3","qualification_scope":"one exact simulated scene","local_qualification":{"format":"dvidia.local-skill-qualification","schema_version":1,"status":"validated_simulation_scene","scope":"simulation-only","physical_robot_ready":false,"capsule_payload_sha256":"d8da48f20a45d5d59a7c180d7348943356d100648c8fcb7e16cc1ab4350a87a3","runtime_sha256":"11ca57c7fdee85446b604a7359eeb5d97439f77acf1d809940d98ba1cc0a730e","scene":{"seed":8006,"object_position":[0.34,0.07,0.31],"target_position":[0.44,-0.006,0.31],"object_size":[0.04,0.04,0.04],"object_mass":0.04,"object_friction":0.8,"jaw_force_limit":15.0,"joint_torque_limit":40.0},"scene_sha256":"50c27a857d4d3de37ab1995ad14f77fe19e8112ebbcb6b4d26cbda3865f18156","result_sha256":"6e579f593a16a0ea20af5e1832a5d85c90852d5688640f035cd8f9a7c85da978","control_result_sha256":"9653e4dcb3956f8e70ea5ae6a19c2ef314ecf790667e78a4649584069249843b","student":{"success":true,"policy":"distilled_placement","seed":8006,"simulation_seconds":12.951999999998261,"target_distance_m":0.00031093163214063326},"control":{"success":false,"policy":"replay_open_jaw","seed":8006,"simulation_seconds":17.999999999999016,"reason":"horizon"},"verification_scope":"Caller-owned native local execution; one exact scene and unchanged success gate. No generalization, authenticity or hardware attestation.","receipt_sha256":"cdf47accb279f3393920cf5012875ecf4be6166f88cf4d6fce747811dbef9574"}}