{"final_info":{"action_contract":{"force_observation":"summed native per-pad normal contact forces, N; not actuator force","hinge_target_units":"rad","ik_orientation":"fixed identity rotation; XYZ position goal only","independent_commands":7,"jaw_actuator_force_limit_n":15.0,"jaw_gap_limits":[0.0,0.08],"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]],"joint_torque_limit_nm":40.0,"physical_robot_joints":8},"actuation":"six bounded joint position servos and two bounded jaw servos","adapter_id":"contact-pick-place-box-v0","arm_profile":"dvidia-authored-6dof-parallel-jaw-v0","collision_profile":"jaws/object/table enabled; arm links and palm collision-excluded; no selfcollision qualification","command_limits":{"jaw_gap_rate_m_s":0.16,"joint_target_rate_rad_s":3.0,"scope":"authored target trajectory each native tick, before gravity feedforward; not a physical velocity guarantee"},"command_rate_limited":true,"commanded_gripper_width":0.08,"commanded_joint_targets":[0.26625154341295837,-1.183825787401731,1.2285240515242,1.7838326794501627e-09,-0.044786871768454695,-0.2662515449124173],"config":{"control_dt":0.02,"dwell_seconds":0.25,"gravity":9.81,"horizon":18.0,"jaw_force_limit":15.0,"jaw_width_rate_limit":0.16,"joint_target_rate_limit":3.0,"joint_torque_limit":40.0,"object_friction":0.8,"object_half_size":[0.02,0.02,0.02],"object_mass":0.04,"object_position":[0.34,-0.11,0.31],"position_tolerance":0.025,"scene_jitter":0,"settle_time":0.4,"table_height":0.29,"target_position":[0.44,0.12,0.31],"timestep":0.001},"dwell_elapsed":0.25000000000000017,"effective_sliding_friction":{"jaw_object":1.0,"mixing":"maximum at equal geom priority","table_object":0.8},"engine":"3.15.0","grasp_contacts":{"left":0,"right":0},"grasp_seen":true,"initial_object_position":[0.3400000001244962,-0.10999999692604126,0.30999147829693885],"lift_dwell_elapsed":0.0,"lift_seen":true,"max_object_lift":0.12747727654713975,"max_pad_normal_force":0.9426970120281675,"measured_joint_velocity_rad_s":[2.826657713454694e-05,-0.01339397910924671,-0.27884521126477874,3.762642494253203e-05,0.2934334007747918,-4.273381051326246e-06],"native_position_controls":[0.2662515436623155,-1.1872910758246051,1.225981503032534,3.2656937512177704e-09,-0.04546621827040651,-0.2662515448634125,0.04,0.04],"native_tick_peaks":{"actuator_force":[1.667085128428667,3.7633914459316316,2.4118086329054904,0.032463116914157375,0.33490039058694876,0.2768998474675115,0.8931666052354501,0.9086049932137721],"actuator_force_units":["N*m","N*m","N*m","N*m","N*m","N*m","N","N"],"cadence_seconds":0.001,"jaw_slide_velocity_m_s":[0.08198332426668972,0.0812408863172922],"joint_velocity_rad_s":[0.2505090849640843,0.33058769298992113,0.5671292052460923,0.007042262012633706,0.48486259394577025,0.38204396956688425],"scope":"absolute peaks after reset, sampled after every native rollout tick"},"object_profile":"rigid box; unqualified proxy for cup skills","observations":"privileged simulator state","pad_normal_forces":{"left":0.0,"right":0.0},"qualification":"simulation-only","reason":"success","requested_gripper_width":0.08,"requested_joint_targets":[0.26625154341295837,-1.183825787401731,1.2285240515242,1.7838326794501627e-09,-0.044786871768454695,-0.2662515449124173],"scene_sha256":"22beaa3bbe23f49529ed51286cf8abc9f7608584f44f908d02e3fe1d422c9d5d","seed":8000,"simulation_time":11.789999999998905,"steps":590,"success":true,"table_contacts":4,"target_distance":0.0003477124992997167,"task_id":"ArmPickPlace-v0","valid":true,"warnings":[]},"kind":"dvidia.native-telemetry-evidence","samples":[{"goal":[0.3400000001244962,-0.10999999692604126,0.45999147829693887],"joint_targets":[-0.5923389594064546,-1.1213088119310142,0.9351715718638127,4.1385436622825735e-07,0.1862842389523745,0.5923663582964176],"observation":{"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]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"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],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.43483752452744334,-0.26601806299368963,0.506145513401745],[0.34283752452744337,-0.26601806299368963,0.506145513401745]],"gripper_width":0.08,"jaw_actuator_force":[0.0,0.0],"joint_actuator_torque":[0.0,-1.468134973216138,-0.8750685678822379,-2.952038113258255e-17,-0.06798330000000163,0.0],"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],"object_angular_velocity":[9.169238359138236e-12,4.2045641012707356e-12,1.0919385798404094e-25],"object_position":[0.3400000001244962,-0.10999999692604126,0.30999147829693885],"object_quaternion":[0.9999999999999999,9.698818182769467e-15,4.448603953298967e-15,1.2996684398550982e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.47044826562385e-14,7.568967985615163e-14,1.8611086459652387e-13],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.0},{"goal":[0.34000000012449555,-0.1099999969260396,0.4599914782969382],"joint_targets":[-0.5904504957982701,-1.1256063678818666,0.9417415849262507,-1.3305576880564343e-05,0.18399611729225523,0.5904765804547548],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10395101800877961,-0.07083310393373417,0.4801536672568508],[0.298445489689145,-0.2033632839258963,0.527139323334218],[0.3430171394492288,-0.23373478350743346,0.5379068695186147],[0.3884681278438151,-0.26470567486632357,0.5380143050388185],[0.38853234972019585,-0.26475018326728755,0.49801438135698084]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38853234972019585,-0.26475018326728755,0.49801438135698084],"end_effector_quaternion":[0.9999993750996378,-0.0005559185691172718,-0.000803076318715634,-0.0005438964097871716],"end_effector_velocity":[-0.020739214304672487,0.0699637687979579,-0.02369234951053964],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.434509387050314,-0.2647912680490658,0.5060882607672146],[0.34257464053098474,-0.2646913440540413,0.5059405437507949]],"gripper_width":0.07993491949577719,"jaw_actuator_force":[0.010937065519582845,-0.004344868343398645],"joint_actuator_torque":[-0.13249422931869503,-1.102912229744618,-0.9880766418746134,-0.0022488991186135655,-0.029725516959977938,0.017497239731731895],"joint_position":[-0.5981391483712118,-1.104870352509006,0.9078241327978321,-1.573264932788955e-05,0.19509284539784655,0.5970544199474791],"joint_velocity":[0.09803162942997427,-0.27741155505406967,0.4842871006532367,0.0009609506437150719,-0.22974067881416468,-0.13084743107321273],"object_angular_velocity":[-3.338398267082653e-12,-1.530615055213815e-12,2.3710662436300007e-26],"object_position":[0.34000000012449555,-0.1099999969260396,0.30999147829693824],"object_quaternion":[0.9999999999999999,3.535891023940576e-14,1.620983299764409e-14,1.299668544479135e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.3797709321266926e-14,9.553396314095624e-14,-8.684301712269399e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.02},{"goal":[0.34000000012449355,-0.10999999692603511,0.45999147829693743],"joint_targets":[-0.5882806958101758,-1.13111983595613,0.9513331617893104,-1.3114988982066185e-05,0.17991458583624906,0.5883046797060186],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10291573855846096,-0.06980711571747705,0.4808691239514606],[0.29785795198140314,-0.20203522622077238,0.5268393340716285],[0.3425322092241607,-0.2323375015444442,0.5373741738908336],[0.3880490755586031,-0.2632114749256963,0.5374866316439918],[0.3881164788149416,-0.2632578024811389,0.4974867152620962]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3881164788149416,-0.2632578024811389,0.4974867152620962],"end_effector_quaternion":[0.9999991173215937,-0.0005783795525177015,-0.0008430322638938982,-0.0008486045772417234],"end_effector_velocity":[-0.018392173047044415,0.06569341366335116,-0.02176547289390188],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4340877335768382,-0.26332653799464817,0.5055642770632872],[0.34210938646910294,-0.2631705208891727,0.5054091050389373]],"gripper_width":0.07997861031982043,"jaw_actuator_force":[0.004904151789311584,-0.0069136682424399964],"joint_actuator_torque":[-0.12487728612072146,-1.2879949663226284,-1.0527866748221868,-0.0015741495556485239,-0.04716984766069032,0.01429615299132081],"joint_position":[-0.5960090754475543,-1.1105906234761604,0.9178570750438696,-1.2818621356904646e-05,0.19068886060179693,0.5943143076513109],"joint_velocity":[0.09387163357175116,-0.24700844524022905,0.4268699670165317,0.00037577202343519234,-0.17249067300920148,-0.10710479399462132],"object_angular_velocity":[-5.280225151960004e-12,-2.420655372938011e-12,3.478474103046351e-26],"object_position":[0.34000000012449355,-0.10999999692603511,0.30999147829693746],"object_quaternion":[0.9999999999999999,8.57340254874985e-14,3.929761970996438e-14,1.2996686597616867e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0515249080870847e-13,2.294040131987692e-13,-4.159726553287654e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.04},{"goal":[0.3400000001244908,-0.1099999969260292,0.4599914782969372],"joint_targets":[-0.5861086947485038,-1.1365582712994005,0.9607340439273548,-1.2974755475796098e-05,0.17594915245196352,0.5861314577641104],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10189244353102746,-0.06879618878232636,0.48156512946015184],[0.2972736678714819,-0.200714544338839,0.5265509565892659],[0.34204853178283606,-0.23094583415387315,0.5368602086396879],[0.38763114086539235,-0.26172265092497077,0.5369755284781401],[0.38770038140158636,-0.2617699793772627,0.4969756164061649]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38770038140158636,-0.2617699793772627,0.4969756164061649],"end_effector_quaternion":[0.9999989215183511,-0.0005907154703665313,-0.0008661152016121009,-0.001028524100398596],"end_effector_velocity":[-0.0185707610487042,0.06584392128527553,-0.021860766519230405],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.43367771156800283,-0.2618550729365065,0.5050553222254779],[0.34168780645012353,-0.26166593891701334,0.5048958623305727]],"gripper_width":0.07999023775777435,"jaw_actuator_force":[0.004929512893024679,0.006300426924761737],"joint_actuator_torque":[-0.12339607481760595,-1.2794811325512114,-1.0516797038836785,-0.0013653026173069008,-0.04791597079583454,0.013076237238195176],"joint_position":[-0.5938763397717052,-1.1162194419437725,0.9276631753020562,-1.2193872896653811e-05,0.18645954078346627,0.5918215631518214],"joint_velocity":[0.09440528627226433,-0.2452654341141645,0.4230273564134709,0.00031270302024059366,-0.1686100220582478,-0.0981423050315056],"object_angular_velocity":[8.960103128547926e-12,4.10258027877783e-12,7.186341187927726e-25],"object_position":[0.3400000001244908,-0.1099999969260292,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0369092415526788e-13,4.750844386038171e-14,1.2996689166236342e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5796949948518195e-13,3.447769054756316e-13,-2.142590095421823e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.06},{"goal":[0.34000000012448806,-0.10999999692602319,0.4599914782969372],"joint_targets":[-0.5839248558059182,-1.1419588224734731,0.9700536609632062,-1.2748675427459382e-05,0.17202748741606055,0.5839469136204142],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10087382201589824,-0.06779396648557812,0.48224680402347464],[0.29668955146322357,-0.19939525544445963,0.5262615838749384],[0.34156398946156896,-0.2295538841642033,0.5363483042575655],[0.38721249513784584,-0.26023287540490514,0.5364641747708926],[0.38728218624511734,-0.26028025360355755,0.4964642635402928]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38728218624511734,-0.26028025360355755,0.4964642635402928],"end_effector_quaternion":[0.9999988011553277,-0.0005912387459608257,-0.0008718109017696854,-0.001134931894059969],"end_effector_velocity":[-0.018628713809975207,0.06591777397217745,-0.021765360130008127],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4332610365730104,-0.2603751282175412,0.5045445017717087],[0.3412688596421119,-0.26016641273615315,0.504383978284615]],"gripper_width":0.07999255375533289,"jaw_actuator_force":[0.005259749665889046,-0.005622112641095356],"joint_actuator_torque":[-0.1257486592992052,-1.2768365172064478,-1.050616416692037,-0.0015877989255004663,-0.04821598572192798,0.01238043773992814],"joint_position":[-0.5917319800786187,-1.121795924436312,0.9373570885464119,-1.1416865335283501e-05,0.18233209773716447,0.5894641965167201],"joint_velocity":[0.09494170178148877,-0.242925372887929,0.41781382886259766,0.00035253289918480416,-0.16448563051871934,-0.09299984956474285],"object_angular_velocity":[-9.928541975224729e-12,-4.547857441776582e-12,9.659292050797494e-26],"object_position":[0.34000000012448806,-0.10999999692602319,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.945221991118227e-14,4.097254999250106e-14,1.2996693483009425e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1755898015369008e-13,2.566503380214854e-13,-2.221138374414053e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.08},{"goal":[0.3400000001244852,-0.10999999692601702,0.4599914782969372],"joint_targets":[-0.5817304324211605,-1.1473211931907992,0.9792853091929846,-1.2499148388986865e-05,0.16815584932044117,0.5817520788709116],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0998589583029778,-0.0668000059048076,0.4829149020080902],[0.29610461035523383,-0.19807726874295406,0.525972123380458],[0.34107757228387586,-0.22816164147669596,0.5358394032782923],[0.3867920807126337,-0.2587421979617357,0.5359546603055259],[0.3868615082591305,-0.2587891697952044,0.4959547481373392]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3868615082591305,-0.2587891697952044,0.4959547481373392],"end_effector_quaternion":[0.9999987316942726,-0.0005861068697460238,-0.0008685484464680722,-0.0011994632882453083],"end_effector_velocity":[-0.01872862737016462,0.06595539555132839,-0.021641569279819813],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.43284083437330095,-0.25889006328320474,0.5040346901530831],[0.34084942803164603,-0.25866947562477444,0.5038747623257182]],"gripper_width":0.07999180983403083,"jaw_actuator_force":[0.005386394933804439,0.004388794187835998],"joint_actuator_torque":[-0.12490050701060795,-1.2714045676948444,-1.0492833906578198,-0.0015260586109006825,-0.04871246813978658,0.012005489683104997],"joint_position":[-0.5895772502233746,-1.1273246905765886,0.9469429951110218,-1.1163520263954098e-05,0.17828611162931723,0.5871803130398441],"joint_velocity":[0.09537361216446755,-0.24085460124004435,0.41305613980602907,0.00033646422488986825,-0.16125406493697306,-0.09022582162000992],"object_angular_velocity":[-3.003419190904984e-12,-1.3750336790892105e-12,1.8949459360487046e-25],"object_position":[0.3400000001244852,-0.10999999692601702,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0532922916096329e-13,4.8249994357214416e-14,1.29966974335351e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3519318900643342e-13,2.9512901333885415e-13,-2.2232200425852245e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.1},{"goal":[0.3400000001244824,-0.10999999692601073,0.4599914782969372],"joint_targets":[-0.5795242549315378,-1.1526449576447162,0.9884299432013608,-1.2239473904065649e-05,0.1643327804926715,0.5795456723251865],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0988476580140839,-0.06581401290966654,0.4835698251169823],[0.29551904623737,-0.1967602947289602,0.5256820125694004],[0.3405895727052064,-0.22676881764588167,0.5353327221939128],[0.3863702232067632,-0.25725027176851234,0.5354467144053642],[0.38643899835250317,-0.2572965657461052,0.4954468003198694]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38643899835250317,-0.2572965657461052,0.4954468003198694],"end_effector_quaternion":[0.9999986951477485,-0.0005776092044208864,-0.000860406253866373,-0.001239262476475782],"end_effector_velocity":[-0.018801181343495947,0.06600540181538803,-0.021546695550656407],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.43241844681383634,-0.2574012569078,0.5035259949188512],[0.34042525943873136,-0.2571733401946821,0.5033675596775535]],"gripper_width":0.07999360614295417,"jaw_actuator_force":[0.005419342184922016,-0.005725466275272595],"joint_actuator_torque":[-0.125832982090742,-1.2670915633982531,-1.0489724586064995,-0.0015520819192032906,-0.049076406734290146,0.01180853842838303],"joint_position":[-0.5874110705625953,-1.1328076116914587,0.9564270492471055,-1.062020585871453e-05,0.17430797530739026,0.5849343963098621],"joint_velocity":[0.09586281250336817,-0.23886248415426614,0.4085935453887344,0.00033566523495717694,-0.15850118757268422,-0.08879797955987044],"object_angular_velocity":[2.5163467789204348e-11,1.1524904223243824e-11,1.125962459426332e-25],"object_position":[0.3400000001244824,-0.10999999692601073,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.647409970259796e-14,4.419274987083475e-14,1.2996699418768727e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.1112819806004556e-13,4.609341864556162e-13,-2.2240527098536933e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.12},{"goal":[0.34000000012447945,-0.10999999692600425,0.4599914782969372],"joint_targets":[-0.5773073065631904,-1.1579314871238853,0.9974889998728642,-1.1973679213262892e-05,0.1605581786251345,0.5773285915556475],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09783939181346808,-0.06483576764340145,0.4842120702163089],[0.2949323575951287,-0.19544444679311762,0.5253913826213948],[0.3400994955867593,-0.22537560243159424,0.5348283083808937],[0.3859463905522793,-0.2557573337438376,0.5349406671421443],[0.38601427867550486,-0.2558028177026784,0.4949407506120787]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38601427867550486,-0.2558028177026784,0.4949407506120787],"end_effector_quaternion":[0.9999986777682651,-0.0005674755556255626,-0.0008493207133369816,-0.0012653408794749729],"end_effector_velocity":[-0.018891312338808388,0.06603687082069505,-0.021418179486582426],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.43199394894866316,-0.2559100712363157,0.5030189262651157],[0.3400022157734624,-0.25567735733636815,0.502862532667087]],"gripper_width":0.07999216046649886,"jaw_actuator_force":[0.005481832534931286,0.00420820399100208],"joint_actuator_torque":[-0.12503201578508083,-1.2616265778447655,-1.0477640948706721,-0.001494029674158601,-0.04945461613305113,0.011724471849348106],"joint_position":[-0.5852343942204274,-1.1382474617664513,0.9658137566581461,-1.0491757283928577e-05,0.170390817128345,0.5827055000887543],"joint_velocity":[0.0963028699543129,-0.23698827955513374,0.40426806673215165,0.0003244815777274439,-0.15605487015809802,-0.0881702411490043],"object_angular_velocity":[-8.949209260898516e-12,-4.099166968863941e-12,6.649002785279552e-26],"object_position":[0.34000000012447945,-0.10999999692600425,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0215497732486754e-13,4.678764015957859e-14,1.2996700528166906e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3065501608644674e-13,2.8526137428945925e-13,-2.2239139319756156e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.14},{"goal":[0.3400000001244766,-0.10999999692599802,0.4599914782969372],"joint_targets":[-0.5750784213818073,-1.1631807303870685,1.0064637678790391,-1.170721672978774e-05,0.1568306712135905,0.5750996417316669],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09683416563417951,-0.0638651167036469,0.48484189458242904],[0.29434486600037435,-0.1941295109543234,0.525099947582537],[0.339607734834294,-0.22398176797010344,0.5343257513950617],[0.385521010204645,-0.2542630976208916,0.5344362925485524],[0.385587904189863,-0.2543076899575072,0.4944363733396558]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.385587904189863,-0.2543076899575072,0.4944363733396558],"end_effector_quaternion":[0.9999986720598184,-0.0005563312493643785,-0.0008368896780506515,-0.0012829613429842736],"end_effector_velocity":[-0.01895800951456027,0.06608181545774738,-0.021320842669976574],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.431567696731264,-0.2544167439810932,0.5025134055168723],[0.3395743865716247,-0.2541807811276808,0.5023592971739838]],"gripper_width":0.0799937418631134,"jaw_actuator_force":[0.005494927978160646,-0.005789956619514314],"joint_actuator_torque":[-0.1259379712244595,-1.2572374855010935,-1.047510540568453,-0.0015189464912652175,-0.04974395778440588,0.011696153134245435],"joint_position":[-0.5830461187205895,-1.143645084130027,0.9751064312207315,-1.0024497806773492e-05,0.1665288124100178,0.5804818656321521],"joint_velocity":[0.09679786502681609,-0.23515164202103858,0.4001392194027568,0.0003257137490742211,-0.1537979513785162,-0.08798602748367354],"object_angular_velocity":[4.748473129086445e-12,2.1747772159798646e-12,4.508256862444421e-25],"object_position":[0.3400000001244766,-0.10999999692599802,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0929632567497894e-13,5.00481525338198e-14,1.2996703788630569e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5339190585431278e-13,3.349578053984334e-13,-2.2258568222687094e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.16},{"goal":[0.3400000001244738,-0.10999999692599169,0.4599914782969372],"joint_targets":[-0.572838568722799,-1.168394194020121,1.0153555771261025,-1.1442353114616435e-05,0.15315042272616783,0.5728597554996513],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09583157351838854,-0.06290192221198948,0.4854596987765909],[0.2937561432704996,-0.19281563888491726,0.5248080266783961],[0.339113857172025,-0.2225875322891299,0.5338253518225597],[0.3850936132911296,-0.252767827582272,0.5339339945692345],[0.38515945280585623,-0.25281151226280857,0.4939340726092233]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38515945280585623,-0.25281151226280857,0.4939340726092233],"end_effector_quaternion":[0.9999986721066122,-0.0005449915006562672,-0.0008237014775368829,-0.0012962581349562805],"end_effector_velocity":[-0.019043116946077347,0.06611010434217546,-0.021193099171540504],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.43113949450562966,-0.25292197258123245,0.5020098915915525],[0.3391476621334208,-0.25268356404325965,0.501858213485553]],"gripper_width":0.07999226634927192,"jaw_actuator_force":[0.005552307653974964,0.004026175170189106],"joint_actuator_torque":[-0.12516234887786482,-1.251699276368015,-1.0463418625055851,-0.001462545797267891,-0.050072501988674745,0.011709886042368112],"joint_position":[-0.5808471711836765,-1.1490026149403643,0.984307715804675,-9.932106520944164e-06,0.16271957519217103,0.5782562716288396],"joint_velocity":[0.09724591438725677,-0.2334062181786239,0.3960899707069754,0.0003160153232275828,-0.15167298149840897,-0.0880801036791959],"object_angular_velocity":[-1.0886663429617894e-11,-4.98519005212883e-12,1.1482271873189964e-26],"object_position":[0.3400000001244738,-0.10999999692599169,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.127960177767277e-14,4.179740579205945e-14,1.2996705207246925e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.215790580471898e-13,2.655082947124831e-13,-2.223913931975616e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.18},{"goal":[0.3400000001244707,-0.10999999692598489,0.4599914782969372],"joint_targets":[-0.5705866075570609,-1.1735717972507562,1.0241647999690076,-1.1186691874375092e-05,0.14951695906363077,0.5706077909384938],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0948316927762979,-0.06194608693354974,0.4860656797753322],[0.2931665238269179,-0.1915026341861088,0.5245155933788433],[0.33861825594268496,-0.22119267626482025,0.5333270319129814],[0.38466462577701255,-0.2512712471303624,0.5334338016038325],[0.3847294305654264,-0.2513140268999862,0.4934338769760196]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3847294305654264,-0.2513140268999862,0.4934338769760196],"end_effector_quaternion":[0.9999986753965532,-0.0005336885373133166,-0.0008107582157590909,-0.0013065423068968568],"end_effector_velocity":[-0.01910702854549945,0.06615243516631886,-0.021099662396659263],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.43070961196648766,-0.25142561552587506,0.5015085049326448],[0.33871622860905265,-0.25118530782298093,0.5013592073500196]],"gripper_width":0.07999381837443348,"jaw_actuator_force":[0.005567911172512652,-0.005859078978204479],"joint_actuator_torque":[-0.1260455823717166,-1.2471568140690579,-1.0460677836631476,-0.0014864313506625058,-0.05032471100278002,0.01173859190190285],"joint_position":[-0.5786364617833551,-1.1543204982574486,0.9934191540726407,-9.494304708727274e-06,0.1589600758661806,0.576024887162002],"joint_velocity":[0.09774752350390585,-0.231683534921117,0.392206838121265,0.0003177029059234253,-0.1496291017015626,-0.08831637576714897],"object_angular_velocity":[-5.916234339989958e-12,-2.7090562690524777e-12,-1.1992391338958698e-25],"object_position":[0.3400000001244707,-0.10999999692598489,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1294274090809846e-13,5.1699877499124374e-14,1.2996703437275304e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4300801802737628e-13,3.1240188386337555e-13,-2.224330265609851e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.2},{"goal":[0.34000000012446796,-0.10999999692597857,0.4599914782969372],"joint_targets":[-0.5683234859795092,-1.1787151487999357,1.032893426325849,-1.0935924966392416e-05,0.14592990122386257,0.5683446751417182],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09383418267864094,-0.06099751457153055,0.4866601826873958],[0.2925756422434169,-0.19019067989473756,0.524222907346731],[0.33812056006034474,-0.2197974469479725,0.5328310317478288],[0.384233642166609,-0.2497736483697933,0.5329359459001888],[0.3842974119559387,-0.2498155461709962,0.49293601867540215]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3842974119559387,-0.2498155461709962,0.49293601867540215],"end_effector_quaternion":[0.999998679702683,-0.0005226735747504386,-0.0007978110690620334,-0.001315637763049564],"end_effector_velocity":[-0.01918906587643861,0.06617901006863688,-0.020975761193053784],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4302778420462774,-0.24992814940552247,0.5010094553682563],[0.33828592199218627,-0.2496861692118388,0.5008625440059702]],"gripper_width":0.07999235562045792,"jaw_actuator_force":[0.005627433746409949,0.003841807385013496],"joint_actuator_torque":[-0.12529715843183453,-1.2415325432882014,-1.0449024322400078,-0.001431646802184136,-0.05063030356838816,0.011785601807638102],"joint_position":[-0.576414894913638,-1.1596005253307111,1.0024430460492921,-9.416362735184472e-06,0.1552499480884666,0.5737850823289777],"joint_velocity":[0.09820396451395005,-0.23003640578665735,0.3883669548592056,0.00030849964108031964,-0.14763647603514296,-0.08865631563608205],"object_angular_velocity":[1.8702390895710724e-11,8.557439588293072e-12,-8.372060986702055e-26],"object_position":[0.34000000012446796,-0.10999999692597857,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0386880818328089e-13,4.7535797983769324e-14,1.2996700895257563e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.8819975016163329e-13,4.112383272556105e-13,-2.2234975983413825e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.22},{"goal":[0.34000000012446524,-0.1099999969259725,0.4599914782969372],"joint_targets":[-0.5660480832692226,-1.1838242905848015,1.0415429000611824,-1.0690585579931495e-05,0.14238783744981287,0.5660692943229614],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09283915607031254,-0.060056139223243044,0.4872433696750037],[0.29198387523333713,-0.1888796172239515,0.5239297751309898],[0.33762120670819695,-0.21840166426578053,0.53233707638132],[0.38380113127485843,-0.24827479497868693,0.5324401706443328],[0.3838638919935234,-0.24831581773033384,0.492440240916569]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3838638919935234,-0.24831581773033384,0.492440240916569],"end_effector_quaternion":[0.9999986849110032,-0.0005117458372296967,-0.0007851873349229616,-0.0013235457345064565],"end_effector_velocity":[-0.01925062565649656,0.06621911988309694,-0.020883022259523775],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42984445846300495,-0.24842932462673184,0.5005125158420259],[0.33785100502167215,-0.24818588263703004,0.5003679265402423]],"gripper_width":0.0799938891782015,"jaw_actuator_force":[0.005640620298706267,-0.005928437203063908],"joint_actuator_torque":[-0.126159026402064,-1.2369682399681778,-1.044642270775796,-0.0014544374201692477,-0.050869024065367086,0.011834032872506839],"joint_position":[-0.5741813981087515,-1.164842922363998,1.0113812591559423,-9.000513683865633e-06,0.15158722097076066,0.5715356721866665],"joint_velocity":[0.09871242429930542,-0.22840160284976183,0.38466206421622723,0.00031010962892124406,-0.14568547530823553,-0.08903793280480932],"object_angular_velocity":[-8.367212026968494e-12,-3.829148776850401e-12,7.4633557274606e-26],"object_position":[0.34000000012446524,-0.1099999969259725,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.975650807344396e-14,4.107799092894012e-14,1.29967018543468e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1642703405179661e-13,2.5439803518712686e-13,-2.2236363762194605e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.24},{"goal":[0.34000000012446235,-0.10999999692596618,0.4599914782969372],"joint_targets":[-0.5637613250014812,-1.188900766858014,1.0501150421023417,-1.0448063734767495e-05,0.13889049424456343,0.563782559361797],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09184628744831969,-0.05912187265650501,0.4878155613137978],[0.29139086441695283,-0.18756962374795674,0.5236364636189839],[0.3371198299722646,-0.21700556670641444,0.5318454203972557],[0.3833666937643781,-0.2467749692577501,0.5319467176342851],[0.38342844880989185,-0.2468151415597766,0.4919467854780864]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38342844880989185,-0.2468151415597766,0.4919467854780864],"end_effector_quaternion":[0.9999986897856397,-0.0005011258554893679,-0.0007726062337792564,-0.001331307435718542],"end_effector_velocity":[-0.01932964412358064,0.06624407819265278,-0.02076051034025646],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42940925809075553,-0.24692953397700815,0.5000179027268841],[0.33741725125887995,-0.24668466508578668,0.4998756322976834]],"gripper_width":0.0799924427472429,"jaw_actuator_force":[0.005698582519920947,0.0036624328401302364],"joint_actuator_torque":[-0.12543784571440142,-1.2313389646918722,-1.043503921185902,-0.001401214361494288,-0.05116229370747405,0.011892772410732277],"joint_position":[-0.5719368544564689,-1.1700493787984432,1.020235842860696,-8.93286245694355e-06,0.1479717669563249,0.5692755627988006],"joint_velocity":[0.09917738992964249,-0.22683743579920232,0.3809925631801068,0.000301295472611127,-0.14377774768371654,-0.08946476142156257],"object_angular_velocity":[9.644954608109244e-13,4.4214317330921596e-13,1.0278022961463355e-25],"object_position":[0.34000000012446235,-0.10999999692596618,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1590176910960347e-13,5.3048298510060834e-14,1.2996702792764173e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5188696135376303e-13,3.318500880521674e-13,-2.224469043487929e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.26},{"goal":[0.3400000001244597,-0.10999999692596016,0.4599914782969372],"joint_targets":[-0.5614621111492214,-1.193944564549487,1.0586111659866,-1.0209565769538828e-05,0.1354365360827777,0.5614833800053382],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09085569844940393,-0.058194662127534214,0.48837690175232995],[0.29079698077348237,-0.18626054647792864,0.5233427835252032],[0.3366168579727503,-0.21560897830822737,0.5313557980981534],[0.3829307882799164,-0.2452739399924371,0.531455335916761],[0.382991564746583,-0.24531326952856608,0.491455401424206]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.382991564746583,-0.24531326952856608,0.491455401424206],"end_effector_quaternion":[0.99999869479064,-0.0004906020977689298,-0.0007603634951535267,-0.001338496900799182],"end_effector_velocity":[-0.019389077909731694,0.06628219741219811,-0.020668474894424967],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42897250681368476,-0.24542849296640976,0.4995253919122475],[0.33697898386466957,-0.24518229466404953,0.4993853735792894]],"gripper_width":0.07999395895007799,"jaw_actuator_force":[0.0057098997343327795,-0.005994434482147426],"joint_actuator_torque":[-0.12627932299920985,-1.2267541786317793,-1.0432525960815724,-0.001423003974042251,-0.051389498308660464,0.011948475657568736],"joint_position":[-0.5696802091664553,-1.1752200345098136,1.0290084695471862,-8.533708356550536e-06,0.1444017854597435,0.5670044491158127],"joint_velocity":[0.09969284689766804,-0.2252823129530478,0.3774490946843001,0.0003028663295264121,-0.14190537234284079,-0.08989988585701289],"object_angular_velocity":[-9.959699000817088e-12,-4.558478660417912e-12,2.4951399403847874e-27],"object_position":[0.3400000001244597,-0.10999999692596016,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.090021740609081e-14,3.702402202093289e-14,1.2996702836985208e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0918389580837794e-13,2.38571435371259e-13,-2.2236363762194605e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.28},{"goal":[0.34000000012445675,-0.10999999692595361,0.4599914782969372],"joint_targets":[-0.5591513452462715,-1.1989571644630501,1.0670329751417347,-9.973033295159275e-06,0.13202574405403847,0.5591726474851403],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0898670763287444,-0.05727442585683775,0.48892769016637294],[0.29020187347688525,-0.18495255843380462,0.5230489960216842],[0.33611193115666754,-0.21421213048269286,0.5308684619468597],[0.3824930227587487,-0.2437719812391349,0.530966263052318],[0.3825528243551191,-0.2438104920801881,0.49096632629381554]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3825528243551191,-0.2438104920801881,0.49096632629381554],"end_effector_quaternion":[0.9999986990384381,-0.00048037919178894065,-0.0007481674624515069,-0.001345883617360679],"end_effector_velocity":[-0.01946531818322955,0.0663057349018595,-0.020547173626410363],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42853400292979,-0.243926560101925,0.4990351944949706],[0.3365419104388632,-0.2436790040743286,0.4988974240877694]],"gripper_width":0.07999252874843221,"jaw_actuator_force":[0.005766545671013645,0.003487605941899119],"joint_actuator_torque":[-0.12558523365510155,-1.2211232629889537,-1.0421378493059024,-0.001371317694201404,-0.05167212973849544,0.012011752225816963],"joint_position":[-0.5674123251926846,-1.1803564927594645,1.037701023466258,-8.471776180817199e-06,0.14087726644365603,0.5647217530758877],"joint_velocity":[0.10016642816630025,-0.2237936777352787,0.37393431139448896,0.0002944077876084235,-0.14007101273819836,-0.09036054378572846],"object_angular_velocity":[-6.032547046936311e-12,-2.7609978999374494e-12,9.493779954389248e-26],"object_position":[0.34000000012445675,-0.10999999692595361,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.956810013875244e-14,4.558371971053766e-14,1.2996704301560104e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2792522601251828e-13,2.794383788968004e-13,-2.223358820463304e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.3},{"goal":[0.3400000001244539,-0.1099999969259473,0.4599914782969372],"joint_targets":[-0.556827947637481,-1.2039385021341058,1.0753816578840012,-9.739833525584232e-06,0.12865685697347912,0.5568492925669173],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08888054913210329,-0.05636112229400416,0.4894680556055719],[0.2896059067079548,-0.18364551169427212,0.522754915491231],[0.3356054678190874,-0.21281485093183353,0.5303831542150279],[0.3820538449189843,-0.24226886643724632,0.5304792551654722],[0.3821126980554708,-0.24230656586306618,0.4904793162272486]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3821126980554708,-0.24230656586306618,0.4904793162272486],"end_effector_quaternion":[0.9999987031815848,-0.0004702472837836562,-0.0007363013627444838,-0.0013529090672224542],"end_effector_velocity":[-0.019522814693023485,0.06634203776553228,-0.020455668743562555],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42809400558415484,-0.24242344346218103,0.4985470923027218],[0.33610041425948783,-0.2421745883809105,0.4984115047687467]],"gripper_width":0.07999402783681503,"jaw_actuator_force":[0.005776215192623724,-0.006057509354782553],"joint_actuator_torque":[-0.1264069380457613,-1.2165212939052594,-1.0418923394994977,-0.0013921473717652686,-0.05188914873753703,0.012070571080656123],"joint_position":[-0.5651321656112243,-1.1854588227506575,1.0463150138044586,-8.085395520071057e-06,0.13739651805346623,0.5624274600291501],"joint_velocity":[0.10068898948938275,-0.22231142349514568,0.37053803412354047,0.0002959081589868408,-0.13826820670105583,-0.09081852529530099],"object_angular_velocity":[1.2707963529046713e-11,5.817975189149626e-12,6.709876732090818e-25],"object_position":[0.3400000001244539,-0.1099999969259473,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1488393385953982e-13,5.2593113459582444e-14,1.2996707434539764e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.771880051260579e-13,3.8704552033920393e-13,-2.221415930170209e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.32},{"goal":[0.34000000012445103,-0.10999999692594095,0.4599914782969372],"joint_targets":[-0.5544927999898487,-1.2088899989327926,1.0836588087535464,-9.508145959496515e-06,0.12532970569210122,0.5545141857078179],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08789581515902264,-0.05545467494891082,0.4899982782709178],[0.28900873651005465,-0.182339574547029,0.5224607969598474],[0.33509711431966616,-0.21141736403826442,0.5299001241593937],[0.3816128694854535,-0.2407648614766164,0.529994545885979],[0.3816707771618225,-0.2408017724331182,0.48999460483249363]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3816707771618225,-0.2408017724331182,0.48999460483249363],"end_effector_quaternion":[0.9999987064544853,-0.000460402093116907,-0.0007244731499521672,-0.0013602418622166198],"end_effector_velocity":[-0.019596473986452194,0.06636430271867252,-0.020335389896441944],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4276523149679872,-0.24091948352487833,0.498061292441052],[0.33566013833425457,-0.24066928080856406,0.49792788503409036]],"gripper_width":0.07999261362059096,"jaw_actuator_force":[0.005831681037214764,0.003317023884411796],"joint_actuator_torque":[-0.12573962002585404,-1.2108913284053529,-1.0407984085005637,-0.0013419539787083775,-0.05216221890756678,0.01213598699293783],"joint_position":[-0.5628405736597027,-1.1905285530994796,1.0548521846804935,-8.026321165317154e-06,0.13395960891476938,0.5601211669119176],"joint_velocity":[0.10117125311048177,-0.22089202566410998,0.36716481413323965,0.0002877613040051586,-0.1364996837834324,-0.09129532257170257],"object_angular_velocity":[-9.68253253191732e-12,-4.4327424583907135e-12,-7.791549917531021e-27],"object_position":[0.34000000012445103,-0.10999999692594095,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.277081363442687e-14,4.247439399079133e-14,1.2996708534456852e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.214380310620668e-13,2.652432869513379e-13,-2.223775154097537e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.34},{"goal":[0.340000000124448,-0.10999999692593437,0.4599914782969372],"joint_targets":[-0.5521448427216153,-1.2138115436051102,1.0918655008346692,-9.279342990805209e-06,0.12204309783267688,0.5521662776804491],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0869130076645458,-0.054555052290556336,0.4905184741400834],[0.28841072012086444,-0.1810346039119896,0.5221664582229901],[0.33458727922543746,-0.21001950115856807,0.5294191212419895],[0.38117053336505075,-0.23925974442294567,0.5295118984171182],[0.38122752077530736,-0.2392958734900267,0.4895119553280889]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38122752077530736,-0.2392958734900267,0.4895119553280889],"end_effector_quaternion":[0.9999987095657598,-0.000450639097951729,-0.0007129597021947869,-0.0013672891726768282],"end_effector_velocity":[-0.01965219102145207,0.06639893177203658,-0.02024423609782332],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4272091838781038,-0.23941439018580873,0.4975775832485861],[0.335215525549633,-0.23916288456123289,0.497446293886497]],"gripper_width":0.07999409581397716,"jaw_actuator_force":[0.005839859094123767,-0.006117955220446447],"joint_actuator_torque":[-0.12654207496481717,-1.2062750216882137,-1.0405562390333785,-0.0013618546058146918,-0.05237000794407898,0.012196537426355292],"joint_position":[-0.5605365302097784,-1.195565691872843,1.0633139027660332,-7.650340798947015e-06,0.13056493058098448,0.5578029524679676],"joint_velocity":[0.10170101240534964,-0.21947673582757318,0.3639034424147601,0.00028916819144789044,-0.13475989503546004,-0.091765959745862],"object_angular_velocity":[-1.0632468438663664e-12,-4.882178250129782e-13,-1.5172951341036603e-25],"object_position":[0.340000000124448,-0.10999999692593437,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.068498526330714e-13,4.8902269373365784e-14,1.2996706912954675e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4246148772169956e-13,3.112643423993897e-13,-2.222248597438677e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.36},{"goal":[0.34000000012444537,-0.10999999692592848,0.4599914782969372],"joint_targets":[-0.5497849358229714,-1.218704502638112,1.1000032291188584,-9.051736567982614e-06,0.11879690911842994,0.5498064179121507],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08593183490875166,-0.05366218237668456,0.4910289063145814],[0.28781152015655453,-0.1797307633562345,0.5218721482656258],[0.3340756146925094,-0.20862147983071472,0.5289403912127402],[0.38072645792306503,-0.2377537732059218,0.5290315426196616],[0.3807825270988397,-0.23778914209800153,0.48903159755358677]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3807825270988397,-0.23778914209800153,0.48903159755358677],"end_effector_quaternion":[0.9999987117950314,-0.0004411474224852764,-0.0007014720356143584,-0.0013746760390462155],"end_effector_velocity":[-0.019723441087028455,0.0664200488890523,-0.02012479125402994],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42676441458023107,-0.23790849152223414,0.49709616832376374],[0.3347721554529952,-0.23765562846919278,0.4969669963055419]],"gripper_width":0.07999269734313916,"jaw_actuator_force":[0.005894244210352895,0.003150450905335944],"joint_actuator_torque":[-0.12590115317752293,-1.2006482413291337,-1.039480745623564,-0.0013131078162934022,-0.0526343460658687,0.012263297749377955],"joint_position":[-0.5582208590396732,-1.200571701135107,1.0717017888867548,-7.592486768492831e-06,0.127212613185649,0.5554724746494689],"joint_velocity":[0.10219201815290418,-0.21812103994300347,0.36066023804492675,0.0002813030569777428,-0.13305134689468479,-0.09225302933780669],"object_angular_velocity":[-1.0059232314527296e-11,-4.6036446425650464e-12,-1.5416300060860193e-26],"object_position":[0.34000000012444537,-0.10999999692592848,0.30999147829693724],"object_quaternion":[0.9999999999999999,7.840714913232809e-14,3.588260383510007e-14,1.2996705598563465e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0676334915843452e-13,2.3328714451664343e-13,-2.2239139319756152e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.38},{"goal":[0.3400000001244426,-0.10999999692592233,0.4599914782969372],"joint_targets":[-0.5474120394988439,-1.2235687226041956,1.1080729613482576,-8.826662275083698e-06,0.11559001063418727,0.5474335766720649],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08495243456646175,-0.05277604281040951,0.4915296793224526],[0.287211486997836,-0.17842791452410392,0.5215776883148611],[0.3335625198466926,-0.20722313512515889,0.5284636903756214],[0.3802810695632447,-0.23624673055532802,0.5285532486690065],[0.38033624438490765,-0.2362813451274457,0.488553301699411]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38033624438490765,-0.2362813451274457,0.488553301699411],"end_effector_quaternion":[0.9999987138625559,-0.00043172886858463595,-0.0006902827249633383,-0.0013818079380725162],"end_effector_velocity":[-0.01977751566187265,0.06645312851238275,-0.020033812029208765],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4263182538220584,-0.23640150235040952,0.4966168425987634],[0.3343245299295318,-0.2361473209796573,0.4964897290380096]],"gripper_width":0.07999416286722201,"jaw_actuator_force":[0.005901060653847878,-0.00617600220685155],"joint_actuator_torque":[-0.12668485116444117,-1.196020130427769,-1.0392398015330286,-0.0013321082792997914,-0.052833686445467265,0.01232512264092378],"joint_position":[-0.5558925586401839,-1.2055465349744625,1.0800170824274105,-7.225447167261138e-06,0.12390111922367013,0.553129839758417],"joint_velocity":[0.10272906605171657,-0.21676746987588139,0.35752286715719794,0.0002826062771435085,-0.13136919458677082,-0.09273295702344901],"object_angular_velocity":[-7.018047945052015e-12,-3.2120394959924176e-12,-3.0005205068177275e-26],"object_position":[0.3400000001244426,-0.10999999692592233,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.6929375029261e-14,4.436119264808097e-14,1.2996704763625079e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2307375728669997e-13,2.689165229616483e-13,-2.2236363762194592e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.4},{"goal":[0.34000000012443976,-0.10999999692591597,0.4599914782969372],"joint_targets":[-0.5450270477850687,-1.228405572901322,1.1160761496473568,-8.602233320809528e-06,0.11242232459725358,0.5450486373410199],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08397451064348965,-0.05189656356261486,0.4920210454382966],[0.2866102691705187,-0.1771262248237838,0.5212833301506776],[0.3330476304996295,-0.20582468886280167,0.527989270397265],[0.3798339724467773,-0.23473888030683893,0.5280772496114046],[0.37988825153555134,-0.23477276138758837,0.4880773007882762]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37988825153555134,-0.23477276138758837,0.4880773007882762],"end_effector_quaternion":[0.9999987150467732,-0.00042257060164575843,-0.000679076565588274,-0.0013893141858501807],"end_effector_velocity":[-0.019872736828511626,0.06645927136089912,-0.019908173319619214],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4258704987769326,-0.23489375696321965,0.49613981045214955],[0.33387911313826263,-0.23463819899061727,0.4960147636129661]],"gripper_width":0.07999182560593013,"jaw_actuator_force":[0.0058576151967777434,0.008094604929453908],"joint_actuator_torque":[-0.12471309549212606,-1.1891868165623691,-1.0388205533740802,-0.0011264800305051102,-0.05335203121030041,0.01238953786525343],"joint_position":[-0.5535524869472663,-1.210491643014882,1.0882613253972193,-7.206431988585473e-06,0.12063069486331576,0.5507747297249069],"joint_velocity":[0.10317545437668106,-0.21551823199018189,0.35443079425341406,0.0002363980231914118,-0.12965171693833938,-0.0932272714859012],"object_angular_velocity":[8.561338992829294e-12,3.9209826529183e-12,-2.1822561155259695e-25],"object_position":[0.34000000012443976,-0.10999999692591597,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0628792032690233e-13,4.8655176443939295e-14,1.299670434626528e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.6282402906982154e-13,3.556880764114904e-13,-2.223913931975616e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.42},{"goal":[0.34000000012443704,-0.10999999692590985,0.4599914782969372],"joint_targets":[-0.5426287603502649,-1.233214693452596,1.1240135332256773,-8.38059860055809e-06,0.10929274243043585,0.5426504112947386],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08299824748271102,-0.05102373709992503,0.4925030841097994],[0.2860082765104336,-0.17582553308864596,0.5209888670927707],[0.33253140816262,-0.2044259446693945,0.5275168590263682],[0.37938565975381566,-0.23322996585806446,0.5276032950813117],[0.3794390708649181,-0.23326311748937378,0.48760334447856024]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3794390708649181,-0.23326311748937378,0.48760334447856024],"end_effector_quaternion":[0.9999987161523077,-0.00041346275314127175,-0.0006682171497549101,-0.0013965056852134564],"end_effector_velocity":[-0.019899226669171963,0.0665046003730278,-0.019824688338841275],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42542141603346806,-0.23338492124812546,0.495664854587467],[0.3334299749779976,-0.23312803803709753,0.4955418074061074]],"gripper_width":0.07999188201713811,"jaw_actuator_force":[0.005955048887017256,-0.006285567751803001],"joint_actuator_torque":[-0.12684659734821935,-1.1857902346143305,-1.037956556584902,-0.0013029149031912879,-0.053283537084899635,0.012455665135888694],"joint_position":[-0.5511994873058488,-1.2154067791670704,1.096435559187872,-6.7935207235035155e-06,0.11739965469963473,0.5484072751929479],"joint_velocity":[0.10377266558364213,-0.21417380654498283,0.3513776698043841,0.00027588944077762775,-0.12808537552808502,-0.09371556405951507],"object_angular_velocity":[-1.0016936260335971e-11,-4.585387014314558e-12,1.9425528800248848e-26],"object_position":[0.34000000012443704,-0.10999999692590985,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.993659050014498e-14,4.116938845653396e-14,1.2996704266379074e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1833126392011667e-13,2.584989695122737e-13,-2.22363637621946e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.44},{"goal":[0.3400000001244342,-0.10999999692590368,0.4599914782969372],"joint_targets":[-0.5402182002838831,-1.2379975393085652,1.1318865593408998,-8.159363797939228e-06,0.10620127843890241,0.5402399095105223],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08202332304327939,-0.05015749216148048,0.49297604540529716],[0.28540510950019615,-0.17452602517760935,0.5206945759040299],[0.3320134355632396,-0.2030271473271389,0.5270467391433228],[0.37893567881751794,-0.23172028028916625,0.5271316438531435],[0.37898821895319684,-0.2317527230105781,0.48713169151562224]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37898821895319684,-0.2317527230105781,0.48713169151562224],"end_effector_quaternion":[0.999998716359559,-0.00040461159275498337,-0.0006573206550944836,-0.0014041005127536788],"end_effector_velocity":[-0.01996614477047328,0.06652389288224259,-0.01970548357553164],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.424970781663669,-0.23187536824508548,0.49519219884593746],[0.3329790091569691,-0.23161708487737712,0.49507115771110477]],"gripper_width":0.07999221472591467,"jaw_actuator_force":[0.006012638506129875,0.0027539410800905273],"joint_actuator_torque":[-0.1262313875396046,-1.180131579431702,-1.0368938073735308,-0.001255591905862372,-0.0535321669130866,0.01252484301894441],"joint_position":[-0.548834541508021,-1.2202934600014048,1.1045412704108557,-6.747044031984947e-06,0.11420846698325036,0.5460271127925883],"joint_velocity":[0.10428158746120834,-0.2129317811925667,0.34836292184305195,0.0002684442138820584,-0.12648325021052384,-0.09422033139283789],"object_angular_velocity":[-3.0210873031136246e-12,-1.3827357195908044e-12,-8.276577391075603e-26],"object_position":[0.3400000001244342,-0.10999999692590368,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0528467122960668e-13,4.8200686256789164e-14,1.299670445881781e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3512636915782857e-13,2.95167092536295e-13,-2.224469043487929e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.46},{"goal":[0.3400000001244314,-0.10999999692589739,0.4599914782969372],"joint_targets":[-0.537794278503992,-1.2427538106869882,1.1396959618972922,-7.940154308250688e-06,0.10314689076555807,0.5378160534255599],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08104990146488864,-0.049297824780927604,0.4934400082455223],[0.2848011360232555,-0.1732275579281961,0.5204002689636269],[0.33149412727621463,-0.20162812177444514,0.5265786620448591],[0.3784844720849678,-0.23020959372244765,0.5266620649226699],[0.3785361631758601,-0.23024133208405875,0.48666211091385225]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3785361631758601,-0.23024133208405875,0.48666211091385225],"end_effector_quaternion":[0.9999987164476266,-0.00039581724100380683,-0.0006466981455842097,-0.0014114578702408382],"end_effector_velocity":[-0.02001712191597119,0.06655427504116244,-0.019614521094653167],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4245188405302316,-0.2303647957324442,0.4947216405127475],[0.3325251444939389,-0.23010515145753438,0.49460255299614264]],"gripper_width":0.07999413952749342,"jaw_actuator_force":[0.0060171261648189756,-0.006305013086222999],"joint_actuator_torque":[-0.1269893576809693,-1.1754962125847896,-1.0366500372632004,-0.0012738229253965784,-0.053715302747303184,0.012588827327874696],"joint_position":[-0.5464565992674578,-1.2251514811500601,1.1125794513032958,-6.399181835157788e-06,0.11105561330765311,0.5436343958054075],"joint_velocity":[0.10483379202736069,-0.21168761780106315,0.34544516512580636,0.0002698629721703507,-0.1249029817094981,-0.094715910323995],"object_angular_velocity":[2.5103145204562827e-11,1.1487807115750651e-11,-9.06176600153328e-25],"object_position":[0.3400000001244314,-0.10999999692589739,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.630587431502022e-14,4.4085807036102745e-14,1.2996703518947999e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.106218708008261e-13,4.601430550000497e-13,-2.2265507116591017e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.48},{"goal":[0.34000000012442844,-0.10999999692589091,0.4599914782969372],"joint_targets":[-0.5353578470709776,-1.2474847864016922,1.147443043689101,-7.721111793380462e-06,0.1001295606911146,0.5353796852236203],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08007770387752607,-0.04844467198510769,0.4938951971862289],[0.2841960180561073,-0.17193029029976725,0.5201061850794815],[0.33097313172203213,-0.20022907783021007,0.5261128698050185],[0.3780316578985169,-0.22869815587435066,0.5261947808160484],[0.37808249677219335,-0.22872920831442342,0.4861948251766369]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37808249677219335,-0.22872920831442342,0.4861948251766369],"end_effector_quaternion":[0.9999987157142797,-0.00038725335034539327,-0.0006360363187301504,-0.0014191766751530859],"end_effector_velocity":[-0.020107349805213063,0.06655928561317281,-0.019490117490458078],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4240654012907251,-0.22885352022410166,0.49425337359524124],[0.3320738729901677,-0.22859246015043116,0.49413625215937995]],"gripper_width":0.07999197328498317,"jaw_actuator_force":[0.0059748238786418995,0.00765524601133194],"joint_actuator_torque":[-0.12511592840490948,-1.168694517820711,-1.0362617645145065,-0.0010790513757981065,-0.05421326515999958,0.012655357862755068],"joint_position":[-0.5440664808152993,-1.2299821842719498,1.1205514584336416,-6.377328996638968e-06,0.10794143418031107,0.5412288174885517],"joint_velocity":[0.10529977190726389,-0.21054234431595012,0.3425654887224633,0.00022614747285311523,-0.12328392165643909,-0.09522550483257788],"object_angular_velocity":[-8.931241866827038e-12,-4.087613291944694e-12,-2.166637052271652e-26],"object_position":[0.34000000012442844,-0.10999999692589091,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0193757873102063e-13,4.664970047139273e-14,1.2996702424386134e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3027489189290698e-13,2.8466463225955967e-13,-2.2233588204633044e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.5},{"goal":[0.3400000001244256,-0.10999999692588469,0.4599914782969372],"joint_targets":[-0.5329077540480593,-1.2521900472669005,1.1551283743474443,-7.5043149154354455e-06,0.09714829057450172,0.5329296637557631],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0791069190941783,-0.04759804167440129,0.49434167620749686],[0.2835901490384589,-0.17063407205016054,0.519812127733328],[0.3304508892340232,-0.19882982901127202,0.5256491062079975],[0.37757770582126443,-0.2271857223301109,0.5257295577036617],[0.3776277177526999,-0.22721609179349295,0.4857296004974045]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3776277177526999,-0.22721609179349295,0.4857296004974045],"end_effector_quaternion":[0.9999987149421975,-0.0003787261682561197,-0.000625690238354645,-0.001426601615278337],"end_effector_velocity":[-0.020131957973100238,0.06660140601573253,-0.019405687079522123],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42361071603514927,-0.2273412239495758,0.4937871965866151],[0.3316191048209809,-0.22707879584854057,0.49367198026451964]],"gripper_width":0.07999205768482301,"jaw_actuator_force":[0.006067113894379972,-0.006391243501408184],"joint_actuator_torque":[-0.12716974616483867,-1.1652721075416252,-1.0353880378175973,-0.001245973970659751,-0.05413665396976697,0.012723509715399928],"joint_position":[-0.541663072680693,-1.234785246785561,1.1284581325763041,-5.980656185157853e-06,0.10486435922286665,0.5388104980781849],"joint_velocity":[0.10591030003361229,-0.20930005520362305,0.33971472720873036,0.00026352907267269005,-0.12180980451939358,-0.09572951216306622],"object_angular_velocity":[4.734369889561756e-12,2.1668913678716704e-12,2.6427675496847998e-25],"object_position":[0.3400000001244256,-0.10999999692588469,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0903902278521799e-13,4.9895410516281316e-14,1.2996704472476888e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5291882941648013e-13,3.3417062310349375e-13,-2.224885377122164e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.52},{"goal":[0.3400000001244228,-0.10999999692587836,0.4599914782969372],"joint_targets":[-0.5304449722074384,-1.2568710132906562,1.162753376447782,-7.28528098595635e-06,0.09420308635094898,0.530466950385248],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07813724137759696,-0.04675786785298582,0.49477966935499773],[0.2829831441704171,-0.16933907860658756,0.519518361300523],[0.3299269968937717,-0.19743060607095464,0.5251876448713725],[0.37712217941647763,-0.22567256967549693,0.5252666284657577],[0.3771713494682477,-0.2257022684231274,0.48526666971214893]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3771713494682477,-0.2257022684231274,0.48526666971214893],"end_effector_quaternion":[0.9999987134342113,-0.0003703524296825144,-0.0006151576781169071,-0.0014344162684786549],"end_effector_velocity":[-0.020194707163405025,0.06661890721690086,-0.019286545710616897],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42315455642892535,-0.22582825452224747,0.49332329647722273],[0.3311626171599874,-0.2255643860238739,0.49321001923591024]],"gripper_width":0.07999238745014611,"jaw_actuator_force":[0.006122858302296308,0.002446780542934235],"joint_actuator_torque":[-0.12660653365077223,-1.159635859174557,-1.0343511413340138,-0.0012013544601086248,-0.054371045053708045,0.012794648112709694],"joint_position":[-0.5392473125257518,-1.2395620870446666,1.136300791020668,-5.931140107582861e-06,0.10182523017972274,0.536379085398739],"joint_velocity":[0.10643716120327898,-0.20815474933223246,0.3368961138881303,0.0002565631047209735,-0.12030487381333413,-0.09624947006151215],"object_angular_velocity":[-1.0860391561857565e-11,-4.969914231589923e-12,7.084516132438228e-27],"object_position":[0.3400000001244228,-0.10999999692587836,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.106030121732547e-14,4.167181863710127e-14,1.2996705452409118e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.212117487621182e-13,2.648724150569544e-13,-2.224052709853696e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.54},{"goal":[0.34000000012441967,-0.10999999692587159,0.4599914782969372],"joint_targets":[-0.5279684530397646,-1.261527364406296,1.1703187180534267,-7.064392377090192e-06,0.0912929530326265,0.5279905062446574],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07716883708763642,-0.04592415908914554,0.4952092422870981],[0.282375355289234,-0.168045175080582,0.5192247027406622],[0.3294018490437668,-0.1960312412452862,0.5247282457612706],[0.3766654987588846,-0.2241584772759908,0.5248057627250927],[0.37671383100959593,-0.22418749956971265,0.48480580245386234]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37671383100959593,-0.22418749956971265,0.48480580245386234],"end_effector_quaternion":[0.9999987119979801,-0.00036190718914598654,-0.0006046757864911608,-0.0014420099725721532],"end_effector_velocity":[-0.020242567698564168,0.06664653767325404,-0.019193930210437797],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42269715035721883,-0.22431432014715297,0.49286146440348316],[0.3307033296522422,-0.2240490474411492,0.4927501151121741]],"gripper_width":0.07999427056166383,"jaw_actuator_force":[0.006125353623335883,-0.0064068382797959345],"joint_actuator_torque":[-0.12732939334284765,-1.1549936292634015,-1.0341004958959843,-0.0012179322807054217,-0.05453855318548584,0.012860795731882035],"joint_position":[-0.5368181869449279,-1.2443124404320145,1.1440802759744646,-5.5948538577807156e-06,0.09882276465025917,0.5339347212070569],"joint_velocity":[0.10700458110547538,-0.2070053796818814,0.33416705171961575,0.00025780296993899025,-0.1188316895223616,-0.09676082036067743],"object_angular_velocity":[-5.901554932547232e-12,-2.7008282759331717e-12,-1.8319400434688076e-25],"object_position":[0.34000000012441967,-0.10999999692587159,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1267642488232924e-13,5.1577140294143724e-14,1.2996702538525089e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4265832263075564e-13,3.116632463578762e-13,-2.22377515409754e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.56},{"goal":[0.34000000012441695,-0.10999999692586529,0.4599914782969372],"joint_targets":[-0.5254790045596375,-1.2661602849823068,1.1778255288401491,-6.841384691911591e-06,0.0884179493452634,0.5255011304138176],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07620143713289947,-0.04509685478506994,0.4956305981384207],[0.28176645273967277,-0.16675250862190408,0.5189313759820777],[0.32887510214955834,-0.19463192929284523,0.5242711375712491],[0.3762072917774892,-0.22264367758546533,0.5243471810883593],[0.37625477310626926,-0.22267203506287622,0.4843472193211664]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37625477310626926,-0.22267203506287622,0.4843472193211664],"end_effector_quaternion":[0.9999987098627624,-0.000353607608327529,-0.0005940300904245349,-0.001449952661949262],"end_effector_velocity":[-0.020327678432770634,0.06665033876817351,-0.019069113197207405],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42223831461550315,-0.22279972018326827,0.49240190153201385],[0.33024661247269693,-0.222532990637238,0.4922925151266713]],"gripper_width":0.07999215386742053,"jaw_actuator_force":[0.006084399800437623,0.00723546883975601],"joint_actuator_torque":[-0.1255486703375368,-1.1482275349952715,-1.0337374759579347,-0.0010332497795877377,-0.05501445557565887,0.012929454725878031],"joint_position":[-0.534376476659071,-1.2490375808928045,1.151797836142023,-5.565595750337828e-06,0.09585713490975058,0.5314771061413918],"joint_velocity":[0.10749035777024676,-0.20595087499933917,0.33147260344989,0.00021646565958801593,-0.11732548950696431,-0.09728582580425192],"object_angular_velocity":[1.8662048246430213e-11,8.548686220381362e-12,-1.0814943308182083e-24],"object_position":[0.34000000012441695,-0.10999999692586529,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0363328181748566e-13,4.7455870954405177e-14,1.2996698022666955e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.878933996441369e-13,4.1032081264147114e-13,-2.2218322638044456e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.58},{"goal":[0.3400000001244142,-0.10999999692585923,0.4599914782969372],"joint_targets":[-0.5229755182505972,-1.270769299071792,1.1852742218628114,-6.618994715355728e-06,0.08557717721154942,0.5229977244366619],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.07523523183547555,-0.044275974873929154,0.49604378951523265],[0.28115681354501443,-0.165460937760854,0.5186381905105308],[0.3283471760201171,-0.19323249175577428,0.5238160740719533],[0.37574800527123775,-0.22112793623015237,0.5238906655124553],[0.37579465372412957,-0.2211556281899086,0.48389070229900716]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37579465372412957,-0.2211556281899086,0.48389070229900716],"end_effector_quaternion":[0.9999987077552082,-0.00034529926195847236,-0.0005836097304185703,-0.0014576199834378377],"end_effector_velocity":[-0.020350053240640174,0.06668922842476493,-0.018982144512855174],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42177829106440023,-0.22128415228436654,0.49194442532133253],[0.32978650679590216,-0.22101601025908735,0.491836957727672]],"gripper_width":0.07999223783739198,"jaw_actuator_force":[0.006171825160343758,-0.006488640154142189],"joint_actuator_torque":[-0.12752389640630213,-1.1447858384281062,-1.0328532160763757,-0.0011910622822502144,-0.054926764967580866,0.0129996567664179],"joint_position":[-0.5319211067740589,-1.2537371321542283,1.159454172194749,-5.178695188148749e-06,0.09292675153584422,0.5290063491481573],"joint_velocity":[0.1081146315904183,-0.20479856016451894,0.3287996388213293,0.00025191080946352154,-0.11596323944675185,-0.09780571785321694],"object_angular_velocity":[-8.348494681224869e-12,-3.823245311307847e-12,-9.180061032617132e-26],"object_position":[0.3400000001244142,-0.10999999692585923,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.955757320894517e-14,4.1018118393934874e-14,1.2996694536354909e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1625318928702383e-13,2.5383224191688605e-13,-2.2234975983413828e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.6},{"goal":[0.34000000012441134,-0.10999999692585291,0.4599914782969372],"joint_targets":[-0.520458917786074,-1.2753556939744735,1.192665956620835,-6.39561631458217e-06,0.0827707706240216,0.5204812017156032],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07426992821779173,-0.043461456589063904,0.496449018676521],[0.2805460655227708,-0.16417062653131392,0.5183453989799058],[0.32781768032182845,-0.19183314464307955,0.5233633194660982],[0.3752872171402233,-0.21961151256968917,0.5234364602957833],[0.37533302443362865,-0.2196385544607594,0.48343649566544894]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37533302443362865,-0.2196385544607594,0.48343649566544894],"end_effector_quaternion":[0.9999987048552413,-0.00033718412417319395,-0.0005730861079755888,-0.0014656626554308708],"end_effector_velocity":[-0.020408903292501935,0.06670520079905529,-0.0188622032567312],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4213168678917129,-0.21976794926010804,0.4914892501482613],[0.3293247646379081,-0.21949832504547515,0.49138372004461295]],"gripper_width":0.07999255891037373,"jaw_actuator_force":[0.006225548695402594,0.002150837208420242],"joint_actuator_torque":[-0.12701123573847894,-1.1391742344309819,-1.0318381099809812,-0.0011490271634250404,-0.05514566007990496,0.013072792600226535],"joint_position":[-0.52945297019387,-1.2584124361789708,1.1670504714318908,-5.118708943612435e-06,0.09003213108929195,0.5265221068011792],"joint_velocity":[0.10865978431484462,-0.20373880817906284,0.3261543253993496,0.00024546954330433534,-0.11456242087807357,-0.09834113727360144],"object_angular_velocity":[9.575583488052164e-13,4.387553984282882e-13,-7.223464706797704e-26],"object_position":[0.34000000012441134,-0.10999999692585291,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1560164296042538e-13,5.295646611102157e-14,1.2996692415776201e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5162729328965045e-13,3.3099661051069264e-13,-2.2244690434879292e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.62},{"goal":[0.3400000001244087,-0.1099999969258469,0.4599914782969372],"joint_targets":[-0.5179281957347882,-1.2799190641543727,1.200001174114035,-6.172926588405354e-06,0.079997875461263,0.5179505638345098],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07330569886265653,-0.04265332232327884,0.49684633894630076],[0.27993454948818663,-0.16288145061016587,0.5180528298819592],[0.32728699442320397,-0.19043373000924416,0.5229126507213809],[0.37482533040245575,-0.21809419764445828,0.5229843621224901],[0.374870312763348,-0.21812059152291785,0.4829843961231247]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.374870312763348,-0.21812059152291785,0.4829843961231247],"end_effector_quaternion":[0.9999987018948159,-0.0003290946737633751,-0.0005627651625154335,-0.0014734994911898914],"end_effector_velocity":[-0.02045439838751426,0.06673072052328051,-0.01876791870714489],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.42085426956137423,-0.21825083739604068,0.49103620058312847],[0.32886032760588935,-0.21797976442094041,0.4909325690109374]],"gripper_width":0.07999439970220848,"jaw_actuator_force":[0.0062260724219207475,-0.00650121408206239],"joint_actuator_torque":[-0.12770141574907257,-1.1345267569542443,-1.0315751443305317,-0.001164087885842365,-0.05529982933840749,0.013141140650560601],"joint_position":[-0.5269710893320284,-1.26306315851911,1.174587393987139,-4.7859582906023816e-06,0.08717192050700993,0.5240245084381964],"joint_velocity":[0.10924291526422183,-0.20267250774690085,0.3235893359183436,0.0002465273261902375,-0.11317897711621937,-0.09886855924436017],"object_angular_velocity":[-9.933020630816369e-12,-4.5501375880969575e-12,-5.0339382343880725e-26],"object_position":[0.3400000001244087,-0.1099999969258469,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.068067627613872e-14,3.695762542073743e-14,1.2996690205307107e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0898841648094377e-13,2.379271296492118e-13,-2.2234975983413818e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.64},{"goal":[0.34000000012440573,-0.10999999692584037,0.4599914782969372],"joint_targets":[-0.5153841171594028,-1.2844605376692757,1.2072809147973682,-5.949471993466843e-06,0.0772585845417989,0.5154065674549757],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0723422921625469,-0.04185151857172401,0.4972359316370263],[0.27932195181713904,-0.16159355066741138,0.5177607029844634],[0.32675479048798306,-0.18903443302267306,0.5224642964182511],[0.37436199013689014,-0.21657621222366083,0.5225345817875569],[0.3744061412973085,-0.2166019730636791,0.4825346144493933]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3744061412973085,-0.2166019730636791,0.4825346144493933],"end_effector_quaternion":[0.9999986981856445,-0.0003211924925378772,-0.00055236612646298,-0.001481672723987472],"end_effector_velocity":[-0.020535358444059213,0.06673394610703298,-0.018642737691813543],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4203903150402372,-0.21673309823895176,0.49058546183643703],[0.328398444546674,-0.21646052618167333,0.49048374751546997]],"gripper_width":0.07999233054029017,"jaw_actuator_force":[0.006186548787093571,0.006830439545383982],"joint_actuator_torque":[-0.1260121927737714,-1.127798878000931,-1.0312288394381994,-0.000989025696177405,-0.055758430495525424,0.01321196429280036],"joint_position":[-0.5244762063273927,-1.2676904772067508,1.1820660082648504,-4.744628553803804e-06,0.08434655278946421,0.5215132619297783],"joint_velocity":[0.10974883486940963,-0.20169583345731137,0.32105206706853645,0.00020733752026263547,-0.11175267467019888,-0.09940928077016316],"object_angular_velocity":[-6.016520523833194e-12,-2.7564909565211864e-12,-1.3537425058209402e-26],"object_position":[0.34000000012440573,-0.10999999692584037,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.931464567472548e-14,4.550653884998822e-14,1.2996688910218305e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2770949006669224e-13,2.7872167382994566e-13,-2.2236363762194602e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.66},{"goal":[0.3400000001244029,-0.10999999692583408,0.4599914782969372],"joint_targets":[-0.512825616500755,-1.2889796048842297,1.2145054822721721,-5.727228327715477e-06,0.07455207652803088,0.5128481562429371],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0713799041351469,-0.04105607861183263,0.49761783889471256],[0.27870863832981885,-0.1603067964815546,0.5174688405014588],[0.3262214732494312,-0.1876350859933659,0.5220180283696715],[0.373897625906157,-0.21505733467260524,0.5220869139743533],[0.3739409666287525,-0.21508246401657025,0.4820869453481426]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3739409666287525,-0.21508246401657025,0.4820869453481426],"end_effector_quaternion":[0.9999986944767506,-0.0003133095145901885,-0.0005422264424276446,-0.0014895880060243937],"end_effector_velocity":[-0.020556403219513575,0.06677033392714209,-0.01855346902675093],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.419925235449795,-0.2152144440849911,0.49013685936233187],[0.32793328394258814,-0.2149404141063921,0.4900370121878953]],"gripper_width":0.07999241383935804,"jaw_actuator_force":[0.006269592128226975,-0.00657925427106143],"joint_actuator_torque":[-0.1279116048166884,-1.1243416157627735,-1.0303285627049377,-0.001138129960366478,-0.05566548025615159,0.013284257943091404],"joint_position":[-0.5219672844801663,-1.2722939517797214,1.1894868425614036,-4.365123718271562e-06,0.08155464335197128,0.518988465108312],"joint_velocity":[0.11038733150366815,-0.2006201154395074,0.3185277644532737,0.00024079936716452538,-0.11046074288349372,-0.09994535598489203],"object_angular_velocity":[1.2684623275958735e-11,5.815002924708085e-12,2.1940185678492098e-25],"object_position":[0.3400000001244029,-0.10999999692583408,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1461199608689064e-13,5.252248267810434e-14,1.2996690600761143e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7696196783628734e-13,3.861463654721377e-13,-2.2233588204633032e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.68},{"goal":[0.34000000012440007,-0.10999999692582776,0.4599914782969372],"joint_targets":[-0.5102535687597969,-1.293477490391629,1.2216759353786584,-5.504234441749485e-06,0.07187852372439493,0.5102761956672126],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07041825635206334,-0.04026694409054872,0.4979922431451025],[0.2780942519664027,-0.15902134298595122,0.5171774871775489],[0.3256866676280221,-0.1862358927328143,0.5215741056016512],[0.37343183251858736,-0.21353780978643633,0.521641594636877],[0.37347435611686125,-0.21356232319932195,0.48164162475143607]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37347435611686125,-0.21356232319932195,0.48164162475143607],"end_effector_quaternion":[0.9999986899840597,-0.00030562119233010546,-0.0005320034545028073,-0.0014978645384784964],"end_effector_velocity":[-0.02061211390840296,0.0667852807183697,-0.01843254278568589],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4194588249550548,-0.21369518856451128,0.4896905978627997],[0.3274665638955499,-0.21341963355609575,0.489592632870363]],"gripper_width":0.07999272592190387,"jaw_actuator_force":[0.0063217127845831556,0.0018666540129874676],"joint_actuator_torque":[-0.12744810320063493,-1.118759604633965,-1.0293281209975476,-0.0010984960126746175,-0.05587439822935547,0.013359432709620478],"joint_position":[-0.5194451731828238,-1.2768748452931211,1.1968509460006524,-4.296106306724387e-06,0.07879682561751378,0.5164497832188003],"joint_velocity":[0.1109510854941371,-0.1996325056162762,0.3160262631001441,0.00023472945587457665,-0.10912586246774604,-0.10049654010185054],"object_angular_velocity":[-9.6608002924369e-12,-4.427731157497183e-12,2.8627874011607594e-26],"object_position":[0.34000000012440007,-0.10999999692582776,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.257071040450652e-14,4.2427615418003424e-14,1.2996691401093648e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2130263384146853e-13,2.6466697489090904e-13,-2.223913931975616e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.7},{"goal":[0.340000000124397,-0.1099999969258212,0.4599914782969372],"joint_targets":[-0.5076670408873059,-1.2979537897532547,1.2287926379908147,-5.281689994871742e-06,0.06923715110321477,0.5076897606833558],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06945751618564543,-0.03948414660929814,0.49835919140557916],[0.27747910879098814,-0.15773708036488943,0.5168864866245949],[0.3251507237630458,-0.1848367110172124,0.521132325112286],[0.37296498078991824,-0.21201744783907372,0.5211984370544374],[0.3730067017175622,-0.2120413478761491,0.4811984659525425]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3730067017175622,-0.2120413478761491,0.4811984659525425],"end_effector_quaternion":[0.9999986854173141,-0.00029796479896416166,-0.0005219610069357794,-0.0015059672404390734],"end_effector_velocity":[-0.02067247744769129,0.06680059212876836,-0.01833216375314715],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41899129404330476,-0.2121750817955437,0.4892465146692462],[0.32699787173678696,-0.21189803120623818,0.4891503977889282]],"gripper_width":0.07999388970550733,"jaw_actuator_force":[0.00625858952924041,-0.0031901457051493054],"joint_actuator_torque":[-0.12723972566558928,-1.1132681224648877,-1.02951591477364,-0.0010172956748619,-0.056194696353482065,0.013427897706840497],"joint_position":[-0.5169089641491106,-1.2814328043916579,1.2041588601026216,-3.992350766245846e-06,0.0760719086883297,0.5138973337911972],"joint_velocity":[0.11151618535780447,-0.1986699308866954,0.31362082969187177,0.00021243730047862457,-0.10776186137545449,-0.10103964886402138],"object_angular_velocity":[-1.0634620174993544e-12,-4.878121596379053e-13,-2.03272670220633e-25],"object_position":[0.340000000124397,-0.1099999969258212,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0660665626208074e-13,4.885131316438403e-14,1.2996690419037886e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4231333357680358e-13,3.105578500242831e-13,-2.2237751540975382e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.72},{"goal":[0.3400000001243944,-0.1099999969258153,0.4599914782969372],"joint_targets":[-0.5050665748138927,-1.3024093964984063,1.235856418732974,-5.058700592346332e-06,0.06662802732563666,0.5050893870454916],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06849749026378643,-0.03870764659141874,0.4987188343285903],[0.27686297571399054,-0.15645411498896122,0.5165960167969584],[0.32461339946299567,-0.18343768066339805,0.5206928711126261],[0.3724968078153104,-0.2104964133210823,0.5207576131039798],[0.3725377244649272,-0.21051971260955718,0.4807576408168527]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3725377244649272,-0.21051971260955718,0.4807576408168527],"end_effector_quaternion":[0.9999986802213496,-0.0002904663143696699,-0.0005118986527941627,-0.0015143132596379624],"end_effector_velocity":[-0.020732215560013676,0.06681252391360207,-0.018213538111528815],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41852250142887854,-0.2106543351017298,0.4888047633824503],[0.3265296803081002,-0.21037574950483012,0.48871050009526146]],"gripper_width":0.07999329124051185,"jaw_actuator_force":[0.006268470477463595,0.00332101566954357],"joint_actuator_torque":[-0.1266016296540613,-1.107528692467099,-1.0288387307771814,-0.0009466794931019569,-0.056470867099315036,0.013502226466442835],"joint_position":[-0.514359184710149,-1.2859687718558277,1.2114114559817595,-3.872877975080459e-06,0.07338018848724935,0.5113308427196228],"joint_velocity":[0.11207869628895094,-0.19772412836104872,0.3112000679210979,0.00019739352862858218,-0.10643426408190802,-0.10159626969629752],"object_angular_velocity":[-1.0036524980212625e-11,-4.59798228030787e-12,-1.1144377317435061e-26],"object_position":[0.3400000001243944,-0.1099999969258153,0.30999147829693724],"object_quaternion":[0.9999999999999999,7.823012682299046e-14,3.583820693327971e-14,1.299668979396063e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0663170425707055e-13,2.3275742816489086e-13,-2.2236363762194602e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.74},{"goal":[0.34000000012439163,-0.10999999692580917,0.4599914782969372],"joint_targets":[-0.5024514846688067,-1.3068440843345284,1.242867621241846,-4.836406478484814e-06,0.06405057730970161,0.5024743943204202],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06753829189127054,-0.03793746936670206,0.4990712313616231],[0.276246078600376,-0.1551723748276776,0.5163059842911736],[0.3240749463878793,-0.18203870732915114,0.5202556151708623],[0.37202757862733304,-0.20897457640054765,0.5203190082011476],[0.3720677056716388,-0.20899727929262768,0.4803190347711689]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3720677056716388,-0.20899727929262768,0.4803190347711689],"end_effector_quaternion":[0.999998674872041,-0.0002830221809316217,-0.0005020196317321314,-0.0015225402774872228],"end_effector_velocity":[-0.02075240541472247,0.06684649851944587,-0.018117484265087393],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41805259033883546,-0.2091327782950173,0.4883652479589619],[0.32605895547616964,-0.20885267533911278,0.4882728031023262]],"gripper_width":0.0799941077404576,"jaw_actuator_force":[0.006365616941410579,-0.006625810133000343],"joint_actuator_torque":[-0.1283304385951567,-1.1039441910368168,-1.0277808206280383,-0.0010871532056493725,-0.056365938152048045,0.013577763996188708],"joint_position":[-0.5117951653721844,-1.2904825732150482,1.2186092383951674,-3.5576500770568193e-06,0.07072073401448117,0.5087503365701541],"joint_velocity":[0.11273101966670722,-0.1967162910152832,0.30879370558684627,0.00023026392219892042,-0.10520244531175876,-0.10215124150640094],"object_angular_velocity":[-7.0033628635880565e-12,-3.2077592446040214e-12,-5.131595510670809e-26],"object_position":[0.34000000012439163,-0.10999999692580917,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.673050757855315e-14,4.429978895930285e-14,1.2996690020866106e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.229060356192219e-13,2.6836263894535573e-13,-2.2241914877317735e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.76},{"goal":[0.3400000001243888,-0.10999999692580281,0.4599914782969372],"joint_targets":[-0.49982236305475714,-1.3112588134575158,1.2498271731821484,-4.612796050619028e-06,0.06150483870363797,0.4998453686347506],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06657971342960993,-0.03717357220377231,0.49941653121002433],[0.27562816241120364,-0.15389197202866345,0.5160165649662213],[0.3235350986361522,-0.180639938655201,0.5198207393686831],[0.3715570052510847,-0.20745211192868107,0.519882783059596],[0.3715963348725769,-0.2074742310848157,0.47988280851055654]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3715963348725769,-0.2074742310848157,0.47988280851055654],"end_effector_quaternion":[0.9999986688416292,-0.00027573646588835004,-0.0004920430957064033,-0.0015310708550300568],"end_effector_velocity":[-0.020828189489335028,0.06684917688930928,-0.017990094312100496],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41758142879138077,-0.20761063227512597,0.487928103465002],[0.325589457251612,-0.20732896370198933,0.4878374974150486]],"gripper_width":0.07999244737702663,"jaw_actuator_force":[0.006328995494575551,0.006233087428984874],"joint_actuator_torque":[-0.12676578018769646,-1.097271219400568,-1.027444723841029,-0.0009251309290323809,-0.05680440115910468,0.013651866706183569],"joint_position":[-0.5092174846285143,-1.2949751943032664,1.2257531183739232,-3.5044947334181386e-06,0.06809400858300202,0.5061555816577872],"joint_velocity":[0.11326704966071446,-0.19583653499670964,0.30644707914289976,0.0001940198397441993,-0.10386106329445047,-0.10271562771885351],"object_angular_velocity":[8.538704268063754e-12,3.916062028512282e-12,5.314629253425359e-25],"object_position":[0.3400000001243888,-0.10999999692580281,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0604114450245563e-13,4.85783732220436e-14,1.2996691532512457e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.6257071352044807e-13,3.5485763672803325e-13,-2.2225261531948363e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.78},{"goal":[0.3400000001243861,-0.10999999692579669,0.4599914782969372],"joint_targets":[-0.4971782250172146,-1.3156530411229086,1.2567352011778248,-4.390036398404002e-06,0.05899013435890693,0.4972013331052034],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0656219493784243,-0.03641600213833284,0.49975476742411157],[0.27500956670412036,-0.15261279288438756,0.5157276047107509],[0.3229942290079257,-0.17924122409702511,0.519388046588939],[0.37108548170241373,-0.20592881910937733,0.5194487650504545],[0.37112403286666523,-0.20595035582704088,0.4794487894257428]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37112403286666523,-0.20595035582704088,0.4794487894257428],"end_effector_quaternion":[0.9999986628266495,-0.0002684668872622224,-0.00048230346739961983,-0.0015393679899450606],"end_effector_velocity":[-0.020847632388664078,0.0668823945324287,-0.017896235746799105],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4171092196282957,-0.20608763710731298,0.48749318780476],[0.32511706282022523,-0.20580444027183523,0.487404375153708]],"gripper_width":0.07999263558750369,"jaw_actuator_force":[0.006406228334446595,-0.006709642722213971],"joint_actuator_torque":[-0.12855767212738556,-1.0938020570963545,-1.0265154894464672,-0.0010620999054177461,-0.05670691367067082,0.013727387775375632],"joint_position":[-0.5066251793715686,-1.29944615091278,1.2328434323933777,-3.138719243101257e-06,0.06549874626792611,0.503546648870749],"joint_velocity":[0.11392780830596488,-0.194856539688808,0.3041046033137889,0.00022478899542806784,-0.10264759972636545,-0.10327660131002404],"object_angular_velocity":[-9.992078277727152e-12,-4.578289395327426e-12,5.306080387706949e-26],"object_position":[0.3400000001243861,-0.10999999692579669,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.971186148847973e-14,4.110597375050282e-14,1.2996694240720334e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.181489930892497e-13,2.5785806277929727e-13,-2.2237751540975394e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.8},{"goal":[0.34000000012438325,-0.10999999692579053,0.4599914782969372],"joint_targets":[-0.4945199185952293,-1.3200279527955743,1.2635926745122998,-4.165822965511217e-06,0.05650668751082251,0.49454312691295826],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06466472739122436,-0.035664702625402334,0.5000861011197361],[0.27438993774549836,-0.1513349847419897,0.5154393410685092],[0.32245196511835283,-0.17784275772704097,0.518957791890103],[0.3706126065454077,-0.2044049317727295,0.5190171829769767],[0.3706503693543004,-0.20442589997324487,0.4790172062981731]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3706503693543004,-0.20442589997324487,0.4790172062981731],"end_effector_quaternion":[0.9999986560453004,-0.00026137150651578145,-0.00047244035667243965,-0.0015480286295695513],"end_effector_velocity":[-0.02092140810161106,0.0668853361758932,-0.017767549324511054],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41663576361638716,-0.20456409232599346,0.48706069687027714],[0.32464413362796324,-0.2042793025815984,0.48697370097276976]],"gripper_width":0.07999211195212225,"jaw_actuator_force":[0.006374210122931601,0.005994837266229069],"joint_actuator_torque":[-0.12702667788943245,-1.087127300705788,-1.0261697706718564,-0.0009039166118947025,-0.057138560051936516,0.013802951494888305],"joint_position":[-0.5040190788149632,-1.3038966555436624,1.2398811088676278,-3.087999740062101e-06,0.06293570852331885,0.5009232157491361],"joint_velocity":[0.1144752348824105,-0.19400431416954544,0.30181126338826536,0.00018955218656527758,-0.10133141886337783,-0.10385119725340543],"object_angular_velocity":[-3.011992437360134e-12,-1.3800582416561038e-12,4.900565074526581e-26],"object_position":[0.34000000012438325,-0.10999999692579053,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0502409744316386e-13,4.81127046220167e-14,1.2996696162850969e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3488363145720625e-13,2.944364774910926e-13,-2.2233588204633057e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.82},{"goal":[0.3400000001243805,-0.10999999692578427,0.4599914782969372],"joint_targets":[-0.49184638724529606,-1.3243829114431387,1.2703996541459124,-3.942300900592619e-06,0.05405379192271739,0.491869702233815],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06370826633029976,-0.03491973032829993,0.50041055681128],[0.27376964408111093,-0.15005842560246085,0.5151516024999321],[0.3219087098156718,-0.1764443766027894,0.5185297588035815],[0.3701388053555136,-0.20288023312631653,0.5185878456801207],[0.37017579811886575,-0.20290063379896045,0.47858786798827674]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37017579811886575,-0.20290063379896045,0.47858786798827674],"end_effector_quaternion":[0.9999986492911463,-0.0002542884131243906,-0.00046280595645131485,-0.0015564587795832523],"end_effector_velocity":[-0.020940331792775484,0.06691765434256258,-0.017671871241393213],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41616128408951736,-0.20303971545838703,0.486630471662657],[0.32416914995557133,-0.2027533720579047,0.486545249493972]],"gripper_width":0.07999261925762827,"jaw_actuator_force":[0.006449527396574339,-0.0067619417546715965],"joint_actuator_torque":[-0.12878889685393347,-1.0836621519748633,-1.0252300277328459,-0.0010374796537416624,-0.057039478573369884,0.013879536753407251],"joint_position":[-0.5013981485809517,-1.3083261214411743,1.2468664131295504,-2.728335928818349e-06,0.0604035830875295,0.4982853954700615],"joint_velocity":[0.11514376708130011,-0.19305189450387164,0.299520290494869,0.00021962931230888857,-0.10013945920010117,-0.10442033944852486],"object_angular_velocity":[2.5044685130605248e-11,1.1474139145968942e-11,-7.138091081320961e-25],"object_position":[0.3400000001243805,-0.10999999692578427,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.608260687272719e-14,4.4010363755301536e-14,1.2996696291015769e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.102839115053303e-13,4.590569544116421e-13,-2.2261343780248686e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.84},{"goal":[0.34000000012437753,-0.1099999969257778,0.4599914782969372],"joint_targets":[-0.48915845737233593,-1.3287190777374434,1.2771570701271422,-3.717137815283642e-06,0.05163168527019438,0.4891818769238284],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06275229888149131,-0.03418102993559,0.5007282884695101],[0.2731483378939117,-0.1487832586347244,0.514864622685826],[0.32136409683425804,-0.17504626937827605,0.5181041992770651],[0.36966368348162154,-0.2013549505652109,0.5181609786574972],[0.36969989585877483,-0.20137479691004626,0.4781609999726737]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36969989585877483,-0.20137479691004626,0.4781609999726737],"end_effector_quaternion":[0.9999986417865848,-0.00024737052483670406,-0.00045304252469786005,-0.0015652428820240735],"end_effector_velocity":[-0.02101246111678801,0.06692061613418593,-0.01754202059535751],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41568558663224253,-0.20151479812405826,0.4862027050001905],[0.3236938977119365,-0.20122683893232232,0.4861192811389466]],"gripper_width":0.07999217744160146,"jaw_actuator_force":[0.006418104468277619,0.0058071805070500915],"joint_actuator_torque":[-0.12730399968270945,-1.0770157427765525,-1.024885581382648,-0.0008837388878634453,-0.057465034578365604,0.013956225062258909],"joint_position":[-0.4987631987597972,-1.312735735090355,1.2538002307457812,-2.6729892197099043e-06,0.05790315178991528,0.4956328673658793],"joint_velocity":[0.11570174339555356,-0.19222545802161153,0.2972769055751945,0.00018540502444634304,-0.09884473284075179,-0.1050031547012445],"object_angular_velocity":[-8.910068736175065e-12,-4.08117158463432e-12,-4.928636788972503e-27],"object_position":[0.34000000012437753,-0.1099999969257778,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0168723161508461e-13,4.6571488562943026e-14,1.2996695373066332e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3005737138781309e-13,2.839694080866001e-13,-2.2234975983413837e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.86},{"goal":[0.3400000001243747,-0.10999999692577159,0.4599914782969372],"joint_targets":[-0.4864550961295862,-1.3330358065787224,1.2838649402024915,-3.4924982965646374e-06,0.049239696598248006,0.4864786264905419],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06179704388597045,-0.03344866206989526,0.5010393188684797],[0.27252638062637485,-0.14750936675100007,0.5145782362771588],[0.32081852029605085,-0.17364827824041992,0.5176809048499811],[0.3691876566664991,-0.19982887348181674,0.5177363988418315],[0.3692231061544693,-0.19984816629855967,0.4777364192028239]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3692231061544693,-0.19984816629855967,0.4777364192028239],"end_effector_quaternion":[0.9999986343133004,-0.00024046255929932917,-0.0004434976462510805,-0.0015738040314810585],"end_effector_velocity":[-0.02103097221190909,0.06695206197407304,-0.017444232274182174],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4152088886501568,-0.19998906603774375,0.4857772455657097],[0.32321668301393625,-0.19969952909775301,0.48569557895988497]],"gripper_width":0.07999269753024324,"jaw_actuator_force":[0.006491621254314239,-0.0068011971291692674],"joint_actuator_torque":[-0.1290317615597587,-1.0735496550529433,-1.0239348795576575,-0.0010135098837390326,-0.057365323168218296,0.014033924606884796],"joint_position":[-0.4961132160280421,-1.3171248972936123,1.260682778133515,-2.3165015779230273e-06,0.05543313731904028,0.49296573577721664],"joint_velocity":[0.11637803572707003,-0.19129898126604267,0.29503331419768164,0.00021463586049099852,-0.09767219060318692,-0.10558087658676969],"object_angular_velocity":[4.719891793789963e-12,2.1620544033837707e-12,3.3407864168746677e-25],"object_position":[0.3400000001243747,-0.10999999692577159,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0875993947497003e-13,4.980567151431226e-14,1.2996697553474392e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5263831817113655e-13,3.3331178008342153e-13,-2.2222485974386803e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.88},{"goal":[0.34000000012437187,-0.10999999692576527,0.4599914782969372],"joint_targets":[-0.48373710611303894,-1.3373342335850333,1.2905241531816531,-3.2660523323265984e-06,0.04687807971388874,0.4837607453117926],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06084223910327803,-0.032722572538331426,0.5013437951886374],[0.27190343074798795,-0.14623688850387556,0.5142926736107115],[0.32027162049990066,-0.17225058591264608,0.5172601249157701],[0.368710337527465,-0.19830222222616764,0.517314329265719],[0.36874501340005655,-0.19832097414481778,0.4773143486913561]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36874501340005655,-0.19832097414481778,0.4773143486913561],"end_effector_quaternion":[0.999998626099531,-0.00023371269366081348,-0.0004338189033996182,-0.0015827124141894566],"end_effector_velocity":[-0.021101533675599585,0.0669550779039531,-0.01731296601705986],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4147309983616713,-0.19846280215018003,0.4853542841884465],[0.32273922969439806,-0.19817162660723361,0.48527440027590474]],"gripper_width":0.07999226417025185,"jaw_actuator_force":[0.006460894092150227,0.005625546236547763],"joint_actuator_torque":[-0.12759068137893337,-1.0669300304563194,-1.0235903905637542,-0.0008639584473932639,-0.05778530101765078,0.0141117632661647],"joint_position":[-0.49344898933112685,-1.3214947693293753,1.2675148983936209,-2.255858341795421e-06,0.052994337140918155,0.4902836833986982],"joint_velocity":[0.11694661418881937,-0.19049664086411416,0.2928358789694713,0.00018135459129066798,-0.09639695709483978,-0.10617211471698787],"object_angular_velocity":[-1.0832236982722907e-11,-4.960313101538768e-12,2.857098197155963e-26],"object_position":[0.34000000012437187,-0.10999999692576527,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.082379854815986e-14,4.1589562408533644e-14,1.2996699390956455e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2097543564483379e-13,2.6418487327913927e-13,-2.2233588204633044e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.9},{"goal":[0.34000000012436876,-0.10999999692575851,0.4599914782969372],"joint_targets":[-0.48100347611720773,-1.3416137050899402,1.2971346862168323,-3.0399697037356536e-06,0.04454619581781032,0.48102723020810434],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.059888103861025624,-0.032002825821228174,0.5016417386105957],[0.2712798435731178,-0.1449657114345619,0.5140077749765456],[0.31972378392380557,-0.17085303938761756,0.5168416583104091],[0.3682321331234617,-0.19677479194649974,0.5168945941235028],[0.36826605208996377,-0.19679300361912327,0.47689461265052346]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36826605208996377,-0.19679300361912327,0.47689461265052346],"end_effector_quaternion":[0.9999986179188267,-0.00022697091019803283,-0.000424348870601915,-0.0015914058810848645],"end_effector_velocity":[-0.02111966337314155,0.066985709697352,-0.01721284617561318],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4142521289199328,-0.19693573963460195,0.48493367636554957],[0.32225984814734393,-0.19664296205803766,0.48485553595287306]],"gripper_width":0.07999277986003167,"jaw_actuator_force":[0.006532690272043951,-0.006838814367746693],"joint_actuator_torque":[-0.12928419532946123,-1.063463388541777,-1.0226282405861298,-0.0009899977811946192,-0.05768523670030401,0.014190593531139939],"joint_position":[-0.49076952442902544,-1.3258447387695464,1.274296761448546,-1.9021258773492714e-06,0.05058550784351855,0.487586808048024],"joint_velocity":[0.1176307874084531,-0.18959442130165624,0.2906357854019687,0.00020975241426672594,-0.09524188016216391,-0.10675853639293151],"object_angular_velocity":[-5.885672411308075e-12,-2.694780755641098e-12,1.2272556860023545e-26],"object_position":[0.34000000012436876,-0.10999999692575851,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1239572990399204e-13,5.1444071608216894e-14,1.2996699464763897e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4229804367485588e-13,3.1088346150260846e-13,-2.2236363762194605e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.92},{"goal":[0.34000000012436604,-0.10999999692575223,0.4599914782969372],"joint_targets":[-0.4782549846680507,-1.345875332238501,1.3036973882253118,-2.811913193719636e-06,0.04224431407778163,0.47827885181255925],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.058934380950049346,-0.031289368846519776,0.5019332898694475],[0.2706552839325381,-0.14369596952927077,0.5137237675199989],[0.3191746575326918,-0.16945581551906788,0.5164257519815836],[0.36775266342706125,-0.19524679600363523,0.5164774140690306],[0.36778581438303154,-0.19526447952101794,0.4764774317151928]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36778581438303154,-0.19526447952101794,0.4764774317151928],"end_effector_quaternion":[0.9999986090062145,-0.00022038050692057109,-0.0004147402323367672,-0.0016004401295571283],"end_effector_velocity":[-0.021188712329133042,0.06698882150505435,-0.01707992022108191],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4137720915510454,-0.19540815279919616,0.4845156110037318],[0.32178024341198563,-0.19511371352465381,0.4844392403593078]],"gripper_width":0.07999235104616884,"jaw_actuator_force":[0.006502656577184851,0.005446695165037596],"joint_actuator_torque":[-0.12788642944556727,-1.0568711216785687,-1.0222825454534927,-0.0008445376973551933,-0.05809993032559735,0.014269595855871842],"joint_position":[-0.48807558890057207,-1.330175942499045,1.2810291697820788,-1.8360138105212302e-06,0.048207461898065275,0.48487479625855473],"joint_velocity":[0.11821005850784459,-0.18881454804264627,0.2884804759361808,0.00017739357799583118,-0.09398419799813684,-0.10735830262854588],"object_angular_velocity":[1.860536607791781e-11,8.516574503356347e-12,-1.838538210989135e-25],"object_position":[0.34000000012436604,-0.10999999692575223,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0335164218317027e-13,4.7302187746042604e-14,1.2996697415281963e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.8728028729974537e-13,4.0918310855264293e-13,-2.22141593017021e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.94},{"goal":[0.3400000001243633,-0.1099999969257462,0.4599914782969372],"joint_targets":[-0.4754906418434164,-1.3501184538541087,1.3102121974096137,-2.5840606663684362e-06,0.03997182725652071,0.47551462791265425],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05798129016043042,-0.030582269702889926,0.502218468828167],[0.27003010122171006,-0.14242755483038222,0.5134404972654721],[0.3186246204232533,-0.16805876600543254,0.5160122121156879],[0.36727232709539537,-0.19371803517909203,0.5160626205962336],[0.3673047259719295,-0.193735191058702,0.4760626373963798]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3673047259719295,-0.193735191058702,0.4760626373963798],"end_effector_quaternion":[0.9999986001273223,-0.0002137965091235664,-0.00040533057984006623,-0.0016092674013899809],"end_effector_velocity":[-0.021206485252426296,0.06701869799418457,-0.016977235353248785],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41329109532379366,-0.19387978210514797,0.4840999504543173],[0.3212987405211424,-0.1935837162371453,0.48402531221757594]],"gripper_width":0.07999286150567045,"jaw_actuator_force":[0.006572784923685404,-0.006875463373276602],"joint_actuator_torque":[-0.12954625618033333,-1.0534047094512289,-1.021308488885893,-0.000966933541700405,-0.05799974242504735,0.014349570922526311],"joint_position":[-0.4853662072241302,-1.3344877560021275,1.2877122489826414,-1.484671648734293e-06,0.045858989063118465,0.4821477394355313],"joint_velocity":[0.11890224207828805,-0.18793500378904104,0.2863201705531722,0.00020497950642506068,-0.09284467736814869,-0.10795352579304239],"object_angular_velocity":[-8.324903964232806e-12,-3.810255477710831e-12,-3.5516978472902334e-26],"object_position":[0.3400000001243633,-0.1099999969257462,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.930417157540521e-14,4.086963531297594e-14,1.299669661578801e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.158405147895483e-13,2.5311658122902254e-13,-2.2236363762194602e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.96},{"goal":[0.34000000012436044,-0.1099999969257399,0.4599914782969372],"joint_targets":[-0.4727112022193479,-1.3543441574700141,1.3166799236808349,-2.3540625790850234e-06,0.0377290198530523,0.47273530550638654],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05702857915944072,-0.029881476411925765,0.5024974101280578],[0.2694039665312675,-0.1411605968417442,0.5131581884782759],[0.31807332613731115,-0.16666206194024427,0.5156012835168675],[0.36679075134193606,-0.19218871596756362,0.5156504322840703],[0.36682238665649447,-0.19220535578380746,0.4756504482550311]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36682238665649447,-0.19220535578380746,0.4756504482550311],"end_effector_quaternion":[0.9999985905240613,-0.00020735745733974813,-0.0003957775831701125,-0.0016184291397910095],"end_effector_velocity":[-0.021274072284334918,0.06702194735860027,-0.01684238873786372],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4128089544543384,-0.1923508933707083,0.48368688199518145],[0.32081702817860863,-0.19205314240817767,0.48361400326493625]],"gripper_width":0.07999243700905159,"jaw_actuator_force":[0.006543437032338062,0.005270350927512268],"joint_actuator_torque":[-0.12819141290538028,-1.046840442475741,-1.0209604318960714,-0.0008254781818049339,-0.05840942419303108,0.014429750221594873],"joint_position":[-0.4826421257627802,-1.3387812929466751,1.294346762471072,-1.4128825422263757e-06,0.04354091640757331,0.4794053278764924],"joint_velocity":[0.1194923018622606,-0.18717607493375849,0.2842033230006836,0.00017352440259966187,-0.0916026478586675,-0.10856192502930848],"object_angular_velocity":[9.553933313745447e-13,4.364888772819767e-13,-1.087807042027337e-25],"object_position":[0.34000000012436044,-0.1099999969257399,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1524918345510978e-13,5.273382177510033e-14,1.2996694689330895e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5098980256941792e-13,3.299890948941411e-13,-2.2247465992440856e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":0.98},{"goal":[0.34000000012435777,-0.1099999969257339,0.4599914782969372],"joint_targets":[-0.46991569691289853,-1.358551775488514,1.323100467574079,-2.1241082021193842e-06,0.035515315993919064,0.4699399231140676],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05607646815234822,-0.02918706042465837,0.5027701325719626],[0.2687772234955632,-0.1398949919888705,0.5128766930748994],[0.31752114659505,-0.16526555963900247,0.5151927798568223],[0.3663083266425858,-0.19065864467832733,0.5152406880496563],[0.3663392135514171,-0.19067476882407247,0.47524070322452433]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3663392135514171,-0.19067476882407247,0.47524070322452433],"end_effector_quaternion":[0.9999985809541382,-0.00020092326016342467,-0.0003864138895835398,-0.0016273917350875244],"end_effector_velocity":[-0.02129150992650585,0.0670511269291651,-0.016736885327282878],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4123258740316525,-0.19082123420677366,0.4832762749584651],[0.3203334465138279,-0.19052183180840296,0.4832051201982253]],"gripper_width":0.07999294225873135,"jaw_actuator_force":[0.006611946794834012,-0.006911216435355527],"joint_actuator_torque":[-0.12981812798346937,-1.0433750016635486,-1.0199739864011121,-0.0009443178889663516,-0.0583093339755667,0.014510884669235224],"joint_position":[-0.4799023874520823,-1.3430559178867254,1.3009327933150572,-1.0635338713968707e-06,0.041252066410013354,0.47664764655988195],"joint_velocity":[0.12019262899646616,-0.18631772809304112,0.2820792399413339,0.00020031861616212125,-0.09047680821311883,-0.10916605514668833],"object_angular_velocity":[-9.902574289996814e-12,-4.5312073874182026e-12,-2.8100259908651e-26],"object_position":[0.34000000012435777,-0.1099999969257339,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.043191036253825e-14,3.6805158569901003e-14,1.299669333469471e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0853790663328579e-13,2.3719437348863315e-13,-2.2237751540975394e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.0},{"goal":[0.3400000001243549,-0.1099999969257274,0.4599914782969372],"joint_targets":[-0.4671048566716896,-1.3627423726171262,1.3294746005294378,-1.8918309187999504e-06,0.03333101575609566,0.46712920421010934],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0551247095351576,-0.028498970834681774,0.5030367650336278],[0.26814954935690105,-0.13863086537592462,0.5125962327843503],[0.3169677418160506,-0.16386942454162612,0.5147869441438908],[0.3658246873272958,-0.18912802106042273,0.5148336047466868],[0.3658548139639404,-0.1891436406137457,0.47483361914149796]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3658548139639404,-0.1891436406137457,0.47483361914149796],"end_effector_quaternion":[0.9999985706664085,-0.00019462782570537287,-0.0003769020407559643,-0.0016366826207244703],"end_effector_velocity":[-0.021357682030229065,0.0670545555331264,-0.016599835489983263],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4118416712397808,-0.18929106209279917,0.482868315332877],[0.3198496681769999,-0.18898995089540974,0.482798912486079]],"gripper_width":0.07999252204506105,"jaw_actuator_force":[0.006583275360606322,0.005096397055716295],"joint_actuator_torque":[-0.12850583321147724,-1.0368393255378123,-1.0196223970971232,-0.0008067840479641933,-0.0587142681448416,0.014592254833011964],"joint_position":[-0.47714771760331065,-1.3473127223680526,1.3074710670848946,-9.858305729887264e-07,0.0389932805851172,0.4738743894548391],"joint_velocity":[0.12079357779848213,-0.1855783204125034,0.2799973196003691,0.00016974880016320387,-0.0892485570262306,-0.10978319654117326],"object_angular_velocity":[-5.998374046384454e-12,-2.744967924870713e-12,4.0767079842372085e-26],"object_position":[0.3400000001243549,-0.1099999969257274,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.900540802866105e-14,4.530962483379711e-14,1.299669292878967e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2715739007887313e-13,2.7785592615982456e-13,-2.2237751540975394e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.02},{"goal":[0.34000000012435205,-0.10999999692572113,0.4599914782969372],"joint_targets":[-0.46427773341637973,-1.366915275868595,1.3358021863481488,-1.6594342934178976e-06,0.03117557472319732,0.4643022078214397],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.054173523888982646,-0.02781728222082134,0.5032973254887376],[0.26752128214134124,-0.1373681176925449,0.5123166656054251],[0.3164134767408401,-0.1624735174881482,0.5143835977154994],[0.36534021590266597,-0.18759665684212934,0.5144290288842637],[0.365369596645384,-0.1876117720787212,0.4744290425304962]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.365369596645384,-0.1876117720787212,0.4744290425304962],"end_effector_quaternion":[0.9999985604106443,-0.00018833578877070815,-0.00036756977279525074,-0.0016457821034158338],"end_effector_velocity":[-0.021374803104358513,0.06708309661367627,-0.01649123602272696],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4113565472912857,-0.18776013164903999,0.4824628796026694],[0.3193640483466277,-0.18745734388268973,0.4823951949632733]],"gripper_width":0.07999302214692572,"jaw_actuator_force":[0.00665021269887589,-0.006946110326284227],"joint_actuator_torque":[-0.1301000104965908,-1.0333755315270992,-1.0186230415465047,-0.0009221528772450831,-0.058614493345361396,0.014674563831420073],"joint_position":[-0.4743771773501333,-1.3515510610761932,1.3139616257852431,-6.380618500930976e-07,0.0367634139467624,0.47108563509204093],"joint_velocity":[0.12150218566566971,-0.18473978868729282,0.27790600596264975,0.0001957706998105295,-0.08813453663930564,-0.11039634358403107],"object_angular_velocity":[1.2638773332120692e-11,5.7837920326687736e-12,3.2924764539013124e-25],"object_position":[0.34000000012435205,-0.10999999692572113,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1423684601992572e-13,5.227906079058408e-14,1.299669343626425e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.761356602273662e-13,3.8487775229835444e-13,-2.2233588204633048e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.04},{"goal":[0.3400000001243492,-0.10999999692571485,0.4599914782969372],"joint_targets":[-0.46143503416607007,-1.3710715278229473,1.3420839581724042,-1.4245300516724852e-06,0.02904930907123811,0.46145963398942874],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.053222668202883565,-0.027141944733208953,0.5035519373454796],[0.2668921051371209,-0.13610686972227104,0.5120382111057359],[0.31585801776788364,-0.16107799836559777,0.5139829821757946],[0.3648545536913836,-0.18606474514072904,0.514027175983597],[0.3648831762773018,-0.1860793666593103,0.4740271888966145]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3648831762773018,-0.1860793666593103,0.4740271888966145],"end_effector_quaternion":[0.9999985494427096,-0.00018217654387705498,-0.0003580843827148841,-0.0016552038419577527],"end_effector_velocity":[-0.021439603921873145,0.06708674658833531,-0.01635167463027605],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.41087032231536336,-0.18622869215946167,0.48206015284996406],[0.3188782437758564,-0.18592417157298963,0.48199421523554775]],"gripper_width":0.07999260619514703,"jaw_actuator_force":[0.006622206709238299,0.004924729316742926],"joint_actuator_torque":[-0.12882990325209676,-1.0268689783636091,-1.0182667197385626,-0.0007884603578324953,-0.059014939198855476,0.014757139363844374],"joint_position":[-0.4715914711082064,-1.3557720044365655,1.3204051580065046,-5.541893005480824e-07,0.03456332256537381,0.4682810810188598],"joint_velocity":[0.12211412854670155,-0.18401857030838717,0.27585557643593783,0.00016606824076957532,-0.08691819303273844,-0.11102234081984695],"object_angular_velocity":[-9.629071238878772e-12,-4.406197946965368e-12,3.437472085516929e-26],"object_position":[0.3400000001243492,-0.10999999692571485,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.226790181223966e-14,4.2218834198551687e-14,1.2996694703515102e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2070707095073166e-13,2.6379876080159125e-13,-2.223775154097539e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.06},{"goal":[0.3400000001243462,-0.10999999692570833,0.4599914782969372],"joint_targets":[-0.4585758314114486,-1.375210451083611,1.3483197436357233,-1.1893384986228315e-06,0.026951706250384566,0.4586005620229336],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05227236340256868,-0.026473035854454128,0.5038006179630692],[0.266262350912521,-0.13484702629787798,0.5117607335940837],[0.3153017230502184,-0.1596827324411626,0.5135849267595245],[0.3643680754374734,-0.18453210299011058,0.5136279003652918],[0.36439595345646536,-0.1845462309536977,0.4736279125750849]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36439595345646536,-0.1845462309536977,0.4736279125750849],"end_effector_quaternion":[0.9999985385044151,-0.00017601929684085227,-0.00034876872100443737,-0.0016644418344129342],"end_effector_velocity":[-0.02145642450826998,0.06711470812292253,-0.01623967311374923],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4103831937492688,-0.18469650510947053,0.4816600189324956],[0.318390624627928,-0.18439028251968367,0.48159579649062506]],"gripper_width":0.07999310121058645,"jaw_actuator_force":[0.0066876147489374205,-0.0069801755054221815],"joint_actuator_torque":[-0.13039211487452462,-1.0234074364063872,-1.0172538801996893,-0.0009004415450253642,-0.05891569675883357,0.01484063872191399],"joint_position":[-0.4687896779450573,-1.3599748982382651,1.3268016657893833,-2.0757592239524777e-07,0.032391894082703564,0.46546079928881257],"joint_velocity":[0.12283115889213998,-0.18319855929093043,0.27379366130691385,0.00019133669752895776,-0.08581412242858653,-0.11164461963876314],"object_angular_velocity":[-1.0565632609966588e-12,-4.853703993960792e-13,-9.841100548692851e-26],"object_position":[0.3400000001243462,-0.10999999692570833,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0630842273785726e-13,4.861607504047267e-14,1.2996693676340707e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4162931824852482e-13,3.09678387514154e-13,-2.2236363762194602e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.08},{"goal":[0.3400000001243436,-0.10999999692570245,0.4599914782969372],"joint_targets":[-0.4557008085166866,-1.3793330667186654,1.3545102373643714,-9.514452449349957e-07,0.02488309936524889,0.455725668595104],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.051322370945310426,-0.025810506780886477,0.5040434855643641],[0.2656317086990386,-0.13358870395720623,0.511484450890234],[0.31474426526760135,-0.15828787414344617,0.5131896721107458],[0.36388042933433706,-0.18299891698261472,0.5132314166625742],[0.3639075501071167,-0.18301256152418502,0.47323142818394875]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3639075501071167,-0.18301256152418502,0.47323142818394875],"end_effector_quaternion":[0.999998526858699,-0.00016998904197629405,-0.0003392947205831588,-0.0016739961918135725],"end_effector_velocity":[-0.02151989446373625,0.06711862253347112,-0.0160972611469624],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4098949846435817,-0.18316381172265872,0.4812626624597802],[0.31790283189596563,-0.1828558319641766,0.4812001849289147]],"gripper_width":0.07999268950364607,"jaw_actuator_force":[0.006660261559733982,0.004755247660096273],"joint_actuator_torque":[-0.12916384751724763,-1.0169304760864861,-1.0168915798689113,-0.0007705130992075102,-0.059311911292981634,0.014924434811199205],"joint_position":[-0.4659724815263996,-1.364160792705297,1.3331518012647823,-1.1726329343348293e-07,0.03024999951621838,0.46262449092918073],"joint_velocity":[0.12345420633249028,-0.18249428250508853,0.2717713530722877,0.00016248431307768255,-0.0846077971183071,-0.11227959146332585],"object_angular_velocity":[-1.0009734437735588e-11,-4.576008104499064e-12,4.828280726602198e-27],"object_position":[0.3400000001243436,-0.10999999692570245,0.30999147829693724],"object_quaternion":[0.9999999999999999,7.802147090202238e-14,3.5666290695214766e-14,1.2996694231511758e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0612033726238323e-13,2.321354542988283e-13,-2.223913931975617e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.1},{"goal":[0.34000000012434084,-0.10999999692569633,0.4599914782969372],"joint_targets":[-0.45280905830909696,-1.3834386938621301,1.3606552309908875,-7.130893404488035e-07,0.022843008501124924,0.45283405307171204],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.050372912077012076,-0.025154437684262454,0.5042805570828348],[0.2650005057559518,-0.13233181155270474,0.5112092338866733],[0.3141859959740422,-0.15689329306422276,0.5127970556542196],[0.36339198256599836,-0.18146500933921922,0.5128375872875913],[0.363418358875461,-0.1814781705104312,0.4728375981491694]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.363418358875461,-0.1814781705104312,0.4728375981491694],"end_effector_quaternion":[0.9999985152393724,-0.0001639594030985072,-0.00032998036328408544,-0.0016833743863101838],"end_effector_velocity":[-0.021536428096827855,0.06714606448829592,-0.01598151774103432],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4094058887593898,-0.1816303802011075,0.4808679749441695],[0.3174132506731205,-0.18132067269110747,0.4808072123675698]],"gripper_width":0.07999317949121992,"jaw_actuator_force":[0.006724180446360251,-0.007013437715684745],"joint_actuator_torque":[-0.13069466479245762,-1.013471716920435,-1.015864613866711,-0.0008791879750037986,-0.059213420173075626,0.01500914107272422],"joint_position":[-0.4631389785815367,-1.3683290256230989,1.33945552723656,2.2863088958736028e-07,0.02813655953126092,0.4597722214740277],"joint_velocity":[0.12417980629284751,-0.1816915789763296,0.26973551548510105,0.00018701778909855393,-0.08351177590238297,-0.11291112250342994],"object_angular_velocity":[-6.985285455284888e-12,-3.1925530149465505e-12,-5.700851827134111e-27],"object_position":[0.34000000012434084,-0.10999999692569633,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.64602261598043e-14,4.408723749848408e-14,1.2996694975171426e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2231660050804531e-13,2.6761835212972334e-13,-2.223358820463304e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.12},{"goal":[0.340000000124338,-0.10999999692569001,0.4599914782969372],"joint_targets":[-0.4499012405404212,-1.3875283326078223,1.3667553799725214,-4.7182589411919807e-07,0.020831784877891404,0.44992636879197495],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.049423752607798056,-0.02450478080091799,0.5045119458166842],[0.26436843715867675,-0.13107646144684887,0.5109352991173333],[0.31362659403491977,-0.15549913826154135,0.5124073175820654],[0.3629023900769179,-0.1799305602266441,0.5124466264932338],[0.36292800879880094,-0.17994324770472978,0.47244663670937276]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36292800879880094,-0.17994324770472978,0.47244663670937276],"end_effector_quaternion":[0.99999850291651,-0.00015805108238564332,-0.000320502093828068,-0.0016930632007761735],"end_effector_velocity":[-0.021598604474818116,0.06715028785974934,-0.015835879571358364],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4089157320443595,-0.1800964438346394,0.48047614101924624],[0.31692350631553373,-0.1797849544668218,0.480417124122651]],"gripper_width":0.07999277201586857,"jaw_actuator_force":[0.006697465792537827,0.004587855286830589],"joint_actuator_torque":[-0.12950790366431875,-1.007024752266375,-1.0154950249464036,-0.0007529492653266875,-0.05960566097287856,0.015094173703900537],"joint_position":[-0.4602898321592502,-1.3724806278605695,1.3457134595264395,3.2567215982120334e-07,0.026052460797496062,0.4569036953238451],"joint_velocity":[0.1248140750868862,-0.18100307401964985,0.2677379928834674,0.0001589988980714432,-0.08231353661374657,-0.11355519357796383],"object_angular_velocity":[8.512694697851883e-12,3.890966433598533e-12,6.827524282489844e-26],"object_position":[0.340000000124338,-0.10999999692569001,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0574127172026645e-13,4.833088000740799e-14,1.2996694507132727e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.6173572038556382e-13,3.5385107783473747e-13,-2.221832263804444e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.14},{"goal":[0.3400000001243353,-0.10999999692568391,0.4599914782969372],"joint_targets":[-0.446976468139302,-1.3916012995310245,1.3728104396602385,-2.2991423625558455e-07,0.01884898240252225,0.44700173495119444],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04847511408505275,-0.023861618785463112,0.5047376684464262],[0.26373582500510623,-0.12982256638529388,0.5106625243889032],[0.3130664045909518,-0.15410528354358843,0.512020303875721],[0.36241201169058235,-0.1783953969287258,0.5120584051364],[0.3624368847727983,-0.17840761065183094,0.47205841473446675]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3624368847727983,-0.17840761065183094,0.47205841473446675],"end_effector_quaternion":[0.9999984906158739,-0.00015214197042513175,-0.0003111730317679076,-0.001702583372232422],"end_effector_velocity":[-0.02161486217211682,0.06717727177725956,-0.01571601407540071],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4084247046813535,-0.17856177738868095,0.4800870602053374],[0.31643199880364087,-0.17824853419231906,0.4800297609915327]],"gripper_width":0.07999325703117222,"jaw_actuator_force":[0.006759932703081617,-0.007045918073742996],"joint_actuator_torque":[-0.1310078982081393,-1.0035692258092013,-1.0144532032225015,-0.0008583973709711839,-0.0595081452558639,0.015180104282123352],"joint_position":[-0.45742415636779865,-1.3766149300223511,1.351925522030965,6.712980870060189e-07,0.023996657741818313,0.45401897143409997],"joint_velocity":[0.12554839822390995,-0.1802165401794021,0.2657249276384055,0.00018281551522128154,-0.0812236074641866,-0.11419610388606574],"object_angular_velocity":[-9.963768216784895e-12,-4.554320528470509e-12,3.589254890454629e-27],"object_position":[0.3400000001243353,-0.10999999692568391,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.945935772680954e-14,4.0890782008062134e-14,1.2996694880023024e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1753026534317532e-13,2.571303123394781e-13,-2.223913931975616e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.16},{"goal":[0.34000000012433246,-0.10999999692567776,0.4599914782969372],"joint_targets":[-0.444035377250446,-1.3956585742146168,1.3788210251913413,1.512541660682769e-08,0.01689497202007472,0.4440607815523758],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04752676656461712,-0.023224904911339578,0.5049578335886644],[0.263102370118923,-0.12857023462036313,0.5103911254723981],[0.3125051126001181,-0.15271187267868103,0.5116362548624204],[0.36192050898595957,-0.17685969327782208,0.5116731376750505],[0.36194462282074297,-0.17687144247349443,0.47167314666905935]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36194462282074297,-0.17687144247349443,0.47167314666905935],"end_effector_quaternion":[0.9999984776147335,-0.00014634857955631947,-0.00030167400261784966,-0.00171240856829011],"end_effector_velocity":[-0.021675779133179782,0.06718185067654642,-0.015566730245607749],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.407932635490992,-0.17702660633683473,0.4797009177338588],[0.31594033796590026,-0.17671155623730084,0.47964536800514035]],"gripper_width":0.07999285377833748,"jaw_actuator_force":[0.006733840665910762,0.004422458004317065],"joint_actuator_torque":[-0.12986232456290736,-0.9971525857235974,-1.0140749304489418,-0.0007357769442702653,-0.05989667370451479,0.015266390387424167],"joint_position":[-0.45454259375676087,-1.3807329444050689,1.3580922940097715,7.753782398733134e-07,0.02197005375176699,0.4511177574602191],"joint_velocity":[0.12619401261767596,-0.17954270990673182,0.26374885312485563,0.00015561426316607025,-0.08003145108837947,-0.11484940591741252],"object_angular_velocity":[-3.0043218222025956e-12,-1.372860696119765e-12,-9.124859618458701e-26],"object_position":[0.34000000012433246,-0.10999999692567776,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0475273450422126e-13,4.788925258428912e-14,1.2996695273770599e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.342526034272861e-13,2.9367136189547953e-13,-2.223775154097538e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.18},{"goal":[0.3400000001243297,-0.10999999692567153,0.4599914782969372],"joint_targets":[-0.4410771006639894,-1.3996994715677809,1.3847868548386102,2.6101243204963583e-07,0.014969343143451053,0.441102647387962],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0465789318812691,-0.022594724117165132,0.5051724578275764],[0.26246838958381385,-0.12731938266080536,0.5101209874899205],[0.3119430569739804,-0.15131878357705625,0.5112550255375411],[0.3614282346235537,-0.17532328148990456,0.5112907038535207],[0.3614516002847997,-0.17533456597676342,0.4712907122696937]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3614516002847997,-0.17533456597676342,0.4712907122696937],"end_effector_quaternion":[0.9999984646307379,-0.0001405529168894517,-0.0002923132567096187,-0.0017220725897858216],"end_effector_velocity":[-0.021691769357564828,0.06720844029494052,-0.015442314114094422],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40743971117557615,-0.17549071184886458,0.47931762157475166],[0.3154469386414381,-0.17517388149709448,0.479263795382725]],"gripper_width":0.07999333387397384,"jaw_actuator_force":[0.006794889766448264,-0.007077632983657267],"joint_actuator_torque":[-0.13133206959403765,-0.9937006523797436,-1.013017415345928,-0.0008380761470300224,-0.05980036613188111,0.0153535637392892],"joint_position":[-0.45164427551622727,-1.3848339951938327,1.3642136603435562,1.1212064122696404e-06,0.01997163815061788,0.4482001056987699],"joint_velocity":[0.12693722022121906,-0.17877127846577515,0.2617552332019151,0.00017873185508867075,-0.07894556973462026,-0.11549983044719794],"object_angular_velocity":[2.4960489336065144e-11,1.1415878991039516e-11,-1.5217991325202325e-25],"object_position":[0.3400000001243297,-0.10999999692567153,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.581608973033714e-14,4.381261010670056e-14,1.2996695553712198e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0929052822315506e-13,4.577098615474039e-13,-2.221415930170209e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.2},{"goal":[0.34000000012432685,-0.10999999692566506,0.4599914782969372],"joint_targets":[-0.4381022561241084,-1.4037248961633806,1.3907079252261974,5.060151547194097e-07,0.013073007631971594,0.4381279443849928],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04563138042801793,-0.02197102887356181,0.505381646103132],[0.2618335841901461,-0.12607011193502388,0.5098524395631373],[0.31137992255230046,-0.1499261518032756,0.5108769963977219],[0.3609348505706398,-0.17378632614570688,0.5109114847434801],[0.3609574712049386,-0.17379716301768405,0.47091149260761705]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3609574712049386,-0.17379716301768405,0.47091149260761705],"end_effector_quaternion":[0.9999984508733467,-0.0001349709561847271,-0.00028299214170016715,-0.0017320361414318566],"end_effector_velocity":[-0.02175181253413045,0.06721359687920736,-0.01529131943761294],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4069457741227875,-0.17395431534181588,0.47893754387611487],[0.31495340651900494,-0.17363565268906797,0.4788854343905644]],"gripper_width":0.07999293428646675,"jaw_actuator_force":[0.006770880879267693,0.0042585170342253065],"joint_actuator_torque":[-0.1302274499572036,-0.9872931575304165,-1.0126216220786546,-0.0007190278302790246,-0.06018418472415621,0.015441119837980466],"joint_position":[-0.448729823691906,-1.388919092199168,1.3702897085676964,1.2328809015178177e-06,0.018002322758422836,0.44526572692676664],"joint_velocity":[0.12759431419498674,-0.17811170498613468,0.2598048143796267,0.00015233336557406217,-0.07775746298478989,-0.11616250312449417],"object_angular_velocity":[-8.883870447749323e-12,-4.062201612579589e-12,2.0478301519066538e-26],"object_position":[0.34000000012432685,-0.10999999692566506,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.01393259773796e-13,4.636258960995972e-14,1.2996695597300258e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.294725007075893e-13,2.831502919023041e-13,-2.2230812647071462e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.22},{"goal":[0.340000000124324,-0.10999999692565886,0.4599914782969372],"joint_targets":[-0.4351099992493635,-1.4077341530384597,1.3965838019295251,7.483617515607218e-07,0.011205698320469411,0.43513583386024873],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04468433913354488,-0.02135390863145639,0.5055854140232349],[0.2611982709330382,-0.12482234537539216,0.5095854058345374],[0.3108160469704221,-0.14853386212921077,0.5105020706246275],[0.3604407072604611,-0.17224866720875884,0.5105354043502537],[0.36046260786563733,-0.1722590631908182,0.47053541169666624]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36046260786563733,-0.1722590631908182,0.47053541169666624],"end_effector_quaternion":[0.9999984370707408,-0.0001294727411336894,-0.00027398351443702927,-0.001741845549641358],"end_effector_velocity":[-0.021768074919633347,0.06724008827959926,-0.01516516160358105],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4064510079509565,-0.17241720611627337,0.47856063361668016],[0.3144581705033415,-0.17209673652199586,0.4785101828472112]],"gripper_width":0.07999340947972473,"jaw_actuator_force":[0.006832512691289594,-0.007112064589534839],"joint_actuator_torque":[-0.13166771861659754,-0.9838199602608029,-1.0115381912227122,-0.0008182787894724944,-0.06008902416278383,0.01552954187987865],"joint_position":[-0.4457983876413766,-1.3929875343015865,1.3763201300578274,1.5781759323194925e-06,0.016061336468018373,0.44231466879583176],"joint_velocity":[0.12834651990756407,-0.17735432377130883,0.2578352971185304,0.00017470017671670688,-0.07666515254542555,-0.11682249683923068],"object_angular_velocity":[4.707103346119115e-12,2.1521130430398753e-12,6.997576548371156e-25],"object_position":[0.340000000124324,-0.10999999692565886,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0843395651806299e-13,4.9581053758167055e-14,1.2996699258649693e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5195569133336196e-13,3.323201217766631e-13,-2.222387375316754e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.24},{"goal":[0.3400000001243212,-0.10999999692565256,0.4599914782969372],"joint_targets":[-0.43210092123751187,-1.4117281881982486,1.4024150493338787,9.920182998084398e-07,0.009367804128188897,0.43212690134459264],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04373759061744293,-0.020743320906188467,0.5057838606676682],[0.2605621667364145,-0.12357618616672732,0.5093201034670414],[0.31025113209701216,-0.14714205112226747,0.5101304924418977],[0.35994548415512406,-0.17071046935499165,0.5101626721221465],[0.35996665894988505,-0.17072043690061567,0.47016267896869585]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35996665894988505,-0.17072043690061567,0.47016267896869585],"end_effector_quaternion":[0.9999984225458661,-0.00012413041998000186,-0.00026490282250039464,-0.001751948604346307],"end_effector_velocity":[-0.021827167443585663,0.06724574479455278,-0.015010716105780648],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40595524659346677,-0.17087959524716836,0.47818706497524927],[0.31396281108615065,-0.17055726774362698,0.4781382866230119]],"gripper_width":0.07999301313097038,"jaw_actuator_force":[0.006809626617195974,0.004095461553784929],"joint_actuator_torque":[-0.13060332488154813,-0.977440675178741,-1.0111289341821248,-0.0007026726456164161,-0.06047178703433498,0.01561836292506058],"joint_position":[-0.44285057127800254,-1.397040281127814,1.3823054029383521,1.69368273462342e-06,0.014149793060668577,0.43934664766705445],"joint_velocity":[0.12901507760778888,-0.17670604944698587,0.2558989594300597,0.0001489779505780981,-0.07546361817992606,-0.11749449789416863],"object_angular_velocity":[-1.079926562136021e-11,-4.937777836613007e-12,5.112656011753061e-26],"object_position":[0.3400000001243212,-0.10999999692565256,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.054581365540863e-14,4.140120751878477e-14,1.2996702523813922e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2042714317174637e-13,2.6337861281364286e-13,-2.2239139319756134e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.26},{"goal":[0.3400000001243181,-0.10999999692564584,0.4599914782969372],"joint_targets":[-0.42907430381959616,-1.4157063144169078,1.4082013373734767,1.2355561339825655e-06,0.007558961435313387,0.4291004341897146],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04279135768922676,-0.020139360704425336,0.5059770024069574],[0.2599255686855749,-0.12233158905774999,0.5090564307914641],[0.3096854920389047,-0.14575064138872024,0.5097621331295802],[0.35944950462579256,-0.1691716167625898,0.5097931780754295],[0.3594699679987599,-0.16918115770111442,0.4697931844476692]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3594699679987599,-0.16918115770111442,0.4697931844476692],"end_effector_quaternion":[0.9999984080521794,-0.00011881087469110428,-0.0002560019007773049,-0.0017618853849668884],"end_effector_velocity":[-0.021842945428898496,0.06727260810161108,-0.014879541402774142],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40545864859307057,-0.16934131547508993,0.4778167510153404],[0.31346574825448464,-0.16901715763894515,0.4777696115628316]],"gripper_width":0.07999348353625775,"jaw_actuator_force":[0.006870738168471391,-0.007147164764363723],"joint_actuator_torque":[-0.1320158341318063,-0.9739746394500344,-1.010028542059274,-0.0007989096845941213,-0.060380056476265764,0.01570859329822838],"joint_position":[-0.43988565263463847,-1.4010766353783162,1.3882453316830947,2.035062755680396e-06,0.012266850104376956,0.4363618543637677],"joint_velocity":[0.1297781904573258,-0.1759606351388397,0.2539406647441883,0.0001706540575946454,-0.07436049622212881,-0.11816827682438646],"object_angular_velocity":[-5.867907926513595e-12,-2.683335540509101e-12,4.296545741534774e-27],"object_position":[0.3400000001243181,-0.10999999692564584,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1202317036462649e-13,5.122517323478077e-14,1.299670315922034e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4169096130084996e-13,3.0986079166229005e-13,-2.2237751540975353e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.28},{"goal":[0.34000000012431536,-0.10999999692563958,0.4599914782969372],"joint_targets":[-0.42603081154713524,-1.4196694458376886,1.4139431570390966,1.482001827842957e-06,0.005779599885237697,0.4260570916629522],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04184542252830265,-0.019541989140334202,0.5061649349100406],[0.2592881847448684,-0.12108867790913225,0.5087946040380706],[0.3091188177528314,-0.14435979408531513,0.5093972365465775],[0.3589524353922687,-0.16763230273573929,0.5094271377555618],[0.35897217545133886,-0.1676414263600944,0.46942714366694294]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35897217545133886,-0.1676414263600944,0.46942714366694294],"end_effector_quaternion":[0.9999983929190311,-0.00011360786753573743,-0.00024695245746609944,-0.0017720798772149046],"end_effector_velocity":[-0.021900284075708893,0.06728000238139625,-0.01472038670521762],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40496103570038416,-0.16780260569620076,0.4774498771865189],[0.3129685325302316,-0.16747657316713319,0.4774044043786758]],"gripper_width":0.07999309215640488,"jaw_actuator_force":[0.0068497961906306415,0.003929799679440293],"joint_actuator_torque":[-0.13099415952135018,-0.9676280165716662,-1.0096067882752777,-0.00068668928324563,-0.06076096809230258,0.015799865524321888],"joint_position":[-0.43690431646206485,-1.4050975509382506,1.39414037698701,2.153532852894844e-06,0.01041351557931563,0.43336013171095045],"joint_velocity":[0.13046190974494698,-0.17532335352982312,0.2520152179578605,0.0001457336570273774,-0.07315297778394034,-0.1188585643963314],"object_angular_velocity":[1.8555299623916547e-11,8.486588949271364e-12,1.0584994642107826e-25],"object_position":[0.34000000012431536,-0.10999999692563958,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0303271766503232e-13,4.711430682201461e-14,1.2996702350295806e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.8654652694352538e-13,4.0793643249819736e-13,-2.2237751540975357e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.3},{"goal":[0.34000000012431264,-0.10999999692563359,0.4599914782969372],"joint_targets":[-0.42296962499790336,-1.4236168953560826,1.419640133216457,1.7293550440398816e-06,0.0040294007456607205,0.4229960594809519],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04090001033431074,-0.01895129662631344,0.5063476750595792],[0.2586503226107675,-0.11984737769555694,0.5085345285924415],[0.3085514358407888,-0.14296939627392524,0.5090356825270558],[0.35845461442544635,-0.16609237055065018,0.5090644530969303],[0.35847364137253784,-0.16610107693489332,0.46906445856975365]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35847364137253784,-0.16610107693489332,0.46906445856975365],"end_effector_quaternion":[0.9999983778200944,-0.00010840578044750837,-0.00023803041673506467,-0.0017821186512673643],"end_effector_velocity":[-0.02191548984359205,0.0673071865887996,-0.014583525244040052],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40446259213618047,-0.16626326317549278,0.47708637070203397],[0.31246962876016215,-0.16593538158347126,0.4770425406982852]],"gripper_width":0.07999355813375778,"jaw_actuator_force":[0.006909889156352378,-0.007183177886757264],"joint_actuator_torque":[-0.1323793105179618,-0.9641684098892256,-1.008488617162243,-0.0007800033901969134,-0.060671745024569734,0.015892089781637253],"joint_position":[-0.43390573274143884,-1.4091023291806075,1.3999903133675327,2.492540043771974e-06,0.008588914518799094,0.43034147137049633],"joint_velocity":[0.13123591868627682,-0.17458953295586455,0.2500662377259648,0.00016680662628126941,-0.07204445543208014,-0.1195474873006369],"object_angular_velocity":[-8.300415082019404e-12,-3.79582564218143e-12,6.952868124910568e-26],"object_position":[0.34000000012431264,-0.10999999692563359,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.904118555867903e-14,4.072086634925256e-14,1.2996703671430495e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1541356784233364e-13,2.523684460307275e-13,-2.2240527098536926e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.32},{"goal":[0.34000000012430975,-0.10999999692562731,0.4599914782969372],"joint_targets":[-0.41989129518429813,-1.427549558338385,1.4252927067939687,1.9803694718657024e-06,0.002308824681712546,0.4199178834935336],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0399549087235165,-0.018367240921130984,0.5065253148083204],[0.2580117067672539,-0.11860778387605501,0.5082764216053908],[0.3079830563189437,-0.14157957496989176,0.5086777169130527],[0.3579557301571046,-0.1645519737611209,0.5087053437392588],[0.3579740295610449,-0.1645602707947052,0.468705348785621]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3579740295610449,-0.1645602707947052,0.468705348785621],"end_effector_quaternion":[0.9999983620557505,-0.00010330275137358764,-0.00022892808720480294,-0.0017924302743795373],"end_effector_velocity":[-0.021971575581793155,0.06731511731409227,-0.01441895615842721],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4039631594177114,-0.16472348775674045,0.47672642299457024],[0.3119705890105373,-0.164393709957927,0.47668426935468067]],"gripper_width":0.0799931711620206,"jaw_actuator_force":[0.006889193409532979,0.0037653363893621616],"joint_actuator_torque":[-0.13139784323166737,-0.9578551814909133,-1.0080526072510452,-0.0006711646066926586,-0.06105030786194038,0.015984907298069118],"joint_position":[-0.43089047340048403,-1.4130919098198487,1.4057955667601183,2.6165477512205623e-06,0.006794037107612018,0.4273055923851549],"joint_velocity":[0.13193158432825144,-0.17396255151511722,0.24814878656384196,0.00014268857341932526,-0.07083286014095365,-0.12024918844760812],"object_angular_velocity":[9.524128189167775e-13,4.355848191664732e-13,2.4440941671704084e-25],"object_position":[0.34000000012430975,-0.10999999692562731,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1491336115055132e-13,5.2553795078291793e-14,1.2996706278634328e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5047559428492672e-13,3.2902614680001627e-13,-2.2244690434879283e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.34},{"goal":[0.3400000001243071,-0.10999999692562132,0.4599914782969372],"joint_targets":[-0.41679502458520773,-1.4314667474887806,1.430900453519262,2.232830455358465e-06,0.0006176018509736897,0.4168217711458703],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.039010342756702746,-0.01778991393565434,0.5066978715497585],[0.2573726397073935,-0.1173698251856554,0.5080201974779286],[0.30741399942526015,-0.14019022151378066,0.5083232305031342],[0.35745611323922566,-0.16301096083454433,0.5083497235943013],[0.35747369314180283,-0.16301884787254076,0.46834972823503085]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35747369314180283,-0.16301884787254076,0.46834972823503085],"end_effector_quaternion":[0.9999983463020343,-9.819169740613266e-05,-0.00021992614673143208,-0.0018026048034252094],"end_effector_velocity":[-0.021986402520931828,0.06734217454094585,-0.014275690218637076],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40346291585682337,-0.16318308276132293,0.47636997370006917],[0.311469890051662,-0.16285143095513654,0.476329477590825]],"gripper_width":0.07999363254945686,"jaw_actuator_force":[0.006947779304200097,-0.007217933350109007],"joint_actuator_torque":[-0.1327551596529304,-0.9544019979786071,-1.0069153351982436,-0.0007616393561171726,-0.06096346586650592,0.01607860143361961],"joint_position":[-0.4278577272274955,-1.4170655917147428,1.41155587247098,2.955645283139977e-06,0.005028026658483706,0.4242524999907747],"joint_velocity":[0.1327152854362478,-0.17323963090041256,0.2462058771223114,0.00016316237677088723,-0.06971886609965124,-0.12094930553728996],"object_angular_velocity":[-9.872708335836464e-12,-4.515576519173725e-12,-9.423633256546092e-27],"object_position":[0.3400000001243071,-0.10999999692562132,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.018774525073891e-14,3.6679148737174855e-14,1.2996706619126702e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0816529801141354e-13,2.364764771177381e-13,-2.2237751540975382e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.36},{"goal":[0.3400000001243042,-0.10999999692561485,0.4599914782969372],"joint_targets":[-0.4136813393691947,-1.4353693373555851,1.4364637566050538,2.4894377723810594e-06,-0.00104377040972756,0.41370824371924625],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03806610373671812,-0.01721927433824783,0.5068654336271858],[0.2567328511450925,-0.11613359292255812,0.5077660760888612],[0.3068439807595116,-0.13880145759812923,0.5079724733196618],[0.3569554581348976,-0.16146947897059605,0.5079978172255303],[0.3569723026886986,-0.16147696311081366,0.46799782147242236]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3569723026886986,-0.16147696311081366,0.46799782147242236],"end_effector_quaternion":[0.9999983298730953,-9.316985034877713e-05,-0.00021072619642384542,-0.0018130540172022463],"end_effector_velocity":[-0.022041222451820348,0.06735072218417601,-0.014104929988689844],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40296170554558836,-0.16164224006872122,0.476017220022026],[0.3109690687760404,-0.1613086667761355,0.47597841823218995]],"gripper_width":0.07999324973352341,"jaw_actuator_force":[0.006927419882753583,0.003602872766052201],"joint_actuator_torque":[-0.13181367872653027,-0.9481217856229023,-1.0064629710692543,-0.0006561196144680669,-0.061339790112597714,0.016172867949684644],"joint_position":[-0.4248080454861618,-1.421024299768233,1.4172716140366322,3.0870137284436006e-06,0.003291887426791378,0.4211819244955789],"joint_velocity":[0.13342313960542185,-0.17262224507602844,0.24429283102302213,0.00013981777212116465,-0.06850187426261843,-0.1216617204598845],"object_angular_velocity":[-5.979691479778548e-12,-2.7356048768044337e-12,8.622721794420408e-26],"object_position":[0.3400000001243042,-0.10999999692561485,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.867795563274233e-14,4.514284702221271e-14,1.2996708628548073e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2669446038998054e-13,2.7694400737252884e-13,-2.2232200425852248e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.38},{"goal":[0.34000000012430137,-0.1099999969256086,0.4599914782969372],"joint_targets":[-0.41054946070762616,-1.4392566422408373,1.441982138945589,2.7478911081957293e-06,-0.002675507475743153,0.41057652713809484],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03712241700021708,-0.01665541540911495,0.5070280189685005],[0.2560926392391183,-0.11489901882518003,0.5075139824168465],[0.30627331516886647,-0.1374131779413616,0.5076253490404258],[0.3564540892332953,-0.15992738075936186,0.5076495516165986],[0.35647020491884834,-0.15993446097351974,0.46764955548965825]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35647020491884834,-0.15993446097351974,0.46764955548965825],"end_effector_quaternion":[0.9999983134394604,-8.813521977355914e-05,-0.00020160711319976282,-0.0018233773579376365],"end_effector_velocity":[-0.022055644574146285,0.06737773744710372,-0.013954442400764749],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4024597038004614,-0.16010076831816425,0.4756681145109255],[0.3104666164847387,-0.159765293670182,0.4756309918348165]],"gripper_width":0.0799937064978399,"jaw_actuator_force":[0.006984532830234258,-0.007251570318521416],"joint_actuator_torque":[-0.13314378000686133,-0.9446746879050352,-1.0053048641809141,-0.0007438253887406753,-0.06125553211921639,0.01626798389399653],"joint_position":[-0.4217406324012187,-1.4249673294303742,1.4229424803452813,3.4278188941288364e-06,0.0015848022313940436,0.4180938693897217],"joint_velocity":[0.134216772109681,-0.1719094738733629,0.24235210541867808,0.00015969516160496547,-0.06738026601007441,-0.12237267760618276],"object_angular_velocity":[1.2599109436278108e-11,5.766540364180833e-12,3.5235098897253947e-25],"object_position":[0.34000000012430137,-0.1099999969256086,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1386130306036074e-13,5.2097998953610473e-14,1.299670943642477e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.755237032024465e-13,3.8361607499953203e-13,-2.2258568222687097e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.4},{"goal":[0.34000000012429854,-0.10999999692560233,0.4599914782969372],"joint_targets":[-0.40739988949768935,-1.4431295160984885,1.4474559197375787,3.0109177220949807e-06,-0.004277068737252497,0.40742711765941286],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03617907769114427,-0.016098296844003653,0.507185712431468],[0.2554517390958532,-0.11366619017733044,0.5072641406945222],[0.305701724001099,-0.13602549906621783,0.5072821138381388],[0.3559517071714911,-0.15838480720296355,0.5073051577391241],[0.35596707699969904,-0.15839148998352226,0.46730516125026395]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35596707699969904,-0.15839148998352226,0.46730516125026395],"end_effector_quaternion":[0.9999982963252054,-8.318227016954981e-05,-0.00019227573422264492,-0.0018339731293016259],"end_effector_velocity":[-0.02210919379415233,0.06738697818339921,-0.01377659182339296],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40195675772750894,-0.158558851768586,0.47532286125240075],[0.30996405551003275,-0.15822142870341468,0.47528745707544895]],"gripper_width":0.07999332785074093,"jaw_actuator_force":[0.006964483557704071,0.0034422742138815465],"joint_actuator_torque":[-0.13224209408741672,-0.9384270853819316,-1.0048336285559003,-0.0006415682047046189,-0.06162991422973818,0.016363684819594937],"joint_position":[-0.41865601858309465,-1.428895590392297,1.4285688059570887,3.5677794189950935e-06,-9.219559496550362e-05,0.41498806976935226],"joint_velocity":[0.1349370366042954,-0.17130092655936818,0.24043927376416147,0.00013710118547433458,-0.06615514783813006,-0.12309570684059452],"object_angular_velocity":[-9.597836896402074e-12,-4.391848248992278e-12,1.2730056591713228e-26],"object_position":[0.34000000012429854,-0.10999999692560233,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.196694847497037e-14,4.208366412073085e-14,1.2996710393443982e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2031895574357057e-13,2.6293956975123624e-13,-2.2236363762194602e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.42},{"goal":[0.34000000012429554,-0.10999999692559582,0.4599914782969372],"joint_targets":[-0.4042318651642508,-1.4469872759624198,1.4528845621825373,3.276179410348321e-06,-0.005848607114911487,0.4042592592394149],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.035236311572832156,-0.015548013189752553,0.5073385325420787],[0.25481044486776594,-0.11243504160479034,0.5070164880074015],[0.30512951708118824,-0.13463831894990316,0.5069426861348714],[0.3554486304592427,-0.15684161486801773,0.5069645772093154],[0.3554632594331638,-0.1568478988860109,0.4669645803780126]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3554632594331638,-0.1568478988860109,0.4669645803780126],"end_effector_quaternion":[0.9999982791928709,-7.821281236967957e-05,-0.00018300674869884122,-0.001844451838048495],"end_effector_velocity":[-0.022123182633860115,0.06741404857227017,-0.013617920751106719],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40145303990649533,-0.15701630430279806,0.4749814270521328],[0.30945989196913876,-0.15667695132695128,0.4749477296029058]],"gripper_width":0.07999378002552487,"jaw_actuator_force":[0.007020136641324726,-0.007284075561454273],"joint_actuator_torque":[-0.13354562372984446,-0.9349855851670554,-1.0036525293866134,-0.0007265751507688283,-0.061548581966868854,0.01646022998208707],"joint_position":[-0.41555342314798643,-1.4328083746084144,1.434150227238919,3.911468558398574e-06,-0.0017398721763745065,0.4118645233342523],"joint_velocity":[0.1357408687333974,-0.17059754668335472,0.23849629068189815,0.00015639091879755297,-0.06502274412384694,-0.12381755971595107],"object_angular_velocity":[-1.0539881857555474e-12,-4.808160325211995e-13,3.8972215749870666e-26],"object_position":[0.34000000012429554,-0.10999999692559582,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0595064986205376e-13,4.848491218301897e-14,1.2996710899954998e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4123745302542998e-13,3.0863815520460863e-13,-2.2229424868290698e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.44},{"goal":[0.3400000001242929,-0.10999999692558972,0.4599914782969372],"joint_targets":[-0.4010458626327148,-1.450830755007443,1.4582683121604376,3.546465091979771e-06,-0.007389529608919428,0.40107342239895893],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03429391765199091,-0.01500452521377987,0.5074865608190557],[0.25416849711290246,-0.11120565641346845,0.5067712547394118],[0.3045564215726947,-0.13325174898006376,0.5066073304294934],[0.3549445659569787,-0.1552979385880865,0.5066280493979659],[0.35495843590089626,-0.15530382976228393,0.466628052236482]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35495843590089626,-0.15530382976228393,0.466628052236482],"end_effector_quaternion":[0.999998261375072,-7.331790811565567e-05,-0.00017351061998996712,-0.0018551995531516238],"end_effector_velocity":[-0.022175450288792704,0.06742407050750815,-0.013431914103088104],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.40094840052161707,-0.155473302661749,0.4746440247209295],[0.3089556337119129,-0.15513197334589376,0.474612076084989]],"gripper_width":0.07999340558823664,"jaw_actuator_force":[0.007000364981706753,0.0032834312007921085],"joint_actuator_torque":[-0.13268358248308232,-0.9287700036045408,-1.0031594505636576,-0.0006275281242961347,-0.061921421980297375,0.01655738479450264],"joint_position":[-0.412433355884107,-1.4367065766941538,1.4396870231052497,4.060962312326768e-06,-0.0033571549377160825,0.4087229674519468],"joint_velocity":[0.13647379746292712,-0.16999709549448977,0.2365789197864996,0.00013453130473161222,-0.06378591807361886,-0.1245513555834818],"object_angular_velocity":[3.288187037580351e-11,1.5045353606780502e-11,-4.405692898511985e-25],"object_position":[0.3400000001242929,-0.10999999692558972,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.918560690440365e-14,4.5393092134999863e-14,1.2996711487895016e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.30419073136778e-13,5.035128747510521e-13,-2.2266894895371794e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.46},{"goal":[0.3400000001242898,-0.109999996925583,0.4599914782969372],"joint_targets":[-0.39784113905705604,-1.4546592740211481,1.463606563316735,3.819420049691901e-06,-0.008899915809052441,0.39786886860195764],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03335212219841859,-0.014467928593907576,0.5076298164590096],[0.2535261862549285,-0.10997797194434404,0.5065283919097991],[0.30398274260121205,-0.1318656902121524,0.5062759821172718],[0.35443982663359924,-0.15375363869357367,0.5062955326484042],[0.35445294094713836,-0.15375913537937383,0.46629553517588895]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35445294094713836,-0.15375913537937383,0.46629553517588895],"end_effector_quaternion":[0.9999982435253453,-6.840258911772827e-05,-0.00016405683557312714,-0.0018658383276624793],"end_effector_velocity":[-0.02218896949525797,0.06745130567040473,-0.013263906851360365],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4004430096122707,-0.15392966576603434,0.47431063732064305],[0.30844980188304105,-0.15358637711926368,0.47428042945074766]],"gripper_width":0.07999385320728558,"jaw_actuator_force":[0.007054565219762665,-0.007315420540596307],"joint_actuator_torque":[-0.13396120855659888,-0.9253333607878176,-1.0019527003782969,-0.0007099060402020409,-0.061843452811507715,0.016655388869523335],"joint_position":[-0.40929505014978357,-1.440589485286471,1.445178770351064,4.4085381501909576e-06,-0.004944749274534315,0.40556339228579064],"joint_velocity":[0.13728813403181134,-0.1693023765413526,0.23462863010567792,0.00015324672103159554,-0.0626387561654191,-0.12528432496359887],"object_angular_velocity":[-8.011448901005302e-12,-3.666179187928307e-12,-1.7699683327076094e-25],"object_position":[0.3400000001242898,-0.109999996925583,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0351286522782417e-13,4.7370431249096736e-14,1.2996708642256815e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.326000957319309e-13,2.897527331996233e-13,-2.224330265609851e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.48},{"goal":[0.3400000001242869,-0.10999999692557641,0.4599914782969372],"joint_targets":[-0.39461814243501386,-1.4584736449078624,1.4688994753912943,4.097914722648097e-06,-0.01037910800874155,0.39464604167192474],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03241072806797989,-0.01393818519324452,0.5077683777891614],[0.25288325835095815,-0.10875206751831684,0.5062881382583494],[0.303408213207474,-0.13048024888447923,0.5059489166992049],[0.35393412561754195,-0.15220884382335959,0.5059672773149076],[0.3539464647437392,-0.1522139513316006,0.46596727954416617]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3539464647437392,-0.1522139513316006,0.46596727954416617],"end_effector_quaternion":[0.9999982249842918,-6.355427442300367e-05,-0.00015435862646478153,-0.0018767425327923704],"end_effector_velocity":[-0.022239934193654408,0.06746221081404136,-0.013068460465940157],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3999367205199542,-0.15238556284660826,0.4739814888927371],[0.30794388989751736,-0.15204026909973914,0.47395306702272927]],"gripper_width":0.0799934830382167,"jaw_actuator_force":[0.007035033498473453,0.0031262232607787155],"joint_actuator_torque":[-0.1331387121563523,-0.9191489464673168,-1.0014342411595294,-0.0006140210020668516,-0.0622152372034559,0.016754032743151015],"joint_position":[-0.40613899462544717,-1.4444579801947948,1.4506256840102651,4.5684328111314806e-06,-0.0065015331981509725,0.4023855362432505],"joint_velocity":[0.13803402316450386,-0.1687093135591329,0.2327012873413603,0.00013210981471689005,-0.06138585774277676,-0.12602915625156244],"object_angular_velocity":[8.242536581250148e-12,3.774002866897175e-12,-6.737897749041421e-25],"object_position":[0.3400000001242869,-0.10999999692557641,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0738902225468245e-13,4.915105435590706e-14,1.2996704586172934e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.649880000503522e-13,3.6047579004418707e-13,-2.2251629328783206e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.5},{"goal":[0.34000000012428416,-0.10999999692557025,0.4599914782969372],"joint_targets":[-0.3913761469940396,-1.4622731932192925,1.474146358694472,4.379592439089286e-06,-0.011827097699483601,0.3914042199277147],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.031469962104112424,-0.013415391680356454,0.5079022647464903],[0.25224000038768524,-0.10752788298438598,0.5060504610801407],[0.302833134161004,-0.1290953289082261,0.5056260894066023],[0.3534277706974801,-0.1506634178098854,0.5056432612439234],[0.35343933618670575,-0.15066813411720817,0.4656432631939747]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35343933618670575,-0.15066813411720817,0.4656432631939747],"end_effector_quaternion":[0.9999982063958803,-5.868085733349601e-05,-0.00014467963762796417,-0.0018875458621283841],"end_effector_velocity":[-0.022252935264088197,0.0674897356501709,-0.0128897146560517],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39942970098014824,-0.15084081758553491,0.4736565814720544],[0.3074364342166177,-0.15049353426124742,0.4736299418449939]],"gripper_width":0.07999392613212651,"jaw_actuator_force":[0.007087779879338285,-0.0073455628830867425],"joint_actuator_torque":[-0.1343911360842469,-0.915716081130995,-1.000198542794351,-0.0006938393953749926,-0.06214116542225567,0.016853537867127955],"joint_position":[-0.40296443612242455,-1.4483113469470836,1.4560272721185576,4.920894219617107e-06,-0.00802814040066561,0.39918938084752714],"joint_velocity":[0.13885921704875648,-0.16802256346091438,0.23073786717303052,0.00015026702552199474,-0.06021913815427446,-0.1267735556299383],"object_angular_velocity":[-1.0014354132433641e-11,-4.583960086788351e-12,-4.5991661234916727e-26],"object_position":[0.34000000012428416,-0.10999999692557025,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.97023466199121e-14,4.10632338846786e-14,1.2996702070167583e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1816259844398604e-13,2.5813102844361824e-13,-2.22377515409754e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.52},{"goal":[0.34000000012428133,-0.1099999969255641,0.4599914782969372],"joint_targets":[-0.38811557249842843,-1.4660587087667338,1.4793472691882097,4.667422861340505e-06,-0.01324314567977122,0.3881438191871724],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.030529630999005408,-0.012899511035174258,0.5080315526089045],[0.2515961640013138,-0.1063054936382358,0.5058156103046313],[0.3022572444810095,-0.12771103131810407,0.5053077901932354],[0.352920481356613,-0.14911748302309594,0.5053237491511243],[0.35293125196780567,-0.14912181275806582,0.46532375083553273]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35293125196780567,-0.14912181275806582,0.46532375083553273],"end_effector_quaternion":[0.9999981871083862,-5.3865975090654515e-05,-0.0001347351547171656,-0.001898611291418594],"end_effector_velocity":[-0.022302560669196343,0.06750164327985106,-0.012683258399469873],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39892180761863605,-0.1492955916484933,0.4733361536431864],[0.3069289138699921,-0.14894627359239418,0.4733113453385003]],"gripper_width":0.07999356031160874,"jaw_actuator_force":[0.0070684428289435886,0.0029705141589637662],"joint_actuator_torque":[-0.13360814911297325,-0.9095616267699143,-0.9996504287145171,-0.0006010727080797537,-0.06251247940813864,0.01695371686897218],"joint_position":[-0.3997718417747041,-1.4521504508060015,1.461383674932376,5.092117029470338e-06,-0.009523387001278383,0.39597466462529385],"joint_velocity":[0.1396184181928078,-0.1674362205151223,0.2287942260741478,0.00012984442542226228,-0.05894487488673364,-0.12752977238006963],"object_angular_velocity":[-3.01422053864574e-12,-1.3789321527237568e-12,-5.876562871761814e-26],"object_position":[0.34000000012428133,-0.1099999969255641,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0460197170885489e-13,4.790564993975118e-14,1.2996700533410644e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3434817720115832e-13,2.9336392637389103e-13,-2.2243302656098534e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.54},{"goal":[0.34000000012427856,-0.10999999692555787,0.4599914782969372],"joint_targets":[-0.38483570939907663,-1.4698295228855245,1.4845014145106665,4.9590628996603815e-06,-0.014627135020793545,0.38486413377749173],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0295899622506289,-0.01239064078404152,0.5081562621171187],[0.25095203308532205,-0.10508484159756044,0.5055835726062481],[0.30168084098493925,-0.1263272626173252,0.5049939979266735],[0.3524125606269697,-0.14757090648488635,0.5050087421003493],[0.3524225357065064,-0.14757484714534408,0.465008743538237]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3524225357065064,-0.14757484714534408,0.465008743538237],"end_effector_quaternion":[0.9999981677557346,-4.9020063178917225e-05,-0.0001247823307754658,-0.0019095841372090037],"end_effector_velocity":[-0.022314978016499135,0.06752960197417228,-0.012492041223390676],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39841320616630865,-0.14774971314411317,0.4730202300683102],[0.30641988103806045,-0.14739837435121553,0.47299725443643703]],"gripper_width":0.0799939989074213,"jaw_actuator_force":[0.007119723373138598,-0.007374440902447432],"joint_actuator_torque":[-0.13483611724370803,-0.9061310099683624,-0.998381643775474,-0.0006784009322426895,-0.06244295948476952,0.017054775941488742],"joint_position":[-0.39656047086873064,-1.455974574325968,1.4666943192596353,5.450565750080138e-06,-0.010987820822055124,0.392741359396976],"joint_velocity":[0.14045488564648678,-0.16675678750435682,0.22681081153074387,0.0001474613472013278,-0.05775274202595681,-0.12828599586776612],"object_angular_velocity":[2.4911695412339267e-11,1.1409133556071764e-11,-5.300542176487184e-25],"object_position":[0.34000000012427856,-0.10999999692555787,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.561625668587934e-14,4.379473565051593e-14,1.2996700673289056e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0922792539486098e-13,4.568226089892517e-13,-2.2264119337810262e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.56},{"goal":[0.3400000001242757,-0.10999999692555142,0.4599914782969372],"joint_targets":[-0.38153694743137956,-1.4735864020242149,1.4896087222141943,5.257602623663559e-06,-0.01597822170533254,0.38156554971480217],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02865076639527416,-0.011888745050532857,0.5082764656346039],[0.2503073650012061,-0.10386599805793906,0.5053546128559117],[0.30110366884839884,-0.12494411853880297,0.504685021594128],[0.35190373451283746,-0.14602380416698155,0.5046985236638658],[0.35191289071453885,-0.1460273595864922,0.4646985248698288]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35191289071453885,-0.1460273595864922,0.4646985248698288],"end_effector_quaternion":[0.999998147693565,-4.42228199706474e-05,-0.00011453767733555485,-0.0019208162071004211],"end_effector_velocity":[-0.022363207080879587,0.06754265340882126,-0.012272622425529095],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3979037567310819,-0.1462033360544133,0.47270906829423515],[0.30591080042732954,-0.14584993190106466,0.47268797922952327]],"gripper_width":0.07999363754493215,"jaw_actuator_force":[0.0071005250237465845,0.0028161458718152232],"joint_actuator_torque":[-0.13409268751868808,-0.9000048374402922,-0.9977986138493407,-0.0005887140237269019,-0.06281451722869824,0.01715654730698546],"joint_position":[-0.3933307683440088,-1.459784568394895,1.471959255732021,5.634194283853867e-06,-0.012420179516839764,0.3894892028229258],"joint_velocity":[0.14122782379717377,-0.16617653588619952,0.22484332926203246,0.00012774740549910835,-0.05645060387975406,-0.1290540317214909],"object_angular_velocity":[-8.865213001148537e-12,-4.060083431840763e-12,-6.772455081786362e-27],"object_position":[0.3400000001242757,-0.10999999692555142,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0117965591671521e-13,4.6332295100816266e-14,1.2996699845566968e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.293920473872987e-13,2.8255680034361446e-13,-2.2241914877317763e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.58},{"goal":[0.3400000001242729,-0.10999999692554521,0.4599914782969372],"joint_targets":[-0.3782185921265581,-1.4773286842979079,1.494668269650417,5.560733459191188e-06,-0.017296151825632385,0.3782473761948819],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027712271700980853,-0.011393922101215752,0.5083921847615742],[0.24966244098343804,-0.10264890712889421,0.5051287413214709],[0.30052602144400115,-0.12356150786440387,0.5043808688664472],[0.3513943018197625,-0.14447604590483662,0.504393123180889],[0.3514026357963952,-0.14447921296046923,0.46439312417445666]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3514026357963952,-0.14447921296046923,0.46439312417445666],"end_effector_quaternion":[0.9999981275452083,-3.9386859941501206e-05,-0.00010425099712539928,-0.0019319644101044463],"end_effector_velocity":[-0.02237495107581975,0.06757121504220356,-0.012066755445236],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3973936234327511,-0.14465629251234355,0.47240272058933513],[0.3054002404997628,-0.14430083538860272,0.4723835256774532]],"gripper_width":0.07999407166587899,"jaw_actuator_force":[0.007150312834314221,-0.00740196626012235],"joint_actuator_torque":[-0.1352970069424373,-0.8965743404900195,-0.9964914678333798,-0.0006636215355473962,-0.06275036475656903,0.01725922571274907],"joint_position":[-0.3900820047209382,-1.463579712576657,1.4771778126401982,5.999917175739321e-06,-0.013820905782758821,0.3862181557263599],"joint_velocity":[0.1420760656627729,-0.16550380639378307,0.2228316254705901,0.00014484351571154714,-0.055225781174329226,-0.1298225671402684],"object_angular_velocity":[4.697952073619165e-12,2.1516494686836732e-12,3.674141873494827e-25],"object_position":[0.3400000001242729,-0.10999999692554521,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.082172065368991e-13,4.955356958128578e-14,1.2996701835065036e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5186810858630579e-13,3.316553539682256e-13,-2.2222485974386828e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.6},{"goal":[0.34000000012427006,-0.10999999692553894,0.4599914782969372],"joint_targets":[-0.3748810006921884,-1.4810571108526593,1.4996798207427302,5.871694889997018e-06,-0.018579943331506543,0.37490996693471546],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.026774292597400266,-0.01090613724367006,0.5085034890738913],[0.24901702437339426,-0.10143363578876663,0.5049062429172995],[0.2999476504053929,-0.12217952087201793,0.5040818740064138],[0.35088399536729903,-0.14292774107199568,0.5040928492027285],[0.3508914810878891,-0.14293052264058415,0.46409284999989264]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3508914810878891,-0.14293052264058415,0.46409284999989264],"end_effector_quaternion":[0.9999981066732385,-3.458769784785867e-05,-9.363890134516188e-05,-0.001943369595686888],"end_effector_velocity":[-0.022421697520047763,0.06758558024656766,-0.011831899628948062],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39688267016751055,-0.1431087286199495,0.4721014694815776],[0.30488965173284355,-0.1427511743157062,0.47208422876638245]],"gripper_width":0.07999371491055102,"jaw_actuator_force":[0.007131182080366116,0.0026629293381521535],"joint_actuator_torque":[-0.13459329191022107,-0.8904741344975946,-0.9958669102077238,-0.0005769817413382747,-0.06312305799862594,0.01736266063367964],"joint_position":[-0.38681460180110583,-1.4673608433904473,1.4823499303097794,6.197260710402109e-06,-0.01518863594485175,0.3829279536499248],"joint_velocity":[0.1428632644212153,-0.16492905297327282,0.22083106756886764,0.00012583548428159768,-0.05388758899104884,-0.13060296033916313],"object_angular_velocity":[-1.0778707272485078e-11,-4.9352495200670734e-12,4.6889381429092015e-26],"object_position":[0.34000000012427006,-0.10999999692553894,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.037298905393666e-14,4.137887909599651e-14,1.2996704364825365e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2036216245845777e-13,2.6287369156412523e-13,-2.2234975983413856e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.62},{"goal":[0.34000000012426695,-0.10999999692553222,0.4599914782969372],"joint_targets":[-0.3715234921438605,-1.4847710274498684,1.5046422821131102,6.188243650499862e-06,-0.01982916410582151,0.37155264440588737],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.025837058301721158,-0.010425489392691195,0.508610401078704],[0.24837139432748856,-0.10022012981395251,0.5046871573713596],[0.2993688463333936,-0.1207980682438249,0.5037880806884265],[0.35037311043544883,-0.14137876185689305,0.5037977663901866],[0.3503797411791508,-0.14138115399499804,0.46379776701130015]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3503797411791508,-0.14138115399499804,0.46379776701130015],"end_effector_quaternion":[0.9999980856896441,-2.9739655346143977e-05,-8.29425871650237e-05,-0.0019547002653712434],"end_effector_velocity":[-0.022432643881498716,0.06761494658765027,-0.011608589086083764],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3963710599837231,-0.14156048004335603,0.471805401776146],[0.3043776196659094,-0.1412008392280335,0.4717901306450211]],"gripper_width":0.079994144575786,"jaw_actuator_force":[0.00717942945850325,-0.007428013233178987],"joint_actuator_torque":[-0.1357748529794094,-0.8870408110087737,-0.9945145554737564,-0.0006495384941900354,-0.06306531299144336,0.01746704013054412],"joint_position":[-0.38352783972007,-1.4711272371317665,1.487474814032625,6.571814881787895e-06,-0.016523680570491105,0.37961854469165335],"joint_velocity":[0.14372389637060323,-0.16426244558219713,0.2187807675799882,0.00014243209120165247,-0.05262082132992032,-0.13138441845912865],"object_angular_velocity":[-5.857201165317149e-12,-2.681590069161676e-12,3.615730485189746e-26],"object_position":[0.34000000012426695,-0.10999999692553222,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1179198517375617e-13,5.1188840314065426e-14,1.2996704949096208e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.41590653672166e-13,3.092248902090135e-13,-2.2233588204633066e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.64},{"goal":[0.34000000012426423,-0.109999996925526,0.4599914782969372],"joint_targets":[-0.36814638761992186,-1.4884711469200484,1.5095552021451726,6.5138110737504145e-06,-0.021042645264956267,0.3681757264890833],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.024900387261401785,-0.00995194510549349,0.5087129876823997],[0.24772532059736407,-0.0990084517941329,0.504471796783578],[0.2987893678201888,-0.11941723457694609,0.503499857202598],[0.3498613871580614,-0.13982921073968763,0.5035082168457045],[0.3498671333975211,-0.13983121513491387,0.4635082173086653]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3498671333975211,-0.13983121513491387,0.4635082173086653],"end_effector_quaternion":[0.9999980639632619,-2.491365754924532e-05,-7.18771197925061e-05,-0.001966286529693724],"end_effector_velocity":[-0.022477778887890838,0.06763083341009445,-0.011355091408522599],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3958586610438448,-0.14001168470352301,0.471514833402917],[0.3038655807103133,-0.13964991342286232,0.4715015999177423]],"gripper_width":0.07999379263209136,"jaw_actuator_force":[0.007160273219790625,0.0025106305358519876],"joint_actuator_torque":[-0.1351111578512132,-0.8809633735676243,-0.9938399604594679,-0.0005659203175787946,-0.06344028605695096,0.0175722286505966],"joint_position":[-0.3802221157690357,-1.4748797156647164,1.49255226430749,6.784509948151605e-06,-0.017824542154793968,0.37628966057305296],"joint_velocity":[0.14452601440393256,-0.16369262396911236,0.2167354921053489,0.00012413078949390864,-0.05123603681991946,-0.1321778485866356],"object_angular_velocity":[1.851624371231921e-11,8.481405061560983e-12,1.2318334919363987e-25],"object_position":[0.34000000012426423,-0.109999996925526,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0281242002748518e-13,4.708066787867488e-14,1.299670408929764e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.8641045177800273e-13,4.0707567312786984e-13,-2.225579266512557e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.66},{"goal":[0.3400000001242615,-0.10999999692552001,0.4599914782969372],"joint_targets":[-0.3647490173025983,-1.4921568231524578,1.5144172555339162,6.846266582778515e-06,-0.022219714929248513,0.36477854661708176],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.023964509935997448,-0.009485603895666021,0.5088112723371528],[0.24707908108362772,-0.09779854878417277,0.5042602387481112],[0.298209503638293,-0.11803693198778889,0.5032172935506225],[0.34934911826854786,-0.13827896168417594,0.503224310644613],[0.349353968943696,-0.13828057328637414,0.46322431097119193]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.349353968943696,-0.13828057328637414,0.46322431097119193],"end_effector_quaternion":[0.9999980420936455,-2.0025066782775194e-05,-6.067316389244452e-05,-0.0019778085446915204],"end_effector_velocity":[-0.02248775175249487,0.06766124992783547,-0.011110669590432552],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.395345636099796,-0.13846218118469,0.47122989561946793],[0.3033521386331023,-0.1380982882204258,0.47121872519381025]],"gripper_width":0.07999421785646332,"jaw_actuator_force":[0.00720690239172761,-0.00745240197768382],"joint_actuator_torque":[-0.1362709673711322,-0.8775231327007305,-0.9924333078638483,-0.0006361973242410105,-0.06339031096021674,0.01767841361584388],"joint_position":[-0.37689671752220316,-1.4786175512882826,1.4975813278629806,7.1698323876519445e-06,-0.019091360102634465,0.3729412342621037],"joint_velocity":[0.1453998113391964,-0.1630315765234854,0.21463338698131196,0.00014025175549558366,-0.0499152300559301,-0.13297301001986392],"object_angular_velocity":[-8.282633907624291e-12,-3.793474511386692e-12,5.050736207354082e-26],"object_position":[0.3400000001242615,-0.10999999692552001,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.88519728571538e-14,4.070163364464878e-14,1.299670505264516e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1535533750827431e-13,2.5183219759720754e-13,-2.2239139319756197e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.68},{"goal":[0.34000000012425863,-0.10999999692551374,0.4599914782969372],"joint_targets":[-0.36133166111636666,-1.495828735820769,1.5192276956550153,7.189298539016526e-06,-0.023358942913326332,0.3613613816979598],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.023029249053584576,-0.00902643368212273,0.5089053193881576],[0.24643245267288927,-0.09659047874287698,0.5040528328884658],[0.2976290201689799,-0.11665723906929983,0.5029408047322864],[0.34883605205315676,-0.13672810985019798,0.502946435841142],[0.34883997297241237,-0.13672932881652802,0.4629464360518855]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34883997297241237,-0.13672932881652802,0.4629464360518855],"end_effector_quaternion":[0.9999980194548009,-1.5139536415135658e-05,-4.904170923307862e-05,-0.0019895859320121258],"end_effector_velocity":[-0.022531082289547647,0.06767891729781242,-0.010834270865749772],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39483185834202666,-0.136912098778922,0.47095094992554243],[0.30283871608276985,-0.13654604021734493,0.47094192132809676]],"gripper_width":0.07999387100844244,"jaw_actuator_force":[0.007187594528243579,0.00235894908566614],"joint_actuator_torque":[-0.13564780196438164,-0.8714640071218582,-0.9916974170182584,-0.0005555843156530067,-0.06376907899301631,0.01778547228203209],"joint_position":[-0.37355201574465413,-1.4823415503958641,1.5025616219501494,7.39997450854216e-06,-0.020322455352393052,0.3695729912467167],"joint_velocity":[0.14621769674103496,-0.1624661285697757,0.21252822734109367,0.00012266282034376714,-0.048469873933271165,-0.13378035538013122],"object_angular_velocity":[9.529208823324434e-13,4.3766709220463767e-13,1.2955984918013618e-25],"object_position":[0.34000000012425863,-0.10999999692551374,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1471136462113972e-13,5.257020085246819e-14,1.2996706430229734e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5051362012098058e-13,3.2843937865019845e-13,-2.2240527098536983e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.7},{"goal":[0.34000000012425596,-0.10999999692550776,0.4599914782969372],"joint_targets":[-0.3578936568966705,-1.499486246444511,1.5239848687714799,7.5409649739817436e-06,-0.024459321777085402,0.3579235726157793],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02209483682022481,-0.008574534602135796,0.508995153259415],[0.24578571324404908,-0.0953841895312212,0.5038497071335181],[0.29704820575784213,-0.11527806878580327,0.5026705423963334],[0.34832248014740097,-0.13517653023415982,0.5026747628816162],[0.3483254544971806,-0.1351773499851804,0.4626747630006005]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3483254544971806,-0.1351773499851804,0.4626747630006005],"end_effector_quaternion":[0.9999979966321513,-1.01724597699739e-05,-3.7199805022343526e-05,-0.0020013106654306325],"end_effector_velocity":[-0.022539826003985172,0.06771068910075066,-0.010563785909241218],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3943174913961229,-0.13536127819552396,0.4706781867039115],[0.3023239367675275,-0.13499306068813854,0.47067133863250066]],"gripper_width":0.07999429180244383,"jaw_actuator_force":[0.0072324823442428965,-0.0074748711687870895],"joint_actuator_torque":[-0.13678703389393831,-0.8680111047640366,-0.9902240726646596,-0.000623654456391366,-0.06372871564763916,0.017893599448182584],"joint_position":[-0.37018730242073966,-1.4860509797488877,1.5074919813662477,7.798540519110695e-06,-0.02151773771414106,0.366184845909839],"joint_velocity":[0.1471056601883274,-0.16181007116060572,0.2103567876770891,0.00013833585907200338,-0.047078719194261834,-0.13459024363740077],"object_angular_velocity":[-9.85762216605881e-12,-4.5184745525721085e-12,-8.27956628795878e-27],"object_position":[0.34000000012425596,-0.10999999692550776,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.006924979475757e-14,3.6703992960751574e-14,1.2996706306142646e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.082360730412515e-13,2.361208991296472e-13,-2.2234975983413853e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.72},{"goal":[0.3400000001242531,-0.10999999692550129,0.4599914782969372],"joint_targets":[-0.3544352356312194,-1.5031299933678681,1.5286876056954488,7.905316436906524e-06,-0.02551904092297164,0.35446534759789294],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.02116110077239145,-0.008129876136240022,0.5090808358309651],[0.24513864805970473,-0.0941797341436463,0.5036512642028759],[0.296466835979714,-0.11389949327034357,0.5024069873714387],[0.34780816041610274,-0.13362431006331033,0.5024097444298641],[0.34781014759951934,-0.13362472870894102,0.4624097444814161]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34781014759951934,-0.13362472870894102,0.4624097444814161],"end_effector_quaternion":[0.9999979730030251,-5.183050018768527e-06,-2.4850278072674226e-05,-0.0020132921896032327],"end_effector_velocity":[-0.02258105786215533,0.06773046636759725,-0.010258646936389703],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3938024147333037,-0.1338098394388413,0.4704120313058879],[0.3018092101607115,-0.13343941880950758,0.47040745724474337]],"gripper_width":0.07999395045273061,"jaw_actuator_force":[0.007212844801653517,0.002207484088900813],"joint_actuator_torque":[-0.1362052004770078,-0.8619639752204193,-0.9894114959978424,-0.0005460420789466247,-0.064113358902683,0.018002683349727988],"joint_position":[-0.36680291877254323,-1.4897466284506637,1.5123717738097333,8.048881683696628e-06,-0.02267527369483082,0.3627765139651135],"joint_velocity":[0.14794043449460212,-0.1612484079053951,0.20817123000330962,0.0001214718618025895,-0.045553602017947545,-0.1354126715094039],"object_angular_velocity":[-5.9709674302577e-12,-2.737402156527915e-12,4.383952847862165e-26],"object_position":[0.3400000001242531,-0.10999999692550129,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.856990286935893e-14,4.5197304920151504e-14,1.2996707609281417e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2684027160794122e-13,2.766321456221125e-13,-2.224191487731776e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.74},{"goal":[0.34000000012425025,-0.10999999692549506,0.4599914782969372],"joint_targets":[-0.35095573721798295,-1.5067593428449664,1.5333337638913345,8.280727168974802e-06,-0.026536600250047948,0.3509860493939142],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02022827577462831,-0.007692559208126869,0.5091623925101931],[0.2444915369505316,-0.09297706066657878,0.5034577016568762],[0.2958852009700095,-0.11252142558414067,0.5021503766696578],[0.3472933856801545,-0.13207132438760474,0.5021516344161578],[0.34729436097546307,-0.13207133317018818,0.4621516344280488]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34729436097546307,-0.13207133317018818,0.4621516344280488],"end_effector_quaternion":[0.9999979491359349,-8.509204501640909e-08,-1.219138869162389e-05,-0.0020252346252443614],"end_effector_velocity":[-0.022588187573195025,0.06776398189989113,-0.009955180287661918],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3932867947212172,-0.132257624288484,0.47015275587645183],[0.301293182569258,-0.13188500469883402,0.4701505127711783]],"gripper_width":0.07999436682294851,"jaw_actuator_force":[0.007255796160334782,-0.0074950309862487074],"joint_actuator_torque":[-0.1373252766359201,-0.8584901849852713,-0.9878539863952938,-0.0006119813004621486,-0.06408519226283005,0.01811293738938602],"joint_position":[-0.3633981568108183,-1.493427754633463,1.517199538689175,8.463949509792821e-06,-0.02379465217474944,0.3593478860721198],"joint_velocity":[0.1488438990216877,-0.16059670505888557,0.20590623123794927,0.0001367307717290008,-0.044069268269340225,-0.1362386699177054],"object_angular_velocity":[1.2579360327882253e-11,5.774292529891112e-12,2.179290377935723e-25],"object_position":[0.34000000012425025,-0.10999999692549506,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1371665372039357e-13,5.217079828742561e-14,1.2996708027783127e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7576462116706322e-13,3.831232376659301e-13,-2.225301710756401e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.76},{"goal":[0.3400000001242474,-0.1099999969254888,0.4599914782969372],"joint_targets":[-0.3474553316058576,-1.5103748771456702,1.5379215341894685,8.67178950641665e-06,-0.0275096065757011,0.34748584547415],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01929619523431342,-0.007262555234463636,0.5092398827906675],[0.24384417575677816,-0.0917762166858005,0.5032694999409999],[0.295303087959843,-0.11114393076839853,0.5019012872046177],[0.3467779258906341,-0.13051765162692627,0.5019009795731533],[0.3467778395816193,-0.1305172457928542,0.4619009795753052]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3467778395816193,-0.1305172457928542,0.4619009795753052],"end_effector_quaternion":[0.9999979244082654,5.070717256210972e-06,1.0891962161246379e-06,-0.002037437670856098],"end_effector_velocity":[-0.0226268587463659,0.06778629795393357,-0.009612982341369468],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39277051926469025,-0.13070474249214625,0.46990087843385],[0.3007772514684233,-0.13032987906044322,0.46990108073336667]],"gripper_width":0.07999403155894966,"jaw_actuator_force":[0.007235565027706059,0.0020556768082595767],"joint_actuator_torque":[-0.13678601177053906,-0.8524458680448106,-0.9869428318290829,-0.0005373814666584483,-0.06447869322090094,0.018224259831551848],"joint_position":[-0.3599733235680871,-1.4970951262766448,1.521974287991094,8.738211638770851e-06,-0.024873568416045284,0.3558986627596004],"joint_velocity":[0.14969709281129814,-0.16003812174173665,0.20361127470956905,0.00012061485585919177,-0.0424369370607737,-0.13707778401684026],"object_angular_velocity":[-9.58428030710644e-12,-4.398005757284253e-12,-1.6007756229950114e-26],"object_position":[0.3400000001242474,-0.1099999969254888,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.182973335631333e-14,4.214540157016847e-14,1.2996708054752674e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.20492491376891e-13,2.6255242295923886e-13,-2.2237751540975426e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.78},{"goal":[0.3400000001242444,-0.1099999969254823,0.4599914782969372],"joint_targets":[-0.3439333513361169,-1.5139759583710186,1.5424480001480914,9.077421641974958e-06,-0.028435791624563344,0.34396407104351434],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.018365098423542236,-0.006839966362641505,0.509313333050987],[0.2431968496500946,-0.09057714980577755,0.5030869577481141],[0.29472079263951284,-0.10976692101149622,0.501660080074539],[0.3462620789181057,-0.12896316556719287,0.5016581549697857],[0.3462608949240242,-0.12896233313290464,0.46165815499597057]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3462608949240242,-0.12896233313290464,0.46165815499597057],"end_effector_quaternion":[0.9999978993667359,1.0375072550409753e-05,1.4821222090062636e-05,-0.002049618209535392],"end_effector_velocity":[-0.02263176834630574,0.0678220652061496,-0.009266443674685475],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3922537606574003,-0.12915103545324907,0.4696567896921291],[0.3002600901133232,-0.12877392930051718,0.4696595205390697]],"gripper_width":0.0799944435098129,"jaw_actuator_force":[0.007276263719523612,-0.007512277301346515],"joint_actuator_torque":[-0.13788873681104974,-0.8489390531175331,-0.98527545933689,-0.0006012706491692134,-0.06446652222308424,0.018336899490499547],"joint_position":[-0.35652770443240256,-1.5007479866336595,1.5266941281311512,9.174221524414532e-06,-0.025911139593970393,0.3524287029909907],"joint_velocity":[0.15061790235105352,-0.15938994384754548,0.2012175734479793,0.000135503502000177,-0.040825959609616595,-0.13792183172474248],"object_angular_velocity":[-1.0526531948525116e-12,-4.830441188472383e-13,1.083304987474945e-25],"object_position":[0.3400000001242444,-0.1099999969254823,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0575998376534588e-13,4.855024728366591e-14,1.2996708539908106e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4143166472639197e-13,3.080909706589634e-13,-2.2243302656098556e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.8},{"goal":[0.3400000001242417,-0.1099999969254762,0.4599914782969372],"joint_targets":[-0.34038988525554287,-1.517563083668104,1.5469103119333063,9.503086717652067e-06,-0.02931180899576944,0.34042081279779457],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.017434826837801273,-0.006424766691435996,0.5093828004478739],[0.2425493691744698,-0.08937990165306793,0.5029106746726958],[0.29413811845995635,-0.10839045341510858,0.5014274791825508],[0.3457456314488877,-0.12740793458198274,0.5014238508400323],[0.3457432864556852,-0.1274066665679356,0.4614238509288679]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3457432864556852,-0.1274066665679356,0.4614238509288679],"end_effector_quaternion":[0.999997873382648,1.5789697739998988e-05,2.934503684979676e-05,-0.0020620668602563275],"end_effector_velocity":[-0.022667120353328758,0.06784749348037554,-0.0088747432823958],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39173641916419644,-0.12759660123346905,0.4694211485860443],[0.2997430864391785,-0.12721720609286832,0.4694265537065135]],"gripper_width":0.0799941152234418,"jaw_actuator_force":[0.007255023635243774,0.001902708310346668],"joint_actuator_torque":[-0.1373939531436008,-0.8428836935812569,-0.9842329874228426,-0.0005297192811358248,-0.06487339211346788,0.01845076590612038],"joint_position":[-0.35306156479653444,-1.5043870743898582,1.5313575347454227,9.477622894684768e-06,-0.026904490492750666,0.3489376834233671],"joint_velocity":[0.15149168608340166,-0.1588334258203833,0.19876994176731663,0.00012017596698754946,-0.039045057022581264,-0.1387799263239717],"object_angular_velocity":[3.2827132657346316e-11,1.5062497102016784e-11,1.7586942313316615e-25],"object_position":[0.3400000001242417,-0.1099999969254762,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.901170624320865e-14,4.544451436588063e-14,1.2996710221150137e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.306887041519437e-13,5.02638206071234e-13,-2.221832263804449e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.82},{"goal":[0.34000000012423864,-0.1099999969254695,0.4599914782969372],"joint_targets":[-0.33682425365221913,-1.521135605588027,1.5513042417974523,9.948896210083249e-06,-0.030134091496444085,0.3368553934607574],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0165056205800359,-0.00601705833724368,0.5094483127489484],[0.24190202259062124,-0.08818442025654756,0.5027411079731324],[0.29355536471804705,-0.10701444069638803,0.5012040402120079],[0.34522888428569776,-0.12585183293170327,0.5011986305443636],[0.3452253239332454,-0.12585011237706414,0.46119863073981887]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3452253239332454,-0.12585011237706414,0.46119863073981887],"end_effector_quaternion":[0.9999978469533832,2.141456132551938e-05,4.454892656934742e-05,-0.002074522934952769],"end_effector_velocity":[-0.022679054479738083,0.06788261966074255,-0.008468108266355181],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.391218676027298,-0.12604128320577637,0.46919452874229545],[0.2992253969603613,-0.1256595965817084,0.46920273337257107]],"gripper_width":0.07999407125180533,"jaw_actuator_force":[0.007255104742075247,-0.00511736349981895],"joint_actuator_torque":[-0.1380332918444651,-0.8386403745744246,-0.9828062866264418,-0.0005505286797859283,-0.06501166851287321,0.01856514399400666],"joint_position":[-0.34957419040512827,-1.508011631647483,1.5359619573000813,9.930859830502845e-06,-0.02785196806027941,0.3454254186005749],"joint_velocity":[0.15241484806479566,-0.1582144060068715,0.196212551516985,0.00012472691275983573,-0.03722407589193288,-0.1396445341535569],"object_angular_velocity":[-7.997572013067188e-12,-3.670191474208629e-12,8.055585183485767e-26],"object_position":[0.34000000012423864,-0.1099999969254695,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0334097619270824e-13,4.742866663713065e-14,1.2996712149684469e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3276081238569822e-13,2.8926936065046164e-13,-2.2234975983413866e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.84},{"goal":[0.3400000001242357,-0.1099999969254629,0.4599914782969372],"joint_targets":[-0.3332363693568525,-1.5246937786479746,1.555625015000601,1.0421064812813296e-05,-0.030897616042192565,0.33326772443953767],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.015577370507350603,-0.005616831286217892,0.5095099224256251],[0.2412546865800969,-0.08699073254310433,0.5025790347165184],[0.29297240484676795,-0.10563891824780747,0.5009907062831815],[0.3447116963833726,-0.12429490007508866,0.5009834021486864],[0.34470683891603676,-0.12429271077950657,0.4609834025035365]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34470683891603676,-0.12429271077950657,0.4609834025035365],"end_effector_quaternion":[0.9999978195268127,2.723940241691664e-05,6.0775328964614155e-05,-0.002087224471476039],"end_effector_velocity":[-0.022699676726361057,0.06791542521634691,-0.00801057793512087],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39070047262172564,-0.12448514376213447,0.46897780672780526],[0.29870648437595687,-0.12410111734822389,0.46898899919141285]],"gripper_width":0.0799947904770725,"jaw_actuator_force":[0.007259960916071506,-0.0005012294846515886],"joint_actuator_torque":[-0.13804412632347862,-0.8332881957705922,-0.9812693874687284,-0.0005227141228738746,-0.06531465998175623,0.018682637553190773],"joint_position":[-0.34606570522268226,-1.5116222130613748,1.5405049273957279,1.0300559775575417e-05,-0.028749911890120855,0.34189155002254273],"joint_velocity":[0.15332975119912276,-0.15763033633558504,0.19352843066984843,0.0001196753973458688,-0.03525674216338914,-0.14052505867976706],"object_angular_velocity":[8.223424494328673e-12,3.774417960071307e-12,-5.8846678917032875e-25],"object_position":[0.3400000001242357,-0.1099999969254629,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0720204676207808e-13,4.920592548874935e-14,1.29967104141067e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.65164023509764e-13,3.5983939970037535e-13,-2.223775154097543e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.86},{"goal":[0.340000000124233,-0.10999999692545674,0.4599914782969372],"joint_targets":[-0.3296255994433708,-1.5282370179888856,1.5598659447410053,1.0922679599477894e-05,-0.03159629863323471,0.3296571745136942],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014650265056712837,-0.00522417071548913,0.5095676622467333],[0.24060759438073615,-0.0857987991085644,0.5024252128018516],[0.2923894823508248,-0.10426381811531082,0.5007884014707329],[0.3441943097629909,-0.12273703575377727,0.5007790806589295],[0.34418806939493557,-0.12273435342319287,0.46077908123564315]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34418806939493557,-0.12273435342319287,0.46077908123564315],"end_effector_quaternion":[0.9999977913635602,3.336524773314928e-05,7.807484062070426e-05,-0.0021000140668353453],"end_effector_velocity":[-0.022705914797757715,0.06795479936990026,-0.007517360551904922],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.39018196574225744,-0.1229280613458878,0.46877189289012733],[0.2981875115272425,-0.12254167997006313,0.4687862707817332]],"gripper_width":0.07999526674568554,"jaw_actuator_force":[0.007269256918176481,-0.0051443720632899925],"joint_actuator_torque":[-0.1386796305601763,-0.8289143696578094,-0.9795329568279385,-0.0005439851745708667,-0.06547753173447557,0.01880092151859003],"joint_position":[-0.34253551801608956,-1.515218256955863,1.544982857680873,1.0767494622906127e-05,-0.029595131420397006,0.3383358063110944],"joint_velocity":[0.15427845315245536,-0.15701094789900755,0.19069221238725892,0.00012514683850473095,-0.033173689899712894,-0.14141582212656978],"object_angular_velocity":[-9.994471512626762e-12,-4.587928005132664e-12,-2.76729000978076e-26],"object_position":[0.340000000124233,-0.10999999692545674,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.952089392838282e-14,4.109433350678892e-14,1.2996708376365064e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1825628510730258e-13,2.5761464690097946e-13,-2.2234975983413862e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.88},{"goal":[0.34000000012423015,-0.1099999969254506,0.4599914782969372],"joint_targets":[-0.3259915925702466,-1.5317651392019056,1.5640183957557685,1.1462368111464159e-05,-0.03222170642334966,0.3260233920096687],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01372427752071722,-0.004839093059779165,0.509621578897075],[0.23996073134598067,-0.08460862933753781,0.5022807313573958],[0.2918065853476035,-0.1028891480678575,0.5005984537962194],[0.34367670138694034,-0.12117824125863128,0.5005869505390343],[0.3436689602055451,-0.12117503747485464,0.4605869514164109]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3436689602055451,-0.12117503747485464,0.4605869514164109],"end_effector_quaternion":[0.9999977620282342,3.984273943415762e-05,9.684917380225493e-05,-0.0021130478737276825],"end_effector_velocity":[-0.022719733522660202,0.06799236574857047,-0.006955955555334069],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3896631805035638,-0.12137004861684636,0.46857803473229065],[0.2976688216366606,-0.12098126974901863,0.46859586949725096]],"gripper_width":0.07999518210438783,"jaw_actuator_force":[0.0072681858758514295,-0.0005891309485157592],"joint_actuator_torque":[-0.13872762323032362,-0.8234933821577215,-0.9777322262616508,-0.0005179157608288744,-0.06581664532413933,0.01892201667110882],"joint_position":[-0.3389835466159981,-1.5188000100805181,1.54939164612715,1.1187711098337335e-05,-0.03038248591637071,0.3347577887280608],"joint_velocity":[0.155221280828123,-0.15642385039636927,0.18766550608862292,0.0001206748185973928,-0.03087208577903953,-0.142323722493889],"object_angular_velocity":[-3.0096039189522417e-12,-1.381035166806008e-12,-2.5668602664469775e-25],"object_position":[0.34000000012423015,-0.1099999969254506,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0433274082417565e-13,4.790760157903928e-14,1.2996706390997043e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3436202474473572e-13,2.926215304524808e-13,-2.2246078213660126e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.9},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33448650113475786,-1.5225630426052175,1.574152529210418,-1.5295184477917505e-06,-0.051477670536941564,0.33447473520986815],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012799603996948569,-0.004461685488104262,0.5096717066492902],[0.23931435293763112,-0.08342018830046931,0.5021468580814259],[0.2912239829032042,-0.10151484519496963,0.500422413617957],[0.34315913818641874,-0.11961842089030557,0.5004085301155969],[0.34314975765848166,-0.11961465583843027,0.460408531392721]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34314975765848166,-0.11961465583843027,0.460408531392721],"end_effector_quaternion":[0.9999977315981451,4.6813728469125835e-05,0.00011735640196451601,-0.0021262254146119015],"end_effector_velocity":[-0.022721437944355726,0.06803544965480766,-0.006328110402186617],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3891443038473055,-0.1198109912416026,0.46839772683933945],[0.29715058122122545,-0.11941979080986045,0.46841933740440567]],"gripper_width":0.07999455694441096,"jaw_actuator_force":[0.007262156267708875,-0.0028832615755334245],"joint_actuator_torque":[-0.13916688160361446,-0.8186601381596574,-0.9757379824397958,-0.0005215507706056398,-0.06608791808813663,0.019044595180165658],"joint_position":[-0.33540919333731845,-1.522366884490472,1.5537255594489257,1.1695502839715118e-05,-0.031106247642260547,0.33115710448999974],"joint_velocity":[0.15619344279698769,-0.15581023668040145,0.1843909736809431,0.0001224130699943647,-0.028345471397153547,-0.14324719910836578],"object_angular_velocity":[2.4841826402306557e-11,1.1417326784988681e-11,-1.1583019410835146e-24],"object_position":[0.3400000001242274,-0.10999999692544438,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.534695253512258e-14,4.379624406622878e-14,1.2996703162577509e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0928055851475265e-13,4.555469375495828e-13,-2.2268282674152637e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.92},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33400227729164833,-1.52274003601936,1.5790966622268248,2.0506384663663874e-07,-0.05625571138395598,0.33399613739452877],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012655946306160107,-0.004404539119839598,0.5096791502029379],[0.23917058056247487,-0.08323646078440002,0.5009242319051717],[0.2910801842462137,-0.1013021094991951,0.4989178964619336],[0.3430242804085238,-0.1193797879411851,0.4990096353778309],[0.34308744412890757,-0.11940128235854984,0.459009691023689]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34308744412890757,-0.11940128235854984,0.459009691023689],"end_effector_quaternion":[0.9999987525147452,-0.00026762095806108017,-0.0007899064811132401,-0.0013414155684036127],"end_effector_velocity":[0.0029803125187163083,0.0016527943952093886,-0.07794074915832377],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3890099936232048,-0.11952020083473816,0.46708228213281866],[0.297082419774073,-0.11927361265596538,0.4669369872347072]],"gripper_width":0.07992801939629127,"jaw_actuator_force":[0.0047008174371789835,0.001854234182351533],"joint_actuator_torque":[-0.005851790036928151,-1.0415026681108657,-1.0779744925442856,-8.846687133472227e-05,-0.024367233229122043,-0.008491032037902357],"joint_position":[-0.33491098775325806,-1.522919170570678,1.5594060920845396,1.1528283720449087e-05,-0.0381549025788683,0.33222858502515823],"joint_velocity":[0.00702597254004735,0.009143635071810811,0.2674146591121903,-0.000305173159166356,-0.3439707250266507,0.06272782488193394],"object_angular_velocity":[-8.840982273539927e-12,-4.061736421287002e-12,-8.094949189176698e-26],"object_position":[0.34000000012422454,-0.10999999692543792,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0091190338520437e-13,4.635917681077127e-14,1.2996699639693037e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2946078601683208e-13,2.8180224728684886e-13,-2.2233588204633095e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.94},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3337570327845056,-1.52239625171046,1.584439003268554,-2.4051140334112265e-07,-0.06194886162861612,0.3337543959856923],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.012675591032795419,-0.004407867467653888,0.5096782081184676],[0.23915679104007484,-0.08316546630185517,0.4995043853790204],[0.2910587327084097,-0.10121408270135963,0.49717288433456375],[0.34300714807642957,-0.11927887905218901,0.49733186092005943],[0.34311644739275177,-0.11931658280250998,0.45733202801932515]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34311644739275177,-0.11931658280250998,0.45733202801932515],"end_effector_quaternion":[0.999998604666618,-0.00047015255397556615,-0.0013666372590039558,-0.0008378090444470181],"end_effector_velocity":[0.0007982991000658685,0.003941957616560769,-0.07487775694184023],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38907601328203123,-0.119386030560639,0.4654577111534947],[0.2970998159059026,-0.11923203119873618,0.4652062415568697]],"gripper_width":0.07997667006656672,"jaw_actuator_force":[-0.0028232832733632307,0.0005994541732743386],"joint_actuator_torque":[-0.009946833786727893,-1.066608793672799,-1.0861088210805292,-0.00010589049365480733,-0.03545422563047307,-0.003841923126390867],"joint_position":[-0.33466408213103677,-1.522848919793446,1.5652525541698983,7.1972914772211535e-06,-0.045294121775234716,0.33298877758851],"joint_velocity":[0.01098670490126268,0.0062045383880619965,0.2520392516825972,-0.00014853489975568917,-0.28217443837286854,0.028143618936509306],"object_angular_velocity":[4.690291481832896e-12,2.156914376757169e-12,5.10356122119118e-25],"object_position":[0.3400000001242217,-0.10999999692543173,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0795340784082625e-13,4.961056581662786e-14,1.2996700878821055e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.520375482182622e-13,3.3084779900143795e-13,-2.2232200425852308e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.96},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33350754425107737,-1.5220633928248024,1.5897752809685373,-1.0460860892052614e-06,-0.06762226892869443,0.3335068940255825],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012710399023663277,-0.004416405154677543,0.5096764936889925],[0.2391516955386873,-0.08309658720867809,0.4981106740230837],[0.2910444926567136,-0.10112746226271987,0.49546017368297957],[0.34299730786729543,-0.11917920481865349,0.4956591269172771],[0.34313404369902684,-0.11922652800111026,0.45565938862027416]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34313404369902684,-0.11922652800111026,0.45565938862027416],"end_effector_quaternion":[0.999998214481572,-0.000590604886374195,-0.0017095242997867484,-0.0005474908262597227],"end_effector_velocity":[0.0006051100313972219,0.003975063374047186,-0.0752310355960129],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38910021166925735,-0.11926733277884581,0.46381662082009845],[0.2971077843381356,-0.1191667880515834,0.4635020332828713]],"gripper_width":0.07999302017453534,"jaw_actuator_force":[-0.0007932113323949608,0.0012212232518198363],"joint_actuator_torque":[-0.009655515831923367,-1.0679200696081352,-1.0831322958732699,-8.56802132329551e-05,-0.0387142127596487,-0.0016754699362309111],"joint_position":[-0.33441372719771384,-1.5227213388189296,1.5709309264242421,4.4358261748427845e-06,-0.051826927027400306,0.33331896547964207],"joint_velocity":[0.010893307046288672,0.009719457249673685,0.2460203387777704,-9.557933155704423e-05,-0.2603700663960243,0.012169976333309247],"object_angular_velocity":[-1.0752836301223225e-11,-4.94194515280958e-12,6.132393023852382e-26],"object_position":[0.3400000001242189,-0.10999999692542546,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.015865527959193e-14,4.1437086790764375e-14,1.2996704692660988e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2052966273226122e-13,2.6224944849758783e-13,-2.2234975983413866e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":1.98},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33325790261985,-1.5217134046746505,1.595108043960558,-1.699097235378283e-06,-0.07330761909886652,0.3332583764019737],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012760519344112603,-0.004430245639263453,0.509673992479895],[0.23915475686238077,-0.08303065808896794,0.496727008998855],[0.2910367696269839,-0.10104325260869189,0.4937599919511167],[0.3429940124153455,-0.11908197387661631,0.4939823809107766],[0.34314683475537877,-0.119134929861073,0.45398270789966194]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34314683475537877,-0.119134929861073,0.45398270789966194],"end_effector_quaternion":[0.9999978842503549,-0.0006612258712828036,-0.001910534326704293,-0.000379649506432008],"end_effector_velocity":[0.00043149968926483586,0.004033837708581969,-0.07533138417745087],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38911220646048544,-0.11915914731052192,0.46215842018692194],[0.29711862078143153,-0.11908952872123128,0.46180685826918944]],"gripper_width":0.07999428378230578,"jaw_actuator_force":[-0.00022102082337482898,0.001559068810212949],"joint_actuator_torque":[-0.009694195612496515,-1.0698251876741551,-1.0813094426423504,-8.410437636398289e-05,-0.04072339727263241,-0.0004142494389611784],"joint_position":[-0.33416375858136715,-1.522535813343959,1.5765077771765914,2.4001557913719065e-06,-0.05801541048099914,0.3334045923221243],"joint_velocity":[0.010887191259580585,0.012153868607786144,0.24173105696622152,-6.517093164761634e-05,-0.24699206733052975,0.002866130110368934],"object_angular_velocity":[-5.843093601994901e-12,-2.6858570447798073e-12,3.819568937840799e-26],"object_position":[0.3400000001242158,-0.10999999692541874,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1153025424727913e-13,5.126716297437569e-14,1.2996707074606149e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4180780888849007e-13,3.085004022075244e-13,-2.22322004258523e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.0},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3330080694725123,-1.5213412157842257,1.6004250906561333,-2.140123206278655e-06,-0.07899847820855697,0.33300917584545364],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012822724546907117,-0.004448252621320942,0.5096708615208441],[0.23916271662081184,-0.08296646919607824,0.49534963064133364],[0.29103229813774834,-0.10096022716112679,0.4920676818981125],[0.3429939934541022,-0.11898594305487406,0.4923038732788139],[0.34315629287727556,-0.11904220794559527,0.45230424211602305]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34315629287727556,-0.11904220794559527,0.45230424211602305],"end_effector_quaternion":[0.999997654825953,-0.000702739349036608,-0.002028946160340111,-0.0002826260428590101],"end_effector_velocity":[0.00030549636885696986,0.0040752037555023225,-0.0753788918002902],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3891200409951776,-0.11905682341144562,0.46049083540762886],[0.297125436502918,-0.11900508529264281,0.46011749240796523]],"gripper_width":0.07999537660945583,"jaw_actuator_force":[-2.0469436996961576e-05,0.0010131284777390448],"joint_actuator_torque":[-0.009606800554990969,-1.071039237934997,-1.0799103032193216,-7.437967188364394e-05,-0.04192398628744343,0.0003151292921899085],"joint_position":[-0.3339139057710819,-1.5223045761862493,1.5820118408376325,8.852971814401546e-07,-0.06400166659090176,0.33334870709959546],"joint_velocity":[0.010880328287554777,0.014101641140404273,0.23867662735329698,-4.606589262857835e-05,-0.23916993297368275,-0.0025138590055564796],"object_angular_velocity":[1.8462074856976035e-11,8.492299077073376e-12,6.162098008137746e-26],"object_position":[0.34000000012421305,-0.10999999692541255,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0254733785772048e-13,4.714731739297364e-14,1.2996706524005347e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.866714496839386e-13,4.060040912522604e-13,-2.224052709853698e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.02},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3327580839909103,-1.5209435568444647,1.6057200017292201,-2.416679886073183e-06,-0.08469210044387761,0.33275954319462947],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012895258501129428,-0.004469806083303683,0.5096671828115819],[0.23917377406160614,-0.08290337027161049,0.4939761215196911],[0.29102926721088207,-0.1008777287314308,0.49038025330696616],[0.34299543160562446,-0.11889044758514836,0.49062462514564315],[0.34316335186589325,-0.1189486622955519,0.4506250199746707]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34316335186589325,-0.1189486622955519,0.4506250199746707],"end_effector_quaternion":[0.9999975066511138,-0.0007272101078899635,-0.0020991732428934234,-0.0002265584055380134],"end_effector_velocity":[0.00021035032086823974,0.00410893219054803,-0.07539349284251605],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38912586084132234,-0.11895772065931555,0.45881806494096466],[0.2971319262080502,-0.1189163172606501,0.4584318097350048]],"gripper_width":0.07999475483219842,"jaw_actuator_force":[7.29848584946069e-05,0.001319098256090001],"joint_actuator_torque":[-0.009641557990818228,-1.0721765660869096,-1.0786674765390671,-7.488496576267626e-05,-0.042603891508353975,0.000737123913459925],"joint_position":[-0.3336640868845359,-1.5220342848953259,1.5874603738152053,-2.253790029653458e-07,-0.06986922787847438,0.3332109537166579],"joint_velocity":[0.010881953885472199,0.01577549703424686,0.2363281069160532,-2.9195164282241095e-05,-0.23458288602700078,-0.005626447844849646],"object_angular_velocity":[-8.260571112470432e-12,-3.798498733629796e-12,1.5123428546388893e-26],"object_position":[0.34000000012421033,-0.10999999692540657,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.861690907031726e-14,4.075328977408279e-14,1.2996707226324667e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1550546395260124e-13,2.511671264881314e-13,-2.2240527098536983e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.04},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3325079456055748,-1.5205185129217764,1.6109890995974097,-2.5839109854193833e-06,-0.09038695894075643,0.3325095986827808],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012977115794830903,-0.004494548125108101,0.5096629998816409],[0.23918689303092852,-0.08284098089429098,0.49260506462736675],[0.2910266336475342,-0.10079537173722872,0.4886959544649289],[0.3429972773251732,-0.11879509561794145,0.4889452253015361],[0.3431685685032214,-0.11885446421086414,0.44894563611986454]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3431685685032214,-0.11885446421086414,0.44894563611986454],"end_effector_quaternion":[0.9999974135316322,-0.0007416935615429943,-0.002141289276615552,-0.00019416730008618659],"end_effector_velocity":[0.0001308113702809463,0.00413710059122264,-0.07538705387660868],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38913028107059255,-0.11886030633700116,0.4571425498741643],[0.2971364406756428,-0.11882487391621896,0.45674854990591934]],"gripper_width":0.0799946909448741,"jaw_actuator_force":[0.00012498983361375338,0.0015162479941235318],"joint_actuator_torque":[-0.009637177654383322,-1.0730981451923753,-1.0775373173700018,-7.30020681919749e-05,-0.04300825702743616,0.000981485158845885],"joint_position":[-0.3334142312127313,-1.521728753802798,1.592863460859411,-1.0162429754724846e-06,-0.07566691960185015,0.3330258210867316],"joint_velocity":[0.010883859382325214,0.017283513356099036,0.23439449315221336,-1.6812622987526432e-05,-0.2318803946015317,-0.007427901548576632],"object_angular_velocity":[9.505759302806441e-13,4.3707496899730995e-13,4.852482177882248e-26],"object_position":[0.34000000012420745,-0.1099999969254003,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1440475911795523e-13,5.2614070813985395e-14,1.2996706708417626e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.506429549346353e-13,3.275657983173574e-13,-2.224052709853698e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.06},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3322576478069646,-1.520064971017525,1.616230268067954,-2.6831071899856765e-06,-0.09608218841407967,0.3322594045934011],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.013067715457940275,-0.004522269148952638,0.5096583342124006],[0.23920147248760745,-0.08277907817142313,0.49123563698132167],[0.2910237918069062,-0.10071293023907261,0.48701376886586606],[0.34299892077128824,-0.11869965687690992,0.48726602665378416],[0.34317227257434574,-0.11875971355580053,0.44726644737665056]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34317227257434574,-0.11875971355580053,0.44726644737665056],"end_effector_quaternion":[0.9999973550852704,-0.0007503302401379884,-0.0021670349236880427,-0.00017546120279095316],"end_effector_velocity":[5.99603413030704e-05,0.004161744783609053,-0.0753699400949024],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38913348820260596,-0.11876369373759714,0.4554657260831609],[0.2971389379725355,-0.11873170973652497,0.45506698833904047]],"gripper_width":0.07999541992293889,"jaw_actuator_force":[0.0001498225148051091,0.0008276180019635149],"joint_actuator_torque":[-0.009588396382696374,-1.0738931747968081,-1.0765474233728582,-6.664812087209425e-05,-0.04326275948470126,0.0011228010374715325],"joint_position":[-0.33316428963431055,-1.52139018955023,1.59822701181501,-1.5601198283634246e-06,-0.08142334358021605,0.33281324298022597],"joint_velocity":[0.010885058730836724,0.018695363595495933,0.23270937939549316,-8.997651098160056e-06,-0.23027787374083494,-0.00847144363091619],"object_angular_velocity":[-9.830782273954623e-12,-4.520738967517153e-12,4.257871397702712e-26],"object_position":[0.3400000001242048,-0.10999999692539439,0.30999147829693724],"object_quaternion":[0.9999999999999999,7.985075340962084e-14,3.671911450735239e-14,1.2996708433082878e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0828505587243943e-13,2.354777488542574e-13,-2.2236363762194636e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.08},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3320072210454616,-1.5195823386097638,1.621442353553553,-2.7413367873893176e-06,-0.10177730812827578,0.33200903006523036],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01316670834668883,-0.0045528411297281616,0.5096531949199951],[0.23921714848480902,-0.08271753606753368,0.4898673671980639],[0.2910203743497949,-0.10063027865744745,0.485333115011788],[0.342999991396373,-0.11860400474004383,0.48558724568463923],[0.3431746406278589,-0.11866447735583951,0.44558767267805977]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3431746406278589,-0.11866447735583951,0.44558767267805977],"end_effector_quaternion":[0.9999973177274751,-0.0007555501831876,-0.0021832456750053818,-0.0001646818102076192],"end_effector_velocity":[-2.6390015079947107e-06,0.004185453077560245,-0.07534603939546136],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3891355456191058,-0.118667380545508,0.4537884405273724],[0.29714155410950305,-0.11863738436277968,0.45338672389246076]],"gripper_width":0.07999487349789991,"jaw_actuator_force":[0.00017607275787234755,0.0011735950956204277],"joint_actuator_torque":[-0.009638790224897775,-1.0747828756764193,-1.0754911765396855,-6.81534614864659e-05,-0.04338946181797709,0.0012049230276076628],"joint_position":[-0.3329142660306564,-1.521019919934792,1.603554540671646,-1.9365756529976104e-06,-0.08715519486651996,0.3325847374178152],"joint_velocity":[0.010891462515023934,0.02005904139934528,0.23116389308852237,-1.6841316835409959e-06,-0.22933090223399769,-0.009077178243586765],"object_angular_velocity":[-5.954209513665865e-12,-2.7379074206208167e-12,1.9290979173523992e-25],"object_position":[0.3400000001242019,-0.10999999692538794,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.828764016594617e-14,4.5198895966076144e-14,1.2996711406724253e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2684862609297875e-13,2.7584236603330846e-13,-2.223636376219464e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.1},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33175664770364516,-1.5190702070477056,1.626624723527979,-2.775331673886789e-06,-0.107472141108912,0.3317584799352899],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01327391057445289,-0.0045861929643011105,0.509647582024511],[0.23923373027501665,-0.08265627860431879,0.48849996728787914],[0.29101618895639586,-0.10054733989682284,0.4836536389107344],[0.3430002955752146,-0.11850805961235834,0.48390899423818834],[0.34317579850955526,-0.11856878879116,0.4439094253569257]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34317579850955526,-0.11856878879116,0.4439094253569257],"end_effector_quaternion":[0.9999972929467039,-0.0007587691037104322,-0.002193912865959588,-0.00015847727780239369],"end_effector_velocity":[-6.288592130045383e-05,0.004207535482136317,-0.0753175555130803],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3891365081165453,-0.11857106850111238,0.45211117320123806],[0.2971428154640063,-0.11854221675976795,0.45170749597181975]],"gripper_width":0.07999458285996158,"jaw_actuator_force":[0.00019347361952704034,0.0011284905820723168],"joint_actuator_torque":[-0.009642233963745639,-1.0755854909982645,-1.074465013978056,-6.58891334366038e-05,-0.043472260097781046,0.001252654238431461],"joint_position":[-0.3326641262286231,-1.5206186476402608,1.6088481340543601,-2.18718601420614e-06,-0.09287232722998619,0.3323469730359888],"joint_velocity":[0.010896191857347715,0.02138806016286662,0.22970615899948302,2.5630703089904394e-06,-0.2287601052537589,-0.009429359086712231],"object_angular_velocity":[1.2547233008315855e-11,5.770840022293273e-12,5.606567654969368e-25],"object_position":[0.34000000012419906,-0.10999999692538173,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1342021363895744e-13,5.215310004410977e-14,1.2996714185628203e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7570640751271825e-13,3.821130600696533e-13,-2.2251629328783237e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.12},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33150594312495996,-1.5185283791595874,1.6317770669137666,-2.7951602936537788e-06,-0.11316660084086,0.3315077819641114],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.013389204934597046,-0.004622277340142281,0.5096414914554173],[0.23925109563720023,-0.08259526412285248,0.48713327827825387],[0.2910111122565468,-0.10046407359389024,0.48197514609182057],[0.34299970873296837,-0.1184117808583006,0.482231349844399],[0.34317580791958946,-0.11847267383724919,0.44223178383273354]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34317580791958946,-0.11847267383724919,0.44223178383273354],"end_effector_quaternion":[0.9999972755682832,-0.0007608232628706166,-0.002201363700954679,-0.00015492523909430605],"end_effector_velocity":[-0.00012071343880529998,0.004228935711816832,-0.07528601309224825],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3891363903095228,-0.11847459308923891,0.4504342162778452],[0.297142484133115,-0.11844639668819557,0.4500291676578203]],"gripper_width":0.0799948022065124,"jaw_actuator_force":[0.00021183703046290248,0.0013512272077527143],"joint_actuator_torque":[-0.009647940029651636,-1.0763765570508212,-1.0733990230945665,-6.420669629303758e-05,-0.0435183815288287,0.0012806997492269545],"joint_position":[-0.3324138750644176,-1.520186822062146,1.6141090701832193,-2.3576000242952606e-06,-0.09858051501517982,0.3321037971718833],"joint_velocity":[0.010901574919266606,0.022699208100859687,0.228299247893896,5.549231724085877e-06,-0.22841488502786197,-0.00963535464508697],"object_angular_velocity":[-9.559770589585028e-12,-4.395667584629418e-12,8.70017905854565e-26],"object_position":[0.34000000012419623,-0.10999999692537547,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.160101694928837e-14,4.211661540519491e-14,1.2996717178184364e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.204158544940175e-13,2.6189492654606996e-13,-2.2237751540975426e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.14},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33125509641021567,-1.5179567039565611,1.636899227723087,-2.8067805830269436e-06,-0.11886069845845015,0.331256932572642],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01351253315133173,-0.004661067065717527,0.5096349153836893],[0.23926918519948492,-0.08253446681568166,0.48576720356643716],[0.2910050846271867,-0.10038045425838177,0.48029751960831685],[0.3429981708800264,-0.11831514180028119,0.48055435550770237],[0.343174718499765,-0.1183761447219964,0.4405547916403112]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.343174718499765,-0.1183761447219964,0.4405547916403112],"end_effector_quaternion":[0.9999972624779072,-0.0007622011577551008,-0.0022069678305869952,-0.0001529021958916968],"end_effector_velocity":[-0.00017723404847196957,0.004249821633695737,-0.07525359400739347],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38913520860088185,-0.11837785520885631,0.4487577390664844],[0.2971413182852081,-0.11835003237353547,0.44835165964787316]],"gripper_width":0.07999479077652491,"jaw_actuator_force":[0.0002250891477029171,0.0013289183730389453],"joint_actuator_torque":[-0.009654743755447726,-1.0771812442083046,-1.072341985820799,-6.192422531156965e-05,-0.04354622512146378,0.0012971114747379886],"joint_position":[-0.33216349509888665,-1.519724669763176,1.6193381287083521,-2.468498104129131e-06,-0.10428321954264783,0.3318574386480796],"joint_velocity":[0.010907040691154458,0.02400027977627815,0.22692650157760408,7.25587630014966e-06,-0.2282019876425812,-0.009756543779981327],"object_angular_velocity":[-1.050846954040754e-12,-4.848210685156985e-13,3.369886475125201e-25],"object_position":[0.34000000012419324,-0.10999999692536899,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0549648083780063e-13,4.8490151673268336e-14,1.2996721274266527e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4126182266534925e-13,3.073214831678026e-13,-2.223636376219464e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.16},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3310041121805624,-1.5173551044903646,1.6419911750461893,-2.8136827035033954e-06,-0.12455448931859715,0.33100594036585634],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013643859290226502,-0.004702542973478623,0.5096278440950599],[0.23928796225732527,-0.08247387352911677,0.48440168822899554],[0.29099806918728544,-0.10029647011478385,0.4786206941763558],[0.3429956447481127,-0.1182181304703818,0.4788780380992386],[0.34317255601888463,-0.11827921225876208,0.4388784759589176]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34317255601888463,-0.11827921225876208,0.4388784759589176],"end_effector_quaternion":[0.9999972518568282,-0.0007631888204929313,-0.0022115127880279473,-0.00015176562148210622],"end_effector_velocity":[-0.00023279022159654675,0.004270368576719747,-0.0752201635686828],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3891329759194244,-0.11828080189779963,0.44708184109168336],[0.29713905382055256,-0.11825318920866991,0.4466749254300285]],"gripper_width":0.07999482619120284,"jaw_actuator_force":[0.00023744695738514565,0.0012968508713075977],"joint_actuator_torque":[-0.009660488996843242,-1.0779902549353437,-1.0712627420273293,-5.946944049524318e-05,-0.04356221009840944,0.001306908096580628],"joint_position":[-0.33191298672242164,-1.519232332251428,1.6245358224825526,-2.541897968506321e-06,-0.10998248772040606,0.33160918155749153],"joint_velocity":[0.010912683668709735,0.02529559785424709,0.22557466018015845,8.186757169071862e-06,-0.2280689030362777,-0.009828937322720839],"object_angular_velocity":[3.2736958672746635e-11,1.504024225835649e-11,1.6649991622417994e-24],"object_position":[0.34000000012419057,-0.10999999692536289,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.87577658210014e-14,4.5379247676009356e-14,1.2996725960945368e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.3036203029219286e-13,5.013166001549868e-13,-2.2241914877317763e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.18},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.33075299047078505,-1.516723526298919,1.647052929248209,-2.817907437952617e-06,-0.13024805374988094,0.3307548076766311],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013783165124715427,-0.00474669198396301,0.5096202662082172],[0.23930740893081315,-0.0824134768318175,0.4830367000989676],[0.2909900481363772,-0.10021211502611749,0.4769446328655979],[0.3429921123572601,-0.11812074046858813,0.4772024148053396],[0.3431693395176234,-0.11818188341679532,0.4372028541568335]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3431693395176234,-0.11818188341679532,0.4372028541568335],"end_effector_quaternion":[0.9999972426274014,-0.00076395410976348,-0.002215461078984286,-0.00015114205149887762],"end_effector_velocity":[-0.00028765464111026994,0.004290658528043898,-0.07518608743790199],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38912970163495963,-0.11818340302904716,0.4454065821993603],[0.2971357288498031,-0.11815590592054533,0.4449989399263659]],"gripper_width":0.07999488005921757,"jaw_actuator_force":[0.0002492109121270403,0.0012665319814129106],"joint_actuator_torque":[-0.00966653956768937,-1.0788090310865073,-1.0701585763529238,-5.696726615251401e-05,-0.04357070681257014,0.0013128715385413159],"joint_position":[-0.33166234733225514,-1.5187098838896322,1.6297024953303658,-2.5907994576445487e-06,-0.1156795729602622,0.33135976939437123],"joint_velocity":[0.01091844286867238,0.026587806344923946,0.2242370292673517,8.611154369525339e-06,-0.22798459013604305,-0.009873059622221288],"object_angular_velocity":[-7.976419897916527e-12,-3.6651194469603485e-12,1.3281622415694971e-25],"object_position":[0.3400000001241875,-0.1099999969253562,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.030621338719239e-13,4.7348670313111156e-14,1.2996730108338386e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3254310756208077e-13,2.884913272266643e-13,-2.22391393197562e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.2},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3305017310253679,-1.5160619307787064,1.652084543501199,-2.8206431069633196e-06,-0.13594148676359455,0.33050353555162704],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013930442093037345,-0.00479350436807823,0.509612169082402],[0.23932751740373384,-0.0823532729553152,0.4816722202979386],[0.2909810138291018,-0.10012738658989033,0.47526931536816575],[0.342987565964265,-0.1180229692105627,0.47552749685324863],[0.3431650828143685,-0.11808416343499376,0.4355279375677412]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3431650828143685,-0.11808416343499376,0.4355279375677412],"end_effector_quaternion":[0.9999972341579594,-0.0007645952484648101,-0.0022190820766360125,-0.0001508153648638559],"end_effector_velocity":[-0.0003419916016526407,0.004310741162233303,-0.07515155438377168],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38912539402885393,-0.11808564235641651,0.4437319984634051],[0.29713136535986767,-0.11805820610817302,0.44332368973627617]],"gripper_width":0.07999493887988961,"jaw_actuator_force":[0.0002605886684445835,0.0012370761806419495],"joint_actuator_torque":[-0.009672765636395297,-1.0796389483208486,-1.069028140633577,-5.442669226205741e-05,-0.04357450220508774,0.0013166200779011206],"joint_position":[-0.3314115749982104,-1.5181573622667612,1.634838393632308,-2.62382511906103e-06,-0.12137525742576916,0.3311096318635388],"joint_velocity":[0.01092428168447451,0.027878435836036324,0.22290958544387984,8.696011553863771e-06,-0.22793080796054668,-0.009900846684702253],"object_angular_velocity":[8.196828413317523e-12,3.769051095682024e-12,-3.3546983340716365e-25],"object_position":[0.3400000001241846,-0.10999999692534963,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0689511343321162e-13,4.911139372718898e-14,1.2996730175078293e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.6485139300662749e-13,3.588067102602653e-13,-2.2236363762194643e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.22},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3302503212318989,-1.515370268896601,1.6570860769368045,-2.822577978264941e-06,-0.14163489850074598,0.33025211224454315],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01408569234579535,-0.00484297389534553,0.5096035387383153],[0.23934829140394373,-0.0822932589118256,0.4803082350799833],[0.2909709703547694,-0.1000422825614356,0.47359472799161556],[0.342982009814149,-0.11792481371048685,0.4738532895086025],[0.3431598031785803,-0.11798605384980365,0.43385373152148343]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3431598031785803,-0.11798605384980365,0.43385373152148343],"end_effector_quaternion":[0.999997226067237,-0.0007651690282571718,-0.0022225384968255434,-0.0001506546369192825],"end_effector_velocity":[-0.00039717004918738037,0.004330186628700546,-0.07511722663766993],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38912006516270353,-0.11798750844420702,0.4420581101497059],[0.29712537664373284,-0.11796010229188025,0.44164916254224856]],"gripper_width":0.07999560155216814,"jaw_actuator_force":[0.0002633995997882721,0.0004619605462785614],"joint_actuator_torque":[-0.009628375744910045,-1.0804177504737709,-1.0679427405814295,-4.751976794710835e-05,-0.04359228037733054,0.00131887075475845],"joint_position":[-0.3311606558452156,-1.5175747644712867,1.6399436963797744,-2.6415368004770597e-06,-0.12707006771596033,0.3308590171392219],"joint_velocity":[0.010927950495048333,0.029165567986623817,0.22159369384188243,7.3362782231203785e-06,-0.22789207653016852,-0.009919127460251006],"object_angular_velocity":[-9.965828714008463e-12,-4.579234690344378e-12,-1.910440028250167e-26],"object_position":[0.34000000012418186,-0.10999999692534347,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.9263480926055e-14,4.1016925245081056e-14,1.2996729042080173e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.180334738019184e-13,2.56874538913996e-13,-2.2232200425852293e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.24},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32999878651175796,-1.5146485579673992,1.6620576280197954,-2.8241201814503226e-06,-0.1473283711558887,0.3300005632823887],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.014248905183522469,-0.004895090522873808,0.5095943611553063],[0.23936971979957108,-0.08223343700881969,0.4789447446907167],[0.29095990648241554,-0.09995680807851562,0.4719208742509149],[0.3429754322122123,-0.1178262802974874,0.47217980603392634],[0.34315349541495166,-0.11788756388909015,0.43218024931366716]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34315349541495166,-0.11788756388909015,0.43218024931366716],"end_effector_quaternion":[0.999997218157216,-0.0007657117976055546,-0.002225911544377653,-0.00015060235407963625],"end_effector_velocity":[-0.00044975713819875047,0.004350324855137046,-0.07508238628635056],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38911370933575024,-0.1178890046369073,0.4403849380175624],[0.2971195130637959,-0.11786160894728707,0.43997537197555725]],"gripper_width":0.0799951120581383,"jaw_actuator_force":[0.0002767871663440502,0.0007402876240902856],"joint_actuator_torque":[-0.009674533424799847,-1.081329920415783,-1.0667326168869522,-4.758704680902766e-05,-0.043579925846227496,0.0013206267374421543],"joint_position":[-0.3309096148725138,-1.5169621352743108,1.6450185715557355,-2.6594031072096447e-06,-0.13276430427295913,0.33060806349622324],"joint_velocity":[0.010935697817187178,0.030458081021618216,0.22027895294355257,7.758871763172147e-06,-0.22787472881312576,-0.009932237230332219],"object_angular_velocity":[-2.99980440837165e-12,-1.3775723632942585e-12,-8.561937385880672e-26],"object_position":[0.340000000124179,-0.10999999692533734,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0404623274709442e-13,4.7822884996376455e-14,1.2996728673409437e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.341226192895321e-13,2.918158934581419e-13,-2.2241914877317766e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.26},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3297471130690341,-1.5138967520218565,1.666999279406257,-2.8254942565570824e-06,-0.15302203402549633,0.3297488752869021],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014420089713790909,-0.004949850397795086,0.5095846204527097],[0.23939181288325265,-0.08217380638733499,0.47758173940289383],[0.2909478327762543,-0.09987096296827122,0.4702477458289777],[0.3429678439375238,-0.11772736807160489,0.4705070440492563],[0.34314617443858975,-0.11778869390296634,0.43050748858454146]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34314617443858975,-0.11778869390296634,0.43050748858454146],"end_effector_quaternion":[0.9999972103093915,-0.0007662392892279699,-0.002229252883000539,-0.00015060667330703522],"end_effector_velocity":[-0.0005027705741247682,0.00436998690362528,-0.07504657056716228],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.389106345962729,-0.11779012626022274,0.43871248447623307],[0.29711214766184396,-0.11776273046180243,0.43830230362902983]],"gripper_width":0.07999511682627378,"jaw_actuator_force":[0.00029047663680970004,0.0008983914962481521],"joint_actuator_torque":[-0.009688617487825013,-1.0822012964360965,-1.065497091028874,-4.587952624707478e-05,-0.04357333836597732,0.0013220151479984565],"joint_position":[-0.3306584377275276,-1.5163194450388973,1.650063146982641,-2.6733111828223e-06,-0.13845823250500708,0.3303568608238754],"joint_velocity":[0.010941982263987054,0.03174826379902128,0.2189698241681328,7.641754594665479e-06,-0.22786514839960922,-0.009941934451944166],"object_angular_velocity":[2.4768717119881543e-11,1.1388857699294449e-11,-2.8968288315628274e-25],"object_position":[0.34000000012417625,-0.10999999692533112,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.508925770701494e-14,4.371409439656328e-14,1.299672817319421e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0884735996489002e-13,4.542841668882132e-13,-2.2237751540975413e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.28},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32949529760998597,-1.513114827595007,1.671911104869142,-2.826840733013627e-06,-0.15871598487487487,0.32949704513114025],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014599249843929971,-0.005007248032462603,0.5095743002694202],[0.2394145754865325,-0.08211436716703947,0.47621921767355907],[0.29093475427962895,-0.09978474863538,0.4685753445786742],[0.34295925007104844,-0.11762807824456264,0.46883500995303157],[0.34313784845966155,-0.11768944616882221,0.4288354557480975]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34313784845966155,-0.11768944616882221,0.4288354557480975],"end_effector_quaternion":[0.9999972024303573,-0.000766764873844375,-0.0022326016108276735,-0.00015064240603972036],"end_effector_velocity":[-0.0005556798209762834,0.004389439704038073,-0.07501095558655028],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38909797525622286,-0.11769087305358088,0.4370407594989776],[0.297103817162253,-0.11766347138008364,0.436629962671167]],"gripper_width":0.07999507937006074,"jaw_actuator_force":[0.00030115032964950217,0.0008727580764524845],"joint_actuator_torque":[-0.00969532684416663,-1.083081555751619,-1.0642557179489813,-4.326546983587909e-05,-0.04356909299185929,0.0013230680735745182],"joint_position":[-0.3304071207551572,-1.5156466833860514,1.6550775335646737,-2.683038966889457e-06,-0.14415205634290787,0.33010545594291024],"joint_velocity":[0.010947954084580814,0.033038666372362,0.2176667855501621,7.198659889190293e-06,-0.2278623492174333,-0.009949835146343042],"object_angular_velocity":[-8.816182594790864e-12,-4.053023450047456e-12,7.106718464171357e-27],"object_position":[0.3400000001241734,-0.10999999692532468,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0062257278107128e-13,4.625716116058511e-14,1.2996727755785615e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2917852752207244e-13,2.809990216766557e-13,-2.2239139319756197e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.3},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3292433429112447,-1.5123027686703268,1.676793193153429,-2.8282352334911666e-06,-0.16441032870122016,0.32924507561526745],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014786388995331624,-0.005067277862693496,0.5095633835028133],[0.23943801117337257,-0.0820551206849252,0.47485717785664544],[0.29092067458917364,-0.0996981679983533,0.46690367239606534],[0.34294965415725764,-0.11752841384501302,0.4671637073005852],[0.34312852212749206,-0.11758982421304995,0.4271641543653845]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34312852212749206,-0.11758982421304995,0.4271641543653845],"end_effector_quaternion":[0.9999971944861425,-0.0007672947969357586,-0.0022359715306827206,-0.0001506978856352074],"end_effector_velocity":[-0.0006082841348822041,0.0044087633669324475,-0.07497511955697234],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38908860391412875,-0.11759124736900435,0.43536976792484683],[0.29709441237700407,-0.11756383617069241,0.43495835088546053]],"gripper_width":0.07999511558731398,"jaw_actuator_force":[0.00031180084820192633,0.0008433583881686246],"joint_actuator_torque":[-0.009701393559510052,-1.0839735660649694,-1.0629862730105515,-4.060259933153442e-05,-0.043563973113682763,0.0013239910301585667],"joint_position":[-0.33015566649444456,-1.5149438414304601,1.6600618412194157,-2.6914265775022346e-06,-0.1498459247584784,0.32985387437929875],"joint_velocity":[0.01095397589808895,0.03432963848702314,0.21636809471979118,6.709498300372922e-06,-0.2278658488645805,-0.009956771918064416],"object_angular_velocity":[4.675922733690997e-12,2.1504000798001802e-12,7.646378120924876e-26],"object_position":[0.3400000001241706,-0.10999999692531849,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0764111325914349e-13,4.9488664012374905e-14,1.2996728946093278e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5167143290600296e-13,3.298932063349275e-13,-2.223775154097542e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.32},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32899124850603395,-1.5114605547376005,1.6816456263742054,-2.8297223612966423e-06,-0.1701051683166097,0.3289929663144999],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014981512159976989,-0.005129934801706103,0.5095518521890541],[0.23946212508613043,-0.08199606795711643,0.47349561841411303],[0.29090559888170725,-0.09961122347189796,0.4652327315073557],[0.3429390613748458,-0.11742837724728968,0.46549313949338283],[0.3431182014230467,-0.11748983070513488,0.4254935878419499]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3431182014230467,-0.11748983070513488,0.4254935878419499],"end_effector_quaternion":[0.9999971864524729,-0.000767832764645512,-0.0022393726653079904,-0.0001507648810980321],"end_effector_velocity":[-0.0006606024513813261,0.004427957772036104,-0.07493909229082349],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3890782376684108,-0.11749125105825625,0.43369951407967966],[0.29708398973620403,-0.11746382821785335,0.43328747098027764]],"gripper_width":0.07999517478726959,"jaw_actuator_force":[0.0003223764888513614,0.0008161671050999075],"joint_actuator_torque":[-0.009707685096969954,-1.0848791105000828,-1.0616884329224376,-3.794611969931699e-05,-0.043557901069760874,0.0013248321881675906],"joint_position":[-0.32990407428233726,-1.5142109041701266,1.6650161698960362,-2.698999665581643e-06,-0.15553997407151113,0.32960213187472776],"joint_velocity":[0.010960027368466836,0.03562126650174462,0.2150735386221891,6.200055505829832e-06,-0.2278748859126207,-0.00996310593375239],"object_angular_velocity":[-1.0721389258191395e-11,-4.9292889270449166e-12,2.094064870945632e-26],"object_position":[0.34000000012416776,-0.10999999692531225,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.989221327253608e-14,4.1330329496886486e-14,1.2996730451482008e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.202191459529663e-13,2.6147468948382006e-13,-2.223913931975621e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.34},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3287390139877981,-1.5105881651705253,1.686468484870458,-2.831327272430612e-06,-0.17580060481756077,0.32874071684505524],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01518462467790369,-0.005195213872084962,0.5095396875690723],[0.23948692248417314,-0.08193721005717185,0.4721345379188476],[0.2908895323981099,-0.09952391751625425,0.46356252445733775],[0.3429274769670144,-0.11732797087764045,0.4638233097110115],[0.3431068920226525,-0.11738946823124174,0.4238237593596224]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3431068920226525,-0.11738946823124174,0.4238237593596224],"end_effector_quaternion":[0.9999971783160593,-0.0007683807857601338,-0.0022428104254597413,-0.00015083859961001478],"end_effector_velocity":[-0.000712647664468765,0.004447024947558418,-0.07490287676755074],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38906688209024176,-0.11739088623380148,0.43203000164222116],[0.297072572074371,-0.11736345052261507,0.4316173257164043]],"gripper_width":0.07999523971072707,"jaw_actuator_force":[0.00033288268612530203,0.0007897210426062173],"joint_actuator_torque":[-0.009714058827682948,-1.0857980358955501,-1.0603622157825612,-3.528637749015192e-05,-0.04355099594220846,0.0013256271204546977],"joint_position":[-0.32965234354391937,-1.5134478550391426,1.6699406144097046,-2.7060927971275977e-06,-0.16123432720494024,0.3293502374010472],"joint_velocity":[0.010966101060973128,0.03691360640835444,0.21378289541333104,5.675424169383537e-06,-0.22788892862468482,-0.009969099628229748],"object_angular_velocity":[-5.826005166406204e-12,-2.6788970222139633e-12,3.182957259656501e-26],"object_position":[0.34000000012416465,-0.10999999692530557,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1123719072460337e-13,5.1138151243421796e-14,1.2996731064757886e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4145209755270159e-13,3.076821908033839e-13,-2.2237751540975435e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.36},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32848663904489406,-1.5096855792595336,1.691261846764031,-2.8330639374230116e-06,-0.18149673713466172,0.3284883269064515],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.015395732090472758,-0.005263110155554689,0.5095268700946098],[0.2395124086068084,-0.0818785480750171,0.47077393498407705],[0.29087248030846863,-0.09943625259822723,0.4618930540212466],[0.3429149061053638,-0.11722719717555564,0.46215422105800524],[0.34309459932224495,-0.1172887393147239,0.422154672024136]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34309459932224495,-0.1172887393147239,0.422154672024136],"end_effector_quaternion":[0.9999971700698155,-0.000768939914256615,-0.0022462876134110308,-0.00015091629000423313],"end_effector_velocity":[-0.00076442914219132,0.004465967244500022,-0.07486647623007392],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38905454251031174,-0.11729015514869773,0.430361233975488],[0.29706016900671656,-0.11726270584635792,0.4299479179607345]],"gripper_width":0.07999530607542553,"jaw_actuator_force":[0.0003433277228488407,0.0007634696724796441],"joint_actuator_torque":[-0.009720454595765204,-1.0867302991377983,-1.059007600977111,-3.26200185182719e-05,-0.04354332438305164,0.0013263962618026426],"joint_position":[-0.3294004738147399,-1.5126546764518387,1.674835265324243,-2.712940755093069e-06,-0.16692909829558622,0.32909819596608464],"joint_velocity":[0.01097219364378136,0.038206704219713554,0.2124959847958752,5.140069935173044e-06,-0.2279076345450995,-0.009974903589425854],"object_angular_velocity":[1.8411122883627084e-11,8.46434065605806e-12,-1.4122035704362026e-25],"object_position":[0.3400000001241619,-0.10999999692529938,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0228240368822984e-13,4.7021391158601476e-14,1.2996729884537998e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.8616983323316606e-13,4.049407296673937e-13,-2.2239139319756216e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.38},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32823411872366265,-1.508752769120415,1.6960257812435633,-2.834939053796097e-06,-0.18719366245987248,0.32823579159911226],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.015614841871428874,-0.005333619299082923,0.5095133793193141],[0.23953859071699427,-0.08182008251143272,0.4694138076481103],[0.29085444982743636,-0.09934823033092954,0.46022432247345946],[0.34290135608374805,-0.11712605749621105,0.4604858763456948],[0.3430813310087975,-0.11718764536772569,0.4204863286487466]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3430813310087975,-0.11718764536772569,0.4204863286487466],"end_effector_quaternion":[0.9999971617022864,-0.000769510870082095,-0.002249809140363025,-0.00015099412023422774],"end_effector_velocity":[-0.0008162174348940281,0.004484711602293633,-0.07483019087647934],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3890412249279997,-0.11718905885018313,0.42869321433665175],[0.2970469940856019,-0.1171615960043633,0.42827925100125325]],"gripper_width":0.07999516633027694,"jaw_actuator_force":[0.00035078375339381296,0.0005530507349753577],"joint_actuator_torque":[-0.009718580522360298,-1.0876681544610847,-1.057645394154747,-2.903538967969992e-05,-0.043538485260015136,0.0013270641793106108],"joint_position":[-0.3291484598672951,-1.5118313433458122,1.679700204649855,-2.717777968156479e-06,-0.1726244041789647,0.32884601031000743],"joint_velocity":[0.010977894772912892,0.03950017649351949,0.21121377604741184,4.324949698939853e-06,-0.22792966697700345,-0.00998057373743342],"object_angular_velocity":[-8.238577520456233e-12,-3.787707655976601e-12,1.0064412444819648e-26],"object_position":[0.3400000001241592,-0.10999999692529343,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.837665386977192e-14,4.063459921481863e-14,1.299672967325416e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1517011246776188e-13,2.504895494865806e-13,-2.224469043487934e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.4},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32798146111811266,-1.507789726054434,1.7007603734052033,-2.8369566491148165e-06,-0.1928914745759487,0.32798311891650234],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.015841956734777386,-0.005406735542684521,0.5094991943057885],[0.23956547029167993,-0.08176181545695661,0.4680541553621519],[0.2908354421484701,-0.0992598546039773,0.4585563339375685],[0.342886827960582,-0.11702455611694491,0.4588182789582171],[0.3430670875806806,-0.11708619064313619,0.4188187326151078]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3430670875806806,-0.11708619064313619,0.4188187326151078],"end_effector_quaternion":[0.9999971532284034,-0.0007700933398709637,-0.002253368008669625,-0.00015107598873685934],"end_effector_velocity":[-0.0008674926389385801,0.0045034137342306775,-0.07479339909648934],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3890269333208445,-0.11708760195621004,0.42702594547953776],[0.29703260467062975,-0.11706012476292425,0.4266113268702354]],"gripper_width":0.07999526709234045,"jaw_actuator_force":[0.0003612538116755104,0.0005200801382638787],"joint_actuator_torque":[-0.009723823602513448,-1.088624798363412,-1.0562340674017605,-2.629836011482263e-05,-0.043529620590497586,0.0013278246050312248],"joint_position":[-0.3288963098317569,-1.5109778481074456,1.6845355241054514,-2.72464065128272e-06,-0.17832033074282017,0.3285936800937993],"joint_velocity":[0.0109840293018272,0.040794880864419625,0.20993380394857472,3.7651052943768967e-06,-0.2279570004738251,-0.009986296301574283],"object_angular_velocity":[9.455302694092269e-13,4.37336530109172e-13,-2.647244307636266e-26],"object_position":[0.3400000001241564,-0.10999999692528717,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1407755569409654e-13,5.247212233646504e-14,1.2996728579997799e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.502385962027074e-13,3.2663399842689663e-13,-2.2239139319756225e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.42},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3277286625452564,-1.5067964237629319,1.7054656891365478,-2.8391190297524714e-06,-0.1985902657722132,0.3277303052290878],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.016077083777524762,-0.005482454405623042,0.5094842930665349],[0.2395930537495121,-0.08170374747452666,0.4666949760541548],[0.2908154635347592,-0.09917112713615041,0.45688909090548435],[0.34287132805450904,-0.11692269457008829,0.4571514317902201],[0.34305187565955025,-0.11698437669215302,0.41715188681933163]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34305187565955025,-0.11698437669215302,0.41715188681933163],"end_effector_quaternion":[0.9999971446395004,-0.0007706875660530964,-0.002256968003601862,-0.00015115869888661788],"end_effector_velocity":[-0.0009185292922156271,0.004521996964963878,-0.07475644918471942],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3890116722990099,-0.11698578571921957,0.4253594306391963],[0.2970172611526211,-0.11695829403962563,0.4249441492561985]],"gripper_width":0.07999535258147732,"jaw_actuator_force":[0.0003715850523544617,0.0004967066059329284],"joint_actuator_torque":[-0.00973033333198714,-1.0895971093902972,-1.0547937062394794,-2.3629229223082247e-05,-0.04351976904212407,0.00132856741998566],"joint_position":[-0.32864401983581304,-1.5100941665013867,1.689341301103391,-2.731584709731025e-06,-0.1840169869574541,0.32834120815583373],"joint_velocity":[0.010990171733676545,0.04209043966074487,0.20865720398447093,3.2209327684707244e-06,-0.22798850825713146,-0.00999189709108468],"object_angular_velocity":[-9.802029138100079e-12,-4.509370354668566e-12,1.9638696602312128e-26],"object_position":[0.3400000001241537,-0.10999999692528126,0.30999147829693724],"object_quaternion":[0.9999999999999999,7.961592152975023e-14,3.662783299324882e-14,1.2996729426617793e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0801398624484166e-13,2.347869769765167e-13,-2.223220042585232e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.44},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3274757227635669,-1.5057728408034146,1.7101417973226698,-2.8414259636230277e-06,-0.2042901264308711,0.32747735029585495],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.016320228960105276,-0.005560771066266801,0.5094686528965965],[0.23962134597390813,-0.08164587952833592,0.46533626784091325],[0.2907945186229046,-0.0990820502175601,0.45522259626565253],[0.34285486100333473,-0.11682047512470461,0.4554853376708149],[0.34303569984343807,-0.11688220576654267,0.41548579409039677]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34303569984343807,-0.11688220576654267,0.41548579409039677],"end_effector_quaternion":[0.9999971359364614,-0.0007712933333509325,-0.0022606086276580626,-0.00015124186187212929],"end_effector_velocity":[-0.000969334907554951,0.004540463951910772,-0.07471932126517399],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3889954466182469,-0.11688361235877615,0.42369367259950974],[0.297000961744351,-0.11685610612349664,0.42327772100534694]],"gripper_width":0.07999542934045764,"jaw_actuator_force":[0.0003818617681812242,0.0004730143231910233],"joint_actuator_torque":[-0.009736823662137795,-1.090582876459166,-1.0533248443686034,-2.0951690081575335e-05,-0.0435092677504052,0.0013293088891366267],"joint_position":[-0.3283915894913369,-1.5091802782177115,1.6941176134875608,-2.7385918020879547e-06,-0.18971446989786514,0.3280885948880018],"joint_velocity":[0.010996323344883584,0.043386859442255135,0.2073837934686682,2.672768155323371e-06,-0.22802398622318412,-0.009997488763800532],"object_angular_velocity":[-5.937170812414264e-12,-2.7324091317779644e-12,1.3246777657217523e-25],"object_position":[0.3400000001241508,-0.1099999969252748,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.800602614893608e-14,4.5095748749314816e-14,1.2996732468904792e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2656117960223445e-13,2.75049519850094e-13,-2.2233588204633104e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.46},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32722264170923054,-1.5047189560241712,1.7147887645684965,-2.843876739455503e-06,-0.20999114436071795,0.32722425405064726],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.016571398166485275,-0.0056416806678801865,0.5094522503077217],[0.23965035161335574,-0.08158821254335462,0.46397802876258054],[0.2907726117782635,-0.09899262609815085,0.453556852991819],[0.342837431170763,-0.11671790001817126,0.45381999950359414],[0.3430185644479884,-0.11677968008630213,0.4138204573317259]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3430185644479884,-0.11677968008630213,0.4138204573317259],"end_effector_quaternion":[0.9999971271203696,-0.0007719104248838946,-0.002264289279959952,-0.00015132534554167408],"end_effector_velocity":[-0.0010199165192619234,0.004558817326987704,-0.07468201785973941],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3889782606027797,-0.11678108408626497,0.42202867420864126],[0.296983704281592,-0.11675356324816116,0.4216120450472123]],"gripper_width":0.0799955038574541,"jaw_actuator_force":[0.0003920983640721687,0.00044906167816982645],"joint_actuator_torque":[-0.009743282078261473,-1.0915820951539672,-1.0518274484032872,-1.8265952086195583e-05,-0.0434981321574206,0.0013300501490220995],"joint_position":[-0.32813901858488687,-1.5082361629168208,1.698864536433524,-2.745707685506253e-06,-0.19541287380369546,0.3278358403316865],"joint_velocity":[0.011002484084870052,0.044684156896507926,0.20611346058669602,2.121718581010663e-06,-0.22806333379621935,-0.010003079228961114],"object_angular_velocity":[1.2522737919832385e-11,5.755681198602061e-12,4.1282795973348065e-25],"object_position":[0.340000000124148,-0.10999999692526864,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1312823661660836e-13,5.202201610644971e-14,1.2996734672811995e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7526921187752654e-13,3.811431048641104e-13,-2.2236363762194668e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.48},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32696941934868656,-1.5036347483528003,1.719406655353328,-2.8464702243135027e-06,-0.2156934051631943,0.3269710164577829],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.016830597260800714,-0.005725178335401373,0.5094350610229015],[0.23968007515114997,-0.08153074738938013,0.46262025669348833],[0.29074974716768837,-0.09890285696425026,0.45189186403466447],[0.3428190427215169,-0.11661497142576743,0.45215542015803273],[0.34300047358253954,-0.11667680180590578,0.41215587941258464]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34300047358253954,-0.11667680180590578,0.41215587941258464],"end_effector_quaternion":[0.9999971181925469,-0.0007725385808922592,-0.0022680092680866914,-0.00015140905703990242],"end_effector_velocity":[-0.0010702821408191503,0.004577059582175266,-0.07464454059805628],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3889601183663508,-0.11667820305186243,0.4203644382721599],[0.29696549105082487,-0.11665066758016406,0.4199471243065267]],"gripper_width":0.07999557795932716,"jaw_actuator_force":[0.0004022979124975734,0.000425043139868464],"joint_actuator_torque":[-0.009749727357103666,-1.0925948222251236,-1.0503014806994315,-1.5573507179567937e-05,-0.043486372214786684,0.0013307914198712467],"joint_position":[-0.32788630692818505,-1.5072618000051263,1.7035821425909585,-2.752954451689619e-06,-0.20111229044173537,0.32758294447850334],"joint_velocity":[0.011008652713800748,0.04598234243251649,0.20484609759471734,1.5686998599763267e-06,-0.2281064494614127,-0.01000867010054303],"object_angular_velocity":[-9.53666426661977e-12,-4.384974782113571e-12,-2.773339267487314e-26],"object_position":[0.34000000012414516,-0.1099999969252624,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.138173417819914e-14,4.201572426189896e-14,1.2996734710540545e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2012585586734152e-13,2.6126382651009053e-13,-2.2240527098537015e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.5},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3267160613026668,-1.5025202054834188,1.7239955371551967,-2.8492066150622744e-06,-0.22139698864592586,0.32671764308731627],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.017097829747392126,-0.0058112584920752145,0.5094170601317456],[0.23971051833613283,-0.08147348557690917,0.4612629505266933],[0.29072592613771925,-0.09881274595051695,0.45022763374220215],[0.3427996969028913,-0.11651169276043165,0.4504916036573866],[0.3429814282498727,-0.11657357432351162,0.41049206435516866]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3429814282498727,-0.11657357432351162,0.41049206435516866],"end_effector_quaternion":[0.9999971091592085,-0.0007731776108979805,-0.002271765537672178,-0.000151495710884875],"end_effector_velocity":[-0.0011194498099639074,0.004595573367807962,-0.07460677032935226],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.388941020378385,-0.11657497290646227,0.4187009685290356],[0.2969470695421014,-0.11654742249419389,0.4182829664781653]],"gripper_width":0.07999490461546391,"jaw_actuator_force":[0.00041689024051372314,0.0008437126455689281],"joint_actuator_torque":[-0.00979925960010064,-1.093679121335299,-1.0487007387716858,-1.5579340835495672e-05,-0.043461319343588656,0.0013316100718938628],"joint_position":[-0.32763346022529466,-1.5062571773374496,1.7082705064207246,-2.7620243556106425e-06,-0.20681280051328643,0.3273299072581536],"joint_velocity":[0.01101664509428875,0.04728387757592218,0.20357921484892305,1.7421796684349626e-06,-0.2281566516775752,-0.010014286339285335],"object_angular_velocity":[-1.0488797160387072e-12,-4.82522240895645e-13,2.0650161583689636e-25],"object_position":[0.34000000012414217,-0.10999999692525593,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0523780832132166e-13,4.838987400790519e-14,1.2996736162762374e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4096823382255856e-13,3.065731738600611e-13,-2.2233588204633098e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.52},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3264625539297694,-1.5013752854977818,1.7285554603879283,-2.8520802654918687e-06,-0.22710198723361524,0.3264641204268609],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01737310712941984,-0.005899917886214084,0.5093982213930606],[0.23974169154183128,-0.08141642617304838,0.4599061044188925],[0.2907011588030089,-0.09872229265544791,0.44856416094564566],[0.34277940406076834,-0.11640806291651037,0.4488285491934452],[0.342961439100544,-0.11646999645174366,0.4088290113525963]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.342961439100544,-0.11646999645174366,0.4088290113525963],"end_effector_quaternion":[0.9999971000132523,-0.000773826510828793,-0.00227556189087826,-0.0001515773643713123],"end_effector_velocity":[-0.0011702141245451088,0.004613257739597218,-0.07456883353021126],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38892098064782316,-0.11647139174930961,0.4170382645368669],[0.29692646402345674,-0.11644382695518586,0.4166195613822293]],"gripper_width":0.0799954735902827,"jaw_actuator_force":[0.0004249999308676422,0.0005313687236725428],"joint_actuator_torque":[-0.009769673582979976,-1.094669428806128,-1.0471462640907703,-1.0915530824986356e-05,-0.0434582266891006,0.0013323367730997404],"joint_position":[-0.3273804640987173,-1.505222252617188,1.7129296871164503,-2.768572742401794e-06,-0.21251451206458713,0.3270767310546004],"joint_velocity":[0.011021252884040204,0.04858166771894589,0.2023190219501222,6.652629126354022e-07,-0.22820434461255645,-0.010019786287802278],"object_angular_velocity":[3.2648503608428124e-11,1.5012592061051928e-11,1.7289758335498453e-24],"object_position":[0.3400000001241395,-0.10999999692524984,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.849819277297993e-14,4.529763671059254e-14,1.299674014633543e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.2993714001797953e-13,4.999911899977109e-13,-2.2244690434879346e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.54},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3262089059364975,-1.5001999823812564,1.7330864856205257,-2.8550933045329314e-06,-0.2328084675610637,0.3262104570882958],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.017656431044327448,-0.005991150340296735,0.5093785184304207],[0.23977359454644726,-0.0813595708529463,0.45854971884592294],[0.29067544451568306,-0.09863150055376183,0.44690145227447553],[0.34275816339418946,-0.11630408580047073,0.44716626337748744],[0.3429405052865106,-0.11636607219414091,0.40716672701615814]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3429405052865106,-0.11636607219414091,0.40716672701615814],"end_effector_quaternion":[0.9999970907536563,-0.0007744864799517314,-0.0022793977441792983,-0.0001516602788070257],"end_effector_velocity":[-0.0012201930166516476,0.004631135713623474,-0.07453108775736085],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3888999915041207,-0.11636746413824849,0.41537633282264175],[0.2969052971010484,-0.11633988485758108,0.41495692305624937]],"gripper_width":0.07999565459022245,"jaw_actuator_force":[0.00043266250144569085,0.00034735562817544974],"joint_actuator_torque":[-0.009768702980125,-1.095713972268186,-1.045552321421269,-7.43110079413033e-06,-0.04344759790867059,0.0013330127918607104],"joint_position":[-0.3271273274142617,-1.50415701996199,1.7175597532462943,-2.775356277092066e-06,-0.2182174992152141,0.32682341166328865],"joint_velocity":[0.011027145691486289,0.04988220969115695,0.2010609038390796,-1.0910636992817512e-07,-0.22825742325112186,-0.010025432105291415],"object_angular_velocity":[-7.955313258736659e-12,-3.658407864060415e-12,5.290007069218124e-26],"object_position":[0.34000000012413645,-0.10999999692524315,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0278586055704848e-13,4.727149769952497e-14,1.2996743388369036e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.323215359784352e-13,2.877209140913594e-13,-2.2236363762194658e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.56},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3259551157016523,-1.4989942729420545,1.7375886717388047,-2.8582415346766985e-06,-0.2385165117201035,0.3259566514626268],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.017947808058108184,-0.006084951136207954,0.5093579237386677],[0.2398062320409558,-0.08130292007820647,0.4571937899292431],[0.29064878753702506,-0.09854037129408114,0.4452395092645833],[0.3427359791929115,-0.1161997629641566,0.4455047473572911],[0.3429186308341951,-0.11626180299993168,0.4055052124923468]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3429186308341951,-0.11626180299993168,0.4055052124923468],"end_effector_quaternion":[0.999997081388664,-0.0007751562392110194,-0.0022832698046053343,-0.00015174306448231857],"end_effector_velocity":[-0.0012700189402275576,0.004648884667777613,-0.07449308407574842],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38887806177255474,-0.11626319141709333,0.4137151742516424],[0.2968833816123603,-0.11623559774131362,0.41329505208547235]],"gripper_width":0.07999564360241151,"jaw_actuator_force":[0.0004405060783270187,0.00019449878626254247],"joint_actuator_torque":[-0.00976601869717797,-1.0967704005354335,-1.0439271412051312,-3.987121540414561e-06,-0.04343672148268851,0.00133370710466707],"joint_position":[-0.3268740482716842,-1.5030614547092136,1.722160768737267,-2.782129372613312e-06,-0.22392184349813626,0.3265699500138297],"joint_velocity":[0.011032940600897736,0.05118351179469729,0.199805214284632,-8.743606148318951e-07,-0.2283136857657383,-0.010031041895598176],"object_angular_velocity":[8.186315476443641e-12,3.766054821907879e-12,-2.936015859124424e-25],"object_position":[0.3400000001241335,-0.1099999969252366,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0664883011490058e-13,4.9058050165823313e-14,1.2996741848684155e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.646689236332867e-13,3.5799054553255224e-13,-2.2269670452933414e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.58},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3257011872103474,-1.4977581436302756,1.7420620792122168,-2.861524427052137e-06,-0.24422619374228954,0.32570270749702074],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.018247242016582274,-0.006181314738555637,0.5093364092038329],[0.23983960576164215,-0.08124647487201427,0.45583831518156637],[0.29062118911988505,-0.09844890740259854,0.4435783353014636],[0.34271285264088763,-0.11609509712419026,0.44384400412582836],[0.3428958166410941,-0.11615719154134811,0.40384447077282554]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3428958166410941,-0.11615719154134811,0.40384447077282554],"end_effector_quaternion":[0.999997071926179,-0.0007758352300851476,-0.0022871744927556985,-0.00015182754609009336],"end_effector_velocity":[-0.0013194344175560735,0.004666613122457756,-0.07445474721171304],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38885519274528074,-0.11615857643526968,0.41205479148819313],[0.2968603964123417,-0.11613096802269614,0.41163395032199795]],"gripper_width":0.07999576306466805,"jaw_actuator_force":[0.0004506844631677609,0.0001677764067729015],"joint_actuator_torque":[-0.009771820176808887,-1.0978498189953143,-1.0422581052083615,-1.2515209062302786e-06,-0.04342214981955905,0.0013344552208955918],"joint_position":[-0.3266206306362656,-1.5019355419420704,1.7267327991746113,-2.790215190184328e-06,-0.22962761827853637,0.32631634612464927],"joint_velocity":[0.011039134993499011,0.05248615322523561,0.19855120860316508,-1.4351503847000162e-06,-0.22837419718907345,-0.010036670899103473],"object_angular_velocity":[-9.945092754947249e-12,-4.5739355611661705e-12,-3.567838590194462e-26],"object_position":[0.3400000001241308,-0.10999999692523048,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.908254724388263e-14,4.096706934041221e-14,1.2996740140814638e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.178918253146151e-13,2.563472949123195e-13,-2.2237751540975442e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.6},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3254471219857711,-1.4964915779510661,1.746506761222654,-2.8649410599251987e-06,-0.24993758336252075,0.3254486267183079],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01855473740425897,-0.006280235771649682,0.5093139458718656],[0.23987371825601075,-0.08119023585449554,0.4544832920153781],[0.29059265136787055,-0.09835711087348105,0.44191793383993305],[0.34268878580918183,-0.11599009035139946,0.4421840372110615],[0.3428720648332919,-0.11605223989245124,0.40218450538587797]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3428720648332919,-0.11605223989245124,0.40218450538587797],"end_effector_quaternion":[0.9999970623641925,-0.0007765234928642991,-0.0022911124964042737,-0.00015191372172737518],"end_effector_velocity":[-0.0013678520330605804,0.004684587294442209,-0.07441620150258055],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38883138416461527,-0.11605362126523132,0.4103951881129373],[0.2968372339660831,-0.11602599804267526,0.4099736253077394]],"gripper_width":0.07999512024553937,"jaw_actuator_force":[0.00046391840534809603,0.000488889366744516],"joint_actuator_torque":[-0.009816912487934815,-1.0989951872096526,-1.040522077008177,-6.150570740485377e-07,-0.043395918872235484,0.0013352307668981211],"joint_position":[-0.3263670759483878,-1.5007792639660715,1.731275904641036,-2.7992942592448616e-06,-0.235334902663559,0.3260626014922286],"joint_velocity":[0.011046920391423498,0.05379177973191324,0.19729772967712014,-1.4394878564534398e-06,-0.22844085869025557,-0.010042245038503256],"object_angular_velocity":[-2.9928235641661754e-12,-1.3758813318641563e-12,-8.368456077835172e-26],"object_position":[0.34000000012412795,-0.10999999692522437,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0386202278127783e-13,4.775025776652915e-14,1.2996739648825904e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.339231342035313e-13,2.912896399533725e-13,-2.2239139319756222e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.62},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3251929114132833,-1.4951945446787414,1.750922765063747,-2.8684880918852534e-06,-0.2556507591590631,0.32519440058436266],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.018870302849333297,-0.006381710026753745,0.5092905036830091],[0.2399085764035093,-0.08113420223102488,0.4531287147741822],[0.29056318075967463,-0.09826498169450368,0.4402583048159094],[0.3426637853255317,-0.11588474217323028,0.440524846640954],[0.3428473821304199,-0.11594694751775472,0.40052531635985755]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3428473821304199,-0.11594694751775472,0.40052531635985755],"end_effector_quaternion":[0.9999970527010731,-0.000777220252856208,-0.0022950849599986064,-0.00015199629029974765],"end_effector_velocity":[-0.0014176328658126883,0.0047018354231567056,-0.07437745379823824],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3888066474543613,-0.11594832489790023,0.4087363642806905],[0.2968118797306336,-0.11592068715909756,0.40831406770578416]],"gripper_width":0.07999574113394811,"jaw_actuator_force":[0.0004728013207451198,0.00023246160780310277],"joint_actuator_torque":[-0.009792469054929143,-1.1000610335569263,-1.0388198283068277,3.5695280928453653e-06,-0.043388372712165335,0.0013359708833569073],"joint_position":[-0.32611337488955217,-1.4995925872480027,1.7357901382419407,-2.80718297202707e-06,-0.24104378496540324,0.32580871790031135],"joint_velocity":[0.011051770121116971,0.055094309654723485,0.19604983139164497,-2.3807628969278765e-06,-0.2285055395388817,-0.010047749996473005],"object_angular_velocity":[2.473174126481742e-11,1.1372544098544592e-11,-8.553152383571468e-25],"object_position":[0.3400000001241252,-0.10999999692521817,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.49353315834052e-14,4.3653066263089e-14,1.299673894165556e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0855626415402676e-13,4.535537589090372e-13,-2.2262731559029513e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.64},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.324938561340729,-1.4938670358660733,1.7553101421084412,-2.8721648260134978e-06,-0.2613657805066896,0.3249400348910836],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.019193940458610507,-0.006485731389167699,0.5092660522477068],[0.23994418028008094,-0.08107837497185248,0.4517745820794302],[0.29053277690583457,-0.09817252245955108,0.43859945349920015],[0.3426378506946929,-0.11577905547620078,0.43886643775202455],[0.3428217680685074,-0.11584131736240279,0.39886690903158667]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3428217680685074,-0.11584131736240279,0.39886690903158667],"end_effector_quaternion":[0.9999970429342934,-0.0007779262333381631,-0.002299092277800451,-0.00015207939639864932],"end_effector_velocity":[-0.0014668138594685874,0.004719228595496425,-0.07433879267618732],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38878097510403475,-0.11584269064565561,0.40707832533249805],[0.2967860345088004,-0.11581503843506827,0.4066552906093754]],"gripper_width":0.07999591739931944,"jaw_actuator_force":[0.000480889165846321,9.765301953024164e-05],"joint_actuator_torque":[-0.009791039971645432,-1.1011729233663345,-1.0370781092650532,6.911256604796346e-06,-0.043374817214282047,0.0013366666525627124],"joint_position":[-0.3258595333721659,-1.49837550209386,1.74027555766378,-2.81508063127689e-06,-0.24675433377748063,0.3255546927022713],"joint_velocity":[0.011057618745258537,0.05639910009121275,0.19480365739560085,-3.1083215268494088e-06,-0.2285747310206907,-0.010053340183250289],"object_angular_velocity":[-8.802127102070407e-12,-4.047711595153892e-12,-8.580733834041824e-27],"object_position":[0.34000000012412235,-0.10999999692521176,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0045565774910451e-13,4.6197806535180977e-14,1.2996737482036043e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2900968881848782e-13,2.805333108648094e-13,-2.2241914877317795e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.66},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3246840773019694,-1.4925090425036285,1.7596689512620043,-2.875968277130003e-06,-0.26708271529596994,0.3246855351278645],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.019525652882377228,-0.006592293921576486,0.5092405603424555],[0.23998053011891168,-0.08102275501514465,0.4504208904689908],[0.2905014394856175,-0.09807973568242069,0.43694138278965516],[0.34261098150175084,-0.11567303304520322,0.4372088127310376],[0.3427952217219794,-0.11573535210229743,0.3972092855853778]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3427952217219794,-0.11573535210229743,0.3972092855853778],"end_effector_quaternion":[0.9999970330788359,-0.0007786400677104101,-0.002303128068041874,-0.00015216528156313766],"end_effector_velocity":[-0.0015148655389162265,0.0047369206151899315,-0.07429973761150688],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3887543700070588,-0.11573672141424797,0.40542107288325424],[0.2967599661450341,-0.11570905444234873,0.4049972980384864]],"gripper_width":0.07999538408262506,"jaw_actuator_force":[0.0004939539850745689,0.000400472887918113],"joint_actuator_torque":[-0.009833721195064982,-1.1023554367535553,-1.035257068804981,7.783476173275862e-06,-0.04334773775998357,0.0013374418284861633],"joint_position":[-0.3256055569928159,-1.4971279962858757,1.7447322238693599,-2.8245715692975764e-06,-0.2524666093150353,0.3253005266199247],"joint_velocity":[0.011065306111665904,0.05770706583375867,0.19355704626773468,-3.172655941118378e-06,-0.2286502999183417,-0.010058921598750553],"object_angular_velocity":[4.6644280061773115e-12,2.147300110853038e-12,3.7979615964964203e-26],"object_position":[0.3400000001241195,-0.10999999692520558,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0743359258199412e-13,4.9419816822628394e-14,1.2996738223208314e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5145674968297976e-13,3.2925964847396345e-13,-2.2226649310729194e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.68},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3244294542737499,-1.4911205419080975,1.7639992381456362,-2.879897376393696e-06,-0.27280163189060713,0.32443089632358935],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.019865446330678802,-0.006701392640286064,0.5092139956713554],[0.24001763023960923,-0.08096734168729147,0.44906763474838635],[0.2904691723854058,-0.09798662167723021,0.43528409370353927],[0.34258318171857066,-0.11556667492099804,0.4355519727230516],[0.3427677471713156,-0.11562905174914702,0.39555244716680327]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3427677471713156,-0.11562905174914702,0.39555244716680327],"end_effector_quaternion":[0.9999970231321044,-0.0007793614018981243,-0.002307193685221906,-0.0001522499052696681],"end_effector_velocity":[-0.0015633806687950953,0.004754253161759819,-0.07426039989514069],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38872683879730063,-0.1156304168502361,0.40376460821462495],[0.29673248083384735,-0.1156027352101118,0.40334008550381095]],"gripper_width":0.07999534163702629,"jaw_actuator_force":[0.0005066894136316336,0.0005422296677615179],"joint_actuator_torque":[-0.00984830808314996,-1.103515128599156,-1.0334257985551858,9.766493117393626e-06,-0.04332746125167475,0.0013382412265485755],"joint_position":[-0.3253514401656222,-1.4958500439394427,1.7491601874748048,-2.8341323958931433e-06,-0.2581806904205315,0.32504622250787024],"joint_velocity":[0.011071766018343029,0.059014204433465896,0.19231360561758154,-3.5226831634077364e-06,-0.2287268436002054,-0.010064405450569906],"object_angular_velocity":[-1.0700715972448476e-11,-4.922746503398699e-12,7.09203266132641e-27],"object_position":[0.3400000001241167,-0.10999999692519935,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.972177484293561e-14,4.1276090419933416e-14,1.2996738812785472e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2006137594877506e-13,2.609791580146499e-13,-2.2234975983413878e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.7},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3241746862119815,-1.4897015117368941,1.7683010396051868,-2.8839498829577583e-06,-0.27852258959030024,0.3241761124881042],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020213326793863975,-0.006813022441077112,0.5091863251399358],[0.24005548511096986,-0.08091213405114345,0.4477148107200397],[0.2904359797253066,-0.09789318046178365,0.4336275886654802],[0.34255445556508846,-0.11545998079635729,0.4338959208165499],[0.3427393491206939,-0.11552241607037222,0.393896396866762]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3427393491206939,-0.11552241607037222,0.393896396866762],"end_effector_quaternion":[0.9999970130794485,-0.0007800911748980368,-0.002311295180269994,-0.00015233033063003125],"end_effector_velocity":[-0.0016129125680828735,0.004771133210121783,-0.0742212875909313],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3886983821449202,-0.11552377643410681,0.4021089349553425],[0.2967034221328211,-0.1154960807129655,0.4016836547828656]],"gripper_width":0.07999594718195896,"jaw_actuator_force":[0.0005129114916471167,0.000135781799205148],"joint_actuator_torque":[-0.009817957848781589,-1.104628420503218,-1.03162670186191,1.4542410486178344e-05,-0.043320343091171054,0.0013389000050061384],"joint_position":[-0.3250971761505293,-1.4945416195347054,1.7535594922396063,-2.8416771388721844e-06,-0.26389665844357146,0.32479178003839376],"joint_velocity":[0.011076297252227951,0.06031952554534108,0.19107548799741844,-4.632588322187799e-06,-0.22880244478663836,-0.010069860555096283],"object_angular_velocity":[-5.814496301763215e-12,-2.675001980104724e-12,1.0255554660793916e-25],"object_position":[0.3400000001241136,-0.10999999692519273,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1102252341976166e-13,5.10613210762663e-14,1.2996739531019582e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.412408127373433e-13,3.0708655449383436e-13,-2.223913931975623e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.72},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3239197809444507,-1.4882519504429232,1.7725744114697681,-2.8881223930718103e-06,-0.284245645749141,0.32392119137252573],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020569294820519536,-0.006927176701010331,0.5091575152732585],[0.2400940929599774,-0.08085713298947982,0.4463624154245027],[0.29040185920026984,-0.09779941463892075,0.43197187170916285],[0.34252480060365853,-0.1153529536582949,0.4322406603886378],[0.34271002465162,-0.11541544798418063,0.3922411380600988]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34271002465162,-0.11541544798418063,0.3922411380600988],"end_effector_quaternion":[0.999997002934227,-0.0007808285158650411,-0.002315426546339226,-0.00015241161574993647],"end_effector_velocity":[-0.0016618765775156105,0.004788147550222134,-0.07418206412239811],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38866899635747965,-0.11541680356347468,0.40045405592439864],[0.29667396529345086,-0.11538909377149575,0.4000280152429421]],"gripper_width":0.0799960217561958,"jaw_actuator_force":[0.0005195170490264189,-8.511483397555253e-05],"joint_actuator_torque":[-0.009808767982462996,-1.105784672433856,-1.0297804803531108,1.835514010427677e-05,-0.0433072729690025,0.0013395673548650677],"joint_position":[-0.3248427728993231,-1.493202717224543,1.7579301951015909,-2.8495081783467747e-06,-0.2696145642311596,0.3245371964731292],"joint_velocity":[0.011081767749713443,0.06162686263248912,0.18983836960409278,-5.490501184804688e-06,-0.22888213750187797,-0.01007542350686947],"object_angular_velocity":[1.8390582647141554e-11,8.45152467206784e-12,8.389951746155078e-25],"object_position":[0.34000000012411086,-0.10999999692518657,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0212018101216793e-13,4.6951392629372535e-14,1.2996742002722244e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.8589517003026216e-13,4.0431334819153533e-13,-2.225440488634483e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.74},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32366474493854325,-1.4867718554027167,1.7768194102234707,-2.8924122839417205e-06,-0.28997085944848117,0.323666139400678],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02093335123659963,-0.007043848864864582,0.5091275317828289],[0.24013345224169774,-0.08080233909376912,0.4450104448363107],[0.29036680872203274,-0.09770532643789306,0.43031694574440027],[0.34249421463526497,-0.11524559605721327,0.43058619365743295],[0.34267977107015746,-0.1153081499341929,0.3905866729625303]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34267977107015746,-0.1153081499341929,0.3905866729625303],"end_effector_quaternion":[0.999996992711083,-0.0007815720854151301,-0.0023195815985356874,-0.00015249614140304768],"end_effector_velocity":[-0.0017097253654113189,0.004805492580003417,-0.07414241355132078],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3886386813046912,-0.11530950092378772,0.3987999727805496],[0.2966441493184359,-0.11528177664371646,0.3983731698751749]],"gripper_width":0.07999552622125647,"jaw_actuator_force":[0.0005317282510226562,0.00014288212863000638],"joint_actuator_torque":[-0.009845535568587138,-1.107012628704183,-1.0278516524485894,1.975412178945355e-05,-0.04328016749764174,0.001340313250238978],"joint_position":[-0.32458823698169487,-1.4918333295952924,1.7622723529931728,-2.8591179666680655e-06,-0.27533445955295105,0.3242824732137714],"joint_velocity":[0.011089149301868162,0.06293727311560444,0.18860045795509955,-5.696319644950467e-06,-0.22896808173369942,-0.01008094835679055],"object_angular_velocity":[-8.226433279370353e-12,-3.781800687229438e-12,9.990309460734984e-26],"object_position":[0.34000000012410814,-0.10999999692518062,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.824461749349796e-14,4.05705237970088e-14,1.299674515986385e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1499065589935249e-13,2.501149889879133e-13,-2.223913931975624e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.76},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32340957370729106,-1.4852612106172534,1.781036078365491,-2.8968197027884586e-06,-0.2956982892531178,0.32341095213788806],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021305500381440974,-0.007163033285420764,0.5090963392946035],[0.24017356555717442,-0.08074775121746622,0.4436588933397665],[0.29033083049328,-0.09761091574355997,0.42866281197511635],[0.34246269993935846,-0.11513790762804416,0.42893252207551413],[0.34264859084623595,-0.11520052155614804,0.3889330030275712]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34264859084623595,-0.11520052155614804,0.3889330030275712],"end_effector_quaternion":[0.9999969824048103,-0.0007823219030510167,-0.0023237627145720643,-0.00015257968301040942],"end_effector_velocity":[-0.0017579877846847017,0.004822548846663978,-0.07410253628427432],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3886074414572231,-0.11520186776242065,0.3971466872050385],[0.29661288231768923,-0.11517412902435042,0.39671911484255334]],"gripper_width":0.07999555695162644,"jaw_actuator_force":[0.0005440515691077508,0.00023653768199061176],"joint_actuator_torque":[-0.009859996990797981,-1.1082255694767582,-1.0259096746639216,2.192591656315849e-05,-0.043258286325812634,0.0013410754272378256],"joint_position":[-0.32433356324683926,-1.4904334356973497,1.7665860119909205,-2.8690251844765397e-06,-0.2810564159561759,0.32402761393723184],"joint_velocity":[0.01109552537122196,0.06424699983992535,0.18736541504659165,-6.097910384413375e-06,-0.22905510821096206,-0.010086340970226934],"object_angular_velocity":[9.486992249251704e-13,4.360645694698411e-13,2.0399745216605237e-25],"object_position":[0.3400000001241053,-0.10999999692517436,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1394400608666147e-13,5.239926604802069e-14,1.2996746528589953e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5002927326491145e-13,3.2624364280906107e-13,-2.2233588204633117e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.78},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32315426627630356,-1.4837200070001528,1.7852244577127627,-2.9013420224109413e-06,-0.30142798613735,0.3231556286285131],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021685744672777937,-0.0072847237409584785,0.5090639017823786],[0.2402144336984282,-0.08069336859252407,0.4423077564938187],[0.29029392493347306,-0.09751618303767452,0.4270094731985237],[0.3424302569491802,-0.11502988878836647,0.427279648745389],[0.3426164846350067,-0.11509256330403472,0.38728013135887396]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3426164846350067,-0.11509256330403472,0.38728013135887396],"end_effector_quaternion":[0.9999969720083751,-0.0007830784253241278,-0.0023279726678010044,-0.00015266145042700026],"end_effector_velocity":[-0.0018064633891264146,0.004839476397630665,-0.07406265799696994],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3885752737062658,-0.11509390445196155,0.39549420253911005],[0.2965806949497516,-0.11506615159276447,0.39506585544827255]],"gripper_width":0.07999558017665806,"jaw_actuator_force":[0.0005541277701102132,0.00020852969839957325],"joint_actuator_torque":[-0.009865807521890702,-1.109440942745664,-1.0239537017025668,2.473746056375688e-05,-0.04323890945042663,0.0013417857161783786],"joint_position":[-0.324078750245852,-1.489003021170382,1.7708712173637247,-2.8783438086790864e-06,-0.28678049862094956,0.323772619019104],"joint_velocity":[0.011101490792634316,0.06555676271186324,0.18613314542444429,-6.676765797646722e-06,-0.22914375457914776,-0.01009170691850189],"object_angular_velocity":[-9.792193732421745e-12,-4.5041996386411485e-12,4.1249862160731265e-26],"object_position":[0.3400000001241027,-0.10999999692516844,0.30999147829693724],"object_quaternion":[0.9999999999999999,7.953825680294063e-14,3.658724775253898e-14,1.2996748565959351e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.078903584217977e-13,2.345529483332267e-13,-2.2234975983413903e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.8},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.322898825864394,-1.4821482429562383,1.789384599109681,-2.9059759106906676e-06,-0.3071600025405743,0.32290017206564187],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.022074084634432525,-0.007408913472976193,0.5090301825765483],[0.24025605525955163,-0.08063919089990236,0.4409570295563227],[0.29025609019447474,-0.09742112947690627,0.42535693198918767],[0.3423968837638683,-0.11492154083938687,0.42562757584713673],[0.3425834502543636,-0.11498427641501179,0.38562806013516626]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3425834502543636,-0.11498427641501179,0.38562806013516626],"end_effector_quaternion":[0.999996961529995,-0.0007838408486676872,-0.0023322079436987153,-0.00015274294972134696],"end_effector_velocity":[-0.0018549249598795335,0.004856351500154232,-0.07402262964379967],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3885421772347973,-0.11498561238173229,0.3938425206446139],[0.2965475199809641,-0.1149578454403115,0.39341339389100966]],"gripper_width":0.07999566231091512,"jaw_actuator_force":[0.0005642907617779969,0.00017794072372367964],"joint_actuator_torque":[-0.009871103768517742,-1.1106690247293045,-1.0219694132227914,2.7565422311968393e-05,-0.0432192406303642,0.0013424982042558042],"joint_position":[-0.32382380097431984,-1.4875420780901198,1.7751280198234811,-2.887858519923355e-06,-0.29250675901088685,0.3235174882287077],"joint_velocity":[0.011107434566269772,0.06686699286087905,0.18490277853329495,-7.258492957552128e-06,-0.22923470376684713,-0.01009708357912722],"object_angular_velocity":[-5.93180934724168e-12,-2.729432432917896e-12,2.2600945903724365e-25],"object_position":[0.3400000001240998,-0.10999999692516199,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.79067268232647e-14,4.50603418617285e-14,1.299675226531744e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.264563634472529e-13,2.747722016874384e-13,-2.2237751540975476e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.82},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32264325366455365,-1.4805459162760297,1.7935165499410666,-2.9107189421202577e-06,-0.3128943880861442,0.32264458364221127],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.022470520909092472,-0.007535595707583772,0.508995144200407],[0.24029842919919583,-0.08058521735826188,0.43960670750774844],[0.2902173248490112,-0.09732575565320895,0.42370519076568086],[0.3423625789364903,-0.11481286441480566,0.42397630570869843],[0.34254948619591996,-0.11487566149845865,0.38397679168411736]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34254948619591996,-0.11487566149845865,0.38397679168411736],"end_effector_quaternion":[0.9999969509713911,-0.0007846088695342664,-0.002336467773918086,-0.00015282403074871897],"end_effector_velocity":[-0.0019033988364206295,0.004873178162219146,-0.07398246047611187],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38850815050255944,-0.11487699215225924,0.3921916437783666],[0.2965133966210066,-0.11484921120720533,0.3917617327579059]],"gripper_width":0.07999576260346936,"jaw_actuator_force":[0.0005745005034185624,0.00014903446163572198],"joint_actuator_torque":[-0.009876528503980353,-1.1119106581838878,-1.0199563606898892,3.038772784334765e-05,-0.0431991290160596,0.0013432043067318489],"joint_position":[-0.3235687162369601,-1.4860505975180451,1.779356467263645,-2.897520317251005e-06,-0.29823525231009995,0.32326222268270427],"joint_velocity":[0.011113343775828462,0.06817760643441376,0.183674343157806,-7.838149942465679e-06,-0.22932792662574863,-0.010102412721175964],"object_angular_velocity":[1.2501370666839767e-11,5.748254111973326e-12,7.722173188345665e-25],"object_position":[0.340000000124097,-0.10999999692515584,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1298234586343031e-13,5.1984668567161716e-14,1.2996756036851129e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7513200509574484e-13,3.8064821116120553e-13,-2.2247465992440953e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.84},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3223875510307606,-1.478913027274849,1.7976203582860995,-2.915568507860868e-06,-0.31863119056444633,0.32238886471162675],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02287505347281699,-0.007664763446704165,0.508958748437689],[0.24034155390421838,-0.08053144703151052,0.4382567851447859],[0.29017762691974786,-0.0972300620196953,0.42205425189016227],[0.34232734046788654,-0.11470386001629264,0.4223258405887311],[0.3425145903898922,-0.11476671902961948,0.38232632826406454]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3425145903898922,-0.11476671902961948,0.38232632826406454],"end_effector_quaternion":[0.9999969403345818,-0.0007853821580297141,-0.0023407512755059825,-0.00015290456793130353],"end_effector_velocity":[-0.0019519096659104075,0.004889961353972754,-0.07394215228455141],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3884731914534143,-0.11476804423264218,0.39054157411752327],[0.29647833666135326,-0.11474024938958083,0.39011087445295456]],"gripper_width":0.07999586720590637,"jaw_actuator_force":[0.0005847638355156448,0.00012066866747595384],"joint_actuator_torque":[-0.009881973048834425,-1.1131656391585238,-1.0179146724236716,3.320978087716797e-05,-0.04317861951690816,0.0013439040327654084],"joint_position":[-0.323313496973647,-1.4845285723874895,1.7835566075286087,-2.9073014820859863e-06,-0.3039660315477787,0.32300682357855226],"joint_velocity":[0.011119210022830547,0.06948851780133687,0.1824478374473768,-8.417522787043083e-06,-0.22942332740580515,-0.01010769446859392],"object_angular_velocity":[-9.5228569141829e-12,-4.3807627026506255e-12,3.329353856785253e-26],"object_position":[0.34000000012409415,-0.10999999692514961,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.124401090703995e-14,4.196939678088879e-14,1.2996758011012293e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1999851690177374e-13,2.608754575316872e-13,-2.223913931975628e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.86},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32213171448256206,-1.4772495724833665,1.8016960657745065,-2.9205235949350584e-06,-0.3243704551415252,0.32213301182607745],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.023287683365958878,-0.007796409907584957,0.5089209561793444],[0.2403854292821838,-0.08047787807155757,0.4369072567630271],[0.290136996054652,-0.09713404785913463,0.4204041173134544],[0.34229116807000753,-0.11459452671245228,0.42067618275696117],[0.3424787627809497,-0.11465744811226193,0.38067667214593154]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3424787627809497,-0.11465744811226193,0.38067667214593154],"end_effector_quaternion":[0.9999969296124959,-0.0007861611595776497,-0.0023450613554250508,-0.00015298186613519593],"end_effector_velocity":[-0.0020013161517285077,0.004906391037955609,-0.07390191079844115],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38843730046499136,-0.1146587674715106,0.38889231420224896],[0.29644191553607757,-0.1146309592041305,0.38846081898855256]],"gripper_width":0.0799964010689451,"jaw_actuator_force":[0.0005912631509747968,-0.0002521065596674532],"joint_actuator_torque":[-0.009851158282231154,-1.114387881087282,-1.0158868864385795,3.76478376982083e-05,-0.043168072094715626,0.001344542845956198],"joint_position":[-0.3230581388031644,-1.4829759910986788,1.7877284827204483,-2.916204956480398e-06,-0.3096991562241044,0.32275129222550053],"joint_velocity":[0.011123490315656936,0.07079769433026516,0.1812254948887581,-9.430755524999974e-06,-0.2295180079004978,-0.010112909397710333],"object_angular_velocity":[-1.0461119407434826e-12,-4.823874960929694e-13,3.6368428537905615e-25],"object_position":[0.34000000012409115,-0.10999999692514315,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0508673659020862e-13,4.83149615933654e-14,1.299676156216722e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4075061810928115e-13,3.061315911538964e-13,-2.2226649310729235e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.88},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3218757550286936,-1.4755555701211873,1.805743734474822,-2.9255759814576943e-06,-0.3301122256110454,0.32187703592271966],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.023708405765337278,-0.007930526746978344,0.5088817280525593],[0.240430048619707,-0.08042451062414414,0.4355581178023797],[0.2900954251071667,-0.0970377152626613,0.4187547904533802],[0.34225405440625173,-0.11448486715799065,0.41902733472855386],[0.3424419953870116,-0.11454785126094946,0.3790278258416872]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3424419953870116,-0.11454785126094946,0.3790278258416872],"end_effector_quaternion":[0.9999969188242268,-0.0007869441100639861,-0.0023493899493896167,-0.00015306170624085808],"end_effector_velocity":[-0.0020495673316574207,0.004923293266063288,-0.07386130935995323],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38840046686141405,-0.11454916494335432,0.387243865790421],[0.2964055033121458,-0.11452134307719247,0.3868115760825997]],"gripper_width":0.07999598342796772,"jaw_actuator_force":[0.0006018745776010803,-0.00014281248090419751],"joint_actuator_torque":[-0.009875922736682696,-1.1156928797855699,-1.013770662556908,3.985776073036105e-05,-0.04314177128459562,0.0013452232403032838],"joint_position":[-0.3228026530887191,-1.4813928630717423,1.7918721503047135,-2.9261047948552793e-06,-0.31543465797234554,0.3224956278630334],"joint_velocity":[0.011130095846471545,0.07210995735357863,0.18000191288391237,-9.852452376951931e-06,-0.22961878818846504,-0.010118163508258792],"object_angular_velocity":[3.261490280869482e-11,1.498975841604686e-11,1.2204955222756475e-24],"object_position":[0.3400000001240885,-0.10999999692513707,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.836738758030611e-14,4.521681366045873e-14,1.2996764783102875e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.2954063733551153e-13,4.993783148616872e-13,-2.2261343780248762e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.9},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32161967167860206,-1.4738310257888072,1.8097634148356605,-2.9307269134580994e-06,-0.3358565468511875,0.32162093603307235],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02413721932430507,-0.008067106453690114,0.5088410235900651],[0.24047540937424466,-0.08037134273223054,0.43420936179633857],[0.29005291126068916,-0.09694106354606272,0.4171062726352762],[0.3422159966835799,-0.11437488058140452,0.41737929780340627],[0.3424042854019176,-0.11443792768487648,0.3773797906511764]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3424042854019176,-0.11443792768487648,0.3773797906511764],"end_effector_quaternion":[0.9999969079705389,-0.0007877307749299944,-0.0023537368911030854,-0.00015314122733945786],"end_effector_velocity":[-0.0020981693608330986,0.004940038108024428,-0.0738205123278877],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38836269289947495,-0.11443923559962922,0.3855962301901439],[0.2963676029468087,-0.11441140003326837,0.38516314004064645]],"gripper_width":0.07999611359886633,"jaw_actuator_force":[0.0006140485662857742,-9.138700248456644e-05],"joint_actuator_torque":[-0.009887881331792414,-1.1169956699210388,-1.0116334403352312,4.227931640372721e-05,-0.043118055838363034,0.0013459280799068551],"joint_position":[-0.32254703808606305,-1.4797791842530494,1.7959876583079037,-2.936677989314161e-06,-0.3211725884100981,0.3222398345542766],"joint_velocity":[0.011136087054947985,0.07342156087091195,0.1787807198155643,-1.0320035645529874e-05,-0.2297208274286648,-0.010123267647060388],"object_angular_velocity":[-7.94563048596592e-12,-3.652128577200782e-12,2.686787869980882e-26],"object_position":[0.34000000012408543,-0.1099999969251304,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.026574960498359e-13,4.7184227507513875e-14,1.2996766447951939e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3208068966659678e-13,2.8736083677374323e-13,-2.2237751540975476e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.92},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32136346016474177,-1.4720759441879065,1.813755148600232,-2.935975801535822e-06,-0.3416034560024091,0.32136470793769095],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.024574122955908804,-0.008206141496102378,0.5087988015087115],[0.24052150991593368,-0.08031837175909298,0.43286098279079804],[0.29000945276093937,-0.09684409119436166,0.41545856600127623],[0.3421769932249724,-0.11426456520820476,0.4157320748064224],[0.3423656316393885,-0.1143276757074746,0.3757325694018116]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3423656316393885,-0.1143276757074746,0.3757325694018116],"end_effector_quaternion":[0.9999968970362966,-0.0007885223856228614,-0.0023581083122677,-0.00015321688347873005],"end_effector_velocity":[-0.002147759316597653,0.004956448689363987,-0.073779829397518],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3883239744412199,-0.11432897741639789,0.38394941077877875],[0.29632844088077187,-0.11430112877184721,0.38351551418554575]],"gripper_width":0.07999656100568187,"jaw_actuator_force":[0.0006219493457333414,-0.0003751581175190921],"joint_actuator_torque":[-0.009863729457748605,-1.118266969532442,-1.0095108139105378,4.620495514732798e-05,-0.04310435172430971,0.0013465671298540371],"joint_position":[-0.3222912883595055,-1.4781349489946363,1.8000750478435603,-2.946340404539801e-06,-0.32691300671302775,0.32198391445008706],"joint_velocity":[0.011140460582738836,0.07473115076041995,0.1775638550281064,-1.1192574592079263e-05,-0.2298219241764268,-0.010128274883162222],"object_angular_velocity":[8.169673766726403e-12,3.7532447494406496e-12,-1.757163750866333e-25],"object_position":[0.3400000001240825,-0.10999999692512387,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0648321127271012e-13,4.893355527845471e-14,1.299676624280041e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.6425754159415376e-13,3.574292581658681e-13,-2.225162932878329e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.94},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32110713001651553,-1.4702903509483285,1.8177190005696382,-2.9413122235639606e-06,-0.34735299218537846,0.32110836111095054],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.025019109997772897,-0.008347622887981009,0.5087550202723521],[0.2405683422250231,-0.08026559697207498,0.43151297544000367],[0.28996504127710127,-0.09674679936634652,0.4138116734992571],[0.3421370355366455,-0.11415392268022069,0.41408566787448836],[0.3423260250305252,-0.11421709683034605,0.37408616422759344]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3423260250305252,-0.11421709683034605,0.37408616422759344],"end_effector_quaternion":[0.9999968860387796,-0.0007893171787758598,-0.002362497027499744,-0.00015329360839233565],"end_effector_velocity":[-0.002196513949338572,0.004973279316179366,-0.07373882779850019],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38828430004834075,-0.1142183923773167,0.3823034090184747],[0.2962893044579168,-0.11419053076024738,0.3818687074295855]],"gripper_width":0.07999602684585463,"jaw_actuator_force":[0.0006325037792969113,-0.0002856917702125372],"joint_actuator_torque":[-0.009886308817385725,-1.1196075537219485,-1.0073109158281568,4.8561324670572895e-05,-0.04307763436979428,0.001347215271124469],"joint_position":[-0.32203541356515364,-1.4764601715148502,1.8041343765868154,-2.9563771530458014e-06,-0.33265594159245887,0.32172786693801414],"joint_velocity":[0.011146753016919976,0.0760429059942966,0.17634643799141717,-1.1653143055416624e-05,-0.22992809568904288,-0.010133306516476065],"object_angular_velocity":[-9.92804542091273e-12,-4.562377120668704e-12,1.0654395850782067e-26],"object_position":[0.34000000012407977,-0.10999999692511776,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.892550125217317e-14,4.086350025500901e-14,1.2996766239362333e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.175930569560955e-13,2.558997555320197e-13,-2.2237751540975483e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.96},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3208506832570371,-1.4684742665876267,1.82165503112396,-2.9467366703723886e-06,-0.3531051952614653,0.32085189757345955],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.025472175279365402,-0.008491541927020145,0.5087096374405431],[0.2406159002475884,-0.08021301607936308,0.4301653330498846],[0.28991967055280615,-0.09664918723927501,0.41216559662702534],[0.34209611733750905,-0.11404295223655682,0.4124400782154792],[0.3422854590893443,-0.11410619024022234,0.3724405763353819]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3422854590893443,-0.11410619024022234,0.3724405763353819],"end_effector_quaternion":[0.999996874984511,-0.0007901145028638173,-0.0023669004745865523,-0.00015337023217352577],"end_effector_velocity":[-0.0022457193167714795,0.0049899818580427064,-0.07369767307608438],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3882436685348994,-0.1141074795738812,0.380658225905315],[0.2962484811644041,-0.11407960478646026,0.3802227131647996]],"gripper_width":0.07999622246420482,"jaw_actuator_force":[0.0006447290722970678,-0.0002656171925110584],"joint_actuator_torque":[-0.009895336715402436,-1.1209451669337795,-1.005092548476341,5.1136200117805214e-05,-0.0430537890485283,0.0013478847925689763],"joint_position":[-0.32177941504273655,-1.4747548598646985,1.8081656984727685,-2.9672169498195587e-06,-0.3384014336609423,0.321471695550887],"joint_velocity":[0.01115242192140582,0.07735366672359528,0.17513161200412147,-1.216025201225465e-05,-0.23003526256818552,-0.010138208075798202],"object_angular_velocity":[-2.9872502798011223e-12,-1.372504600947133e-12,-1.0866373645722332e-25],"object_position":[0.34000000012407694,-0.10999999692511166,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.036583434954096e-13,4.7649319078425806e-14,1.2996765583293476e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3363486806666992e-13,2.9072240905546037e-13,-2.2237751540975495e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":2.98},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.32059411990461173,-1.466627712822426,1.8255632946561566,-2.9522461030526994e-06,-0.3588600979718166,0.3205953173706233],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.025933313358464875,-0.00863788975875408,0.5086626098326924],[0.2406641782288559,-0.0801606262835463,0.42881804939167656],[0.2898733347616539,-0.09655125340381118,0.41052033762394374],[0.3420542328048378,-0.11393165243395652,0.41079530845833884],[0.3422439282742332,-0.11399495454623615,0.37079580835556913]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3422439282742332,-0.11399495454623615,0.37079580835556913],"end_effector_quaternion":[0.9999968638647151,-0.0007909150164774186,-0.0023713221661522898,-0.00015344495982901797],"end_effector_velocity":[-0.002295288710335117,0.0050066632896195225,-0.07365645381028918],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3882020707335101,-0.11399623743813331,0.37901386437555823],[0.29620675990065004,-0.11396834985522106,0.37857753744725464]],"gripper_width":0.07999634978704415,"jaw_actuator_force":[0.0006557341170356779,-0.0002874751566910305],"joint_actuator_torque":[-0.009900966676383405,-1.1222911113263763,-1.0028514192715647,5.392305639413935e-05,-0.04303075921998101,0.0013485185776254127],"joint_position":[-0.3215232918438673,-1.473019022398008,1.8121690629105178,-2.9778593470237795e-06,-0.3441495310571348,0.32121540325315506],"joint_velocity":[0.011157825895853214,0.0786636857575301,0.17391934698070358,-1.2726470422521151e-05,-0.23014376661330946,-0.010142985722528749],"object_angular_velocity":[2.4683374221067232e-11,1.1347359673060186e-11,-8.775319019839974e-25],"object_position":[0.34000000012407416,-0.10999999692510547,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.476144292757804e-14,4.355447792891602e-14,1.2996764067270686e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0808987583649703e-13,4.526957569758283e-13,-2.2239139319756282e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.0},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3203374445056817,-1.4647507228530225,1.8294438606630423,-2.9578403283120114e-06,-0.36461773659272234,0.32033862502198196],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02640251584513128,-0.008786656690957089,0.508613893805106],[0.24071316714645233,-0.08010842501203816,0.4274711177720073],[0.2898260247363384,-0.09645299691895258,0.40887589826442217],[0.3420113727057842,-0.11382002251851867,0.4091513599348486],[0.34220142303471973,-0.11388338892913162,0.36915186161836366]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34220142303471973,-0.11388338892913162,0.36915186161836366],"end_effector_quaternion":[0.9999968526890924,-0.0007917179013026487,-0.0023757581323940596,-0.0001535186333579023],"end_effector_velocity":[-0.0023478637245932716,0.005022469902210607,-0.07361589133729846],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3881595005423852,-0.11388466524283185,0.3773703254106337],[0.296163896107085,-0.1138567650111589,0.376933180857401]],"gripper_width":0.07999664727151506,"jaw_actuator_force":[0.0006569794225708137,4.3633389829267344e-05],"joint_actuator_torque":[-0.00978924426195249,-1.1234906513764145,-1.000740721412626,6.183529651314628e-05,-0.043039428685489156,0.001348937522219984],"joint_position":[-0.3212670479052928,-1.4712526776385817,1.8161445299528298,-2.989335746919354e-06,-0.34990026726211343,0.32095899195037236],"joint_velocity":[0.011158469421630377,0.07996672583530988,0.17271720547557867,-1.4558595888334951e-05,-0.2302458549492387,-0.010147629325854578],"object_angular_velocity":[-8.785483476691073e-12,-4.038426775562148e-12,-2.132205794417073e-26],"object_position":[0.34000000012407133,-0.10999999692509906,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0026560366487768e-13,4.609029934417265e-14,1.2996762398780536e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2871141061526334e-13,2.8000456591577396e-13,-2.2236363762194718e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.02},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3200806586324042,-1.462843328437268,1.8332967894728789,-2.963505833008302e-06,-0.3703781397447123,0.3200818221336645],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.026879774959228556,-0.008937833147949234,0.5085634449039584],[0.24076285930279703,-0.08005640924954148,0.4261245319746627],[0.28977773279819813,-0.09635441627282304,0.40723228109503246],[0.3419675293352503,-0.11370806103702683,0.4075082354733594],[0.3421579358796057,-0.11377149194167802,0.36750873895317554]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3421579358796057,-0.11377149194167802,0.36750873895317554],"end_effector_quaternion":[0.9999968414511381,-0.0007925232335262613,-0.002380211046505184,-0.00015359051356740182],"end_effector_velocity":[-0.0023980007825047745,0.005039241746412336,-0.07357444155190666],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38811594525699167,-0.11377276146976312,0.37572761206105143],[0.2961203458086331,-0.11374484901465143,0.3752896481809236]],"gripper_width":0.07999664618521848,"jaw_actuator_force":[0.0006683847104937968,2.183880329376109e-05],"joint_actuator_torque":[-0.009798574379431102,-1.1248666764814743,-0.9984400277211307,6.439586028245353e-05,-0.04301479499924454,0.0013495484665533297],"joint_position":[-0.321010683823068,-1.4694558410669052,1.8200921513764607,-3.0000279676408406e-06,-0.35565368369547373,0.32070246426386834],"joint_velocity":[0.011163825569954282,0.08127541832839903,0.17150947182118081,-1.5069420205895693e-05,-0.2303576754844151,-0.010152223962164014],"object_angular_velocity":[4.660007145468944e-12,2.139772706849983e-12,-2.131810376795887e-25],"object_position":[0.3400000001240685,-0.1099999969250929,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0726310296508502e-13,4.929674239892532e-14,1.2996762152177513e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.510822685437964e-13,3.2873315109548834e-13,-2.2236363762194718e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.04},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3198237638666762,-1.4609055685707064,1.8371221496378516,-2.969238486313561e-06,-0.3761413370073213,0.3198249102951765],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027365081209077685,-0.00909140898516998,0.5085112181099444],[0.24081324540196614,-0.08000457540279919,0.4247782853336981],[0.28972844969616973,-0.09625550937350588,0.40558948823914165],[0.34192269342842163,-0.11359576592204235,0.40586593723845416],[0.3421134575754368,-0.11365926151674902,0.36586644252477474]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3421134575754368,-0.11365926151674902,0.36586644252477474],"end_effector_quaternion":[0.9999968301498302,-0.0007933310193090871,-0.0023846812997295407,-0.00015365963780312837],"end_effector_velocity":[-0.002446089332946362,0.005056850377640584,-0.073532131391904],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3880713958962091,-0.1136605239632216,0.3740857265286223],[0.2960761264287686,-0.11363259989532097,0.37364694168170554]],"gripper_width":0.07999632012359209,"jaw_actuator_force":[0.0006883866635423175,-0.00041154046519054077],"joint_actuator_torque":[-0.009912841832715458,-1.1263966220988095,-0.9959663833268451,6.254086220742035e-05,-0.04296149283018025,0.0013503303316326765],"joint_position":[-0.32075419998620486,-1.4676285337792268,1.8240119845010978,-3.0097049992717953e-06,-0.3614098173300475,0.32044582260257526],"joint_velocity":[0.011173230780517091,0.08258869136648708,0.17029704980483537,-1.4498000962233554e-05,-0.230477862521348,-0.010156784000203013],"object_angular_velocity":[-1.0683699687864191e-11,-4.9097103058460245e-12,4.87445063943895e-27],"object_position":[0.3400000001240657,-0.10999999692508666,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.95779887604227e-14,4.116424303314234e-14,1.2996762434368843e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1973800572290625e-13,2.605603646127783e-13,-2.2233588204633158e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.06},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31956676965990144,-1.4589375000884963,1.8409200336626397,-2.975039710544491e-06,-0.3819073639620496,0.3195678988922325],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02785842035611717,-0.00924737275960385,0.5084571681826611],[0.2408643107223526,-0.07995292041910614,0.42343237062655315],[0.2896781605979482,-0.09615627509107541,0.40394752118661176],[0.34187685000971857,-0.11348313647585156,0.4042244656689231],[0.34206797239249553,-0.11354669680172115,0.36422497276814025]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34206797239249553,-0.11354669680172115,0.36422497276814025],"end_effector_quaternion":[0.9999968188085272,-0.0007941393165402841,-0.0023891594673427574,-0.0001537290180256821],"end_effector_velocity":[-0.0024971656238388555,0.005073674199863343,-0.073490440527615],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.388025842360833,-0.11354795218141543,0.372444668408372],[0.2960303480550835,-0.11352001628793695,0.3720050584929521]],"gripper_width":0.07999654890185319,"jaw_actuator_force":[0.0007003365824918006,-0.00045433989769705363],"joint_actuator_torque":[-0.009915026967547647,-1.1277876518010999,-0.9936164571406607,6.538061811146905e-05,-0.04293821547341281,0.0013509215878002578],"joint_position":[-0.320497605502076,-1.4657707936400075,1.8279041053565874,-3.020769818941575e-06,-0.36716868722059054,0.32018906921015666],"joint_velocity":[0.011178124618287674,0.08389482227974156,0.1690946500718951,-1.5075791967975841e-05,-0.23059196095742976,-0.010161206299092973],"object_angular_velocity":[-5.804950877096132e-12,-2.668216031068374e-12,4.6866558259780347e-26],"object_position":[0.3400000001240627,-0.10999999692508006,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1078991212069787e-13,5.093323572961091e-14,1.2996762345371559e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4088453608063682e-13,3.0645569731365814e-13,-2.223636376219472e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.08},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3193096831435199,-1.4569391824968203,1.8446905321152998,-2.9809075378295754e-06,-0.3876762516526976,0.31931079504034665],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.028359777653548728,-0.009405712809356615,0.5084012492392755],[0.24091604049164306,-0.07990144054419895,0.4220867805828681],[0.28962685072537303,-0.09605671148343366,0.4023063815157747],[0.34182998418926663,-0.11337017108333605,0.4025838220201369],[0.3420214652114779,-0.11343379612693598,0.3625843309374749]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3420214652114779,-0.11343379612693598,0.3625843309374749],"end_effector_quaternion":[0.9999968074344324,-0.0007949474424019822,-0.0023936426818456625,-0.00015379927913638508],"end_effector_velocity":[-0.002551878311071274,0.005089500868345983,-0.07344962949948361],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.387979269947691,-0.11343504452355169,0.3708044386928279],[0.2959837167950475,-0.11340709669477937,0.3703640035707416]],"gripper_width":0.0799966116986857,"jaw_actuator_force":[0.000702084414982096,0.0003586092576650657],"joint_actuator_torque":[-0.009778252569915935,-1.1290124014573166,-0.9914235429298515,7.333455379354481e-05,-0.04295260555490188,0.0013512903051200453],"joint_position":[-0.32024090685446815,-1.4638826596044627,1.8317685888781299,-3.0337628012473397e-06,-0.3729303234749933,0.31993220910337233],"joint_velocity":[0.011177384441204571,0.08519242798537831,0.1679042384987741,-1.688530654102623e-05,-0.23069822513948324,-0.010165363765782132],"object_angular_velocity":[1.8345277091703273e-11,8.43348710838569e-12,4.248736647768147e-25],"object_position":[0.34000000012405995,-0.10999999692507392,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0188126136928035e-13,4.6844655164362893e-14,1.2996763490424088e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.8546523813217394e-13,4.033696815050803e-13,-2.2222485974386913e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.1},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3190524990989229,-1.454910663954444,1.8484337108748687,-2.9868260737515647e-06,-0.3934480179492939,0.31905359362777197],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02886914221634256,-0.009566418324273141,0.5083434142711798],[0.2409684255094169,-0.07985013008317157,0.4207415085387344],[0.2895745112640798,-0.09595681402791913,0.4006660718083823],[0.3417820872510672,-0.11325686488813183,0.400944010285372],[0.3419739283368554,-0.11332055481996169,0.36094452103125296]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3419739283368554,-0.11332055481996169,0.36094452103125296],"end_effector_quaternion":[0.9999967959959792,-0.0007957577084593537,-0.0023981436948253883,-0.00015386443499998897],"end_effector_velocity":[-0.0026039285525570827,0.005106553074094814,-0.07340772885988266],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3879316634600399,-0.11332179572607007,0.3691650425171808],[0.29593612061356883,-0.1132938369272115,0.3687237792448123]],"gripper_width":0.07999660536447453,"jaw_actuator_force":[0.000714784186223838,0.00035114725076645925],"joint_actuator_torque":[-0.009789373661320155,-1.1304379133351858,-0.9890096517848406,7.580815513271393e-05,-0.04292634551149632,0.0013518228917703823],"joint_position":[-0.3199840963033182,-1.4619641555833724,1.8356054876608063,-3.044812462703341e-06,-0.3786947804419655,0.31967524790644686],"joint_velocity":[0.011182246692021945,0.08649562407809269,0.1667075786980954,-1.7372146661881975e-05,-0.23081566037668663,-0.010169345428092932],"object_angular_velocity":[-1.0123513262357828e-11,-4.654702808707491e-12,2.1036440007174826e-26],"object_position":[0.34000000012405696,-0.10999999692506744,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0232525315553345e-13,4.7048636122456316e-14,1.2996764249051581e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3233715527068406e-13,2.8781776821133857e-13,-2.223497598341394e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.12},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3187952279031432,-1.4528520239738434,1.8521496810273341,-2.9927902230518945e-06,-0.3992226943267017,0.3187963049702401],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.029386494807173227,-0.009729476289509513,0.5082836165031637],[0.24102144674296078,-0.07979898476277263,0.4193965471316728],[0.2895211232282454,-0.0958565804545621,0.3990265937340395],[0.34173314005390065,-0.11314321609141907,0.39930503108074583],[0.3419253418765459,-0.1132069709117229,0.3593055436617518]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3419253418765459,-0.1132069709117229,0.3593055436617518],"end_effector_quaternion":[0.9999967845166059,-0.0007965679792080944,-0.0024026531229885367,-0.00015392814604844776],"end_effector_velocity":[-0.0026543942316765456,0.0051243038597194295,-0.07336494808006998],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3878830065812652,-0.11320820419287224,0.36752647964785234],[0.2958875259256781,-0.1131802347081132,0.36708438692647904]],"gripper_width":0.07999654715976501,"jaw_actuator_force":[0.0007372489828973983,0.0001541520016736797],"joint_actuator_torque":[-0.009884583255370671,-1.1320003964879106,-0.9864315928631413,7.405559850106339e-05,-0.04287737716885687,0.0013526087596105185],"joint_position":[-0.31972718355982827,-1.4600153355202137,1.8394148889088806,-3.055891993390378e-06,-0.3844620722277396,0.3194181873063762],"joint_velocity":[0.011190397851755372,0.08780195515675356,0.1655071384297938,-1.680153194589847e-05,-0.23093986997608054,-0.01017336242473946],"object_angular_velocity":[3.9894023263255373e-13,1.8410093686867124e-13,-1.3848068016533089e-25],"object_position":[0.34000000012405396,-0.10999999692506073,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1782420997882696e-13,5.418902864940295e-14,1.2996762774095433e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5628218924390746e-13,3.398117332860246e-13,-2.2246078213660195e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.14},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3185378660733982,-1.450763333207547,1.8558385304452911,-2.998796828532067e-06,-0.40500029811685134,0.31853892564529457],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02991181950558186,-0.009894874290191506,0.5082218081255437],[0.24107509031230992,-0.07974799770009747,0.41805188957126704],[0.28946667320551844,-0.09575600514820092,0.39738794990257864],[0.3416831292758531,-0.11302921877255308,0.39766688814360485],[0.34187569330889295,-0.1130930386731077,0.3576674025704944]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34187569330889295,-0.1130930386731077,0.3576674025704944],"end_effector_quaternion":[0.9999967729710293,-0.0007973806601202227,-0.002407180965775282,-0.00015398509224167037],"end_effector_velocity":[-0.0027072043489151003,0.005141962210014919,-0.07332260806093889],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38783328391584765,-0.11309426366504063,0.3658887547319832],[0.29583767812704986,-0.11306628468721362,0.36544582827344574]],"gripper_width":0.07999667630473804,"jaw_actuator_force":[0.0007494427955627714,-0.0005491130109387399],"joint_actuator_torque":[-0.009935326546596457,-1.133478685051955,-0.9839298920336432,7.653880919913323e-05,-0.042839563720512785,0.0013530194420852126],"joint_position":[-0.31947016212267854,-1.4580362404166027,1.8431968601031596,-3.065176406206002e-06,-0.39023224581202653,0.3191610321322327],"joint_velocity":[0.011196425786927477,0.0891019623670598,0.16431570689623878,-1.7337840767825e-05,-0.23106199194217414,-0.010177058817159482],"object_angular_velocity":[-9.930850541969373e-12,-4.567053843209204e-12,-2.6650685494755616e-26],"object_position":[0.34000000012405124,-0.10999999692505466,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.032706842520564e-14,3.69399591192408e-14,1.2996761743585098e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0918713132491781e-13,2.3742771758338087e-13,-2.223636376219474e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.16},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31828044045325055,-1.4486447117036252,1.859500424530715,-3.0048360560915e-06,-0.41078087435251776,0.31828148232715076],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03044508668314399,-0.010062596561561811,0.5081579422689475],[0.2411293253048738,-0.07969716575147484,0.4167075274524077],[0.2894111299890202,-0.09565508785749657,0.3957501407236173],[0.34163202326376435,-0.11291487406786889,0.3960295786595201],[0.3418249486922723,-0.11297875869220235,0.3560300949311792]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3418249486922723,-0.11297875869220235,0.3560300949311792],"end_effector_quaternion":[0.9999967614315646,-0.0007981888729248453,-0.0024116986258304,-0.00015404753676586335],"end_effector_velocity":[-0.0027617916551594952,0.005159171234199233,-0.07328046207132959],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38778247108032204,-0.112979975974822,0.36425186235945495],[0.2957869350477705,-0.11295198654941702,0.3638081049743753]],"gripper_width":0.07999661055680933,"jaw_actuator_force":[0.0007639985745253597,-1.0117110175400512e-05],"joint_actuator_torque":[-0.009916412656892248,-1.1349121356533942,-0.9814578975934865,7.91869065985023e-05,-0.042820983635913024,0.0013535834402809144],"joint_position":[-0.31921306046113485,-1.4560269608624337,1.8469515302094461,-3.0778856447941754e-06,-0.3960052809509625,0.318903784355196],"joint_velocity":[0.011199833832456997,0.09039754302941029,0.1631302324429406,-1.783039990997258e-05,-0.23118094998676794,-0.010180754808107423],"object_angular_velocity":[-5.955318624731426e-12,-2.738050189591554e-12,6.17937220550905e-26],"object_position":[0.34000000012404835,-0.1099999969250482,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.788072617504497e-14,4.499974119876923e-14,1.299676255339322e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.263987026277895e-13,2.749293010961689e-13,-2.2243302656098657e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.18},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31802294000124415,-1.4464962413553473,1.8631354526578245,-3.010903859710414e-06,-0.4165644307856248,0.31802396413635436],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03098627904441036,-0.010232629985273568,0.5080919700289213],[0.2411841377682491,-0.07964647954543395,0.4153634540419146],[0.28935448039246214,-0.09555382006963738,0.3941131691282256],[0.34157980905538915,-0.11280017272894385,0.3943931084075061],[0.3417730970898715,-0.11286412219244968,0.3543936265333387]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3417730970898715,-0.11286412219244968,0.3543936265333387],"end_effector_quaternion":[0.9999967498344231,-0.000798998542605123,-0.0024162314121171547,-0.0001541028286385873],"end_effector_velocity":[-0.0028166629045719618,0.005176862015110643,-0.07323800449404157],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3877305483700761,-0.11286533108177402,0.3626158106048778],[0.2957350077917799,-0.11283733250643725,0.36217121915318506]],"gripper_width":0.07999661913229247,"jaw_actuator_force":[0.0007792322169795085,-0.00011893487578262807],"joint_actuator_torque":[-0.009938822828388538,-1.1363979372050608,-0.9789136584950029,8.111803836250835e-05,-0.04279077508357432,0.0013540576091344292],"joint_position":[-0.3189558626857847,-1.453987541396034,1.8506789658941756,-3.0890364833739116e-06,-0.4017812515541257,0.3186464552709842],"joint_velocity":[0.011204377739996522,0.09169138096520263,0.1619473432473073,-1.8183269140027138e-05,-0.23130374005517085,-0.010183959103542306],"object_angular_velocity":[1.2452487139133016e-11,5.721615893324636e-12,5.978651433582846e-26],"object_position":[0.3400000001240456,-0.10999999692504205,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1270338547097167e-13,5.1801225029240484e-14,1.2996762242263988e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7454898338117578e-13,3.7975813588980037e-13,-2.2250241550002577e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.2},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31776537460927734,-1.4443180452713222,1.866743765495273,-3.0169906045199697e-06,-0.4223509948909473,0.3177663809259121],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.031535368585963765,-0.010404958723010355,0.5080238431539998],[0.24123950096086522,-0.07959593188248469,0.4140196618739382],[0.2892966979634468,-0.09545219656486423,0.3924770369972574],[0.34152646006778975,-0.11268510992976238,0.39275747858058546],[0.3417201114301962,-0.11274912423158974,0.3527579985674778]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3417201114301962,-0.11274912423158974,0.3527579985674778],"end_effector_quaternion":[0.9999967381949952,-0.0007998082116692954,-0.002420773219183239,-0.00015415322184466333],"end_effector_velocity":[-0.0028750199649650453,0.005194181514135813,-0.073196288585992],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3876774899444621,-0.11275032427534853,0.36098060010315025],[0.29568181231463203,-0.11272231741373184,0.36053517228402926]],"gripper_width":0.07999676023044487,"jaw_actuator_force":[0.0007827434569165348,-0.00023701501504547196],"joint_actuator_torque":[-0.009870450753780347,-1.137751899976024,-0.9764991511249264,8.781527956636397e-05,-0.04278454550850341,0.001354174775212158],"joint_position":[-0.3186985767461575,-1.4519180651697605,1.8543792790592788,-3.0997648413692884e-06,-0.40756017386491095,0.31838904789933503],"joint_velocity":[0.011205076964705919,0.0929761326663124,0.16077674342256063,-1.9740985234227773e-05,-0.2314212408725282,-0.010186953264397799],"object_angular_velocity":[-9.496151137699967e-12,-4.363979264280518e-12,-5.373398419004411e-26],"object_position":[0.34000000012404274,-0.10999999692503583,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.097951389634811e-14,4.180874678489693e-14,1.2996760956111604e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1954216795773935e-13,2.6013021901172764e-13,-2.2233588204633196e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.22},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31750776591273594,-1.4421102750715449,1.8703255538697128,-3.0230797958821547e-06,-0.42814060564348033,0.3175087542389847],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03209232011811288,-0.010579565106044261,0.5079535137241542],[0.24129537962745085,-0.07954551647125949,0.41267614262155117],[0.28923774743167413,-0.09535021365912132,0.39084174507720465],[0.34147194068078046,-0.11256968307004829,0.3911226878136566],[0.34166595460359217,-0.11263376182215461,0.3511232096606696]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34166595460359217,-0.11263376182215461,0.3511232096606696],"end_effector_quaternion":[0.9999967265610177,-0.0008006130246811306,-0.0024253054338177027,-0.0001542063117386601],"end_effector_velocity":[-0.0029334450820358003,0.0052117873044828875,-0.07315414194931974],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3876232645608768,-0.11263495334838136,0.35934622779806097],[0.29562774310524037,-0.11260693779135725,0.3588999667960454]],"gripper_width":0.0799966080986023,"jaw_actuator_force":[0.0007961298637155778,0.0004086869133939075],"joint_actuator_torque":[-0.009822207078897804,-1.1391818518022774,-0.9739882652859251,9.106927534166157e-05,-0.04277338882491222,0.0013545936771919287],"joint_position":[-0.318441224362479,-1.4498186409432694,1.858052613040403,-3.1126565764204078e-06,-0.41334204406620495,0.31813156774474577],"joint_velocity":[0.011206557128358153,0.0942598878368243,0.1596072547608561,-2.0381459399383955e-05,-0.23154147411826448,-0.010189841102935639],"object_angular_velocity":[-1.0431983263702296e-12,-4.814366119533594e-13,1.149216943651796e-25],"object_position":[0.34000000012403975,-0.10999999692502936,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.047631313851077e-13,4.812748946039538e-14,1.2996761185854864e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.4020859525252025e-13,3.0519237290860766e-13,-2.2239139319756323e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.24},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31725010209991283,-1.4398730564281226,1.8738809457278334,-3.0291572013766275e-06,-0.4339332656151411,0.31725107244620737],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.032657108712797006,-0.010756433464608597,0.5078809320368025],[0.24135175333012068,-0.07949522105870833,0.4113328901708887],[0.2891776093882574,-0.09524785988235619,0.38920729724328346],[0.3414162317524252,-0.11245387980480356,0.38948874336994527],[0.3416106098756541,-0.1125180231858769,0.34948926708872535]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3416106098756541,-0.1125180231858769,0.34948926708872535],"end_effector_quaternion":[0.999996714856005,-0.000801420095427713,-0.002429858140245613,-0.00015424800455665264],"end_effector_velocity":[-0.0029892368840157076,0.0052311842129860574,-0.07311032373748888],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3875678426819183,-0.11251920510518194,0.35771270366977914],[0.2955723048118244,-0.11249118290255034,0.3572656048800422]],"gripper_width":0.07999662858267964,"jaw_actuator_force":[0.0008196572493481824,-0.00057727831136134],"joint_actuator_torque":[-0.009968529058212994,-1.1408333089686948,-0.9712046737789706,9.025690323220353e-05,-0.04270870392581827,0.0013550282265555325],"joint_position":[-0.3181837865735797,-1.4476893391495285,1.8616990551362118,-3.1219384698797918e-06,-0.419126940624676,0.31787402633610157],"joint_velocity":[0.011215146472892725,0.09554717540172909,0.15843187124647912,-2.0094619169988902e-05,-0.23167560022438158,-0.010192260011667682],"object_angular_velocity":[3.250414745532619e-11,1.4930641727827392e-11,1.0783269328232197e-24],"object_position":[0.3400000001240371,-0.10999999692502328,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.806342810258043e-14,4.5039676483086565e-14,1.2996763753943193e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.2863975229777287e-13,4.977814652147008e-13,-2.222664931072929e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.26},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3169924155694365,-1.4376065952468555,1.8774102003276054,-3.035223864859984e-06,-0.4397290277301189,0.3169933677303152],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03322968699158488,-0.010935542655525137,0.5078060507067306],[0.24140857356940143,-0.07944503823783247,0.4099898956081049],[0.2891162350768177,-0.09514513097544457,0.3875736933980032],[0.3413592840130222,-0.11233769748693356,0.3878556412608608],[0.3415540252061897,-0.11240190504086003,0.34785616684859255]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3415540252061897,-0.11240190504086003,0.34785616684859255],"end_effector_quaternion":[0.9999967031682324,-0.0008022214609496158,-0.0024343967167383047,-0.0001542919926998206],"end_effector_velocity":[-0.0030522122208066983,0.0052489395600129485,-0.07306862252505747],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38751118883598784,-0.11240307765962435,0.35608002061177985],[0.2955154850859803,-0.11237504834023215,0.35563208590584017]],"gripper_width":0.07999679852909386,"jaw_actuator_force":[0.000826246644866302,-1.6478804756303589e-06],"joint_actuator_torque":[-0.009853785845933771,-1.1421843426545593,-0.9687523505979243,9.629645935328637e-05,-0.04271466541636926,0.001355173523617026],"joint_position":[-0.3179262969645756,-1.44553031207632,1.865318798147807,-3.1346499073884297e-06,-0.4249148333054551,0.3176164270463715],"joint_velocity":[0.01121334565059241,0.09681755110410005,0.1572796593884887,-2.1440019357249288e-05,-0.2317933730437542,-0.010194508512763906],"object_angular_velocity":[-7.920003798441424e-12,-3.6377993758685026e-12,6.231710811016849e-26],"object_position":[0.34000000012403403,-0.10999999692501666,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0231092325720694e-13,4.6999929236100643e-14,1.2996766223321011e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3156446878230417e-13,2.8639918333365343e-13,-2.2236363762194756e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.28},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31673470966063755,-1.4353110771936455,1.8809135217736541,-3.041247945844858e-06,-0.4455279105316715,0.3167356435511462],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03381001714256506,-0.01111687347870516,0.507728820731443],[0.2414658054581844,-0.07939495556578173,0.40864715196507057],[0.28905359028051386,-0.09504201604407012,0.3859409362061102],[0.3413010632423861,-0.11222112519776475,0.38622338581908894],[0.34149616757686785,-0.11228539669681646,0.34622391327915314]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34149616757686785,-0.11228539669681646,0.34622391327915314],"end_effector_quaternion":[0.9999966914600656,-0.0008030199910203827,-0.00243893618137873,-0.00015433120086111323],"end_effector_velocity":[-0.0031122423168910953,0.005268404509813454,-0.0730250795833251],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38745325966910066,-0.11228655962004853,0.3544481842937708],[0.2954577326805121,-0.11225852416796916,0.3539994151773528]],"gripper_width":0.07999662583820424,"jaw_actuator_force":[0.0008522837710902564,6.639531228103124e-05],"joint_actuator_torque":[-0.009930135383939387,-1.1438003155832348,-0.9659803555450708,9.536673150777422e-05,-0.042669265676089196,0.0013556740245412868],"joint_position":[-0.3176687533569662,-1.4433416761118414,1.8689119832197656,-3.1464480390969653e-06,-0.43070577719148534,0.31735878359733916],"joint_velocity":[0.011218688040955762,0.09809220328841783,0.1561201328987983,-2.105963368966776e-05,-0.23192527760419632,-0.01019630919587975],"object_angular_velocity":[8.146971489877399e-12,3.7433141663529206e-12,-5.053769797293418e-25],"object_position":[0.3400000001240311,-0.10999999692501015,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0613487309514075e-13,4.876508889262895e-14,1.2996764640224803e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.636890619187388e-13,3.562678132720408e-13,-2.2225261531948502e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.3},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3164769896153288,-1.432986723168319,1.8843911529832444,-3.0472258427842705e-06,-0.4513299360715774,0.3164779051803821],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0343980546267556,-0.011300404585328685,0.5076491935772597],[0.2415234074768233,-0.07934495863008431,0.4073046527612029],[0.2889896341716305,-0.09493850226534081,0.38430902882418994],[0.3412415286269978,-0.11210415004483655,0.38459198135633593],[0.34143699697838414,-0.11216848550458153,0.3445925106964356]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34143699697838414,-0.11216848550458153,0.3445925106964356],"end_effector_quaternion":[0.9999966797053916,-0.0008038187396382767,-0.0024434865827206993,-0.00015435979542466523],"end_effector_velocity":[-0.0031773354003014763,0.005287707733242595,-0.07298247586909347],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38739401348984925,-0.11216963775008924,0.3528171999474407],[0.295398282601564,-0.11214159800518901,0.3523675925525303]],"gripper_width":0.0799968338297936,"jaw_actuator_force":[0.0008613488078506037,-0.0003499600026124483],"joint_actuator_torque":[-0.00990524450742214,-1.1452414125275254,-0.9633837325494596,0.00010091751965465406,-0.04264949766309911,0.001355582614674944],"joint_position":[-0.3174111542062731,-1.4411235720247644,1.8724787761745354,-3.1567894616614076e-06,-0.4364998183390159,0.31710110635561023],"joint_velocity":[0.01121940217486939,0.09935283222571577,0.15497871666398555,-2.2339380706968338e-05,-0.23205134562350666,-0.010197530305962871],"object_angular_velocity":[-9.896781646529279e-12,-4.547222175359574e-12,-9.179882355417475e-28],"object_position":[0.34000000012402837,-0.10999999692500409,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.864661742738663e-14,4.073026415671366e-14,1.2996763489627573e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1720795904833734e-13,2.5509485705211806e-13,-2.2234975983413963e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.32},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31621928823890866,-1.430633816055019,1.8878434332985887,-3.053118978340795e-06,-0.45713516040376645,0.31622018531012863],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03499373972566695,-0.011486110991269595,0.5075671223944014],[0.24158131915444198,-0.07929503582579325,0.40596238953935426],[0.2889243061068696,-0.09483458110037159,0.38267797159340594],[0.3411806190067755,-0.11198676510810679,0.3829614250673997],[0.3413764500438891,-0.11205116392946332,0.34296195628346826]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3413764500438891,-0.11205116392946332,0.34296195628346826],"end_effector_quaternion":[0.9999966679760257,-0.0008046100003155669,-0.0024480203437843057,-0.0001543890850058063],"end_effector_velocity":[-0.00324110393451965,0.005308238215105615,-0.07293851780829115],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3873333940192631,-0.11205230568409517,0.3511870622544027],[0.2953378815375185,-0.11202426164271555,0.3507366217068136]],"gripper_width":0.07999661950275128,"jaw_actuator_force":[0.0008900511440490533,-0.0002615652968689375],"joint_actuator_torque":[-0.00999601865943589,-1.1468814533551495,-0.9605460087208257,0.00010007755689852313,-0.04259955941694216,0.0013559904338542594],"joint_position":[-0.3171535315271078,-1.4388761955855531,1.8760194150592266,-3.16838333171177e-06,-0.4422969418172934,0.31684340358918023],"joint_velocity":[0.011224592469049409,0.10061399648588094,0.15383466880671484,-2.1983785386530556e-05,-0.2321864804992463,-0.010198615768691709],"object_angular_velocity":[-2.978607184232295e-12,-1.3688203838153335e-12,-2.590777436575521e-26],"object_position":[0.34000000012402554,-0.109999996924998,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.033405503444396e-13,4.7467505162687895e-14,1.299676465908474e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3313078676381133e-13,2.898277661432499e-13,-2.2239139319756317e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.34},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3159616157705047,-1.4282526549598054,1.891270692430501,-3.0589320541827817e-06,-0.4629436141552078,0.31596249421093764],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03559701420286986,-0.011673967165748199,0.5074825599392757],[0.24163948472368146,-0.07924516911828935,0.40462035595564827],[0.2888575508847008,-0.09473023623241336,0.3810477675427336],[0.3411182791368332,-0.1118689541752394,0.38133172147037747],[0.3413144725595766,-0.11193341609033669,0.34133225456390015]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3413144725595766,-0.11193341609033669,0.34133225456390015],"end_effector_quaternion":[0.9999966562385014,-0.0008053979308180376,-0.002452550347402935,-0.00015441108357865346],"end_effector_velocity":[-0.0033128995707485363,0.005327715423531992,-0.07289668760505698],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38727134703477833,-0.1119345467382225,0.3495577769228576],[0.2952758315119193,-0.1119064996736185,0.34910650283270095]],"gripper_width":0.0799966266297785,"jaw_actuator_force":[0.0008980653838790431,0.00043099805468571617],"joint_actuator_torque":[-0.009864206484635929,-1.148239439932354,-0.9580260180963478,0.00010608737996937561,-0.04260904332865323,0.001355822449202293],"joint_position":[-0.31689588727874896,-1.4365997371158161,1.8795341214875196,-3.181017041611304e-06,-0.44809720599368724,0.3165856933022156],"joint_velocity":[0.01122023511993907,0.1018549854133061,0.15271799176072318,-2.3316962100394112e-05,-0.23230819811176234,-0.01019881532683682],"object_angular_velocity":[2.4614490471168982e-11,1.129940827792302e-11,-5.691375147572388e-25],"object_position":[0.34000000012402276,-0.10999999692499182,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.446959049224102e-14,4.3377652366739573e-14,1.2996764250662865e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0724175875182668e-13,4.513450070190338e-13,-2.2261343780248822e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.36},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3157039844125027,-1.4258435823441802,1.8946733055451603,-3.0646101216753885e-06,-0.46875533000541003,0.3157048441802531],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03620781478700733,-0.01186394598814691,0.5073954594688603],[0.24169784364741212,-0.07919533888892501,0.40327854648642963],[0.2887893085945882,-0.09462544976201999,0.3794184205946226],[0.34105444904224486,-0.11175069951764034,0.3797028758535752],[0.34125100553707777,-0.11181522443776365,0.33970341083116495]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34125100553707777,-0.11181522443776365,0.33970341083116495],"end_effector_quaternion":[0.9999966444616558,-0.0008061847828916484,-0.002457088921375256,-0.00015442006610595627],"end_effector_velocity":[-0.003383330895187269,0.005349371722141973,-0.07285279867251175],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38720780302867136,-0.1118163427959745,0.34792935032826383],[0.2952121086537005,-0.1117882950514949,0.34747724025643145]],"gripper_width":0.07999680958449634,"jaw_actuator_force":[0.0009188580999435203,-0.0003144353263166977],"joint_actuator_torque":[-0.009928730024597598,-1.149811403603394,-0.9552168531797633,0.0001086599799330783,-0.042564502365650014,0.0013557149799936496],"joint_position":[-0.31663822310291767,-1.4342944049607755,1.8830231340819588,-3.190874883099577e-06,-0.453900665979599,0.3163279902353742],"joint_velocity":[0.011222949897754561,0.10309420463942959,0.15159993276760256,-2.385754861658155e-05,-0.2324442644726862,-0.010198460303472864],"object_angular_velocity":[-8.759433134253725e-12,-4.0216033732458586e-12,6.970424207331561e-27],"object_position":[0.34000000012401993,-0.10999999692498542,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.997176602645403e-14,4.5897374269621744e-14,1.2996763703132652e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2817406175440704e-13,2.791807085221951e-13,-2.2237751540975543e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.38},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31544643367798475,-1.4234070370501628,1.898051785244766,-3.0701311902547256e-06,-0.47457038122526324,0.3154472745817285],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03682605636777216,-0.012056014625353249,0.5073057772275056],[0.24175630923628838,-0.07914552595088094,0.4019369539003569],[0.28871949218532333,-0.0945202056296477,0.37778993188788534],[0.34098904112067424,-0.11163198680663745,0.3780748863505159],[0.3411859592436508,-0.1116965741250949,0.33807542320747935]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3411859592436508,-0.1116965741250949,0.33807542320747935],"end_effector_quaternion":[0.9999966327147155,-0.0008069640631107773,-0.002461609441851866,-0.00015442534426971704],"end_effector_velocity":[-0.0034589219663712363,0.005371013859893754,-0.07280970158613533],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38714268473094016,-0.11169767997802044,0.346301778205508],[0.29514701243097546,-0.11166963229170591,0.3458488364604817]],"gripper_width":0.07999679160068343,"jaw_actuator_force":[0.0009372142366750325,-0.00014625652145383583],"joint_actuator_torque":[-0.009894916963816058,-1.1512971110512353,-0.9525048696737031,0.00011176766831431576,-0.042546980943235724,0.0013555714710520306],"joint_position":[-0.3163805739821159,-1.4319604877229488,1.8864867939515946,-3.2025043134163435e-06,-0.4597073196392096,0.31607030878509557],"joint_velocity":[0.011221313871847133,0.10431879308994842,0.15050040338056792,-2.4483239153195168e-05,-0.2325752889998128,-0.010197574615850696],"object_angular_velocity":[4.649834650122435e-12,2.134213414332154e-12,-1.2508764738849257e-25],"object_position":[0.34000000012401715,-0.10999999692497929,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.069698581895017e-13,4.909772973351878e-14,1.299676430857784e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5047193749244258e-13,3.2783078820414626e-13,-2.2237751540975543e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.4},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3151889915678419,-1.4209435132695234,1.9014066880734217,-3.0754452134450678e-06,-0.4803888299449187,0.31518981345101643],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.037451650332815466,-0.012250138531242342,0.5072134700791322],[0.24181479295790223,-0.07909570569824595,0.4005955724890931],[0.28864801314281796,-0.09441448150735095,0.3761623042913758],[0.34092196656154544,-0.1115127946179371,0.3764477561245602],[0.3411192450881114,-0.11157744374617325,0.33644829485727346]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3411192450881114,-0.11157744374617325,0.33644829485727346],"end_effector_quaternion":[0.9999966209915057,-0.0008077360059374485,-0.002466114648618709,-0.00015442362399810684],"end_effector_velocity":[-0.0035378433050725334,0.00539368270269884,-0.07276632652941521],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3870759004868104,-0.11157853657038033,0.3446750639558416],[0.2950803331423662,-0.11155049025085338,0.34422129376565985]],"gripper_width":0.07999669072856752,"jaw_actuator_force":[0.0009613933049177348,0.0003038081431796513],"joint_actuator_torque":[-0.009880402580606074,-1.1528163838261207,-0.9497386116814823,0.00011379645789005312,-0.042523997262563284,0.0013554024472242077],"joint_position":[-0.31612295652683303,-1.4295982870383257,1.8899254517506574,-3.2143653427184105e-06,-0.4655172213454924,0.31581267281093583],"joint_velocity":[0.011219666232305726,0.10553136879945006,0.14941466554725708,-2.4828816588321982e-05,-0.23270986345220349,-0.010195748307580882],"object_angular_velocity":[-1.065525372440228e-11,-4.890587116255569e-12,7.843417386878808e-27],"object_position":[0.3400000001240144,-0.10999999692497309,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.934010395312156e-14,4.100459232720967e-14,1.299676446588695e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1927191015959386e-13,2.598664905870188e-13,-2.224052709853711e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.42},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3149316845748815,-1.4184536002984827,1.9047386655490695,-3.0805070621367285e-06,-0.4862107382188531,0.314932487325866],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03808449674125479,-0.012446279260687894,0.5071184967491891],[0.2418731956468213,-0.07904584795088856,0.39925439869679924],[0.288574772479347,-0.09430824910905955,0.37453554289312657],[0.3408531262154446,-0.11139309513714771,0.37482149190950065],[0.3410507650740411,-0.1114578058114055,0.3348220325205263]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3410507650740411,-0.1114578058114055,0.3348220325205263],"end_effector_quaternion":[0.9999966092546612,-0.0008085046900899889,-0.002470618948055786,-0.00015440647626491975],"end_effector_velocity":[-0.0036210694323897358,0.005417643859500863,-0.07272253047528042],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38700734735522874,-0.11145888423966761,0.34304921561949536],[0.2950117042924769,-0.11143084207005238,0.3425946162624978]],"gripper_width":0.07999677053825255,"jaw_actuator_force":[0.0009849682641558388,8.372454258420703e-05],"joint_actuator_torque":[-0.00989019941442848,-1.1543389635027097,-0.9469339355936199,0.00011663668732037925,-0.04249342182365723,0.001354978146885344],"joint_position":[-0.3158653791236242,-1.4272081468909223,1.8933394998090225,-3.2249952065198155e-06,-0.47133044936761437,0.3155551082156365],"joint_velocity":[0.011217893547623006,0.10672833599697923,0.14834638339504685,-2.5403868542629054e-05,-0.23284811334757172,-0.010192847795488885],"object_angular_velocity":[-5.78957007826117e-12,-2.6566592539180445e-12,-3.625052795309708e-26],"object_position":[0.3400000001240113,-0.10999999692496648,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1055182760696499e-13,5.0728067791823213e-14,1.2996763783844813e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.403157644330879e-13,3.05785863153144e-13,-2.2240527098537113e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.44},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3146745606919212,-1.4159380335855252,1.9080485532902909,-3.08523911044007e-06,-0.4920362056656999,0.31467534415193993],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03872447248320035,-0.012644391923580793,0.5070208197659172],[0.24193139142499037,-0.07899592003795317,0.3979134285814863],[0.28849964368248393,-0.0942014785641635,0.3729096514350542],[0.340782393048646,-0.11127286011783274,0.3731960961315002],[0.3409803912495293,-0.11133763180313141,0.3331966386184134]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3409803912495293,-0.11133763180313141,0.3331966386184134],"end_effector_quaternion":[0.9999965975349896,-0.0008092667213885925,-0.0024751108640851346,-0.00015437625522746252],"end_effector_velocity":[-0.0037086481928221794,0.005443251951797686,-0.07267799316765655],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38693689903703016,-0.11133869474111122,0.3414242345702189],[0.2949412575167022,-0.11131065914675888,0.3409688087080841]],"gripper_width":0.07999677308170733,"jaw_actuator_force":[0.001013279632669395,-0.0003382245123120242],"joint_actuator_torque":[-0.00994494465298601,-1.1559006306645188,-0.9440496218508088,0.00011905301435176548,-0.04244996080899455,0.001354443218918533],"joint_position":[-0.31560787301011856,-1.4247904971714422,1.8967294366466798,-3.23496135048959e-06,-0.4771470484117436,0.3152976412892628],"joint_velocity":[0.01121689723645404,0.10790859941302774,0.14729617240952395,-2.588177493075903e-05,-0.23299180326621452,-0.010188914762331773],"object_angular_velocity":[1.830976839670569e-11,8.39923808207366e-12,3.662438270469773e-25],"object_position":[0.3400000001240086,-0.10999999692496035,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.016779888297114e-13,4.6647962999236366e-14,1.29967646296959e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.846966845842274e-13,4.025654092386309e-13,-2.2216934859263827e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.46},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3144176816806363,-1.4133977309861394,1.9113373991452416,-3.089568014687312e-06,-0.49786536153952987,0.31441844559934906],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.039371429141414144,-0.01284442409239226,0.5069204061406407],[0.2419892264304337,-0.07894588329263746,0.3965726589350719],[0.2884224716425007,-0.09409413435936033,0.3712846335337957],[0.34070961125811106,-0.11115205621353214,0.3715715705210187],[0.34090796647917393,-0.11121688803572646,0.33157211487420885]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34090796647917393,-0.11121688803572646,0.33157211487420885],"end_effector_quaternion":[0.9999965858769295,-0.0008100178553798311,-0.0024795737437900817,-0.00015433602280192702],"end_effector_velocity":[-0.0038048005610444376,0.005469539690095996,-0.0726344691042594],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38686440714054177,-0.11121793474339586,0.33980012104290935],[0.2948689112883305,-0.11118990760220478,0.33934387473475125]],"gripper_width":0.07999663147805229,"jaw_actuator_force":[0.0010407305786142018,0.00028262313249172166],"joint_actuator_torque":[-0.009891912985182216,-1.1573654472279031,-0.9412858657032075,0.00012141841561000809,-0.0424359600236599,0.0013537743409699488],"joint_position":[-0.3153504805825329,-1.4223458624086522,1.9000958739534146,-3.2465459250921633e-06,-0.48296707134430306,0.3150403072607426],"joint_velocity":[0.011210478269900523,0.1090633707728518,0.14627795994229298,-2.6298118264278085e-05,-0.2331315110488365,-0.010183602404311758],"object_angular_velocity":[-1.0103209633282288e-11,-4.6347125229951396e-12,1.380901328201644e-26],"object_position":[0.3400000001240056,-0.10999999692495387,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.021177599977618e-13,4.684290873540082e-14,1.2996765167874367e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3176178788093728e-13,2.8723491828765975e-13,-2.223497598341399e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.48},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3141611033162281,-1.4108338320361609,1.9146064660922406,-3.0933594308590285e-06,-0.503698328782589,0.3141618475389983],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04002520133146965,-0.013046316909286874,0.5068172264753006],[0.2420465319741501,-0.07889568716412128,0.3952320912537913],[0.28834308691309773,-0.09398616784752083,0.36966049776552873],[0.3406346110933913,-0.11103063567929097,0.3699479264236798],[0.34083332297079094,-0.11109552725558627,0.3299484726439954]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34083332297079094,-0.11109552725558627,0.3299484726439954],"end_effector_quaternion":[0.9999965742172806,-0.0008107642653461938,-0.002484032055230467,-0.00015427169971177202],"end_effector_velocity":[-0.0039050468672868926,0.005499037976075443,-0.07258869776500773],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3867896913640805,-0.111096555592545,0.3381768885815018],[0.2947941604474469,-0.11106854128034332,0.33771982177618004]],"gripper_width":0.07999667061094937,"jaw_actuator_force":[0.001081565277866403,-0.00047429663958986623],"joint_actuator_torque":[-0.010014535881950337,-1.1589918766536584,-0.9382611942352241,0.00012214616428631974,-0.04237318428566539,0.0013529662412707921],"joint_position":[-0.3150932172380603,-1.419874832079602,1.9034394843098332,-3.255660297331121e-06,-0.4887906516230878,0.31478315157201775],"joint_velocity":[0.011209232451632625,0.11019777190895373,0.14527923879414895,-2.6356149316134675e-05,-0.23328669374773564,-0.010176476057713447],"object_angular_velocity":[3.962063098750111e-13,1.8073995189005705e-13,-3.236581805983355e-25],"object_position":[0.3400000001240026,-0.10999999692494716,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1759199347848748e-13,5.392761382967304e-14,1.2996762940923687e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.5552849790634588e-13,3.391341165587165e-13,-2.2246078213660236e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.5},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3139049268895594,-1.408247861016612,1.9178574902250547,-3.096479075015764e-06,-0.509535317846502,0.313905651085609],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04068556989650474,-0.013249996425020715,0.5067112610591293],[0.24210307718553217,-0.07884527402110697,0.3938917267817402],[0.28826125593926766,-0.09387752513687674,0.36803725017650524],[0.3405571579667067,-0.11090854786655377,0.36832516668822707],[0.34075622387413373,-0.11097349825118215,0.3283257147643315]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34075622387413373,-0.11097349825118215,0.3283257147643315],"end_effector_quaternion":[0.9999965626313452,-0.0008114989049693447,-0.002488457520634779,-0.00015418881098787276],"end_effector_velocity":[-0.004020790001136906,0.0055291375756217715,-0.0725453734252066],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3867125284622658,-0.11097450670562187,0.3365545374892173],[0.2947168182162552,-0.11094650858539332,0.3360966555146583]],"gripper_width":0.07999685398678201,"jaw_actuator_force":[0.0011064388394359526,-3.1020578651563824e-05],"joint_actuator_torque":[-0.009891569956948842,-1.1603263112875766,-0.9355994535861782,0.0001267211389796655,-0.042375527849486616,0.0013515556304852794],"joint_position":[-0.3148361468367647,-1.4173781969204593,1.9067611896371286,-3.266583896272331e-06,-0.49461786229581345,0.31452622505040734],"joint_velocity":[0.01119643864264443,0.11128811336406713,0.14433716938504293,-2.7321442037838002e-05,-0.23343010981191945,-0.01016724687034538],"object_angular_velocity":[-9.91115954725415e-12,-4.544972057504354e-12,-4.334240454789677e-26],"object_position":[0.34000000012399995,-0.1099999969249411,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.016739408378814e-14,3.6761753167345714e-14,1.2996760528225873e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0865944130155386e-13,2.3695524182282585e-13,-2.224052709853712e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.52},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31364926990477876,-1.405641857874576,1.9210927562229678,-3.0986619702916025e-06,-0.5153765720043447,0.3136499737640018],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04135227342154147,-0.01345537467767197,0.5066024988591997],[0.24215858794018102,-0.07879456829219358,0.39255157239542543],[0.2881767016840359,-0.09376813349552146,0.36641490174747715],[0.34047697399235927,-0.11078572266424869,0.3667033031338162],[0.3406763919174315,-0.11085073099529989,0.3267038530574957]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3406763919174315,-0.11085073099529989,0.3267038530574957],"end_effector_quaternion":[0.9999965511011557,-0.0008122228467333841,-0.002492857806081667,-0.00015407725228477046],"end_effector_velocity":[-0.004145167471865951,0.0055634002496705815,-0.07249983888280191],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3866326332012967,-0.11085171710592462,0.334933080253327],[0.2946369962235048,-0.11082374052216884,0.3344743890033769]],"gripper_width":0.07999678474436857,"jaw_actuator_force":[0.001149889112239677,-0.00019935553511629678],"joint_actuator_torque":[-0.009928375965600367,-1.1618162631793894,-0.9326905146111812,0.00012856003929308035,-0.04233374315540317,0.001350026004210747],"joint_position":[-0.3145793178084971,-1.414856908575574,1.910062088971803,-3.275838117815763e-06,-0.5004488659985346,0.3142695979683549],"joint_velocity":[0.011187465828295984,0.11234318710636343,0.14343239033263205,-2.7622851664022035e-05,-0.23359029710774848,-0.010155253571655701],"object_angular_velocity":[-5.943146282240922e-12,-2.725584691897803e-12,2.679540143214975e-26],"object_position":[0.34000000012399706,-0.10999999692493465,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.768210823548517e-14,4.479394049832137e-14,1.2996759066125552e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2581918767508e-13,2.743710358152625e-13,-2.224052709853712e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.54},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.313394308983385,-1.4030187390201576,1.9243155365608113,-3.099565482019721e-06,-0.5212224448616272,0.31339499204492993],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.042024966826587025,-0.01366233835116623,0.5064909450126759],[0.24221269817516441,-0.07874347287585352,0.3912116400768404],[0.2880890532758801,-0.09365789953776103,0.3647934660290448],[0.34039368699044614,-0.11066207076693477,0.36508234800151634],[0.34059345399553353,-0.1107271359478051,0.32508289975949783]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34059345399553353,-0.1107271359478051,0.32508289975949783],"end_effector_quaternion":[0.9999965396592816,-0.0008129331746033067,-0.0024972213402904525,-0.0001539308091733597],"end_effector_velocity":[-0.004286628682216803,0.005601395428263225,-0.07245408315179246],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38654963742439985,-0.11072809673157054,0.33331252806963546],[0.2945539730241776,-0.1107001480615703,0.33285303381030673]],"gripper_width":0.07999681616523924,"jaw_actuator_force":[0.001195667595741412,-0.0002722084729196439],"joint_actuator_torque":[-0.009931068209979799,-1.1632226780692463,-0.9298416228774613,0.00013130908014851188,-0.0422994785950479,0.0013479082954752641],"joint_position":[-0.3143228086269267,-1.4123122350805704,1.91334365233956,-3.2846789015285173e-06,-0.5062838409113373,0.3140133606484435],"joint_velocity":[0.011173933370490656,0.11334114271883429,0.14259452001270595,-2.8139754678708302e-05,-0.23375595345197692,-0.01013961437768057],"object_angular_velocity":[1.24311579959505e-11,5.6987000100918744e-12,3.4371070284055144e-25],"object_position":[0.3400000001239943,-0.1099999969249285,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1248729553196777e-13,5.157024698157926e-14,1.2996759245115434e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7377464269039956e-13,3.7903677378609677e-13,-2.222387375316774e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.56},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3131403102815447,-1.4003829325798014,1.9275307685383394,-3.098608752871405e-06,-0.5270734416895004,0.3131409718802257],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04270318808769746,-0.013870737878146425,0.5063766277344424],[0.24226491545377027,-0.07869185627146799,0.3898719515153813],[0.2879978113084953,-0.09354669590327085,0.3631729632151798],[0.3403067958433267,-0.11053747014438547,0.3634623204723008],[0.34050690828297825,-0.11060259087268293,0.32346287404735335]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34050690828297825,-0.11060259087268293,0.32346287404735335],"end_effector_quaternion":[0.9999965283322562,-0.0008136273474813042,-0.0025015392653511145,-0.0001537376950151847],"end_effector_velocity":[-0.004450486847065514,0.0056446426005945585,-0.07240780502294007],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3864630445214046,-0.11060352230621512,0.3316928993256518],[0.29446734718528433,-0.11057561012234982,0.33123261042821245]],"gripper_width":0.07999685306203774,"jaw_actuator_force":[0.0012491989069207676,-0.00032599418800494107],"joint_actuator_torque":[-0.009916875452645968,-1.1645637905396597,-0.9270292325466016,0.0001337221511703754,-0.04226786192997878,0.0013451450785098018],"joint_position":[-0.31406672103474254,-1.409745888301562,1.9166078601062744,-3.2930689581465703e-06,-0.5121230371155685,0.31375763843153687],"joint_velocity":[0.011155331864047541,0.11426352347424171,0.1418449904729242,-2.855140776742264e-05,-0.2339308927974203,-0.010118946696804342],"object_angular_velocity":[-9.4781830905512e-12,-4.345279443759656e-12,3.309444798712818e-26],"object_position":[0.3400000001239915,-0.10999999692492228,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.08109392354594e-14,4.162949231193981e-14,1.2996759970954401e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1902930417161433e-13,2.596488365186072e-13,-2.223636376219477e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.58},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290518840177417,-1.3979171909561776,1.9305162657671384,-3.0330004438804023e-06,-0.5325265778387506,0.31290579618121384],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.043386279118725654,-0.014080363339952535,0.5062596136833014],[0.24231453390439261,-0.07863953188031096,0.38853254285714706],[0.2879022589594413,-0.09343434133747643,0.3615534224594867],[0.3402155811707672,-0.11041174752804214,0.3618432469831868],[0.3404160335067428,-0.11047692193321704,0.32184380234756826]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3404160335067428,-0.11047692193321704,0.32184380234756826],"end_effector_quaternion":[0.9999965171880748,-0.0008142983055356909,-0.002505787907619557,-0.00015348274179078025],"end_effector_velocity":[-0.004647239534548308,0.005695196046936792,-0.07236120116853113],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3863721423047284,-0.11047781871746375,0.3300742183147722],[0.2943764918222164,-0.11044995440192532,0.32961314793624547]],"gripper_width":0.07999681010782132,"jaw_actuator_force":[0.00131229385477738,0.00014170069083618841],"joint_actuator_torque":[-0.00984296941288676,-1.165774946415695,-0.9243353620274775,0.0001357579118991941,-0.04224992798427962,0.0013414052900131423],"joint_position":[-0.313811207592271,-1.4071603243246145,1.9198575552821229,-3.301244298793544e-06,-0.5179667921421439,0.31350261410468777],"joint_velocity":[0.011128129655462447,0.11507631109795532,0.1412245488504627,-2.882657370190696e-05,-0.23411655541354057,-0.010090922490297081],"object_angular_velocity":[-1.0413385947318301e-12,-4.762134133291905e-13,3.45876088396363e-25],"object_position":[0.34000000012398857,-0.10999999692491581,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0457972492650699e-13,4.795000653020612e-14,1.2996763576967348e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3968248751476716e-13,3.0465676998823837e-13,-2.2237751540975555e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.6},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290372098211006,-1.3978084635449193,1.9304536697338035,-2.1360235655344657e-06,-0.5326000299314241,0.3129038924549756],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04406166597635341,-0.014287369888551815,0.5061420660693623],[0.2423605105145349,-0.07858745654233176,0.3872174382114685],[0.28780399572120147,-0.09332289306715634,0.35996387766070115],[0.3401215730342596,-0.11028721664550582,0.3602516790179596],[0.34032064201181905,-0.11035188707284596,0.32025222665573344]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34032064201181905,-0.11035188707284596,0.32025222665573344],"end_effector_quaternion":[0.9999965657137375,-0.0008080049920825016,-0.0024884935413999566,-0.0001519491946819255],"end_effector_velocity":[-0.004797783284966469,0.005648556964344933,-0.07091438579741022],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3862768490462541,-0.11035274625769297,0.32848105208389206],[0.2942814120592322,-0.11032515869887341,0.3280231652729803]],"gripper_width":0.0799965806312285,"jaw_actuator_force":[0.0014310069337870601,-1.8638775634016724e-05],"joint_actuator_torque":[-0.009701276271741222,-1.163891442246154,-0.9188048810415239,0.00013442615429433826,-0.04301233018116335,0.0012972713234802313],"joint_position":[-0.313561095104953,-1.4046031099700937,1.9230356805847475,-3.312307590377475e-06,-0.5236653464477529,0.3132555468344462],"joint_velocity":[0.010882600564075641,0.11350071722312341,0.13769313634425814,-2.6576736325424147e-05,-0.22779024844839743,-0.009759102112487225],"object_angular_velocity":[3.244678189755544e-11,1.4881161474257134e-11,1.6681796736171822e-24],"object_position":[0.3400000001239859,-0.10999999692490973,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.789065091903757e-14,4.488982513185984e-14,1.2996767718997275e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.2787500279388257e-13,4.969121687322919e-13,-2.222664931072931e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.62},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290279815173044,-1.3977499136813256,1.9304231647115124,-1.2618799765274457e-06,-0.5326453283602535,0.31290287824883595],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04457411239917789,-0.014444457493160404,0.5060516367485506],[0.24240663313128846,-0.07855304614858921,0.38625020686815204],[0.28774325246573046,-0.09324459771545832,0.3587957125205607],[0.34006412483221593,-0.1101993325258723,0.35904727229172856],[0.34023813139259257,-0.11025584243705426,0.3190476906895807]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34023813139259257,-0.11025584243705426,0.3190476906895807],"end_effector_quaternion":[0.9999973760071035,-0.0007060838645276676,-0.0021751824586070273,-0.0001341855276283438],"end_effector_velocity":[-0.003821680928469128,0.004188417015836744,-0.05138202229512022],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3861968042734461,-0.11025674257635099,0.32724770549765186],[0.29420370779276966,-0.11023233670218813,0.3268474817745638]],"gripper_width":0.07999397031750642,"jaw_actuator_force":[0.0016084811366798846,6.92436926055251e-05],"joint_actuator_torque":[-0.00692028371456388,-1.1207806461620748,-0.8786710025342472,0.0001188475970811754,-0.05415334087461332,0.0007488122801362351],"joint_position":[-0.3133768096443958,-1.4026620732115347,1.9253057410695738,-3.3639746996417004e-06,-0.5272174978290833,0.3131067520163413],"joint_velocity":[0.007846279719166894,0.08245193833564311,0.09494671576959354,9.547402304907154e-07,-0.13803261388303437,-0.00565917601170266],"object_angular_velocity":[-7.906193781295075e-12,-3.625935600991361e-12,1.191759997973501e-25],"object_position":[0.34000000012398285,-0.10999999692490312,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0215181666284486e-13,4.68529679725234e-14,1.2996772005304479e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3114948627129371e-13,2.8594491885606547e-13,-2.2241914877317902e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.64},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290223060555655,-1.3977195375055405,1.930409580864818,-6.905078313615672e-07,-0.5326727313490032,0.31290229576859313],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04494464242593416,-0.014557929990411798,0.5059855898259893],[0.2424461402123757,-0.07853024843781409,0.3855667339745223],[0.2877069001217686,-0.09319057141534377,0.3579707461752278],[0.3400301999409726,-0.11013842111041823,0.3581773538780148],[0.3401731167268232,-0.11018482062304019,0.31817763610554106]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3401731167268232,-0.11018482062304019,0.31817763610554106],"end_effector_quaternion":[0.9999982299199592,-0.0005797966949635715,-0.0017865273216258488,-0.00011096337299529002],"end_effector_velocity":[-0.0029182648298685995,0.0030723052433669355,-0.03703445897669308],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3861380226731683,-0.11018565267046868,0.32634192359086683],[0.2941447102455614,-0.11016542737803374,0.3260132130971978]],"gripper_width":0.07999390192319492,"jaw_actuator_force":[0.0013002162405708617,-0.0002124131991436684],"joint_actuator_torque":[-0.005018185897839089,-1.0878325250658918,-0.8489551464757596,9.553695565876855e-05,-0.06037800316818931,0.00043147299151158336],"joint_position":[-0.31324392074448054,-1.4012583080583043,1.9268734798884508,-2.965477727634047e-06,-0.5293716843540309,0.31302050087418076],"joint_velocity":[0.005658728397180142,0.05959886775562937,0.0655508879856683,1.8651223759837642e-05,-0.08375098394853553,-0.0032804092220734492],"object_angular_velocity":[8.12912268326898e-12,3.726427262531766e-12,-3.3567918686020203e-25],"object_position":[0.3400000001239799,-0.10999999692489663,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0596384944246242e-13,4.858898701091467e-14,1.2996771507720242e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.6309816637854635e-13,3.556826411671771e-13,-2.2223873753167753e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.66},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290187774798023,-1.39770363363439,1.9304038982079867,-3.603513162329027e-07,-0.5326894951032561,0.31290193562630847],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.045211595376332764,-0.014639612945311522,0.5059376621201577],[0.24247868603728484,-0.07851512607608178,0.3850839746942272],[0.28768572764708633,-0.09315326450188331,0.3573883379924515],[0.34001078469812274,-0.11009616132549077,0.35755159187563595],[0.34012371516884554,-0.11013281581517777,0.3175517680865595]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34012371516884554,-0.11013281581517777,0.3175517680865595],"end_effector_quaternion":[0.9999988947912231,-0.0004580571134048451,-0.0014116728462890474,-8.82031071593216e-05],"end_effector_velocity":[-0.002170237818039074,0.002236346254739936,-0.026595806518155046],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3860956171779714,-0.1101335391714892,0.3256815952768726],[0.294101310258629,-0.11011742972951193,0.3254218553609575]],"gripper_width":0.07999467500843849,"jaw_actuator_force":[0.001018094596480168,-8.751132291529018e-05],"joint_actuator_torque":[-0.003656471877931722,-1.0639248470856728,-0.8278534087664866,7.292967598036169e-05,-0.06391034241021742,0.0002484196117578108],"joint_position":[-0.3131481267080269,-1.4002468150964085,1.9279577893684172,-2.409065557868944e-06,-0.5306792310534728,0.3129705041083205],"joint_velocity":[0.004080623619190444,0.042933019965025764,0.04532528633971836,2.468042020641763e-05,-0.050862029162213586,-0.0019016805115537694],"object_angular_velocity":[-9.87964362045919e-12,-4.529634330726921e-12,-1.7001799695739914e-26],"object_position":[0.3400000001239772,-0.10999999692489058,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.849354836774908e-14,4.057044829984602e-14,1.2996770499229e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.167517057564516e-13,2.5465676401527714e-13,-2.2239139319756348e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.68},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129016550963368,-1.3976952135176584,1.9304017908025903,-1.8153119443202127e-07,-0.5326998535470263,0.312901702871638],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04540345400135185,-0.014698273739076492,0.5059030393341806],[0.24250483100053621,-0.07850509322458675,0.38474307493929916],[0.2876738965628493,-0.09312748935668284,0.3569772497654722],[0.34000021254996654,-0.11006681817841081,0.3571029250842041],[0.3400871500015381,-0.1100950296305047,0.3171030295094218]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400871500015381,-0.1100950296305047,0.3171030295094218],"end_effector_quaternion":[0.9999993450087339,-0.00035256914171718405,-0.0010867429420638175,-6.831457867175834e-05],"end_effector_velocity":[-0.0015829693778745555,0.0016171967410747452,-0.01904308300741161],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3860654022994089,-0.11009563644964915,0.3252029818854476],[0.29406975996637746,-0.11008313763778511,0.3250030258806925]],"gripper_width":0.0799958604878022,"jaw_actuator_force":[0.0007694713638723982,-0.00018101015781901708],"joint_actuator_torque":[-0.002613834224703737,-1.0465352162159434,-0.8130294522690065,5.683234804834312e-05,-0.0658996505943108,0.00014264685260911847],"joint_position":[-0.3130790825694364,-1.399519796895842,1.9287085032051494,-1.8636828308145914e-06,-0.5314737140936293,0.3129415106358569],"joint_velocity":[0.0029398477276597152,0.030849536811799284,0.03137765697738942,2.333153693040407e-05,-0.030920061159720284,-0.0011028718496625817],"object_angular_velocity":[-2.9737424568281643e-12,-1.3637100447331814e-12,-9.253152424397907e-27],"object_position":[0.3400000001239744,-0.10999999692488449,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0316206176444633e-13,4.729532985446679e-14,1.2996770636795127e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3264620358982976e-13,2.893288592507936e-13,-2.2233588204633218e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.7},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290151221794754,-1.3976906916075147,1.9304012197885279,-8.860163072776464e-08,-0.5327063140003717,0.3129015487300977],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04554110207381856,-0.014740331129048524,0.5058781083379181],[0.24252546463178365,-0.07849844411108445,0.38450239438903083],[0.28766771438465066,-0.09310967833613434,0.3566871266090775],[0.3399949275994911,-0.11004643537509166,0.3567820906652214],[0.34006062131476067,-0.11006774922738179,0.31678215028957235]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34006062131476067,-0.11006774922738179,0.31678215028957235],"end_effector_quaternion":[0.9999996259972129,-0.00026638057492511005,-0.0008211855922192991,-5.197159928933766e-05],"end_effector_velocity":[-0.0011352532675030801,0.001163304065843864,-0.013601830576233936],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3860441585578598,-0.11006824737985671,0.32485768332753984],[0.29404752136596723,-0.11005872519395152,0.32470658800621827]],"gripper_width":0.07999676176412329,"jaw_actuator_force":[0.0005728626465728581,8.804735777800943e-06],"joint_actuator_torque":[-0.0018779557706238847,-1.0340417550830807,-0.8025090385586964,4.266094263584666e-05,-0.06698764376377397,8.185157933837672e-05],"joint_position":[-0.3130293368002991,-1.3989981761149786,1.9292286026824055,-1.3994266278431188e-06,-0.5319570466283764,0.31292468478566315],"joint_velocity":[0.002118035980959593,0.022130471121242508,0.02173476942916155,1.9748917986819933e-05,-0.018822490968966772,-0.0006401280646925301],"object_angular_velocity":[2.4568922879914598e-11,1.1257833760159523e-11,6.768555531321218e-26],"object_position":[0.34000000012397164,-0.10999999692487834,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.42926955617828e-14,4.3225791973078824e-14,1.2996771166574905e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.0650469521858535e-13,4.505046266414592e-13,-2.2259956001468057e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.72},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129014189022803,-1.39768821839663,1.9304012498250513,-4.1783416194802065e-08,-0.532710379225611,0.31290144523425845],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.045639738307839586,-0.014770449734597249,0.505860196660971],[0.2425415434898196,-0.07849404509080306,0.38433249401274305],[0.28766487384402334,-0.09309736902660022,0.3564823954891908],[0.3399927255583179,-0.11003227161003556,0.3565531730022462],[0.3400416883307758,-0.11004815487124782,0.3165532061226483]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400416883307758,-0.11004815487124782,0.3165532061226483],"end_effector_quaternion":[0.999999792235729,-0.0001985169173491952,-0.000612042531333448,-3.903168089136585e-05],"end_effector_velocity":[-0.000802821447842007,0.0008331394560000004,-0.009695799707002262],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38602942025099113,-0.11004855776487446,0.3246095051246731],[0.2940317870456344,-0.11004139847202844,0.32449689070907184]],"gripper_width":0.0799977024096224,"jaw_actuator_force":[0.00041953697178342964,-9.435156018255952e-06],"joint_actuator_torque":[-0.0013534534032402235,-1.0250678618857592,-0.7950712960375768,3.1843600966795947e-05,-0.06756537422823072,4.687682079662636e-05],"joint_position":[-0.3129934966856939,-1.3986243835716141,1.929589050962541,-1.0316555866450976e-06,-0.5322515316200722,0.3129149103406019],"joint_velocity":[0.0015258958142489668,0.015856880169325238,0.015060511455752011,1.5589173374584118e-05,-0.011476532679432064,-0.00037193109069936836],"object_angular_velocity":[-8.743014084017667e-12,-4.007123495155858e-12,-5.376913194162233e-26],"object_position":[0.3400000001239688,-0.10999999692487199,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.977868105244271e-14,4.5726111402513876e-14,1.2996770026012589e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.2769961582787943e-13,2.7864516119475303e-13,-2.2240527098537125e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.74},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129013569209836,-1.3976868345148585,1.930401470089249,-1.8845086343753606e-08,-0.5327129591374277,0.3129013751397052],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0457103593654396,-0.014792001149033345,0.505847348634511],[0.24255395142626926,-0.07849114244576776,0.3842125688112699],[0.2876639412735427,-0.0930888623262694,0.35633793176844386],[0.33999224756322166,-0.1100224276851854,0.356390134152201],[0.3400283607493654,-0.11003414125760315,0.31639015216933]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400283607493654,-0.11003414125760315,0.31639015216933],"end_effector_quaternion":[0.999999886971398,-0.0001464065644435097,-0.0004514191288551228,-2.9035824236895234e-05],"end_effector_velocity":[-0.0005608653918796624,0.0005944806284396269,-0.006900056581971093],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.386019324547816,-0.11003446365431463,0.32443167789178506],[0.2940211326969684,-0.11002913332653384,0.324348617597763]],"gripper_width":0.07999822950062788,"jaw_actuator_force":[0.0003025401270448924,-1.7277477001087505e-05],"joint_actuator_torque":[-0.0009763937109568133,-1.0186332710651413,-0.7898225217999197,2.369670151451189e-05,-0.06785929229084076,2.6771323042851236e-05],"joint_position":[-0.31296767812442017,-1.398356756700262,1.9298388923513528,-7.521162543649183e-07,-0.5324312700438497,0.31290922498047613],"joint_velocity":[0.0010992068813115371,0.011352245099936245,0.010437343991170439,1.1815992615973059e-05,-0.007010555682434422,-0.0002163812815357304],"object_angular_velocity":[4.636678179547022e-12,2.122617801639213e-12,-9.02343961698875e-26],"object_position":[0.34000000012396603,-0.10999999692486588,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0673967661811948e-13,4.8893851373808835e-14,1.299676942600575e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.498508764714371e-13,3.2712469376370417e-13,-2.2248853771221816e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.76},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290131511897656,-1.3976860388302697,1.9304017131757116,-7.93694366911752e-09,-0.532714609868302,0.3129013273587526],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04576089243297397,-0.014807413648440598,0.505838143165121],[0.24256345323651332,-0.07848923386553384,0.38412792241514865],[0.28766404008732444,-0.09308298433195104,0.35623599682661333],[0.339992670460041,-0.11001558557201166,0.3562741879343187],[0.3400190909771834,-0.11002415451319582,0.31627419757770087]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400190909771834,-0.11002415451319582,0.31627419757770087],"end_effector_quaternion":[0.9999999394989002,-0.00010710468864222615,-0.0003302587811992217,-2.144572720104383e-05],"end_effector_velocity":[-0.00038765774976044884,0.00042283109792667684,-0.004903935080661292],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38552040764108314,-0.11002438935021658,0.324304253771854],[0.29450522992708766,-0.11002049201507996,0.32424413622088444]],"gripper_width":0.07901519765192698,"jaw_actuator_force":[-0.032873265920866146,-0.03336106048253562],"joint_actuator_torque":[-0.0006998250389784744,-1.0140285938524585,-0.7861316891102206,1.7829082556775945e-05,-0.06800112523952606,1.5160896815302749e-05],"joint_position":[-0.31294908079303935,-1.3981652575954369,1.9300120686158349,-5.44731074048259e-07,-0.5325411948527257,0.3129059129257992],"joint_velocity":[0.0007915728865827026,0.008122565369670287,0.007233769425182956,8.790892299521025e-06,-0.0042913405757947975,-0.0001260941667060181],"object_angular_velocity":[-1.0631231918329329e-11,-4.8695714845016265e-12,1.2769794449452627e-26],"object_position":[0.34000000012396325,-0.1099999969248597,0.30999147829693724],"object_quaternion":[0.9999999999999999,8.913681686766366e-14,4.082997808746968e-14,1.2996769550472164e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1876385020223573e-13,2.5927798038411914e-13,-2.2234975983414004e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.78},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012865563832,-1.3976855671164674,1.9304019205591625,-2.9390808044909257e-09,-0.5327156743595599,0.31290129461091326],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04579703654723635,-0.014818431730932788,0.5058315528080986],[0.24257068341431992,-0.07848798488071,0.38406817612883604],[0.2876646441546932,-0.09307892414420062,0.3561640689731717],[0.33999350591997696,-0.11001083058185225,0.3561918311135904],[0.3400127118225804,-0.11001705920432016,0.3161918362093711]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400127118225804,-0.11001705920432016,0.3161918362093711],"end_effector_quaternion":[0.9999999680272585,-7.785400093670574e-05,-0.0002400750168154219,-1.575508071716743e-05],"end_effector_velocity":[-0.000265086302425035,0.0002999970188719871,-0.0034813366391042043],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.384247313288415,-0.11001720578670876,0.32421307639024466],[0.29576871777995933,-0.11001442111911913,0.3241705931690208]],"gripper_width":0.07647860575148864,"jaw_actuator_force":[0.0007863910336389779,0.0004613257349550537],"joint_actuator_torque":[-0.000505895761008901,-1.0107412696650044,-0.783523520941003,1.3096631730104325e-05,-0.06805745549476683,8.578536142778148e-06],"joint_position":[-0.31293568911139247,-1.3980282891071536,1.9301320986086796,-3.9253391270300996e-07,-0.5326085757124247,0.31290397971252026],"joint_velocity":[0.0005702162922674018,0.005809635917603925,0.005012579282585804,6.456660544958487e-06,-0.002633673852026551,-7.362631917283495e-05],"object_angular_velocity":[-5.775813220160155e-12,-2.6463276528848703e-12,7.859918373692881e-26],"object_position":[0.3400000001239602,-0.1099999969248531,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1030458759193162e-13,5.052322783069808e-14,1.299677023790693e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3974863849234886e-13,3.0509834949620923e-13,-2.2232200425852438e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.8},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012668170353,-1.3976852782203333,1.9304020794715113,-7.70306266719741e-10,-0.532716365966691,0.3129012720423261],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.045822882854985265,-0.01482630646337298,0.5058268370617922],[0.24257615845798708,-0.07848717151619722,0.3840260045514384],[0.287665450783675,-0.09307611975746945,0.3561133137678157],[0.3399944781027679,-0.11000752538963135,0.35613339253334114],[0.3400083686971342,-0.11001202999350666,0.3161333951988421]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400083686971342,-0.11001202999350666,0.3161333951988421],"end_effector_quaternion":[0.9999999832741998,-5.630554816664957e-05,-0.00017363308143517604,-1.1525548758340273e-05],"end_effector_velocity":[-0.0001795024388885091,0.00021237591091124278,-0.002469229952742291],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.38272542438032825,-0.11001211297652817,0.3241482298746014],[0.2972844672107864,-0.11001014513923434,0.3241185590090582]],"gripper_width":0.07344096234406622,"jaw_actuator_force":[0.01057047773307751,0.010350707174781704],"joint_actuator_torque":[-0.0003652979206094642,-1.008393777220931,-0.7816894296898909,9.457829410064037e-06,-0.06807227493509771,4.851933923077922e-06],"joint_position":[-0.3129260429167555,-1.3979303469134292,1.9302152713593754,-2.8183334460978557e-07,-0.5326499929181715,0.31290284874312746],"joint_velocity":[0.00041071075944192797,0.004154255510933786,0.0034728830962081976,4.697842665450183e-06,-0.0016207923759662304,-4.3090176104244044e-05],"object_angular_velocity":[1.8268540665861005e-11,8.362679029074065e-12,1.0053479356313845e-24],"object_position":[0.3400000001239575,-0.109999996924847,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0146292943846988e-13,4.6455398808231404e-14,1.2996773116696297e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.839323875931686e-13,4.0169382001405437e-13,-2.2262731559029636e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.82},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012530530395,-1.3976850955073032,1.9304021943369845,8.611153105355039e-11,-0.5327168184750037,0.31290125641111033],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04584136223607273,-0.014831933776405565,0.5058234639199383],[0.24258028622080574,-0.07848664536101578,0.38399623591893056],[0.2876662896339737,-0.09307418343248895,0.3560774961686996],[0.3399954355704815,-0.11000522818433353,0.35609195876546],[0.34000544090520934,-0.11000847271118384,0.31609196014838103]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000544090520934,-0.11000847271118384,0.31609196014838103],"end_effector_quaternion":[0.9999999913214311,-4.055553493284678e-05,-0.00012506702600680327,-8.403877499423163e-06],"end_effector_velocity":[-0.00012036640794831196,0.0001500663428282189,-0.0017501217046732099],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3811426696675033,-0.11000851484659578,0.3241022502223273],[0.29886328329292666,-0.11000713274946516,0.3240816692894625]],"gripper_width":0.0702793889601877,"jaw_actuator_force":[0.012934161089861007,0.012782957383265625],"joint_actuator_torque":[-0.00026332975654952406,-1.006719499323708,-0.7804011682684404,6.780219925675695e-06,-0.06806808019131694,2.736856806961896e-06],"joint_position":[-0.3129190955530513,-1.397860323205418,1.9302728927303903,-2.0182097981235067e-07,-0.5326755258327465,0.312902185328001],"joint_velocity":[0.00029579074254028695,0.0029700954492934244,0.0024056376074523653,3.3956420692145117e-06,-0.0010005265075657029,-2.5287861288631873e-05],"object_angular_velocity":[-1.0081478340728416e-11,-4.615302830631481e-12,2.2651898498041315e-26],"object_position":[0.34000000012395454,-0.10999999692484051,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0189696603245678e-13,4.6648020874880626e-14,1.2996775418544143e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.312138903216762e-13,2.866152408480871e-13,-2.2240527098537144e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.84},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290124338690056,-1.3976849764478452,1.9304022743876612,3.604360142066794e-10,-0.5327171165032525,0.3129012455329916],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04585457331005021,-0.014835954770684334,0.5058210516849566],[0.2425833866036539,-0.0784863077328524,0.3839752204559734],[0.2876670729834381,-0.09307284695334925,0.356052217465998],[0.33999630401104347,-0.11000363170346157,0.3560626003782043],[0.3400034870073179,-0.1100059609404058,0.31606260109096407]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400034870073179,-0.1100059609404058,0.31606260109096407],"end_effector_quaternion":[0.9999999955265729,-2.9114913145238236e-05,-8.97876317847404e-05,-6.112063779562748e-06],"end_effector_velocity":[-7.989429130806182e-05,0.0001058732630262491,-0.0012397333006908113],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3795459361981496,-0.11000597827577868,0.32406970206628255],[0.30045751149160566,-0.11000501190227474,0.3240554997132561]],"gripper_width":0.06708842598764606,"jaw_actuator_force":[0.013477905125586886,0.013373495145684977],"joint_actuator_torque":[-0.00018969581299188576,-1.0055265015363375,-0.7794965258531192,4.842711227488997e-06,-0.06805632148675045,1.5373003350305225e-06],"joint_position":[-0.3129140923192949,-1.3978102643598023,1.9303128023858755,-1.4425258836197937e-07,-0.5326913182491319,0.3129017949442149],"joint_velocity":[0.000213014462426941,0.002123308625065049,0.0016659463762833694,2.442914554640353e-06,-0.0006197618016320262,-1.4888418643864708e-05],"object_angular_velocity":[3.9722750968099426e-13,1.8163525796837342e-13,-2.5460392131839246e-25],"object_position":[0.34000000012395154,-0.10999999692483382,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1734657641424367e-13,5.372731218456003e-14,1.2996773902840367e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.549483711499946e-13,3.384272628912872e-13,-2.2240527098537144e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.86},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012365603582,-1.397684896814862,1.9304023287930447,3.9466813183808216e-10,-0.5327173140006871,0.31290123792857716],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.045864017720623575,-0.01483882790315798,0.505819326851805],[0.24258570778429997,-0.07848609320500793,0.3839603826659686],[0.2876677617572258,-0.09307192483668188,0.3560343746233811],[0.3399970538856595,-0.1100025222883989,0.35604180866419727],[0.34000219683435906,-0.11000418996522537,0.3160418090295856]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000219683435906,-0.11000418996522537,0.3160418090295856],"end_effector_quaternion":[0.9999999977064824,-2.084567518073627e-05,-6.428695137046171e-05,-4.436330185423107e-06],"end_effector_velocity":[-5.245235617661086e-05,7.459775086440855e-05,-0.0008777977845457356],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3779462143830097,-0.11000419300166855,0.32404668770622713],[0.3020556663892077,-0.11000351985400939,0.3240369301481953]],"gripper_width":0.06389054862407192,"jaw_actuator_force":[0.0135950410480703,0.013523082011441367],"joint_actuator_torque":[-0.00013661608704751416,-1.0046769754699199,-0.7788615164197381,3.4509626305942455e-06,-0.06804274049577685,8.587542161819783e-07],"joint_position":[-0.31291048931435445,-1.3977744793100073,1.9303404367809842,-1.029663291430923e-07,-0.5327011218498667,0.3129015643672677],"joint_velocity":[0.00015339830914965933,0.0015179048923373017,0.0011533710478249211,1.7517367237296583e-06,-0.00038536902673713875,-8.79910931318503e-06],"object_angular_velocity":[-9.889697812242536e-12,-4.5282326761137085e-12,-2.8478011688788634e-26],"object_position":[0.3400000001239489,-0.10999999692482779,0.30999147829693724],"object_quaternion":[0.9999999999999999,7.999070473743525e-14,3.662634554331485e-14,1.2996771824521744e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.0825882960023114e-13,2.3643669353719285e-13,-2.2237751540975584e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.88},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290123171809936,-1.3976848423875492,1.930402365085186,3.4304818926515174e-10,-0.5327174456278311,0.31290123259060026],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04587076944885776,-0.014840880880616792,0.5058180936139924],[0.2425874406571982,-0.07848595855670402,0.3839499051630495],[0.2876683444757762,-0.09307128885747401,0.35602177864304174],[0.33999768051209933,-0.11000175139664779,0.35602708968874613],[0.34000135475469073,-0.11000294280839416,0.31602708987524014]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000135475469073,-0.11000294280839416,0.31602708987524014],"end_effector_quaternion":[0.9999999988292447,-1.489249919177702e-05,-4.592808032435856e-05,-3.214925846527447e-06],"end_effector_velocity":[-3.4018002233917504e-05,5.250430379888615e-05,-0.0006213150428104005],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3763459853502752,-0.11000293817163585,0.32403042838715895],[0.303654938595552,-0.1100024708784234,0.3240237512597094]],"gripper_width":0.060691047062893216,"jaw_actuator_force":[0.013615092161834319,0.013565679874492531],"joint_actuator_torque":[-9.837770366516452e-05,-1.0040723030781464,-0.7784159621138542,2.4554269225886594e-06,-0.06802998816260697,4.7637065847538906e-07],"joint_position":[-0.31290789471994007,-1.3977488978622359,1.93035956567956,-7.342458088964722e-08,-0.5327072322848275,0.31290142758134937],"joint_velocity":[0.00011046482650259543,0.0010851291054686388,0.0007982607788014279,1.2532173286612493e-06,-0.00024062746449354997,-5.223607961023801e-06],"object_angular_velocity":[-5.930049802465059e-12,-2.714944354002426e-12,-2.918986408960664e-26],"object_position":[0.340000000123946,-0.10999999692482133,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.747477880744368e-14,4.463597983338109e-14,1.2996770624280785e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.25370905173775e-13,2.7378586306979635e-13,-2.223775154097558e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.9},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290122827171246,-1.3976848045443553,1.9304023889341675,2.7120617635917723e-10,-0.532717533817381,0.3129012288294929],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04587559637815314,-0.014842347884038149,0.5058172118745274],[0.24258873106392223,-0.07848587535556867,0.38394250550327497],[0.287668824429411,-0.09307085040112775,0.3560128852931963],[0.3399981920368315,-0.11000121576817737,0.356016672858791],[0.34000081232036733,-0.11000206541570327,0.31601667295363833]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000081232036733,-0.11000206541570327,0.31601667295363833],"end_effector_quaternion":[0.999999999404497,-1.0620517866846336e-05,-3.2753568929942785e-05,-2.326868781070426e-06],"end_effector_velocity":[-2.175297817244047e-05,3.692094363850157e-05,-0.00043966166994051863],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.37474576135057175,-0.11000205715833845,0.3240189490128853],[0.30525459740398053,-0.11000173381304441,0.32401439684218686]],"gripper_width":0.057491164096443455,"jaw_actuator_force":[0.013614637388977613,0.01358084697814732],"joint_actuator_torque":[-7.083797214590959e-05,-1.003642049133532,-0.7781034592936749,1.7453117148680398e-06,-0.06801909013219642,2.619224801492237e-07],"joint_position":[-0.31290602632749487,-1.39773060995258,1.9303728027227964,-5.232086563616254e-08,-0.532711057599266,0.31290134601925235],"joint_velocity":[7.954668053557062e-05,0.0007757749860020306,0.0005523076310055096,8.950903084954905e-07,-0.00015093426840118344,-3.117222783768546e-06],"object_angular_velocity":[1.2407191624612342e-11,5.68439543889861e-12,-1.8239669576541563e-25],"object_position":[0.3400000001239432,-0.10999999692481519,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.1225319555559616e-13,5.1414198164847386e-14,1.2996768587087637e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7324685025836216e-13,3.7825354788414713e-13,-2.2239139319756358e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.92},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.312901225812411,-1.3976847778848775,1.9304024044027388,2.0428743289048324e-10,-0.5327175931902319,0.3129012261705782],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04587904743345165,-0.014843396231701013,0.5058165814357576],[0.24258968980798742,-0.07848582498946823,0.3839372786874647],[0.28766921201881857,-0.09307054824645654,0.3560066051409809],[0.33999860233658163,-0.11000084362770887,0.3560093023153584],[0.3400004682750949,-0.11000144867032445,0.3160093023634559]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400004682750949,-0.11000144867032445,0.3160093023634559],"end_effector_quaternion":[0.9999999996979752,-7.5629934555291965e-06,-2.3324244146697158e-05,-1.6824360049452326e-06],"end_effector_velocity":[-1.3675803312634125e-05,2.594338804281324e-05,-0.0003110620897642822],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3731456161195249,-0.11000143918054359,0.324010848543131],[0.3068544246185968,-0.1100012161425563,0.3240077561575708]],"gripper_width":0.054291191573430875,"jaw_actuator_force":[0.013610974873140336,0.0135879645084227],"joint_actuator_torque":[-5.1005876059662114e-05,-1.0033359710985224,-0.7778843483245055,1.2397930606887341e-06,-0.06801026184547254,1.4238090173535056e-07],"joint_position":[-0.3129046808926992,-1.3977175353726687,1.9303819595999436,-3.726297584983429e-08,-0.5327134637614303,0.31290129709662823],"joint_velocity":[5.728175886189684e-05,0.0005546466753506604,0.00038200746119050827,6.385344111903808e-07,-9.513849692878818e-05,-1.8714831289235285e-06],"object_angular_velocity":[-9.459523888737847e-12,-4.332761960199618e-12,-3.822451690541924e-26],"object_position":[0.34000000012394044,-0.10999999692480898,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.063677642043223e-14,4.1515361510999354e-14,1.2996767496917388e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.1869883456775418e-13,2.5914499715930093e-13,-2.2233588204633227e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.94},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012240539587,-1.3976847589202932,1.9304024143120895,1.4980713734132943e-10,-0.5327176333392765,0.3129012242853416],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588151497521911,-0.014844145458415026,0.505816130654442],[0.24259040067907367,-0.07848579534569204,0.38393358602735794],[0.28766952031954035,-0.09307034011152636,0.3560021695503179],[0.3399989269789043,-0.11000058508903801,0.3560040879759624],[0.3400002541695945,-0.11000101543865207,0.31600408800029534]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400002541695945,-0.11000101543865207,0.31600408800029534],"end_effector_quaternion":[0.9999999998471802,-5.379350011290007e-06,-1.6589890168584576e-05,-1.2155115951155405e-06],"end_effector_velocity":[-8.416359440176227e-06,1.8218565263785805e-05,-0.00022005174468514457],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3715455366795197,-0.11000100605105746,0.32400513467019326],[0.30845433869111083,-0.11000085268615287,0.3240030413172768]],"gripper_width":0.05109119802332382,"jaw_actuator_force":[0.013607677021670206,0.013592073796544035],"joint_actuator_torque":[-3.6725192657627304e-05,-1.0031182628789566,-0.7777307607916555,8.804219365810329e-07,-0.06800335022047221,7.624824149843334e-08],"joint_position":[-0.31290371204753376,-1.3977081872826274,1.9303882917932795,-2.6528472499765277e-08,-0.5327149849769228,0.3129012675516207],"joint_velocity":[4.1248483202959594e-05,0.0003965789767056034,0.00026412642929318986,4.5510696834939814e-07,-6.0282496345032854e-05,-1.131369387474881e-06],"object_angular_velocity":[-1.0391713033429907e-12,-4.754315219462296e-13,8.717108019153029e-26],"object_position":[0.3400000001239375,-0.10999999692480252,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0439250246369379e-13,4.782056775214201e-14,1.2996767794964114e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.393023772857513e-13,3.04107303316298e-13,-2.222526153194853e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.96},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012227946844,-1.3976847453339698,1.9304024205794819,1.0820136476718617e-10,-0.5327176605979261,0.3129012229452605],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588327944206693,-0.014844680958550386,0.5058158083121417],[0.24259092678470423,-0.07848577859620766,0.3839309767357769],[0.28766976263405863,-0.09307019680483745,0.35599903616619333],[0.33999918105497845,-0.11000040548252145,0.35600039938637873],[0.34000012414752795,-0.1100007112863579,0.3160003993986655]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000012414752795,-0.1100007112863579,0.3160003993986655],"end_effector_quaternion":[0.9999999999228227,-3.8225376100663465e-06,-1.1788660224701265e-05,-8.77613463694311e-07],"end_effector_velocity":[-5.035673216865096e-06,1.278747053500695e-05,-0.0001556593348566237],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.36994550056429026,-0.11000070268415388,0.32400110543259203],[0.31005430104420983,-0.11000059756690546,0.32399969335818674]],"gripper_width":0.047891199536819216,"jaw_actuator_force":[0.013605238258646679,0.013594703166933009],"joint_actuator_torque":[-2.6442401832582618e-05,-1.0029634241903977,-0.7776231260437498,6.251811659810725e-07,-0.06799806431710209,4.0013940605376774e-08],"joint_position":[-0.31290301438703017,-1.3977015030067073,1.930392669095465,-1.888122970914728e-08,-0.5327159519103128,0.3129012495710032],"joint_velocity":[2.970282714957083e-05,0.0002835829769260416,0.00018255593358160023,3.241541426726672e-07,-3.840766958424854e-05,-6.893113529200778e-07],"object_angular_velocity":[3.23908642474648e-11,1.483167755110799e-11,8.645413978059105e-25],"object_position":[0.34000000012393483,-0.10999999692479646,0.30999147829693724],"object_quaternion":[0.9999999999999999,9.772267551428026e-14,4.4750565114538644e-14,1.2996769780646223e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.271600906834319e-13,4.960492041333161e-13,-2.2198893735113675e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":3.98},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012218918089,-1.3976847355516695,1.9304024244873892,7.750392105654899e-11,-0.5327176791721077,0.31290122199061166],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588454127631197,-0.014845063737189223,0.5058155777952023],[0.24259131548926505,-0.07848576972449527,0.3839291326088258],[0.28766995124640016,-0.09307009817991957,0.3559968222536145],[0.3399993781338675,-0.11000028071562425,0.3559977902053138],[0.340000047774595,-0.11000049785164541,0.31599779021150837]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.340000047774595,-0.11000049785164541,0.31599779021150837],"end_effector_quaternion":[0.9999999999610832,-2.714194963373542e-06,-8.370510813444399e-06,-6.333246301146767e-07],"end_effector_velocity":[-2.89570850850333e-06,8.971821789683389e-06,-0.00011010778307471534],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.3683454902667016,-0.11000049032705661,0.32399826474427484],[0.3116542903829847,-0.11000041852176616,0.3239973156754765]],"gripper_width":0.04469119989170656,"jaw_actuator_force":[0.013603533938841395,0.01359645227742412],"joint_actuator_torque":[-1.903850748874447e-05,-1.002853303732877,-0.7775477081586359,4.439972567381037e-07,-0.06799408924474903,2.0407359357932364e-08],"joint_position":[-0.3129025120067577,-1.3976967230311599,1.9303956939158478,-1.3436174528752378e-08,-0.5327165700064941,0.3129012385336975],"joint_velocity":[2.1388797246715388e-05,0.00020280145264364735,0.00012613014769923182,2.3076626892302838e-07,-2.4611701934952687e-05,-4.236499737820246e-07],"object_angular_velocity":[-7.892593372173808e-12,-3.614101715805043e-12,8.806370903618434e-26],"object_position":[0.34000000012393183,-0.10999999692478986,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0198172732484541e-13,4.670597975650737e-14,1.2996772479745449e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.3073654258944458e-13,2.854687430868914e-13,-2.2240527098537122e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.0},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012212438667,-1.3976847284835998,1.9304024268830575,5.528862278297987e-11,-0.5327176918701226,0.31290122130927445],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588544374747332,-0.014845337377424876,0.5058154129309091],[0.24259160223204496,-0.07848576554875472,0.38392782900041855],[0.2876700968847593,-0.0930700303380178,0.35599525768301443],[0.3399995298675808,-0.11000019404734436,0.35599594455551986],[0.34000000505409067,-0.11000034813088637,0.31599594455863916]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000000505409067,-0.11000034813088637,0.31599594455863916],"end_effector_quaternion":[0.9999999999804,-1.9260415615935305e-06,-5.939832253496697e-06,-4.568486924360255e-07],"end_effector_velocity":[-1.566548610860196e-06,6.292726451139056e-06,-7.788794774593557e-05],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.36674549413818835,-0.11000034175093629,0.3239962622866288],[0.3132542941671896,-0.11000029287739067,0.32399562682902483]],"gripper_width":0.041491199974795605,"jaw_actuator_force":[0.01360236742870935,0.013597629320800664],"joint_actuator_torque":[-1.3707610918345381e-05,-1.0027749863033932,-0.7774948709630962,3.154148657944085e-07,-0.06799113717073624,9.972112025025126e-09],"joint_position":[-0.312902150247064,-1.3976933045022821,1.9303977833475305,-9.560656359605522e-09,-0.5327169674362562,0.3129012316941056],"joint_velocity":[1.5401895298623463e-05,0.00014504563055835833,8.71114422803475e-05,1.6422336467565362e-07,-1.5865113413988258e-05,-2.6287175942591876e-07],"object_angular_velocity":[8.122064875612221e-12,3.72043338911463e-12,-6.301234298312084e-25],"object_position":[0.3400000001239289,-0.10999999692478338,0.30999147829693724],"object_quaternion":[0.9999999999999999,1.0580432348133388e-13,4.846014742103779e-14,1.2996771366884971e-20],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.6267233644820576e-13,3.551598190448096e-13,-2.2258568222687293e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.02},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012208083363,-1.3976847234545928,1.930402428115675,-1.459290258035359e-10,-0.5327177010685346,0.3129012207780769],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588598635778721,-0.014845500390136237,0.5058153138861935],[0.24259180509049166,-0.07848576489199868,0.3839270961995385],[0.2876702218834031,-0.0930699921736755,0.3559943796463468],[0.3399996593882848,-0.11000014191087155,0.35599492626844387],[0.3400000371167255,-0.1100002658653009,0.3159949262704194]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400000371167255,-0.1100002658653009,0.3159949262704194],"end_effector_quaternion":[0.9999999999876007,-1.549428843237693e-06,-4.721606008992326e-06,-3.226796543745457e-07],"end_effector_velocity":[6.122773873847943e-06,1.2871571655040575e-06,-1.6398635913324922e-05],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3657296378877826,-0.11000025767892468,0.32399516924083865],[0.31427007766529697,-0.1100002244697714,0.3239946832972496]],"gripper_width":0.03945956022479083,"jaw_actuator_force":[-0.5515792154996921,-0.5517505268695242],"joint_actuator_torque":[5.29813211187502e-05,-1.001214090067947,-0.7761769481569445,2.3650830434490486e-05,-0.06782087224507904,-2.757527539642979e-06],"joint_position":[-0.31290190289068087,-1.397691250801532,1.9303987950525527,-4.826327626914305e-08,-0.5327174828346044,0.31290123301981254],"joint_velocity":[8.787097465420845e-06,4.9810359586144964e-05,3.6240870381718706e-06,-4.7066372280864625e-06,-4.5844422951830694e-05,6.069019972012486e-07],"object_angular_velocity":[-8.02823984002236e-06,-0.0001653870934132484,-3.928781861265937e-06],"object_position":[0.33999997421197764,-0.10999999475628996,0.30999144475469903],"object_quaternion":[0.999999999999766,-3.4367193794601507e-08,-6.829398383980427e-07,-1.189978431267045e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.1116129036612823e-06,3.16186285525323e-07,-4.245489184392921e-06],"pad_normal_forces":{"left":0.6086001392090344,"right":0.6087707396835446},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.04},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290122057079545,-1.3976847202414395,1.9304024285981798,-5.279812455545342e-10,-0.5327177080884389,0.31290122036650375],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588617336237446,-0.014845553958252718,0.5058152798918704],[0.24259192621648845,-0.07848576742370961,0.38392692924191146],[0.2876703279122229,-0.09306998300954349,0.35599418221796253],[0.33999976841820934,-0.11000012347035293,0.35599473691986017],[0.3400001508920905,-0.11000025184682441,0.3159947369218947]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400001508920905,-0.11000025184682441,0.3159947369218947],"end_effector_quaternion":[0.9999999999872572,-1.6047047870598473e-06,-4.780923886235037e-06,-2.314345283759022e-07],"end_effector_velocity":[4.860065817382117e-06,5.108292932796548e-07,-6.970225360564007e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36590638816073867,-0.11000023816236364,0.32399498463373566],[0.314093146950009,-0.11000021418041256,0.3239944892033721]],"gripper_width":0.03981324121310387,"jaw_actuator_force":[-0.85453234564108,-0.8547621361704447],"joint_actuator_torque":[7.796604316467892e-05,-1.000949391841118,-0.7759967853139642,2.5818633560409138e-05,-0.06780116021293026,-1.3941864374089619e-06],"joint_position":[-0.312901766105866,-1.3976905459318583,1.9303987333118102,-1.2797485578955709e-07,-0.5327182728690038,0.3129012382419029],"joint_velocity":[5.606122400685825e-06,2.800154208438175e-05,-4.2645259609550844e-06,-3.26519844777514e-06,-3.123439343796198e-05,-9.442142681232517e-10],"object_angular_velocity":[-3.3312981073310855e-06,-6.25120415376075e-05,-2.4005530852088964e-06],"object_position":[0.3399999351544669,-0.10999998828320046,0.3099913896660925],"object_quaternion":[0.9999999999984112,-9.023086009971471e-08,-1.7801275929853852e-06,-4.542697148783276e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-9.792176779528214e-07,2.9488096994686316e-07,-1.3938792057563273e-06],"pad_normal_forces":{"left":0.8442528757218789,"right":0.84446995470687},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.06},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290122039708784,-1.3976847180770102,1.9304024286431518,-7.958039529619639e-10,-0.5327177122554086,0.3129012200482529],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0458862997639946,-0.01484559010521962,0.5058152569173733],[0.24259201100225905,-0.07848576975401225,0.3839268214506814],[0.287670403161028,-0.09306997759019389,0.35599405498956455],[0.3399998457052943,-0.11000011175076185,0.3559946131128887],[0.34000022998840523,-0.11000024261871424,0.3159946131149487]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000022998840523,-0.11000024261871424,0.3159946131149487],"end_effector_quaternion":[0.99999999998711,-1.6358485759478078e-06,-4.803539168881209e-06,-1.7256090192299806e-07],"end_effector_velocity":[3.200331289903784e-06,4.292782462370207e-07,-5.726188100419096e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3659597640232491,-0.11000022540394352,0.3239948625105668],[0.31403971821313914,-0.11000020748601963,0.3239943637105901]],"gripper_width":0.0399200458125091,"jaw_actuator_force":[-0.8379407171305617,-0.8381826739136704],"joint_actuator_torque":[8.228725248216051e-05,-1.000956281599656,-0.7760133461857777,2.646576480226588e-05,-0.0678090672156273,-6.25069191073635e-07],"joint_position":[-0.3129016724421016,-1.3976900695590424,1.9303986671883655,-1.8060905898464134e-07,-0.5327187453261333,0.31290123559385985],"joint_velocity":[3.938451280125158e-06,2.0690060376000955e-05,-2.260377608424959e-06,-2.1229074365940093e-06,-1.7612656136659955e-05,-1.9770310598130696e-07],"object_angular_velocity":[-3.1684038593969993e-07,-1.9331071179595606e-05,-1.1202627817543357e-06],"object_position":[0.3399999265163205,-0.10999998305565149,0.3099913766150855],"object_quaternion":[0.9999999999977023,-1.0619585709037968e-07,-2.140306306355422e-06,-6.194195005273667e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-8.561426440325085e-08,2.3697771444127565e-07,-2.282182093152182e-07],"pad_normal_forces":{"left":0.8357053243996977,"right":0.8359404587428554},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.08},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290122027023737,-1.3976847165840387,1.9304024285021832,-9.745462443848752e-10,-0.5327177146831661,0.31290121981543695],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588639648505709,-0.014845618049058356,0.5058152393221913],[0.24259207208630407,-0.07848577181465338,0.383926732829789],[0.2876704560782565,-0.09306997371926891,0.3559939500919468],[0.3399999000305705,-0.11000010352784687,0.3559945035542762],[0.34000028073114386,-0.11000023445678168,0.31599450355630215]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000028073114386,-0.11000023445678168,0.31599450355630215],"end_effector_quaternion":[0.999999999987329,-1.6366110514456167e-06,-4.758757384509356e-06,-1.3319521649025238e-07],"end_effector_velocity":[1.9990969623683643e-06,3.927699172770825e-07,-5.3086633139151055e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36596708348972345,-0.11000021518791837,0.32399475069606165],[0.31403240142226946,-0.11000020135382488,0.32399425640693547]],"gripper_width":0.03993468206980802,"jaw_actuator_force":[-0.8311524341027772,-0.831400811439428],"joint_actuator_torque":[8.459482945966101e-05,-1.0009922748769213,-0.7760503432773476,2.663270994257305e-05,-0.06781677127548846,-2.201080135932898e-07],"joint_position":[-0.31290160638652875,-1.3976897047264072,1.930398645899492,-2.1429807298202115e-07,-0.5327190041245393,0.3129012311598666],"joint_velocity":[2.7920379582201697e-06,1.6314585620988382e-05,-2.9048197501366636e-08,-1.3301231479138204e-06,-9.31633586213961e-06,-2.2293994596980415e-07],"object_angular_velocity":[1.0849674865228902e-06,-3.644323018121129e-06,-4.3884185857720895e-07],"object_position":[0.339999928733768,-0.10999997864101133,0.30999137570627205],"object_quaternion":[0.9999999999974849,-1.0105163068925223e-07,-2.239623178648713e-06,-6.924942152848882e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[2.4248828981527894e-07,2.0950321214655464e-07,5.893151375365092e-08],"pad_normal_forces":{"left":0.8308728888635664,"right":0.8311166979353113},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.1},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012201778499,-1.3976847155346066,1.9304024283146355,-1.0878201601568557e-09,-0.5327177161052308,0.31290121965084383],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.045886474373879126,-0.014845640852540167,0.5058152251367077],[0.24259211669452932,-0.07848577358025596,0.38392665395130443],[0.28767049305967834,-0.09306997066369083,0.35599385638798287],[0.33999993798878925,-0.11000009745340521,0.35599439984502795],[0.34000031154841115,-0.1100002268153508,0.31599439984698147]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000031154841115,-0.1100002268153508,0.31599439984698147],"end_effector_quaternion":[0.9999999999877847,-1.6170238227244077e-06,-4.669495446075886e-06,-1.0646787236929927e-07],"end_effector_velocity":[1.172307093137072e-06,3.741736967818945e-07,-5.0866229839397566e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36596790058136125,-0.11000020647201335,0.32399464235837494],[0.3140316025847299,-0.11000019541370336,0.32399415732574305]],"gripper_width":0.03993629799889741,"jaw_actuator_force":[-0.827040570320924,-0.8272904349905312],"joint_actuator_torque":[8.50320369494284e-05,-1.0010369899246143,-0.7760921465928732,2.6473228989326347e-05,-0.0678235061298551,9.48342560036508e-09],"joint_position":[-0.31290155912079526,-1.397689410593753,1.9303986646800222,-2.3482350713651894e-07,-0.5327191351234651,0.3129012269244605],"joint_velocity":[2.0203274792167445e-06,1.3411283421950318e-05,1.7370329944534514e-06,-7.820239393435002e-07,-4.415970748614669e-06,-1.927348980052757e-07],"object_angular_velocity":[1.5497053052633964e-06,2.698481773350518e-06,-4.39292329290675e-08],"object_position":[0.3399999351541472,-0.10999997459132539,0.3099913778069683],"object_quaternion":[0.999999999997489,-8.726012326312521e-08,-2.2383172221656706e-06,-7.13845125090065e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[3.739739917506002e-07,1.977895348326789e-07,1.3198477572114374e-07],"pad_normal_forces":{"left":0.8270112707168256,"right":0.8272572492832809},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.12},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290122010981003,-1.3976847147816447,1.930402428141679,-1.154444865260892e-09,-0.5327177169488994,0.31290121953705097],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.045886539417430657,-0.01484566013880991,0.5058152132775412],[0.24259214977538032,-0.07848577499266612,0.3839265811780116],[0.2876705188157438,-0.09306996798000818,0.35599376965520274],[0.33999996443060704,-0.11000009265054211,0.3559942999851579],[0.34000032878505004,-0.1100002194500926,0.3159942999870183]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000032878505004,-0.1100002194500926,0.3159942999870183],"end_effector_quaternion":[0.9999999999883687,-1.5849939806531897e-06,-4.5544306767736035e-06,-8.793122537996008e-08],"end_effector_velocity":[6.126813839299549e-07,3.6364136194840564e-07,-4.911084237148426e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3659680814799399,-0.11000019865657305,0.32399453652397614],[0.3140314448580939,-0.11000018952361867,0.32399406344033954]],"gripper_width":0.03993663662400143,"jaw_actuator_force":[-0.8236720772449617,-0.8239195318207342],"joint_actuator_torque":[8.412565586013443e-05,-1.001084439672809,-0.7761344651747777,2.6111101121153983e-05,-0.06782950214358152,1.363210273552795e-07],"joint_position":[-0.31290152445376973,-1.3976891646971152,1.9303987134186054,-2.463038705534016e-07,-0.5327191910843253,0.3129012235001216],"joint_velocity":[1.5033884998775814e-06,1.1384069855884696e-05,3.0031600238042064e-06,-4.0743345820256273e-07,-1.5523569681667148e-06,-1.4808756041239839e-07],"object_angular_velocity":[1.5487241916387633e-06,5.291092512217956e-06,1.809969343364678e-07],"object_position":[0.3399999432410477,-0.10999997069187455,0.30999138068831944],"object_quaternion":[0.9999999999975842,-7.154663603310916e-08,-2.19590144068751e-06,-7.053252460634335e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[4.2418790818890706e-07,1.9311938300223173e-07,1.5114418266128285e-07],"pad_normal_forces":{"left":0.8236654938474295,"right":0.8239093743787265},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.14},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290122005877297,-1.3976847142290245,1.9304024280054097,-1.1884186161272177e-09,-0.5327177174598082,0.3129012194599613],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.045886595353529895,-0.01484567690761574,0.5058152030690406],[0.24259217475263103,-0.07848577605172816,0.3839265128053765],[0.2876705366982584,-0.09306996543892058,0.3559936879532868],[0.3399999828025697,-0.11000008859707276,0.35599420348412886],[0.34000033686024755,-0.11000021225781,0.31599420348588697]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34000033686024755,-0.11000021225781,0.31599420348588697],"end_effector_quaternion":[0.9999999999890089,-1.545758884654331e-06,-4.425721088875498e-06,-7.47430138411047e-08],"end_effector_velocity":[2.3621879608939158e-07,3.561821052006753e-07,-4.747954195790717e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3659682104129267,-0.11000019140715211,0.3239944333392994],[0.3140313407451121,-0.11000018364402638,0.32399397362308857]],"gripper_width":0.03993686966984982,"jaw_actuator_force":[-0.8207422331022842,-0.8209846450528255],"joint_actuator_torque":[8.239180756675069e-05,-1.0011324793223366,-0.7761760611958834,2.561703739106388e-05,-0.0678350052203669,2.0109352050212692e-07],"joint_position":[-0.3129014982514437,-1.3976889530268681,1.930398783082206,-2.516194433418578e-07,-0.53271920334339,0.31290122097454853],"joint_velocity":[1.1545938455796267e-06,9.924773795718749e-06,3.8667893160238725e-06,-1.5261629858445397e-07,1.0915930854004498e-07,-1.0536426031281254e-07],"object_angular_velocity":[1.354356754161331e-06,6.30179635715962e-06,3.0102652240616064e-07],"object_position":[0.33999995191258586,-0.10999996685371106,0.30999138376507457],"object_quaternion":[0.999999999997712,-5.700749044032441e-08,-2.136928196665309e-06,-6.802436589878345e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[4.3877159243012075e-07,1.910312597324882e-07,1.5515217142577013e-07],"pad_normal_forces":{"left":0.8207375077266073,"right":0.8209765500064292},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.16},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290122001959186,-1.397684713813188,1.930402427909732,-1.1997566542667764e-09,-0.5327177177789985,0.31290121940896914],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588664465924265,-0.014845691822439227,0.5058151940633975],[0.24259219400557885,-0.07848577679803825,0.3839264479025865],[0.28767054906411427,-0.0930699629382797,0.355993610240734],[0.3399999955245976,-0.11000008499600465,0.3559941101876472],[0.3400003387869022,-0.11000020520483302,0.3159941101893007]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400003387869022,-0.11000020520483302,0.3159941101893007],"end_effector_quaternion":[0.9999999999896636,-1.502610075166208e-06,-4.29077890564591e-06,-6.509775264871909e-08],"end_effector_velocity":[-1.5746704142390394e-08,3.4943559319583554e-07,-4.590027604023129e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3659683255211802,-0.11000018454365658,0.32399433303534364],[0.3140312507841715,-0.1100001777823526,0.32399388733432405]],"gripper_width":0.039937074738921545,"jaw_actuator_force":[-0.8181769923798301,-0.8184126767905191],"joint_actuator_torque":[8.018291265443622e-05,-1.0011801748138396,-0.7762165418311042,2.5034252048481073e-05,-0.06784016721898922,2.286589584343801e-07],"joint_position":[-0.3129014777928464,-1.397688766297727,1.9303988667217742,-2.5274389814033163e-07,-0.532719190367938,0.3129012192353646],"joint_velocity":[9.164286743626093e-07,8.848602678582623e-06,4.430379914996217e-06,2.0542746079613847e-08,1.0623572548114668e-06,-7.023023495312948e-08],"object_angular_velocity":[1.1060338973330325e-06,6.6303960193348585e-06,3.5668137056013075e-07],"object_position":[0.33999996068653904,-0.1099999630501172,0.3099913868616495],"object_quaternion":[0.9999999999978503,-4.47661823363407e-08,-2.0718714998451933e-06,-6.468063815766354e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[4.371981268274774e-07,1.8941162558291255e-07,1.5417076343894814e-07],"pad_normal_forces":{"left":0.8181729309932555,"right":0.8184054045961857},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.18},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.3129012199886979,-1.3976847134916737,1.9304024278508514,-1.1955101382111094e-09,-0.5327177179875864,0.3129012193763422],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588668902267085,-0.01484570533846719,0.50581518595527],[0.24259220919334226,-0.07848577728745719,0.38392638590902717],[0.2876705575657878,-0.09306996044243407,0.35599353589842986],[0.3400000042911086,-0.11000008168203099,0.3559940200077113],[0.3400003366126751,-0.11000019828884784,0.31599402000926174]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3400003366126751,-0.11000019828884784,0.31599402000926174],"end_effector_quaternion":[0.9999999999903082,-1.4575849703940862e-06,-4.154019665560505e-06,-5.7840920115336436e-08],"end_effector_velocity":[-1.830546299183303e-07,3.424091216780645e-07,-4.4361234817914385e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36596842823356074,-0.11000017797121432,0.3239942357534348],[0.31403117292745114,-0.11000017196364599,0.32399380425666613]],"gripper_width":0.0399372553079024,"jaw_actuator_force":[-0.8159298711955394,-0.8161577926938008],"joint_actuator_torque":[7.77190655441018e-05,-1.001227051137107,-0.7762557766258169,2.4392255153500246e-05,-0.06784507251889238,2.3444970764785467e-07],"joint_position":[-0.3129014612834201,-1.3976885981784586,1.9303989592407982,-2.5102221239693855e-07,-0.5327191630492885,0.31290121811397714],"joint_velocity":[7.514586350290291e-07,8.03599055119694e-06,4.776728333795301e-06,1.379937481812557e-07,1.5972656394327452e-06,-4.361661818130315e-08],"object_angular_velocity":[8.676943979599031e-07,6.6598389806249745e-06,3.736741655000345e-07],"object_position":[0.3399999693412598,-0.1099999592824009,0.30999138991550923],"object_quaternion":[0.9999999999979862,-3.4984602724454803e-08,-2.0052861135361558e-06,-6.100031832118553e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[4.2809493360903836e-07,1.8737649266611418e-07,1.5123474599034101e-07],"pad_normal_forces":{"left":0.8159264245191208,"right":0.8161512698414932},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.2},{"goal":[0.34000000012423015,-0.1099999969254506,0.31599147829693724],"joint_targets":[-0.31290121996362674,-1.3976847132358738,1.9304024278223846,-1.1806242029274965e-09,-0.5327177181322688,0.31290121935653314],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04588672961158409,-0.014845717773090399,0.5058151785332983],[0.24259222147584047,-0.07848577757583713,0.38392632646411273],[0.28767056336139923,-0.09306995794729993,0.35599346453159103],[0.34000001028831683,-0.11000007856422347,0.35599393286395153],[0.340000331731576,-0.11000019151949954,0.31599393286540256]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.340000331731576,-0.11000019151949954,0.31599393286540256],"end_effector_quaternion":[0.9999999999909295,-1.4119407410383736e-06,-4.01804081358609e-06,-5.222452856488514e-08],"end_effector_velocity":[-2.9265934501879585e-07,3.347860448584458e-07,-4.286277480225663e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36596851955822157,-0.11000017164050913,0.3239941415481099],[0.3140311058624751,-0.11000016621628454,0.32399372417480626]],"gripper_width":0.03993741369742378,"jaw_actuator_force":[-0.8139612936574041,-0.8141808563986688],"joint_actuator_torque":[7.513440579032249e-05,-1.0012728469339436,-0.7762937313528937,2.371266147484539e-05,-0.06784976793426978,2.280438380353189e-07],"joint_position":[-0.31290144753124455,-1.397688444286538,1.93039905697854,-2.473751451773631e-07,-0.5327191278258431,0.31290121744681154],"joint_velocity":[6.3530451684568e-07,7.40684335713714e-06,4.968158729443904e-06,2.171453793534284e-07,1.8846377716786577e-06,-2.4560309290691697e-08],"object_angular_velocity":[6.63872377047326e-07,6.556429062326446e-06,3.683135826198567e-07],"object_position":[0.3399999777725324,-0.10999995556243372,0.3099913929004921],"object_quaternion":[0.9999999999981178,-2.741327374561169e-08,-1.9391837349380577e-06,-5.727814985113169e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[4.15430962194345e-07,1.8465073726040567e-07,1.4742638140137682e-07],"pad_normal_forces":{"left":0.8139584006764926,"right":0.8141750071870986},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.22},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290142867614135,-1.4092772864518204,1.920697780990499,1.311427642964967e-09,-0.5115212384387816,0.3129014330121153],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.045886767242247425,-0.014845729349931888,0.5058151716496474],[0.2425922316657178,-0.07848577771217236,0.38392626932298535],[0.2876705672627631,-0.09306995546185245,0.3559933958731253],[0.34000001434702,-0.11000007559287732,0.3559938486730953],[0.340000325094851,-0.11000018490909046,0.3159938486744517]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.340000325094851,-0.11000018490909046,0.3159938486744517],"end_effector_quaternion":[0.9999999999915213,-1.3664524788033861e-06,-3.884347953070041e-06,-4.775616034668268e-08],"end_effector_velocity":[-3.6284908196797294e-07,3.265605059758938e-07,-4.1406746951829e-06],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36596860073224513,-0.11000016552586839,0.3239940504143033],[0.3140310482031126,-0.11000016056574355,0.32399364692724475]],"gripper_width":0.039937552530699964,"jaw_actuator_force":[-0.8122366363432221,-0.8124475414648158],"joint_actuator_torque":[7.25101819085694e-05,-1.0013174170645698,-0.7763304125982131,2.301170124078781e-05,-0.06785428057093412,2.1533542593488164e-07],"joint_position":[-0.3129014357380631,-1.3976883015566288,1.9303991573389487,-2.424388562073056e-07,-0.5327190885090607,0.3129012170973575],"joint_velocity":[5.519837084900153e-07,6.906627780112169e-06,5.0503454133216e-06,2.6970040264955274e-07,2.0254483434784074e-06,-1.1533648195744139e-08],"object_angular_velocity":[4.999776482137828e-07,6.39416507436427e-06,3.508544956218337e-07],"object_position":[0.3399999859312848,-0.10999995190428116,0.3099913958045795],"object_quaternion":[0.9999999999982414,-2.166918321934392e-08,-1.874459255393239e-06,-5.367979743074677e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[4.011161549935805e-07,1.8123834315285374e-07,1.4321164240467721e-07],"pad_normal_forces":{"left":0.8122342283921661,"right":0.8124422873904568},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.24},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290103120139884,-1.4118232796945829,1.9187376592851615,3.5089684843261054e-10,-0.5070025987308602,0.3129010306435293],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04520381744864113,-0.014624754243027996,0.5059397243084094],[0.24248671220263823,-0.0784515285062511,0.385086084211659],[0.28769737558376257,-0.09307849760823973,0.35739045835615374],[0.34002669405064495,-0.1100085622927555,0.35726660937668775],[0.33994099661395044,-0.10998083303294381,0.3172667107888476]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33994099661395044,-0.10998083303294381,0.3172667107888476],"end_effector_quaternion":[0.9999993661737936,0.0003466160884688073,0.0010712185984538452,1.1307526589696049e-07],"end_effector_velocity":[-0.002970188055969004,0.0009852520259965272,0.07189604591103942],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3659419366588353,-0.10998635371294833,0.3252110217551444],[0.3140068655236442,-0.10998640402535037,0.3253222895641347]],"gripper_width":0.039935190327418754,"jaw_actuator_force":[-0.8090146680951813,-0.8118960447409265],"joint_actuator_torque":[-0.0017903652568804773,-0.9500705628920514,-0.7649506837857416,7.26314236824752e-05,-0.1339207582912465,-3.0549306160310152e-06],"joint_position":[-0.3129010231026293,-1.4002902143202436,1.9280009603357935,1.0002595823449597e-07,-0.5254589444858969,0.3129012995247604],"joint_velocity":[6.512548657714996e-05,-0.14589578981814594,-0.1285013120580662,-2.0236829601753742e-05,0.364924382182066,4.629824735635658e-06],"object_angular_velocity":[0.019911218314170538,0.03589925804335957,0.00021202457965363783],"object_position":[0.33993763955389317,-0.10996548086182388,0.3113549578388881],"object_quaternion":[0.9999988541006766,0.0005222775204976022,0.001420923231781617,-8.329353872033785e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0037025194452725875,0.0008852451921553417,0.0709034822183779],"pad_normal_forces":{"left":0.8093604199060597,"right":0.812184313193864},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.26},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290089178627783,-1.4148441562615943,1.9163311097568358,2.040977327267201e-09,-0.5015663391524271,0.3129008957527874],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.044388345006651724,-0.014360917743864067,0.5060859266046069],[0.24233215164643154,-0.07840148345171442,0.3864320283949292],[0.2876942740013811,-0.09307744642643014,0.3590113433885447],[0.3400233417415842,-0.11000741509302814,0.35879961150799267],[0.3398768305667876,-0.10996001871032673,0.31879990790835877]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3398768305667876,-0.10996001871032673,0.31879990790835877],"end_effector_quaternion":[0.9999981474959777,0.0005924562319630225,0.0018313929641793638,1.9147607110583458e-07],"end_effector_velocity":[-0.0020447110520497233,0.0006551653871780976,0.06900444538856994],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36587674770375755,-0.10996943168365582,0.3267047233694827],[0.31394008883984803,-0.10996956427840857,0.326894957144633]],"gripper_width":0.03993700725737769,"jaw_actuator_force":[-0.8058174006719687,-0.8136720994413791],"joint_actuator_torque":[0.00035367919495854494,-0.9463013684045336,-0.770522157450273,5.93264375160523e-05,-0.12223484061426859,7.563505732832709e-08],"joint_position":[-0.31290087291932284,-1.403395469741989,1.9253298612370653,-1.1592440745526268e-07,-0.5180847114308615,0.31290119827057145],"joint_velocity":[-1.667850536194791e-05,-0.13702434024251092,-0.11590215379602488,-1.1852422758587261e-05,0.2906189826252501,-4.485783474893029e-06],"object_angular_velocity":[0.004080796271810286,0.00508470275367969,6.0522159776098155e-05],"object_position":[0.33985994018311805,-0.10994411578576004,0.3128774648408402],"object_quaternion":[0.9999979283353363,0.0007307366103336728,0.0018998286776949003,-1.8902890667899063e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0027367866050782724,0.00045579761272574723,0.06723701885057205],"pad_normal_forces":{"left":0.8077253446883701,"right":0.8116167597132813},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.28},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129009320219163,-1.4178137815819447,1.9138604600208105,1.5866305175363176e-09,-0.49612094884219865,0.3129009360220733],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04358282412943489,-0.014100310340091288,0.5062276573575062],[0.24216600267338376,-0.07834774041657233,0.3877498580533759],[0.287674647756372,-0.09307110980909923,0.3605986957128461],[0.34000350568220394,-0.1100010113281497,0.3603358978183587],[0.3398216582435788,-0.10994218481928121,0.32033635443407843]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3398216582435788,-0.10994218481928121,0.32033635443407843],"end_effector_quaternion":[0.9999971461476719,0.0007353337384788443,0.002273099379620964,1.2277896657293504e-07],"end_effector_velocity":[-0.0017567218937675738,0.0005653013579403005,0.06952084324520086],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36582672649928316,-0.10995385693062269,0.3282182033664031],[0.31388951461869974,-0.10995404331082088,0.32845432201143326]],"gripper_width":0.0399377486032836,"jaw_actuator_force":[-0.8062368031737712,-0.8112169694989406],"joint_actuator_torque":[0.00020746037610308576,-0.9442668702198489,-0.7734971824944523,4.840373605275644e-05,-0.11765086511882572,9.240797638199183e-08],"joint_position":[-0.3129009139610375,-1.406461220902541,1.922751658520842,-1.7520114778095647e-07,-0.511512275900628,0.3129010733943238],"joint_velocity":[-7.94360545161739e-06,-0.13631986788220493,-0.11286458850070819,-7.65513033656429e-06,0.2610712595877779,-4.766768830030266e-06],"object_angular_velocity":[-0.002990363032572029,-0.009801030470854732,5.196527860850812e-05],"object_position":[0.3397985561332065,-0.1099258221859674,0.31440535606009007],"object_quaternion":[0.9999971193549502,0.0008571672195980317,0.002241996020912412,-4.491746268063519e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0021009183818781712,0.0003402220130575129,0.06774424774923303],"pad_normal_forces":{"left":0.8073541835009636,"right":0.8100551924133996},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.3},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129009063629257,-1.420749405973976,1.9113285724520814,1.3888621016627364e-09,-0.4906505160844153,0.31290091012924626],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04278359650235849,-0.013841735679826188,0.5063656458818521],[0.24199336927672319,-0.07829188117960872,0.38905560719699434],[0.28764560887084845,-0.09306170618997556,0.36217205666504776],[0.3399743264473041,-0.10999156070179353,0.3618799214014868],[0.33977217869491877,-0.10992616657454286,0.3218804856567875]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33977217869491877,-0.10992616657454286,0.3218804856567875],"end_effector_quaternion":[0.9999964733981462,0.0008174297440403851,0.002526855728473788,1.0711249632794625e-07],"end_effector_velocity":[-0.001575431725591883,0.0005073108063711365,0.06975304181208748],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3657827819603364,-0.10993913255091964,0.3297491258326607],[0.3138455312160521,-0.10993935823561024,0.3300116041288944]],"gripper_width":0.039937913991433996,"jaw_actuator_force":[-0.8061289450021327,-0.8094732156449593],"joint_actuator_torque":[0.00013722952877515127,-0.9426188460619187,-0.7758402633057813,4.1268634914491627e-05,-0.11490264525782834,-2.514660799590729e-07],"joint_position":[-0.3129008865950623,-1.4095014843969493,1.9202058166551805,-1.777862213411977e-07,-0.5053927570359472,0.312901014332274],"joint_velocity":[-6.216094707336895e-06,-0.13518807612798567,-0.11154473162207554,-5.785318114041838e-06,0.24353227705008595,-2.004023354259899e-06],"object_angular_velocity":[-0.0071223225549112605,-0.02000752285199742,4.6171344835553215e-05],"object_position":[0.3397471903639815,-0.1099099740454213,0.3159406738477169],"object_quaternion":[0.9999965420784391,0.0009294181430315769,0.002460083957597122,5.122803810451352e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0017673083035599755,0.00026964482198173396,0.06795156248481696],"pad_normal_forces":{"left":0.8068498475678382,"right":0.8087175044137593},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.32},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290085886890867,-1.4236508276173974,1.9087473325383844,1.2865735216408364e-09,-0.4851661991177436,0.3129008622852224],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04199152962328447,-0.013585476729475163,0.5064998124084892],[0.2418179766839883,-0.07823512323750706,0.39035415273288077],[0.2876115374687329,-0.09305066722893104,0.3637374390572205],[0.3399401683375075,-0.10998049137211255,0.3634284958901547],[0.3397263903857824,-0.10991133387881656,0.32342912694227655]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3397263903857824,-0.10991133387881656,0.32342912694227655],"end_effector_quaternion":[0.9999960559164548,0.0008644723574349127,0.0026722348449562472,1.05411341427352e-07],"end_effector_velocity":[-0.0014587375722177613,0.0004697390207100353,0.06990420258721339],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3657409395592548,-0.10992503990677589,0.3312901938380528],[0.31380369197455416,-0.10992529081754888,0.331567773743601]],"gripper_width":0.03993798934634846,"jaw_actuator_force":[-0.8056581528742548,-0.8082436063077756],"joint_actuator_torque":[0.00011558680921552877,-0.9412698642324813,-0.7778746322497909,3.7406356545592124e-05,-0.11332370984897722,-2.953699258512188e-07],"joint_position":[-0.31290083663472423,-1.4125130263625245,1.9176647834119935,-1.5904132268152123e-07,-0.49953457901790355,0.312900970882634],"joint_velocity":[-5.739116843347383e-06,-0.1339604338654989,-0.11139445751901599,-5.25483435958181e-06,0.2334445648526734,-1.520197623774912e-06],"object_angular_velocity":[-0.009506744754463245,-0.02667640121091039,4.041063705346754e-05],"object_position":[0.33970092350407516,-0.1098956642498483,0.31748041632799623],"object_quaternion":[0.9999961571402971,0.0009706818154814625,0.0025968214109059217,1.0457995275830785e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.001603323061428566,0.00022729385028403748,0.06808684199324727],"pad_normal_forces":{"left":0.8062159899537481,"right":0.8076502735368857},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.34},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129008106441055,-1.4265184841200047,1.9061232480459827,1.1734970265836092e-09,-0.479673534209906,0.3129008136632637],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.041207040819167436,-0.013331669561143063,0.5066301617207349],[0.24164194679311168,-0.07817815894361928,0.39164850543598434],[0.28757494607880724,-0.09303881276043674,0.3652985425373957],[0.3399035257072227,-0.10996861806211196,0.36498003583424476],[0.339683130409386,-0.10989731886043236,0.3249807065606615]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.339683130409386,-0.10989731886043236,0.3249807065606615],"end_effector_quaternion":[0.9999958079511032,0.0008912440397104851,0.0027549526804398496,1.0257049727001812e-07],"end_effector_velocity":[-0.0013787811042771606,0.0004439152602832242,0.0700051156761088],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36570006387087817,-0.10991144582655142,0.33283746287800065],[0.3137628015859124,-0.10991171153177368,0.33312363541272627]],"gripper_width":0.03993805068008967,"jaw_actuator_force":[-0.8050798497684424,-0.8072818426728121],"joint_actuator_torque":[0.00011126743608258494,-0.9401118540617972,-0.7797003817231598,3.519410105496603e-05,-0.11241117892963359,-2.6283726839437804e-07],"joint_position":[-0.31290078597472476,-1.4154943291137578,1.9151122920035404,-1.3646697199486444e-07,-0.49382689955487674,0.3129009260834308],"joint_velocity":[-5.616900452876285e-06,-0.13266236286174754,-0.11191634847683092,-5.2433599748917964e-06,0.2276327186304717,-1.6112114706241792e-06],"object_angular_velocity":[-0.010884288598399414,-0.030938454339714885,3.581754310944511e-05],"object_position":[0.33965748992620826,-0.10988237932108079,0.3190230503327994],"object_quaternion":[0.99999591258439,0.0009940158347936236,0.0026808108879347596,1.2697944108938972e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.001506132911237004,0.00020127863418792903,0.06817617080891637],"pad_normal_forces":{"left":0.8055643107572835,"right":0.8067630103952727},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.36},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290076655322785,-1.4293526177967901,1.903460111045009,1.0459697551595202e-09,-0.4741757627178627,0.3129007691909275],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04043041172684671,-0.013080405515780512,0.5067567249393237],[0.24146651732069208,-0.07812139006589905,0.39294040547497133],[0.28753729151928165,-0.09302661569196788,0.36685749893105724],[0.33986584191067803,-0.10995640944421992,0.3665336201863135],[0.33964172958948885,-0.10988390695002227,0.3265343137291282]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33964172958948885,-0.10988390695002227,0.3265343137291282],"end_effector_quaternion":[0.9999956653480088,0.0009062853788262212,0.0028014160697352668,9.742357685424297e-08],"end_effector_velocity":[-0.0013199585626516947,0.0004249375353315827,0.07007728594255602],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3656600325555887,-0.10989827049864916,0.33438864832045523],[0.3137227423456115,-0.1098985443480833,0.33467964753622736]],"gripper_width":0.03993810542341702,"jaw_actuator_force":[-0.8045141845498689,-0.8064690967576054],"joint_actuator_torque":[0.0001082774376470752,-0.9390811520526086,-0.781382618287239,3.37720515967917e-05,-0.11188050020277984,-2.3622415312729572e-07],"joint_position":[-0.3129007396026347,-1.4184443920468912,1.912538914159737,-1.1614262987901337e-07,-0.4882057836288215,0.3129008796728398],"joint_velocity":[-5.467596111698811e-06,-0.13131947123437393,-0.11282841213322571,-5.383978367454063e-06,0.22428895785473965,-1.6783227193139625e-06],"object_angular_velocity":[-0.011680020764371078,-0.03361539986692518,3.2492540353684635e-05],"object_position":[0.33961598897002493,-0.1098698184365811,0.32056768851662304],"object_quaternion":[0.9999957629793852,0.0010069755865006723,0.0027313043454655953,1.3161368159148725e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0014361910960691878,0.0001847887717373671,0.06823912265034478],"pad_normal_forces":{"left":0.8049515126785576,"right":0.805999617276092},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.38},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290072627479604,-1.4321533560590687,1.9007601280626683,9.22186393096979e-10,-0.46867478559174774,0.3129007285816704],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.039661831352193436,-0.012831745713124133,0.5068795504109033],[0.24129240950698844,-0.07806504984116076,0.39423086650602057],[0.2874994170007956,-0.09301434870383582,0.3684155431111516],[0.33982795139683747,-0.10994413530545391,0.3680887196328952],[0.33960180161312,-0.1098709730372635,0.3280894258446564]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33960180161312,-0.1098709730372635,0.3280894258446564],"end_effector_quaternion":[0.9999955861667473,0.0009145326480454812,0.0028268846900537845,9.164527392267207e-08],"end_effector_velocity":[-0.0012733750331377573,0.00040994378659012557,0.07013290100543255],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36562089453861124,-0.10988546642860571,0.33594243267662577],[0.3136835703591564,-0.10988574449750715,0.3362360777181628]],"gripper_width":0.039938154283816536,"jaw_actuator_force":[-0.8039955626510231,-0.8057610996304447],"joint_actuator_torque":[0.00010355210662282843,-0.938135653008203,-0.7829688535346122,3.275555425239275e-05,-0.11156937756088325,-2.2524390885791945e-07],"joint_position":[-0.3129006971334792,-1.4213625662297196,1.9099391855115366,-9.951119156829831e-08,-0.48263433925167,0.31290083397838675],"joint_velocity":[-5.2526057495337094e-06,-0.12994773787017602,-0.11396636494994235,-5.539920241609702e-06,0.22236944456522686,-1.6489236851669958e-06],"object_angular_velocity":[-0.012139312555529459,-0.0352736462525652,3.0035205104789235e-05],"object_position":[0.33957600721908404,-0.10985780617288958,0.322113820777671],"object_quaternion":[0.9999956748515437,0.0010139277987480095,0.0027608383886457257,1.2756531877587814e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0013802861425635008,0.00017384185074642705,0.06828677839077953],"pad_normal_forces":{"left":0.8043940594978685,"right":0.8053326557099352},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.4},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290068900386,-1.4349207521726974,1.8980245913196454,8.116792840438907e-10,-0.4631717388180765,0.31290069103783724],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03890143018615036,-0.0125857323228648,0.5069986968766628],[0.24112004393819875,-0.07800927411054331,0.3955204818202862],[0.28746180958970985,-0.09300216910355298,0.3699733908698666],[0.33979033582929996,-0.10993195116360557,0.3696450298008421],[0.33956312223193624,-0.10985844425221243,0.329645742673255]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33956312223193624,-0.10985844425221243,0.329645742673255],"end_effector_quaternion":[0.9999955445374896,0.0009188407312961856,0.002840182542105322,8.626961010414559e-08],"end_effector_velocity":[-0.0012339195770197638,0.00039727085825119464,0.07017897663689482],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3655826805671317,-0.10987300558267656,0.33749805592045273],[0.3136453207764221,-0.10987328562768701,0.3377930825226203]],"gripper_width":0.03993819772387213,"jaw_actuator_force":[-0.8035300422973668,-0.8051380898457596],"joint_actuator_torque":[9.754953914864473e-05,-0.9372490859368554,-0.7844900549273461,3.196230835571472e-05,-0.111384836016299,-2.2294424084634556e-07],"joint_position":[-0.31290065771065373,-1.4242484238440634,1.9073099470554695,-8.640633429727969e-08,-0.4770912864895656,0.3129007903439633],"joint_velocity":[-4.998803596511366e-06,-0.12855711964618238,-0.11523480402057437,-5.666521516912997e-06,0.2212714528115361,-1.5687271901135893e-06],"object_angular_velocity":[-0.012403915867424155,-0.036288875183795734,2.8080444835551765e-05],"object_position":[0.3395373116464539,-0.10984624039386993,0.3236611537150189],"object_quaternion":[0.9999956254531113,0.0010173982726300486,0.002777404432468921,1.19668809386712e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0013328369952665155,0.00016612231735082476,0.0683255331904744],"pad_normal_forces":{"left":0.8038937466471937,"right":0.8047462347459181},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.42},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290065428739183,-1.4376548131053086,1.895254263135751,7.157059239738268e-10,-0.4576673182339776,0.31290065609960954],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03814930210997304,-0.012342395689708179,0.5071142291856567],[0.24094966656909428,-0.077954142320249,0.39680960154321687],[0.28742475009097623,-0.09299016758974793,0.37153145770849105],[0.33975327277077205,-0.10991994666082822,0.37120237602485456],[0.33952556064368405,-0.10984627809673335,0.3312030920296398]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33952556064368405,-0.10984627809673335,0.3312030920296398],"end_effector_quaternion":[0.9999955249600756,0.0009208614043018871,0.0028464142512893307,8.158490091061085e-08],"end_effector_velocity":[-0.0011986368338102568,0.00038595544928857325,0.07021956007893757],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36554539908126343,-0.10986087140386629,0.33905507988553457],[0.31360800443599857,-0.10986115215471022,0.33935075402632636]],"gripper_width":0.03993823626014204,"jaw_actuator_force":[-0.8031166622933839,-0.804586880057875],"joint_actuator_torque":[9.089149463648027e-05,-0.9364058146802563,-0.7859646505312412,3.1292295720413514e-05,-0.11127326106701219,-2.2392483245425865e-07],"joint_position":[-0.3129006208635284,-1.4271016745578393,1.9046493786357717,-7.619547520473438e-08,-0.47156436503821714,0.3129007492168709],"joint_velocity":[-4.725702241766437e-06,-0.12715375395629708,-0.11657836253758594,-5.752945596336511e-06,0.22064669547890634,-1.472666351671928e-06],"object_angular_velocity":[-0.012555797196353016,-0.03690377697132168,2.6403411716791347e-05],"object_position":[0.33949975998509635,-0.10983506159750746,0.32520951893801137],"object_quaternion":[0.9999956000259382,0.0010188485556582808,0.002786014424180999,1.1020044509062393e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.001290597114594254,0.00016028850627536394,0.06835908175048075],"pad_normal_forces":{"left":0.8034480707804387,"right":0.8042286720766532},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.44},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129006219125476,-1.4403555174563294,1.8924495976456386,6.321776551350213e-10,-0.45216196498063044,0.31290062354331266],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03740551818468381,-0.012101758787732751,0.5072262156499252],[0.24078142207115,-0.07789970121749193,0.39809843508799425],[0.28738840004513183,-0.09297839635764507,0.37308998537588506],[0.3397169218454207,-0.10990817338042055,0.37276065855371854],[0.3394890401754903,-0.10983444968039033,0.3327613756256389]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3394890401754903,-0.10983444968039033,0.3327613756256389],"end_effector_quaternion":[0.999995518290452,0.0009215506013968393,0.002848533568966109,7.754756488857837e-08],"end_effector_velocity":[-0.0011658129132391592,0.0003754398454241158,0.070256987793906],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3655090506899846,-0.10984905402032492,0.3406132523813068],[0.3135716231524772,-0.10984933475862653,0.3409091468612992]],"gripper_width":0.03993827040666584,"jaw_actuator_force":[-0.8027524805417903,-0.804096879137199],"joint_actuator_torque":[8.389165176936331e-05,-0.9355967234627087,-0.7874031924163774,3.068614542255328e-05,-0.11120364325815046,-2.2580859848631007e-07],"joint_position":[-0.31290058637982204,-1.4299221129639248,1.9019564368618795,-6.819126005935027e-08,-0.466046527714214,0.3129007106509759],"joint_velocity":[-4.441991621662391e-06,-0.125741412989971,-0.11796492244991583,-5.800775095022178e-06,0.2202938587308935,-1.3751879890390592e-06],"object_angular_velocity":[-0.012642372156410512,-0.037272083163733094,2.487939055459958e-05],"object_position":[0.33946326576720187,-0.10982423501244111,0.3267588202926326],"object_quaternion":[0.9999955892679427,0.0010191245909824031,0.002789772341557178,1.0017519364229584e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0012515072758691194,0.00015556340387019063,0.06838955837005119],"pad_normal_forces":{"left":0.8030531042524418,"right":0.8037704386970596},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.46},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290059176814466,-1.4430228268816323,1.889610869349307,5.584027003795552e-10,-0.44665597203315177,0.3129005932474747],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.036670135172992425,-0.011863839970292637,0.5073347264364017],[0.2406153963968549,-0.07784597858104558,0.39938711039657476],[0.28735285209399003,-0.0929668853460098,0.3746491150541144],[0.33968137457217984,-0.10989666090906572,0.3743198209087995],[0.33945351557941067,-0.10982294432007497,0.33432053783842536]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33945351557941067,-0.10982294432007497,0.33432053783842536],"end_effector_quaternion":[0.9999955191797969,0.0009214617021304783,0.002848250103900127,7.402508557228355e-08],"end_effector_velocity":[-0.0011344523026343518,0.0003654005716103223,0.07029260787526981],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3654736343795952,-0.1098375474469089,0.3421724287058988],[0.3135361764318204,-0.1098378277660347,0.3424682939135322]],"gripper_width":0.03993830064967985,"jaw_actuator_force":[-0.8024336499221452,-0.8036593726947086],"joint_actuator_torque":[7.668563978313614e-05,-0.9348165151038756,-0.7888116749177243,3.0108473505271617e-05,-0.11115804174012567,-2.2777043184873946e-07],"joint_position":[-0.31290055415509865,-1.4327095861329944,1.8992305286685487,-6.179617142261322e-08,-0.46053374048703877,0.312900674576369],"joint_velocity":[-4.151359376070002e-06,-0.12432241978165737,-0.11937586103635135,-5.815749710509205e-06,0.2200965862273953,-1.2806401613240026e-06],"object_angular_velocity":[-0.012691073733055794,-0.037489726891594036,2.3439329807785086e-05],"object_position":[0.3394277772865643,-0.10981374021116173,0.32830900338591446],"object_quaternion":[0.9999955874261156,0.001018716155684354,0.0027905816029840506,9.002550399947904e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0012143036076678396,0.00015149624002574376,0.0684181951083843],"pad_normal_forces":{"left":0.8027043475637385,"right":0.8033635662715742},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.48},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290056378494113,-1.4456566932747896,1.8867382477745511,4.920359809829525e-10,-0.44114954555553026,0.3129005651345366],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03594320075978035,-0.01162865465597028,0.5074398325944462],[0.24045164144969114,-0.07779299118537202,0.4006757081976934],[0.2873181591077957,-0.09295565164002657,0.3762089296901042],[0.33964668316650576,-0.10988542612984238,0.37587983158773464],[0.33941895988162935,-0.10981175326167628,0.3358805476639689]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33941895988162935,-0.10981175326167628,0.3358805476639689],"end_effector_quaternion":[0.9999955245135181,0.0009209151753989351,0.0028465537353883764,7.08854462855048e-08],"end_effector_velocity":[-0.001103975419542976,0.00035564942021366615,0.07032719723361909],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3654391489281219,-0.10982634796895129,0.34373252627543294],[0.3135016631891008,-0.10982662763811157,0.34402821542524925]],"gripper_width":0.039938327437861895,"jaw_actuator_force":[-0.8021559173623274,-0.8032671665662185],"joint_actuator_torque":[6.933756921512213e-05,-0.9340621061643333,-0.7901935037792782,2.9538529640643684e-05,-0.11112608383342604,-2.295746277525268e-07],"joint_position":[-0.3129005241279141,-1.4354639737591173,1.896471321830371,-5.654113670792683e-08,-0.4550237105037742,0.3129006408985889],"joint_velocity":[-3.855572448113655e-06,-0.12289821402047346,-0.12080038971817662,-5.8042408156800165e-06,0.21998764380899943,-1.1898051295687486e-06],"object_angular_velocity":[-0.012717775235067128,-0.037615880305148196,2.2044469755550957e-05],"object_position":[0.3393932637240569,-0.10980356509521043,0.3298600379593735],"object_quaternion":[0.9999955909880601,0.0010179069438180767,0.0027896003097034887,7.991928192433563e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0011782375875186012,0.00014782501921288457,0.06844570230195347],"pad_normal_forces":{"left":0.802397160893098,"right":0.8030013272331189},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.5},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290053791440914,-1.448257063212452,1.8838318408175156,4.3127442097311196e-10,-0.435642840253701,0.3129005391497427],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03522475673943654,-0.011396216358700174,0.5075416054672763],[0.24029018938170119,-0.0777407494201679,0.40196428182201327],[0.28728435102888683,-0.09294470491342093,0.3777694784866405],[0.33961287718981975,-0.10987447860051888,0.377440673486365],[0.33938535676556053,-0.10980087120736527,0.337441388287649]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33938535676556053,-0.10980087120736527,0.337441388287649],"end_effector_quaternion":[0.9999955324819931,0.0009200967184216951,0.002844017946355647,6.802100823683261e-08],"end_effector_velocity":[-0.0010740433229851254,0.00034607633056589135,0.07036120274938111],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36540559308173837,-0.10981545321021836,0.3452934983913787],[0.31346808210363836,-0.10981573209758734,0.34558892427076193]],"gripper_width":0.03993835117837545,"jaw_actuator_force":[-0.8019149925426783,-0.8029142530476348],"joint_actuator_torque":[6.188316589827991e-05,-0.9333317032679815,-0.7915506061455062,2.8964336185972655e-05,-0.11110177801258203,-2.3118828806900638e-07],"joint_position":[-0.31290049625686506,-1.4381851760563562,1.8936786349638837,-5.207965990377507e-08,-0.4495151505643502,0.3129006095291624],"joint_velocity":[-3.555613547144368e-06,-0.12146969823312952,-0.12223226863277857,-5.77183712479705e-06,0.21992820220731232,-1.1023929544685175e-06],"object_angular_velocity":[-0.012731662423759078,-0.03768670592145381,2.0672805993719877e-05],"object_position":[0.33935970652392644,-0.1097937024163194,0.33141190768231266],"object_quaternion":[0.9999955978285651,0.001016861395347857,0.0027875287242303502,6.99058795905307e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.001142871627062012,0.0001443968155125817,0.06847248809365516],"pad_normal_forces":{"left":0.8021270404332201,"right":0.8026779873617332},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.52},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290051412000125,-1.4508238806639902,1.8808917198709678,3.748105071500657e-10,-0.430135979746182,0.3129005152520859],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03451484096128607,-0.011166537316739044,0.507640116333665],[0.24013106088342318,-0.07768925996995132,0.40325286866549837],[0.2872514446155796,-0.09293405057797914,0.3793307910748768],[0.33957997317902816,-0.10986382366626188,0.37900233778503933],[0.33935269616435515,-0.10979029488616261,0.3390030510579351]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33935269616435515,-0.10979029488616261,0.3390030510579351],"end_effector_quaternion":[0.9999955420344627,0.0009191140342792423,0.002840975288317724,6.535070507270091e-08],"end_effector_velocity":[-0.001044456157787364,0.0003366164025128907,0.0703948807000601],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3653729655936469,-0.10980486159516503,0.34685531907245326],[0.3134354317610861,-0.10980513962445775,0.347150429014696]],"gripper_width":0.039938372236369736,"jaw_actuator_force":[-0.8017067807347233,-0.8025955444460546],"joint_actuator_torque":[5.43437743232289e-05,-0.9326242676563652,-0.7928840562389041,2.8379012372749405e-05,-0.111081667265168,-2.3264531989752868e-07],"joint_position":[-0.3129004705114319,-1.440873106387874,1.8908523736500251,-4.816596137747529e-08,-0.4440073537683639,0.3129005803932961],"joint_velocity":[-3.25204784222773e-06,-0.12003744866719789,-0.12366789995458981,-5.722927561498049e-06,0.21989585857579308,-1.017852212475544e-06],"object_angular_velocity":[-0.012738051945099745,-0.03772414098569517,1.931195164040267e-05],"object_position":[0.33932709430554286,-0.1097841477628346,0.3329646042472594],"object_quaternion":[0.999995606669842,0.001015674932826247,0.0027847882219595287,5.998500031953624e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.001107948767892793,0.0001411218286356077,0.06849878601340469],"pad_normal_forces":{"left":0.8018897761899311,"right":0.8023886166054344},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.54},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129004923722903,-1.453357088616878,1.877917934370456,3.2172903291484417e-10,-0.42462906830068636,0.312900493409041],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03381348851910156,-0.010939628877281733,0.5077354361873831],[0.23997426999395358,-0.0776385273689652,0.40454149682234863],[0.28721944908194047,-0.09292369160664267,0.38089288571786156],[0.3395479802194608,-0.10985346426157064,0.3805648204164064],[0.33932097171343895,-0.10978002222781603,0.34056553200516243]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33932097171343895,-0.10978002222781603,0.34056553200516243],"end_effector_quaternion":[0.9999955525603827,0.0009180296830624602,0.002837618887744827,6.281615496166446e-08],"end_effector_velocity":[-0.0010150943699852063,0.00032723081422273315,0.07042837728018299],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3653412652779495,-0.10979457203892301,0.3484179742845021],[0.31340371076550655,-0.10979484916495882,0.34871273568581457]],"gripper_width":0.039938390936700055,"jaw_actuator_force":[-0.8015275002185325,-0.8023066829388839],"joint_actuator_torque":[4.673230529306238e-05,-0.9319392033853546,-0.7941944346812306,2.7778603384740617e-05,-0.1110637605099214,-2.3399664783596563e-07],"joint_position":[-0.3129004468671462,-1.4435276867743003,1.887992493318564,-4.463061230941544e-08,-0.4384999475103453,0.31290055343015405],"joint_velocity":[-2.9451982499669047e-06,-0.11860184322488658,-0.12510522118413794,-5.660745158773059e-06,0.21987771044717266,-9.35633780296315e-07],"object_angular_velocity":[-0.012740021672467437,-0.03774141289660351,1.7955018133122838e-05],"object_position":[0.33929541992523066,-0.10977489839442013,0.3345181239545585],"object_quaternion":[0.999995616746865,0.0010144030292970165,0.0027816314543896003,5.013893147379148e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0010733159407782984,0.00013794676397952288,0.06852472860721284],"pad_normal_forces":{"left":0.8016815237980435,"right":0.8021289487071988},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.56},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.312900472645948,-1.4558566300306124,1.874910520196665,2.714046678557659e-10,-0.4191221975977885,0.3129004735931737],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03312073248203665,-0.01071550173281026,0.5078276355988863],[0.2398198268950436,-0.07758855490438951,0.4058301889232269],[0.28718836936469105,-0.09291362958954309,0.382455774060055],[0.33951690317287775,-0.10984340195418835,0.3821281200248934],[0.3392901792803114,-0.10977005188593474,0.34212882983064086]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3392901792803114,-0.10977005188593474,0.34212882983064086],"end_effector_quaternion":[0.9999955637042361,0.0009168800918323159,0.0028340611744549554,6.03765606455994e-08],"end_effector_velocity":[-0.000985884679132517,0.0003178957743158491,0.07046177510794271],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3653104910615976,-0.10978458376921629,0.34998145686944915],[0.31337291782321536,-0.10978485996422219,0.3502758488063797]],"gripper_width":0.039938407566858784,"jaw_actuator_force":[-0.8013737258624616,-0.8020439064564071],"joint_actuator_torque":[3.9056617893606926e-05,-0.9312761746914475,-0.7954820365307569,2.716082877178856e-05,-0.11104691459734539,-2.3529060300120364e-07],"joint_position":[-0.3129004253027489,-1.4461488451480142,1.8850989776642821,-4.13592592240171e-08,-0.4329927511841834,0.31290052859067835],"joint_velocity":[-2.6352483140591444e-06,-0.11716313884989897,-0.1265430627673443,-5.58757452865681e-06,0.21986635070895108,-8.552787251564657e-07],"object_angular_velocity":[-0.012739353879689323,-0.037746457574366364,1.6598218678510442e-05],"object_position":[0.339264678785249,-0.10976595256829702,0.336072465736708],"object_quaternion":[0.9999956276026849,0.0010130780297702674,0.002778209570083238,4.034672967311554e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00103887988559278,0.00013483941200456877,0.06855039001899439],"pad_normal_forces":{"left":0.8014988234990155,"right":0.8018952755952766},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.58},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129004547917571,-1.4583224499498801,1.871869627199887,2.2405779031258786e-10,-0.4136155711815628,0.31290045565461044],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03243660513527926,-0.010494166317595404,0.5079167845247866],[0.23966773066518712,-0.0775393422360838,0.4071189422975518],[0.2871581969324577,-0.09290386171740406,0.38401943678714384],[0.3394867334341385,-0.10983363390406164,0.3836922039951836],[0.33926030105686195,-0.10976037804034447,0.3436929119769872]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33926030105686195,-0.10976037804034447,0.3436929119769872],"end_effector_quaternion":[0.9999955751039361,0.0009157025127218922,0.002830417187081786,5.807224922655213e-08],"end_effector_velocity":[-0.000956516534060297,0.00030849796457056776,0.07049567482590294],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36528062443401127,-0.10977489154879083,0.35154572829627895],[0.3133430342381206,-0.10977516681122348,0.3518397417965213]],"gripper_width":0.03993842238045331,"jaw_actuator_force":[-0.8012398153520461,-0.8018065272362014],"joint_actuator_torque":[3.2115021866729876e-05,-0.9306353652386861,-0.7967473230662563,2.6552123771910258e-05,-0.11103075924820871,-2.3623821476803641e-07],"joint_position":[-0.3129004056642304,-1.4487365106916947,1.8821719239181136,-3.827804072344288e-08,-0.4274856909973692,0.31290050583615203],"joint_velocity":[-2.356187677245477e-06,-0.1157215505219807,-0.12798246902156096,-5.511944039181e-06,0.21985755060341708,-7.765818493558199e-07],"object_angular_velocity":[-0.01273771627414533,-0.037745918578888385,1.5197560251009426e-05],"object_position":[0.3392348488378744,-0.10975730432938038,0.33762759811128384],"object_quaternion":[0.9999956388169977,0.0010117346638267495,0.0027746603313409087,3.074622350689032e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0010045609064342166,0.00013166592563222738,0.06857645753776828],"pad_normal_forces":{"left":0.8013375301758519,"right":0.8016854242815237},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.6},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290043850181765,-1.460754499379901,1.8687957023259234,1.8062757812902085e-10,-0.40810968286790983,0.3129004392862139],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03176113876114894,-0.01027563305956382,0.5080029521962317],[0.23951795659300346,-0.07749088128215477,0.40840769603030225],[0.28712889401280345,-0.09289437566649852,0.3855837831589434],[0.33945743311086773,-0.10982414773067885,0.3852569594797852],[0.3392312838536046,-0.10975098336060155,0.34525766569241456]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3392312838536046,-0.10975098336060155,0.34525766569241456],"end_effector_quaternion":[0.9999955861613242,0.0009145588210385863,0.002826878141940675,5.6018407795464635e-08],"end_effector_velocity":[-0.0009262809298876571,0.00029877765638210727,0.07053150886798615],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3652516057192806,-0.10976547901305193,0.3531106659138892],[0.3133140002305222,-0.10976575338973199,0.35340431186906895]],"gripper_width":0.03993843559376983,"jaw_actuator_force":[-0.8011170582216653,-0.8015979519518099],"joint_actuator_torque":[2.7844250141129123e-05,-0.9300175629530258,-0.7979911541947331,2.602253261222116e-05,-0.11101530914671542,-2.3572184915110483e-07],"joint_position":[-0.3129003876268062,-1.4512906109193482,1.8792116888849342,-3.536012191111999e-08,-0.42197879428261287,0.31290048508595164],"joint_velocity":[-2.188291104192967e-06,-0.11427732665129245,-0.12942700792146966,-5.452251046494881e-06,0.2198469098603141,-7.017630024866653e-07],"object_angular_velocity":[-0.012737772910572109,-0.037748657048659505,1.3649651881407826e-05],"object_position":[0.339205865056305,-0.10974893633536006,0.33918341075232933],"object_quaternion":[0.9999956497771606,0.0010104319392727824,0.00277118278897865,2.1697726658805778e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0009701157614881755,0.00012812365384972838,0.06860458691293438],"pad_normal_forces":{"left":0.8011925493743212,"right":0.8014991908604963},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.62},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129004242619127,-1.4631527259090507,1.8656887322239137,1.3776811519504134e-10,-0.4026045725411976,0.3129004249702707],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03109435972855821,-0.010059910503539693,0.5080862078452144],[0.239370508870296,-0.07744317353511201,0.40969646467090526],[0.2871004597152776,-0.09288517131318068,0.3871488151934594],[0.33942900134680853,-0.10981494335118466,0.386822396048268],[0.33920313203948166,-0.10974186945496608,0.3468231005137002]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33920313203948166,-0.10974186945496608,0.3468231005137002],"end_effector_quaternion":[0.9999955970813547,0.0009134278765706962,0.002823378723488513,5.386803572498602e-08],"end_effector_velocity":[-0.0008960196402269024,0.0002890567727155814,0.07056733686299009],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36522344586797917,-0.10975634745626038,0.35467628261546236],[0.3132858265415958,-0.10975662094549195,0.35496956513356065]],"gripper_width":0.03993844737766553,"jaw_actuator_force":[-0.80101346898243,-0.8014061230744876],"joint_actuator_torque":[2.3293316658623553e-05,-0.9294211134820216,-0.7992123490960239,2.5466732685512552e-05,-0.11099836014086151,-2.3436073703919647e-07],"joint_position":[-0.312900371709622,-1.4538110940136397,1.8762183005902413,-3.262333413337489e-08,-0.4164722781863612,0.3129004661602948],"joint_velocity":[-2.0002924317362473e-06,-0.11283057749361512,-0.13086940353195184,-5.38155198761845e-06,0.21982696046910236,-6.340097698364094e-07],"object_angular_velocity":[-0.012739033713327486,-0.03775346905671424,1.210762196972339e-05],"object_position":[0.3391777410140195,-0.1097408493615112,0.34073991044878477],"object_quaternion":[0.9999956606643481,0.0010091452696736585,0.0027677207767038713,1.2610251643076616e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0009351692044933063,0.00012458423504388685,0.06863248990862382],"pad_normal_forces":{"left":0.8010660602514244,"right":0.8013303597337205},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.64},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290041194406004,-1.4655170740540178,1.8625487222249086,9.628377030612594e-11,-0.3971003014706383,0.31290041257868434],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.030436295460311538,-0.009847007512042018,0.5081666197833781],[0.2392253926252166,-0.07739622061835508,0.4109852598742797],[0.2870728940588407,-0.09287624862188516,0.388714531561778],[0.33940143818450746,-0.10980602073206545,0.38838851624694665],[0.3391758483394063,-0.10973303715479502,0.34838921897037894]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3391758483394063,-0.10973303715479502,0.34838921897037894],"end_effector_quaternion":[0.9999956079689017,0.0009122988685472073,0.0028198854016120802,5.171194052897187e-08],"end_effector_velocity":[-0.0008657262595005511,0.0002793284133090848,0.07060321902990925],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36519615328138644,-0.10974749753523537,0.35624258264065484],[0.3132585213818053,-0.10974777013838413,0.3565355023476832]],"gripper_width":0.03993845790322871,"jaw_actuator_force":[-0.8009263329813026,-0.8012291764272064],"joint_actuator_torque":[1.8535187791712815e-05,-0.9288462420557835,-0.8004106871919703,2.4890311108169436e-05,-0.11098041691342075,-2.3370356672103298e-07],"joint_position":[-0.31290035778195796,-1.4562979025643314,1.8731917893284857,-2.998862425283633e-08,-0.41096630087324965,0.3129004491444974],"joint_velocity":[-1.8049738781744892e-06,-0.11138137660141571,-0.13231042673318325,-5.303143591567462e-06,0.2198007848499164,-5.622188361119848e-07],"object_angular_velocity":[-0.012740888591591538,-0.03775946165141875,1.0567688337818025e-05],"object_position":[0.33915048477125154,-0.10973304436464702,0.34229709999555713],"object_quaternion":[0.9999956715380556,0.0010078654275899135,0.0027642562168271457,3.55735789618574e-09],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0009000393878137951,0.00012104082928647724,0.06866024781029133],"pad_normal_forces":{"left":0.8009555562625823,"right":0.8011768653480215},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.66},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290040149564036,-1.4678474900393348,1.8593756768934713,5.636244890800367e-11,-0.39159692828203024,0.31290040205864267],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.029786972721022372,-0.00963693273773522,0.5082442556164016],[0.2390826137413823,-0.07735002442062695,0.4122740942920561],[0.2870461981418814,-0.09286760793128965,0.39028093232189354],[0.3393747447353558,-0.1097973802140067,0.3899553223252266],[0.33914943538147957,-0.10972448729030782,0.3499560233024096]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33914943538147957,-0.10972448729030782,0.3499560233024096],"end_effector_quaternion":[0.999995618883008,0.0009111656777780406,0.002816379217169343,4.9573766416356566e-08],"end_effector_velocity":[-0.0008354024583820197,0.0002695923555511816,0.07063912971766763],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36516973143956694,-0.10973892998285009,0.35780956920975676],[0.31323208806236735,-0.10973920170014974,0.3581021247632485]],"gripper_width":0.039938467328203525,"jaw_actuator_force":[-0.800853258027943,-0.8010655445402683],"joint_actuator_torque":[1.3650195327841175e-05,-0.9282929902236674,-0.8015861274108147,2.4296454072343032e-05,-0.1109617367528628,-2.3322237296952153e-07],"joint_position":[-0.31290034579190323,-1.4587509800507636,1.87013217736549,-2.742448632041405e-08,-0.4054609809743006,0.3129004340478925],"joint_velocity":[-1.6043315550695296e-06,-0.1099297412683818,-0.1337503721683786,-5.218560135965711e-06,0.21976988115687646,-4.902309648627226e-07],"object_angular_velocity":[-0.012743012504585772,-0.03776605424855109,9.025399477699581e-06],"object_position":[0.3391241001778165,-0.10972552223016144,0.34385498180808555],"object_quaternion":[0.9999956824386291,0.001006587077636557,0.0027607764404534688,-5.4700876117492306e-09],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.000864845790886528,0.00011749469384531539,0.06868783398356883],"pad_normal_forces":{"left":0.8008588932879981,"right":0.8010368959094972},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.68},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290039289400895,-1.470143921194627,1.8561695997394587,1.7966135719747986e-11,-0.38609450934161926,0.3129003933873191],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02914641766192653,-0.009429694636110882,0.5083191822288688],[0.23894217859138095,-0.07730458699722287,0.41356298093840616],[0.2870203738043809,-0.0928592498299777,0.3918480181426751],[0.3393489228462934,-0.1097890223869636,0.3915228161487068],[0.33912389584084524,-0.1097162207190153,0.35152351537026866]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33912389584084524,-0.1097162207190153,0.35152351537026866],"end_effector_quaternion":[0.9999956298556882,0.0009100249597686646,0.0028128498174800664,4.745169390265254e-08],"end_effector_velocity":[-0.0008050426209317788,0.0002598465780351785,0.07067505534631136],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3651441827660013,-0.10973064560417288,0.359377244722607],[0.3132065288625936,-0.10973091643372215,0.3596694337055041]],"gripper_width":0.039938475790739565,"jaw_actuator_force":[-0.800792405727897,-0.8009136368612468],"joint_actuator_torque":[8.66475241423359e-06,-0.9277614327543233,-0.802738580411301,2.3686138971991328e-05,-0.1109424724841972,-2.327793851009119e-07],"joint_position":[-0.3129003357189681,-1.4611702707092842,1.8670394817517861,-2.4919890042792937e-08,-0.3999564130628004,0.31290042085164993],"joint_velocity":[-1.3989079184153746e-06,-0.10847570266103883,-0.1351894592070272,-5.128320520028551e-06,0.2197351862270836,-4.189984866839313e-07],"object_angular_velocity":[-0.012745217465542346,-0.037772841685555565,7.48041374760507e-06],"object_position":[0.33909858996223563,-0.10971828384538146,0.34541355793345563],"object_quaternion":[0.9999956933902946,0.0010053073550538487,0.002757273650657369,-1.4493821958245822e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0008296037869448522,0.0001139447163404653,0.06871523391591584],"pad_normal_forces":{"left":0.8007743037226132,"right":0.8009087923606162},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.7},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290038612245136,-1.472406315729705,1.8529304924839418,-1.8961297375820074e-11,-0.3805930982894772,0.31290038654788616],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02851465580516005,-0.009225301459494671,0.5083914657766915],[0.23880409389286,-0.07725991051676802,0.41485193296203937],[0.2869954234546246,-0.09285117509239316,0.39341579002534827],[0.3393239749292622,-0.10978094802588025,0.39309099934387876],[0.3390992325621425,-0.10970823835571947,0.3530916967978057]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3390992325621425,-0.10970823835571947,0.3530916967978057],"end_effector_quaternion":[0.9999956409034545,0.0009088749662595986,0.002809291793760916,4.534099605266953e-08],"end_effector_velocity":[-0.0007746372198816935,0.00025008799369649235,0.07071098626818313],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3651195098978584,-0.1097226452867826,0.3609456110852711],[0.3131818462961571,-0.10972291522518558,0.36123743051937085]],"gripper_width":0.03993848341122863,"jaw_actuator_force":[-0.8007422662321542,-0.800771972189521],"joint_actuator_torque":[3.5828318942776605e-06,-0.9272516511589401,-0.8038679446192418,2.3059433144501854e-05,-0.11092271679474663,-2.3236525592551516e-07],"joint_position":[-0.3129003275489212,-1.4635557196283075,1.8639137155146341,-2.2470653307255496e-08,-0.39445267644625703,0.31290040953451687],"joint_velocity":[-1.188727275608739e-06,-0.10701929571676996,-0.1366278560498056,-5.0325517947925435e-06,0.21969729673816654,-3.485666414877327e-07],"object_angular_velocity":[-0.012747395524223866,-0.037779554323200196,5.93328227251497e-06],"object_position":[0.3390739568983692,-0.10971133013962667,0.34697283018416486],"object_quaternion":[0.9999957044067131,0.001004024806218586,0.002753743326535852,-2.3529526698139968e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0007943019724898772,0.00011038838630211524,0.06874243656107643],"pad_normal_forces":{"left":0.8007002846017306,"right":0.8007910680091779},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.72},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129003811635539,-1.4746346225422675,1.8496583546206238,-5.4454916249873244e-11,-0.37509274581751056,0.3129003815228708],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027891712051838293,-0.009023761259424144,0.5084611716766816],[0.2386683666322304,-0.07721599723470592,0.4161409635064791],[0.28697134997357027,-0.09284338464570799,0.39498424913414104],[0.3392999038670344,-0.10977315805773828,0.3946598733703545],[0.3390754486325497,-0.10970054119349239,0.3546605690434198]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3390754486325497,-0.10970054119349239,0.3546605690434198],"end_effector_quaternion":[0.9999956520338887,0.0009077148711018523,0.00280570259091025,4.3238634827363264e-08],"end_effector_velocity":[-0.0007441742352269579,0.00024031272710263256,0.07074691519351758],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3650957158562795,-0.1097149300109219,0.3625146698892836],[0.3131580432775374,-0.10971519905400651,0.36280611653157774]],"gripper_width":0.03993849029490855,"jaw_actuator_force":[-0.800701536162145,-0.8006392352274121],"joint_actuator_torque":[-1.595326409642439e-06,-0.9267637239447595,-0.804974124401042,2.241621496064835e-05,-0.11090253097261638,-2.3198840537475007e-07],"joint_position":[-0.3129003212668774,-1.4659072727525075,1.8607548883299734,-2.0074986327771365e-08,-0.3889498402266432,0.3129004000769716],"joint_velocity":[-9.737699519405518e-07,-0.1055605558698424,-0.13806570341513563,-4.931271821858224e-06,0.21965661454065258,-2.7886085900609376e-07],"object_angular_velocity":[-0.012749484642472546,-0.03778601747022006,4.3843830771531734e-06],"object_position":[0.3390502040427982,-0.1097046621121183,0.3485328002087358],"object_quaternion":[0.9999957154946904,0.001002738792613804,0.002750183116448615,-3.258636084206282e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0007589253195186991,0.0001068222032023546,0.06876943302598482],"pad_normal_forces":{"left":0.8006355289062783,"right":0.8006824121312397},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.74},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290037799869036,-1.476828791047532,1.846353183109279,-8.85356031549951e-11,-0.3695934995472868,0.31290037829361766],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027277610702929066,-0.008825081893388263,0.5085283645949088],[0.2385350040293399,-0.07717284948173918,0.4174300856286246],[0.28694815666664236,-0.0928358795540696,0.39655339669885115],[0.3392767129657988,-0.10976565354606221,0.3962294395626918],[0.3390525474307443,-0.1096931303193137,0.3562301334412792]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3390525474307443,-0.1096931303193137,0.3562301334412792],"end_effector_quaternion":[0.9999956632494245,0.0009065443810988928,0.002802081302811344,4.114281905912137e-08],"end_effector_velocity":[-0.000713639851096549,0.00023051631239768503,0.07078283620432188],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.365072804023596,-0.10970750085904639,0.3640844225158718],[0.3131351230964421,-0.10970776900230692,0.3643754930297595]],"gripper_width":0.03993849653394668,"jaw_actuator_force":[-0.8006690746983098,-0.8005142719267573],"joint_actuator_torque":[-6.868998113418456e-06,-0.9262977271110913,-0.806057031272303,2.175634985332442e-05,-0.11088195897090003,-2.316514553513116e-07],"joint_position":[-0.3129003168568031,-1.46822487683833,1.8575630068664712,-1.7732235700445377e-08,-0.38344796622092925,0.31290039246037876],"joint_velocity":[-7.540428333443288e-07,-0.10409951666799092,-0.13950312816553762,-4.824464990924019e-06,0.21961342873494885,-2.0984930965640135e-07],"object_angular_velocity":[-0.012751449323989703,-0.037792120812823154,2.8338469152376862e-06],"object_position":[0.3390273347649045,-0.1096982808518489,0.35009346953290954],"object_quaternion":[0.9999957266566754,0.0010014491464106136,0.0027465920689110053,-4.1669764997710996e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0007234581805255249,0.0001032419665828136,0.0687962156620902],"pad_normal_forces":{"left":0.800578892608067,"right":0.8005816745914823},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.76},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290037660834186,-1.47898877101425,1.8430149721370748,-1.2121709352584887e-10,-0.36409540396347956,0.31290037684059535],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.026672375489303377,-0.008629271034563582,0.5085931084344508],[0.23840401352752083,-0.0771304696607085,0.4187193122509429],[0.28692584724461234,-0.09282866101253337,0.398123233958889],[0.33925440593648937,-0.10975843568503064,0.39779969915511443],[0.33903053266406313,-0.10968600692622629,0.3578003912256915]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33903053266406313,-0.10968600692622629,0.3578003912256915],"end_effector_quaternion":[0.9999956745495375,0.0009053635104444219,0.002798427974432753,3.9052281532676076e-08],"end_effector_velocity":[-0.0006830188047555201,0.00022069381014895681,0.0708187442073358],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3650507781361508,-0.10970035902447593,0.3656548701968406],[0.3131130894085427,-0.10970062626330723,0.3659455612508569]],"gripper_width":0.03993850220911467,"jaw_actuator_force":[-0.8006438824992177,-0.8003960701798256],"joint_actuator_torque":[-1.2236898243145333e-05,-0.9258537368350517,-0.8071165813231573,2.107970771232374e-05,-0.11086103471791375,-2.3135216764558209e-07],"joint_position":[-0.31290031430188925,-1.4705084793747483,1.8543380749339005,-1.5442401347109158e-08,-0.3779471106556046,0.31290038666612513],"joint_velocity":[-5.295682339496341e-07,-0.10263620821027108,-0.14094025139111277,-4.7120997007622e-06,0.21956796291541372,-1.4153388464248837e-07],"object_angular_velocity":[-0.012753269464328762,-0.03779779643984893,1.2816587578262986e-06],"object_position":[0.3390053527653438,-0.10969218755226531,0.3516548395841281],"object_quaternion":[0.9999957378924014,0.0010001559707721454,0.002742970116928528,-5.0783346256901007e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.000687883836722409,9.964294925644768e-05,0.06882277755212804],"pad_normal_forces":{"left":0.8005293737210901,"right":0.8004878465074614},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.78},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129003769722406,-1.4811145124004252,1.8396437129143344,-1.525100657033158e-10,-0.3585985003786541,0.3129003771435312],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.026076029608141718,-0.008436336183599402,0.5086554663229714],[0.2382754027992765,-0.07708886024847983,0.4200086561332612],[0.2869044258222449,-0.09282173034668159,0.39969376213145263],[0.3392329868936925,-0.10975150579919678,0.39937065329655075],[0.3390094083998404,-0.10967917232353848,0.35937134354593897]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3390094083998404,-0.10967917232353848,0.35937134354593897],"end_effector_quaternion":[0.9999956859320174,0.0009041724497003769,0.0027947431964403914,3.69659363275725e-08],"end_effector_velocity":[-0.0006522945590793461,0.00021083986707295162,0.07085463461827439],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36502964216095013,-0.10969350581955756,0.36722601405133737],[0.3130919463867116,-0.10969377214937513,0.3675163223742358]],"gripper_width":0.03993850711495882,"jaw_actuator_force":[-0.8006302148866178,-0.8002888711863907],"joint_actuator_torque":[-1.769750538471726e-05,-0.925431831557944,-0.808152693176794,2.0386160101780135e-05,-0.11083978622645674,-2.3108620439415972e-07],"joint_position":[-0.3129003135847304,-1.4727580284799766,1.8510800935141414,-1.320585804287715e-08,-0.3724473251530377,0.3129003826752313],"joint_velocity":[-3.0037318487353554e-07,-0.10117065609703177,-0.142377193225959,-4.594135105834258e-06,0.21952040251934202,-7.393076737323701e-08],"object_angular_velocity":[-0.012754933889230186,-0.037803003655008355,-2.7227251908622464e-07],"object_position":[0.3389842621029774,-0.10968638352298102,0.35321691170655783],"object_quaternion":[0.9999957491999449,0.000998859523800448,0.0027393177413298745,-5.992981069662522e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0006521842089517703,9.60199902023178e-05,0.06884911221576061],"pad_normal_forces":{"left":0.8004912333351859,"right":0.800405180887966},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.8},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129003790693647,-1.483205965185113,1.8362393934864443,-1.824230819595602e-10,-0.3531028269161601,0.31290037918140345],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02548859576389916,-0.008246284681872386,0.5087155006003974],[0.23814917976178673,-0.07704802380096573,0.42129812985598747],[0.2868838969279693,-0.09281508901575795,0.4012649823937269],[0.3392124603654713,-0.10974486534667749,0.4009423030600804],[0.3389891790940876,-0.10967262794610697,0.3609429914756067]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3389891790940876,-0.10967262794610697,0.3609429914756067],"end_effector_quaternion":[0.9999956973937035,0.0009029714896210632,0.0027910278694925736,3.488275281686431e-08],"end_effector_velocity":[-0.0006214493736179912,0.00020094874021667642,0.07089050317853943],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36500940055136244,-0.10968694268375757,0.36879785510615615],[0.3130716985098424,-0.10968720810006183,0.3690877775201233]],"gripper_width":0.039938511226548346,"jaw_actuator_force":[-0.8006270516753942,-0.8001916388532573],"joint_actuator_torque":[-2.3249195891139607e-05,-0.925032093324603,-0.8091652867849461,1.9675582090104935e-05,-0.11081823799558066,-2.3084828271180413e-07],"joint_position":[-0.31290031468734314,-1.474973472780923,1.8477890607209055,-1.10231845666385e-08,-0.366948657307169,0.31290038046818963],"joint_velocity":[-6.648607046243476e-08,-0.09970288068215238,-0.14381407577341238,-4.4705259700658684e-06,0.21947091069890357,-7.062123509337662e-09],"object_angular_velocity":[-0.012756436600608649,-0.03780771899896149,-1.828080329601812e-06],"object_position":[0.3389640672234743,-0.10968087019998465,0.35477968717066855],"object_quaternion":[0.9999957605763894,0.000997560151035633,0.00273563575566478,-6.911140390286589e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.000616339869714138,9.236753854180367e-05,0.06887521342829589],"pad_normal_forces":{"left":0.80046344132222,"right":0.8003326383911232},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.82},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290038287789984,-1.485263079193898,1.832801998551112,-2.109633733770159e-10,-0.34760841850355223,0.3129003829324004],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.024910096212784064,-0.008059123725876785,0.5087732728068473],[0.23802535259888224,-0.07700796296022998,0.4225877458100078],[0.28686426552069644,-0.09280873861810258,0.40283689587323207],[0.339192831310272,-0.10973851592461845,0.402514649449136],[0.33896984961937127,-0.10966637536334774,0.36251533601871644]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33896984961937127,-0.10966637536334774,0.36251533601871644],"end_effector_quaternion":[0.9999957089309152,0.0009017609768301267,0.0027872830671040083,3.2801699363809146e-08],"end_effector_velocity":[-0.0005904643127030845,0.0001910142998532416,0.07092634584844286],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36499005823190933,-0.10968067119197937,0.37037039430924046],[0.3130523506272162,-0.10968093569038789,0.3706599277484152]],"gripper_width":0.039938514619817164,"jaw_actuator_force":[-0.800633151098209,-0.8001031138743455],"joint_actuator_torque":[-2.8890270755255187e-05,-0.9246546087312026,-0.8101542827214416,1.8947854696493806e-05,-0.11079641241959592,-2.3063256548994104e-07],"joint_position":[-0.3129003175911471,-1.4771547612793088,1.8444649717148938,-8.895071352102058e-09,-0.3614511510207918,0.3129003800248709],"joint_velocity":[1.7206422689560438e-07,-0.09823289649208757,-0.14525102494439848,-4.341225679667275e-06,0.21941963753259303,5.904629848761067e-08],"object_angular_velocity":[-0.012757774595189722,-0.037811929704633096,-3.3859252580897474e-06],"object_position":[0.33894477298797066,-0.10967564915524301,0.3563431671795044],"object_quaternion":[0.9999957720182427,0.000996258246157363,0.0027319251708922154,-7.833014402639171e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0005803300351042759,8.867966868569755e-05,0.06890107511580701],"pad_normal_forces":{"left":0.8004447499580586,"right":0.8002689610530778},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.84},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290038837518697,-1.4872858039161616,1.8293315092741191,-2.381369147535777e-10,-0.34211530687205954,0.31290038837386763],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02434055281020798,-0.007874860382575453,0.5088288436708951],[0.23790392978763528,-0.07696868046308161,0.4238775161905082],[0.286845537011629,-0.09280268089819761,0.4044095036429195],[0.33917410513878654,-0.10973245927625586,0.40408769340184086],[0.338951425293071,-0.10966041628836519,0.3640883781140236]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.338951425293071,-0.10966041628836519,0.3640883781140236],"end_effector_quaternion":[0.9999957205397003,0.0009005412879782308,0.002783509955698548,3.0721714807340504e-08],"end_effector_velocity":[-0.0005593192131349324,0.00018103001911596878,0.07096215874562348],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3649716205789879,-0.10967469306328845,0.37194363253840174],[0.3130339080305404,-0.1096749566395493,0.3722327740585769]],"gripper_width":0.03993851738019988,"jaw_actuator_force":[-0.800647425094521,-0.8000221891495274],"joint_actuator_torque":[-3.461896142198384e-05,-0.9242994696789992,-0.8111196016775466,1.820286705306805e-05,-0.11077433060518871,-2.3043277153078634e-07],"joint_position":[-0.3129003222769324,-1.4793018432064877,1.8411078185895478,-6.822272698211423e-09,-0.355954846704524,0.3129003813244538],"joint_velocity":[4.152486458386571e-07,-0.09676071173296752,-0.14668817167762382,-4.206188006104641e-06,0.21936672536790366,1.2436599108692367e-07],"object_angular_velocity":[-0.012758946598033585,-0.03781562955392299,-4.94598719053128e-06],"object_position":[0.3389263847018875,-0.10967072210623291,0.3579073528731886],"object_quaternion":[0.9999957835216917,0.0009949542280489596,0.00272818711112111,-8.758795018120498e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0005441325480221763,8.495007797678522e-05,0.0689266912952499],"pad_normal_forces":{"left":0.8004340671336352,"right":0.8002130456072536},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.86},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129003955376637,-1.4892740883125652,1.8258279030991287,-2.6394827709612486e-10,-0.33662352055951505,0.3129003954822487],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.023779987060960957,-0.007693501605632549,0.5088822730982101],[0.2377849201285725,-0.07693017915083986,0.4251674529931172],[0.28682771728990014,-0.09279691775494986,0.4059828067190334],[0.33915628773962253,-0.10972669729920748,0.4056614357942767],[0.33893391190679023,-0.10965475258745261,0.36566211863826237]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33893391190679023,-0.10965475258745261,0.36566211863826237],"end_effector_quaternion":[0.9999957322159821,0.0008993128146243602,0.0027797097478464423,2.864169200786693e-08],"end_effector_velocity":[-0.0005279926246003082,0.0001709889547383233,0.07099793810948252],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36495409344016344,-0.10966901017017637,0.3735175706070505],[0.313016376491114,-0.10966927282017094,0.37380631739041736]],"gripper_width":0.03993851958473083,"jaw_actuator_force":[-0.8006689225079153,-0.7999478930531945],"joint_actuator_torque":[-4.043342686088636e-05,-0.9239667740401956,-0.8120611640739526,1.7440518063910936e-05,-0.11075201284425873,-2.3024221107448284e-07],"joint_position":[-0.31290032872482015,-1.4814146678678686,1.8377175902358933,-4.80558493846238e-09,-0.35045978139552403,0.31290038434536227],"joint_velocity":[6.630380435940212e-07,-0.0952863278366119,-0.1481256528145102,-4.065368076725531e-06,0.2193123119205129,1.8886596654602047e-07],"object_angular_velocity":[-0.012759952326498512,-0.03781881628958676,-6.508461212118701e-06],"object_position":[0.3389089081445812,-0.10966609092574033,0.35947224533243327],"object_quaternion":[0.9999957950827646,0.0009936485273529957,0.0027244227615234977,-9.688671616570781e-08],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0005077238225407231,8.117207307374005e-05,0.06895205603672085],"pad_normal_forces":{"left":0.8004304377161444,"right":0.8001639249018639},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.88},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290040434080124,-1.4912278806113128,1.8222911535483914,-2.8840119061098547e-10,-0.3311330849151871,0.312900404233022],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.023228420172053288,-0.00751505425250881,0.5089336201605903],[0.23766833277903254,-0.0768924619801151,0.42645756801144463],[0.2868108127514653,-0.09279145125102486,0.40755680606059874],[0.33913938550821343,-0.10972123205481046,0.40723587744315526],[0.3389173157574697,-0.10964938629014237,0.36723655840880287]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3389173157574697,-0.10964938629014237,0.36723655840880287],"end_effector_quaternion":[0.9999957439556451,0.0008980759543309936,0.0027758836747271633,2.656046639657009e-08],"end_effector_velocity":[-0.0004964617300023504,0.00016088372131718622,0.07103368028058957],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3649374831640439,-0.10966362454847167,0.3750922092682912],[0.3129997622907006,-0.10966388626821098,0.37538055862531844]],"gripper_width":0.03993852130102969,"jaw_actuator_force":[-0.8006968126512577,-0.7998793729860543],"joint_actuator_torque":[-4.6331750240824476e-05,-0.9236566262981114,-0.8129788897254002,1.666071754598425e-05,-0.11072947888540341,-2.3005378935181398e-07],"joint_position":[-0.3129003369142216,-1.4834931844771477,1.8342942721910298,-2.8458380509855034e-09,-0.3449659888296284,0.31290038906520484],"joint_velocity":[9.154033340499528e-07,-0.09380973901461037,-0.14956361178942026,-3.918722873398538e-06,0.21925653207223028,2.525127958892314e-07],"object_angular_velocity":[-0.012760792062090135,-0.03782149001375007,-8.073555595861714e-06],"object_position":[0.33889234960055986,-0.10966175765215304,0.3610378455814878],"object_quaternion":[0.9999958066974225,0.000992341578526855,0.002720633336232977,-1.062283540517481e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00047107875898611917,7.733854857456105e-05,0.06897716343868146],"pad_normal_forces":{"left":0.8004330267592032,"right":0.8001207511126166},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.9},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129004147590355,-1.4931471280917652,1.8187212300119313,-3.114977188396399e-10,-0.32564402210561527,0.3129004146006321],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.02268587310828752,-0.007339525102440059,0.5089829430853889],[0.23755417728948963,-0.07685553203454895,0.4277478728354694],[0.2867948303310151,-0.09278628362315725,0.4091315025698628],[0.3391234053787429,-0.10971606577843288,0.40881101910815537],[0.33890164368062337,-0.1096443195999419,0.36881169818598075]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33890164368062337,-0.1096443195999419,0.36881169818598075],"end_effector_quaternion":[0.9999957557545842,0.0008968311053589577,0.0027720329697308427,2.4476807198899128e-08],"end_effector_velocity":[-0.00046470224939316757,0.000150706460275183,0.07106938168876883],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3649217966335607,-0.10965853840799286,0.3766675492181038],[0.31298407225381103,-0.10965879919361,0.37695549858771826]],"gripper_width":0.03993852258829002,"jaw_actuator_force":[-0.8007303706055824,-0.7998158806080999],"joint_actuator_torque":[-5.23119355051449e-05,-0.9233691381941753,-0.8138726975275858,1.586338709871416e-05,-0.11070674808805592,-2.2986003145319955e-07],"joint_position":[-0.3129003468237918,-1.4855373419800866,1.8308378464725004,-9.438941847626418e-10,-0.33947349948641625,0.3129003954607129],"joint_velocity":[1.1723156277607887e-06,-0.09233093180035098,-0.15100219923094338,-3.7662115060556544e-06,0.21919951891531608,3.1527057438572124e-07],"object_angular_velocity":[-0.012761466400949873,-0.03782365220349529,-9.641491029990761e-06],"object_position":[0.3388767158927749,-0.10965772450041376,0.36260415459078915],"object_quaternion":[0.999995818361623,0.0009910338150814978,0.0027168200585187784,-1.1561482056527129e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0004341706384479739,7.344195969771388e-05,0.0690020076106903],"pad_normal_forces":{"left":0.8004411047475325,"right":0.8000827809559012},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.92},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129004267656903,-1.4950317768539088,1.8151180975231032,-3.3323875042798583e-10,-0.32015635112089635,0.31290042655841277],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02215236665071495,-0.007166920875348904,0.5090302992453308],[0.23744246364287097,-0.07681939253752122,0.42903837885046625],[0.2867797775369067,-0.09278141729343571,0.41070689709330976],[0.33910835485908375,-0.10971120089075817,0.4103868614940899],[0.3388869030860746,-0.10963955490587607,0.3703875386752586]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388869030860746,-0.10963955490587607,0.3703875386752586],"end_effector_quaternion":[0.9999957676087391,0.0008955786634430373,0.0027681588584938005,2.238941017793214e-08],"end_effector_velocity":[-0.0004326883291381517,0.0001404488040368454,0.07110503884615725],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3649070413019386,-0.10965375414404069,0.3782435910980214],[0.31296931378263554,-0.10965401399178049,0.37853113804676003]],"gripper_width":0.039938523498311125,"jaw_actuator_force":[-0.8007689643232778,-0.7997567588441807],"joint_actuator_torque":[-5.8371902781573226e-05,-0.9231044294028834,-0.8147425051487289,1.5048460844465259e-05,-0.11068383950869531,-2.296530077217085e-07],"joint_position":[-0.31290035843137914,-1.4875470888672357,1.8273482913993588,8.993508554746262e-10,-0.33398234061849796,0.31290040350767545],"joint_velocity":[1.4337463435143457e-06,-0.09084988456502865,-0.15244157353178417,-3.607795343659211e-06,0.2191414043603569,3.7710080626068717e-07],"object_angular_velocity":[-0.012761976107965952,-0.037825305108380135,-1.121250067073154e-05],"object_position":[0.3388620144183809,-0.10965399387377095,0.36417117327946985],"object_quaternion":[0.9999958300713547,0.000989725666657481,0.0027129841484223793,-1.2504813418088424e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0003969710001069578,6.947428991262388e-05,0.06902658266022368],"pad_normal_forces":{"left":0.8004540346769653,"right":0.8000493627179384},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.94},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290044033289305,-1.4968817715720688,1.8114817165185355,-3.536235858458162e-10,-0.31467008778107575,0.31290044007850254],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021627921458191653,-0.006997248251759128,0.5090757451486989],[0.23733320229700508,-0.07678404686586869,0.43032909723628077],[0.2867656624892332,-0.09277685488160213,0.41228299042301825],[0.3390942420688719,-0.10970664001008254,0.4119634052529874],[0.33887310199653137,-0.10963509479494678,0.3719640805293049]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33887310199653137,-0.10963509479494678,0.3719640805293049],"end_effector_quaternion":[0.9999957795141091,0.0008943190197637927,0.002764262552635711,2.0296891376691868e-08],"end_effector_velocity":[-0.00040039241644559834,0.0001301018354783873,0.07114064834304946],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3648932252315366,-0.1096492743498261,0.37982033549753297],[0.31295549489496943,-0.10964953325603305,0.3801074777180498]],"gripper_width":0.039938524076409854,"jaw_actuator_force":[-0.8008120433462933,-0.7997014304809209],"joint_actuator_torque":[-6.450948342262564e-05,-0.922862628247799,-0.8155882287147733,1.421588613850846e-05,-0.1106607719475079,-2.2942436217476825e-07],"joint_position":[-0.31290037171396956,-1.4895223729747735,1.8238255813998845,2.6829641324081196e-09,-0.328492536271557,0.3129004131808703],"joint_velocity":[1.6996673414275401e-06,-0.08936656699631094,-0.1538819014238256,-3.4434381199760893e-06,0.2190823194917914,4.3796219990680353e-07],"object_angular_velocity":[-0.012762322031019303,-0.03782645138181143,-1.2786830742368113e-05],"object_position":[0.3388482531873247,-0.10965056837645128,0.36573890251781954],"object_quaternion":[0.9999958418226618,0.0009884175571540923,0.002709126814887208,-1.345303873404138e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0003594495019237536,6.542701382186395e-05,0.06905088268145997],"pad_normal_forces":{"left":0.8004712607491712,"right":0.8000199248814035},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.96},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290045543148165,-1.4986970552310563,1.8078120425804025,-3.7264981201094486e-10,-0.3091852447424194,0.31290045513175285],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02111255813231334,-0.006830513893803116,0.5091193364298796],[0.2372264042304482,-0.07674949856469546,0.43162003896684964],[0.2867524939612708,-0.09277259921844162,0.4138597832982386],[0.3390810757809575,-0.10970238596570273,0.41354065098614917],[0.3388602490893692,-0.10963094206562848,0.3735413243500491]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388602490893692,-0.10963094206562848,0.3735413243500491],"end_effector_quaternion":[0.9999957914667694,0.0008930525596015788,0.0027603452456065954,1.8197779169405257e-08],"end_effector_velocity":[-0.0003677851186968716,0.00011965604245089793,0.07117620684528603],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3648803571358912,-0.10964510182994504,0.3813977829563525],[0.31294262426545527,-0.10964535979104963,0.3816845182654984]],"gripper_width":0.03993852436221888,"jaw_actuator_force":[-0.8008591289431966,-0.7996493881623055],"joint_actuator_torque":[-7.07224134828266e-05,-0.9226438724778063,-0.8164097824769669,1.336562429224348e-05,-0.11063756397157931,-2.2916521302818182e-07],"joint_position":[-0.3129003866476253,-1.4914631412723929,1.8202696868052934,4.405971267555725e-09,-0.3230041072989079,0.3129004244539876],"joint_velocity":[1.9700510297187296e-06,-0.08788093953056175,-0.15532335858219123,-3.273105998661776e-06,0.21902239477791555,4.97810420029842e-07],"object_angular_velocity":[-0.012762505050040644,-0.037827093854601174,-1.436474151946354e-05],"object_position":[0.33883544086412265,-0.10964745082737722,0.36730734312975666],"object_quaternion":[0.9999958536116584,0.0009871099034558452,0.0027052492505586223,-1.4406375640798568e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0003215737640711381,6.12910552579133e-05,0.06907490174479504],"pad_normal_forces":{"left":0.8004922984803802,"right":0.7999939661551372},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":4.98},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290047203090204,-1.5004775688427296,1.8041090261588457,-3.9031331852525357e-10,-0.30370183150341384,0.3129004716876241],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020606297286056126,-0.006666724467428281,0.5091611278402388],[0.23712208099199297,-0.07671575136337296,0.43291121480989364],[0.2867402814246035,-0.09276865336036028,0.4154372764071062],[0.33906886546653253,-0.10969844181249083,0.4151185992462069],[0.3388483537419969,-0.1096270997425201,0.37511927069073747]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388483537419969,-0.1096270997425201,0.37511927069073747],"end_effector_quaternion":[0.9999958034628788,0.000891779661372535,0.0027564081097149824,1.6090507826185597e-08],"end_effector_velocity":[-0.00033483504617070736,0.00010910126694690697,0.07121171109249816],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36486844642531496,-0.10964123961501554,0.3829759339666283],[0.3129307112704819,-0.10964149662751937,0.38326226030322624]],"gripper_width":0.039938524390385505,"jaw_actuator_force":[-0.8009098054913188,-0.7996001856099655],"joint_actuator_torque":[-7.700832658485979e-05,-0.9224483101068017,-0.8172070784592051,1.2497651323030482e-05,-0.11061423392444425,-2.2886619177597822e-07],"joint_position":[-0.3129004032074185,-1.4933693396369812,1.816680573628407,6.067351452450504e-09,-0.31751707137273094,0.3129004372995482],"joint_velocity":[2.244870513636449e-06,-0.08639295272934702,-0.15676613027634015,-3.0967676353567205e-06,0.2189617601973361,5.565978207709008e-07],"object_angular_velocity":[-0.01276252604629385,-0.03782723539414262,-1.5946508558299577e-05],"object_position":[0.3388235868132158,-0.1096446442750595,0.3688764958953452],"object_quaternion":[0.9999958654345396,0.0009858031144882342,0.00270135262814224,-1.5365051049031444e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00028330919365924184,5.705674026625966e-05,0.06909863388637055],"pad_normal_forces":{"left":0.8005167260516379,"right":0.7999710467316519},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.0},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129004900990941,-1.5022232511406604,1.8003726122720973,-4.06607730753694e-10,-0.29821985441037,0.3129004897140732],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.020109159616512457,-0.006505886665928185,0.509201173239311],[0.23702024475424413,-0.07668280919285407,0.43420263532675174],[0.28672903509830766,-0.09276502060527458,0.41701547038845693],[0.3390576213443182,-0.10969481084678026,0.4166972505392083],[0.33883742608123096,-0.10962357109229182,0.37669792005801783]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33883742608123096,-0.10962357109229182,0.37669792005801783],"end_effector_quaternion":[0.9999958154986854,0.0008905006958680903,0.002752452293787464,1.3973408138285945e-08],"end_effector_velocity":[-0.0003015086364316429,9.842664832239879e-05,0.07124715789666493],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36485750325647165,-0.10963769097761306,0.38455478897514805],[0.3129197660371449,-0.10963794703807252,0.3848407043975289]],"gripper_width":0.03993852419118358,"jaw_actuator_force":[-0.8009637129518881,-0.7995534299164699],"joint_actuator_torque":[-8.336474569148322e-05,-0.9222761003354663,-0.8179800260772936,1.1611958774536197e-05,-0.11059079992712029,-2.2851728687101058e-07],"joint_position":[-0.3129004213673569,-1.4952409126106159,1.813058203325863,7.666031812190544e-09,-0.3120314429932118,0.31290045168881175],"joint_velocity":[2.5240997117276064e-06,-0.08490254659110331,-0.15821041208200787,-2.91439424464295e-06,0.2189005453177311,6.142730901525506e-07],"object_angular_velocity":[-0.01276238588328741,-0.037826878814680644,-1.7532424197939407e-05],"object_position":[0.3388127011483227,-0.1096421520138053,0.3704463615533842],"object_quaternion":[0.9999958772875901,0.0009844975904446478,0.0026974380976424713,-1.6329302046641112e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0002446187888024859,5.271374447827547e-05,0.0691220730969788],"pad_normal_forces":{"left":0.8005441767472841,"right":0.7999507806214079},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.02},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290050960236526,-1.5039340382502633,1.7966027401815778,-4.215246864496329e-10,-0.2927393166625423,0.3129005091774265],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01962116598217099,-0.006348007234943872,0.5092395255862702],[0.23692090837170668,-0.07665067620444534,0.43549431087232354],[0.28671876600264196,-0.09276170450995609,0.4185943658337108],[0.3390473544342574,-0.10969149662370653,0.41827660532673605],[0.3388274770371506,-0.10962035964107866,0.37827727291405766]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388274770371506,-0.10962035964107866,0.37827727291405766],"end_effector_quaternion":[0.9999958275705353,0.0008892160255944022,0.002748478921136403,1.1844698941841708e-08],"end_effector_velocity":[-0.00026776995806323525,8.762055985236245e-05,0.07128254414082423],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.364847538586391,-0.10963445944965407,0.3861343483855608],[0.3129097994967261,-0.10963471455466291,0.3864198510688913]],"gripper_width":0.03993852379104912,"jaw_actuator_force":[-0.8010205403060136,-0.7995087747767684],"joint_actuator_torque":[-8.978907374057599e-05,-0.9221274145626239,-0.8187285317244459,1.0708554614770982e-05,-0.11056727987372739,-2.2810787925209297e-07],"joint_position":[-0.31290044110030296,-1.497077803141169,1.8094025325421779,9.20088133917401e-09,-0.30654723349627133,0.3129004675916772],"joint_velocity":[2.8077135146128634e-06,-0.083409649787997,-0.1596564106673146,-2.7259596615242024e-06,0.218838879347951,6.707808953022251e-07],"object_angular_velocity":[-0.012762085394425103,-0.037826026817903556,-1.9122799290588174e-05],"object_position":[0.33880279478626585,-0.1096399776013989,0.372016940804087],"object_quaternion":[0.9999958891671896,0.0009831937220896641,0.0026935067840647025,-1.7299376800356881e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00020546291942181283,4.8251034236149075e-05,0.06914521331008674],"pad_normal_forces":{"left":0.8005743323498561,"right":0.7999328289297059},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.04},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129005305052507,-1.505609863331372,1.792799343038845,-4.350532040278028e-10,-0.2872602183166669,0.31290053004224055],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01914233748525274,-0.006193092999100764,0.5092762369316537],[0.23682408544390285,-0.07661935679020387,0.43678625159510753],[0.28670948601776014,-0.09275870890899834,0.42017396328881573],[0.33903807661623026,-0.10968850297616997,0.41985666402807464],[0.3388185184019679,-0.10961746919349356,0.37985732967870994]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388185184019679,-0.10961746919349356,0.37985732967870994],"end_effector_quaternion":[0.9999958396748752,0.000887926004144251,0.0027444890876308792,9.70247599676455e-09],"end_effector_velocity":[-0.0002335804909376388,7.667053769806341e-05,0.07131786677764144],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36483856423145955,-0.10963154884139993,0.38771461256064355],[0.3129008234432138,-0.10963180298757014,0.3879997007940557]],"gripper_width":0.03993852321304898,"jaw_actuator_force":[-0.8010800198355508,-0.7994659145401863],"joint_actuator_torque":[-9.627858297278635e-05,-0.9220024375016465,-0.819452498318924,9.78746423383577e-06,-0.11054369142357245,-2.2762660734088058e-07],"joint_position":[-0.3129004623778848,-1.4988799523035778,1.8057135128336543,1.0670703939747794e-08,-0.3010644510602603,0.3129004849765713],"joint_velocity":[3.0956879530088524e-06,-0.08191417881637968,-0.16110434466608375,-2.5314404269332667e-06,0.21877689117542815,7.260614440790226e-07],"object_angular_velocity":[-0.01276162537445111,-0.03782468195103982,-2.0717965177660588e-05],"object_position":[0.33879387950580386,-0.10963812487843264,0.37358823431186644],"object_quaternion":[0.9999959010698208,0.0009818918900794213,0.0026895597853230273,-1.827553556214772e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00016579908175120937,4.365680061558386e-05,0.06916804838855647],"pad_normal_forces":{"left":0.8006069173741149,"right":0.7999168939590364},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.06},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290055277035655,-1.5072506561897467,1.7889623475008278,-4.4717962016981487e-10,-0.28178255629086923,0.31290055227114594],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01867269555970458,-0.006041150890475935,0.5093113584093083],[0.23672979038411815,-0.07658885560515315,0.4380784674373185],[0.28670120794804627,-0.09275603793560001,0.4217542632562375],[0.3390298006943919,-0.10968583403561387,0.42143742702242487],[0.33881056289452044,-0.10961490385345596,0.3814380907317267]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33881056289452044,-0.10961490385345596,0.3814380907317267],"end_effector_quaternion":[0.9999958518082599,0.000886630975565256,0.0027404838597564853,7.5447003293694e-09],"end_effector_velocity":[-0.0001988988797821502,6.556320123850766e-05,0.071353122827879],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36483059293199077,-0.10962896326227599,0.389295581824614],[0.3128928505974619,-0.10962921644621734,0.3895802540081367]],"gripper_width":0.03993852247729125,"jaw_actuator_force":[-0.8011419221484202,-0.7994245789792531],"joint_actuator_torque":[-0.00010283040282388356,-0.9219013684158881,-0.8201518248076809,8.848731559704933e-06,-0.11052005199041659,-2.2706134927830135e-07],"joint_position":[-0.3129004851703974,-1.5006472989995094,1.8019910903698053,1.207423088290067e-08,-0.29558310071180116,0.3129005038103263],"joint_velocity":[3.3880003742161784e-06,-0.08041603704836016,-0.16255444565250024,-2.3308158655361994e-06,0.21871470939611865,7.800500036887566e-07],"object_angular_velocity":[-0.012761006573114232,-0.03782284657481237,-2.2318275924375957e-05],"object_position":[0.33878596801207916,-0.10963659798948913,0.37516024270823983],"object_quaternion":[0.9999959129920734,0.0009805924642610167,0.0026855981701879405,-1.9258051748218586e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00012558162277805993,3.891838538596068e-05,0.0691905721099578],"pad_normal_forces":{"left":0.8006416940402964,"right":0.7999027140331052},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.08},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290057635818574,-1.5088563428534807,1.7850916733092026,-4.5788727597863564e-10,-0.2763063243678318,0.3129005758246725],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01821226206553011,-0.005892187979115618,0.5093449402285197],[0.2366380384944661,-0.07655917759154031,0.4393709681350765],[0.28669394559276395,-0.09275369604438763,0.42333526619699574],[0.33902254046782526,-0.109683494254842,0.4230188946511777],[0.3388036242310888,-0.10961266804706296,0.38301955641503205]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388036242310888,-0.10961266804706296,0.38301955641503205],"end_effector_quaternion":[0.9999958639673571,0.0008853312736896403,0.002736464272558336,5.369185059442819e-09],"end_effector_velocity":[-0.00016368065708343912,5.428416349032212e-05,0.07138830937841294],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3648236384230782,-0.10962670714373306,0.39087725646551086],[0.3128858946776833,-0.10962695936203075,0.39116151110678854]],"gripper_width":0.03993852160128368,"jaw_actuator_force":[-0.8012060518605422,-0.799384528683909],"joint_actuator_torque":[-0.00010944150594127677,-0.9218244224917953,-0.8208264056175949,7.892420316151225e-06,-0.11049637872930163,-2.263990772632951e-07],"joint_position":[-0.3129005094466938,-1.5023797796328433,1.7982352056095923,1.3410112227987808e-08,-0.29010318433086957,0.3129005240580432],"joint_velocity":[3.684629643019466e-06,-0.0789151136689829,-0.16400695923258474,-2.124068188340142e-06,0.21865246234058228,8.326763572230628e-07],"object_angular_velocity":[-0.01276022968994767,-0.037820522836695514,-2.3924110830481077e-05],"object_position":[0.338779074007376,-0.10963540140640639,0.37673296659486966],"object_quaternion":[0.9999959249306485,0.0009792958029221609,0.0026816229761603173,-2.024721313385326e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-8.476143022986055e-05,3.402219772356241e-05,0.06921277814990734],"pad_normal_forces":{"left":0.800678457896718,"right":0.799890058953231},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.1},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290060122694163,-1.510426845109584,1.7811872328291467,-4.671560240926762e-10,-0.27083151319718357,0.31290060066105424],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01776105939025528,-0.005746211505860725,0.5093770316662873],[0.2365488460480674,-0.07653032800539199,0.4406637632186545],[0.286687713823816,-0.09275168803653457,0.4249169725327387],[0.3390163108083036,-0.10968148843313161,0.4246010672202464],[0.33879771720333696,-0.10961076654776032,0.38460172703505335]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33879771720333696,-0.10961076654776032,0.38460172703505335],"end_effector_quaternion":[0.9999958761489532,0.0008840272214091858,0.0027324313274167005,3.173579697156876e-09],"end_effector_velocity":[-0.00012787793074208777,4.281793012958068e-05,0.07142342357998496],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36481771551252623,-0.1096247852644076,0.39245963673764017],[0.31287997047706606,-0.10962503651359805,0.3927434724484233]],"gripper_width":0.0399385206002473,"jaw_actuator_force":[-0.8012722438587501,-0.799345551000493],"joint_actuator_torque":[-0.00011610869249523148,-0.921771832366062,-0.8214761300488362,6.918615445396373e-06,-0.11047268852114556,-2.256258113675358e-07],"joint_position":[-0.3129005351740632,-1.504077327757968,1.7944457929493736,1.4676907174688523e-08,-0.2846247006551243,0.3129005456829389],"joint_velocity":[3.9855563597080325e-06,-0.07741128248190957,-0.16546214627107142,-1.9111826039578707e-06,0.21859027809920598,8.838641850925109e-07],"object_angular_velocity":[-0.012759295369697091,-0.03781771264646723,-2.55358773345528e-05],"object_position":[0.33877321226899126,-0.10963453995389086,0.3783064065467559],"object_quaternion":[0.9999959368823689,0.0009780022519702597,0.002677635207191911,-2.124332319499161e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.3285582846937336e-05,2.8953620294982112e-05,0.06923466006343254],"pad_normal_forces":{"left":0.8007170340162562,"right":0.7998787260062625},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.12},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290062733230867,-1.5119620799952647,1.7772489305418993,-4.749620733137295e-10,-0.2653581102970254,0.3129006267360095],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.017319110558442128,-0.005603228917776308,0.5094076810597008],[0.2364622303792668,-0.07650231244566708,0.4419568620127773],[0.28668252867153915,-0.09275001908747538,0.4264993826478573],[0.33901112774608916,-0.10967982174394104,0.42618394500246504],[0.33879285776430806,-0.10960920450411422,0.3861846028651187]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33879285776430806,-0.10960920450411422,0.3861846028651187],"end_effector_quaternion":[0.999995888349962,0.0008827191298739743,0.002728385989588773,9.553537664292969e-10],"end_effector_velocity":[-9.143903094910571e-05,3.114778533761637e-05,0.07145846264435046],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36481284016678955,-0.10962320277788193,0.39404272286410075],[0.3128750939494377,-0.10962345305442639,0.39432613835648184]],"gripper_width":0.03993851948739018,"jaw_actuator_force":[-0.8013403600787159,-0.7993074564446072],"joint_actuator_torque":[-0.00012282857190371033,-0.9217438498368438,-0.8221008815980895,5.927424722866206e-06,-0.11044899795491858,-2.247264845323116e-07],"joint_position":[-0.31290056231809704,-1.5057398736974419,1.7906227803389612,1.5873073218496774e-08,-0.27914764528347596,0.31290056864617793],"joint_velocity":[4.290763124229486e-06,-0.07590440056242624,-0.16692028427452235,-1.6921474441790945e-06,0.218528284547261,9.335303167204551e-07],"object_angular_velocity":[-0.012758204197977907,-0.03781441765237453,-2.7154014245237176e-05],"object_position":[0.338768398735143,-0.10963401883778585,0.3798805631155969],"object_quaternion":[0.9999959488441842,0.0009767121440198156,0.0026736358311823553,-2.2246702594881268e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.096954928234421e-06,2.3696903051795856e-05,0.0692562112637451],"pad_normal_forces":{"left":0.8007572736987173,"right":0.7998685364551447},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.14},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129006546272044,-1.51346195923746,1.7732766624846197,-4.812773244224681e-10,-0.2598861000545329,0.31290065400249434],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01688643935031906,-0.0054632479065301566,0.5094369357983655],[0.23637820998295364,-0.0764751368863511,0.44325027363695624],[0.28667840741959905,-0.09274869477756006,0.4280824968916333],[0.33900700856483246,-0.10967849976555685,0.4277675282400542],[0.3387890631235425,-0.10960798747052988,0.387768184147921]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3387890631235425,-0.10960798747052988,0.387768184147921],"end_effector_quaternion":[0.9999959005674298,0.0008814072975973412,0.002724329185463742,-1.288224136667577e-09],"end_effector_velocity":[-5.4308109855144386e-05,1.925566237444363e-05,0.07149342384084088],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3648090296059861,-0.10962196524338973,0.39562651503939206],[0.31287128230403777,-0.10962221454364517,0.3959095091217581]],"gripper_width":0.03993851827414642,"jaw_actuator_force":[-0.8014102867413264,-0.7992700755250048],"joint_actuator_torque":[-0.0001295975419708384,-0.9217407477807456,-0.8227005372035592,4.91898060447773e-06,-0.11042532330709065,-2.2368481822354624e-07],"joint_position":[-0.31290059084253885,-1.5073673441249928,1.7867660888616121,1.6996953686518402e-08,-0.2736720106788525,0.31290059290668043],"joint_velocity":[4.600234803038988e-06,-0.07439430673366856,-0.16838166895561318,-1.4669543167058942e-06,0.21846660937079493,9.815839389382413e-07],"object_angular_velocity":[-0.01275695669702078,-0.03781063921673496,-2.877899547005963e-05],"object_position":[0.338764650599984,-0.10963384367635072,0.38145543683333993],"object_quaternion":[0.9999959608131767,0.0009754257973683655,0.0026696257771908222,-2.3257690861498138e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[4.1866232479093134e-05,1.823504278857927e-05,0.06927742499813958],"pad_normal_forces":{"left":0.8007990516223203,"right":0.7998593324495866},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.16},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290068306149865,-1.5149263886330495,1.7692703156299159,-4.860689047455606e-10,-0.25441546372557927,0.3129006824104216],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01646307043077054,-0.005326276450122921,0.509464842316826],[0.23629680462423663,-0.07644880771189538,0.4445440070058515],[0.2866753687102393,-0.09274772112605158,0.42966631558041984],[0.3390039719068256,-0.10967752851508275,0.42935181714715914],[0.33878635185257905,-0.10960712144132119,0.3893524710980554]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33878635185257905,-0.10960712144132119,0.3893524710980554],"end_effector_quaternion":[0.9999959127985459,0.0008800920094484111,0.0027202617994730983,-3.5601079903008575e-09],"end_effector_velocity":[-1.6424686217470126e-05,7.121996369077212e-06,0.07152830449220576],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3648063024092366,-0.10962107865987095,0.3972110134321117],[0.3128685541106478,-0.10962132698005836,0.3974935850047772]],"gripper_width":0.039938516970384384,"jaw_actuator_force":[-0.8014819319995556,-0.7992332559222355],"joint_actuator_torque":[-0.0001364117649131913,-0.9217628223110523,-0.8232749663968661,3.893442339758748e-06,-0.11040168051800237,-2.2248315190154244e-07],"joint_position":[-0.3129006207091155,-1.5089596616091783,1.7828756322731065,1.8046763626022646e-08,-0.2681977861701159,0.31290061842090894],"joint_velocity":[4.913958846235642e-06,-0.0728808198366609,-0.16984661600837841,-1.2355982714148914e-06,0.2184053800935997,1.0279256604502944e-06],"object_angular_velocity":[-0.01275555332137402,-0.03780637838997638,-3.0411334226404295e-05],"object_position":[0.3387619864189738,-0.10963402053496583,0.38303102821594404],"object_quaternion":[0.9999959727865737,0.0009741435148383613,0.0026656059322981095,-2.4276648250441505e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[8.567092229173961e-05,1.2549646116697638e-05,0.0692982943205121],"pad_normal_forces":{"left":0.8008422633937736,"right":0.7998509743032409},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.18},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129007125816963,-1.5163552673608047,1.7652297671960238,-4.892986749889662e-10,-0.24894617943331437,0.3129007119063441],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.016049029490136497,-0.005192322858438861,0.5094914460869214],[0.23621803545992484,-0.07642333175647105,0.4458380708296439],[0.28667343266133466,-0.09274710462893676,0.4312508389998511],[0.33900203789006106,-0.10967691448624164,0.4309368119124647],[0.3387847440022938,-0.10960661288860413,0.390937463904632]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3387847440022938,-0.10960661288860413,0.390937463904632],"end_effector_quaternion":[0.9999959250406516,0.000878773535509101,0.002716184670585407,-5.86350048958818e-09],"end_effector_velocity":[2.2276874235106943e-05,-5.274443666386823e-06,0.0715631019694613],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36480467863178256,-0.10962054950384864,0.3987962181877527],[0.3128669294165255,-0.10962079684001784,0.39907836623822907]],"gripper_width":0.03993851558458808,"jaw_actuator_force":[-0.8015552239546553,-0.799196859972521],"joint_actuator_torque":[-0.0001432671392649354,-0.9218103952163119,-0.8238240303459179,2.8509984094655407e-06,-0.11037808516457304,-2.2110232222871673e-07],"joint_position":[-0.3129006518773501,-1.5105167441122422,1.7789513164942419,1.9020573582680792e-08,-0.2627249579530746,0.3129006451426278],"joint_velocity":[5.2319256620358405e-06,-0.07136373675921706,-0.17131546312943277,-9.980780013959455e-07,0.21834472410515385,1.0724463802919835e-06],"object_angular_velocity":[-0.012753994453453063,-0.03780163588274088,-3.205158794346329e-05],"object_position":[0.3387604262260601,-0.10963455596474721,0.3846073377673824],"object_quaternion":[0.9999959847617546,0.0009728655824600382,0.0026615771380479477,-2.530395786916601e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00013038980461711975,6.620773076369225e-06,0.06931881205978771],"pad_normal_forces":{"left":0.8008868234544334,"right":0.7998433380889454},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.2},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129007431305744,-1.517748487214447,1.7611548838769755,-4.909224920837833e-10,-0.24347822216566872,0.3129007424330933],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01564434339853106,-0.005061395823170261,0.5095167916100033],[0.236141925173524,-0.07639871634758924,0.44713247361439945],[0.2866726209969599,-0.09274685230110193,0.4328360674070736],[0.3390012282388062,-0.10967666469154055,0.43252251270188863],[0.33878426123379407,-0.10960646880456582,0.39252316273396803]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33878426123379407,-0.10960646880456582,0.39252316273396803],"end_effector_quaternion":[0.9999959372912508,0.0008774521297722805,0.002712098588314761,-8.201883544106338e-09],"end_effector_velocity":[6.186795389023694e-05,-1.795674722857585e-05,0.07159781368570388],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36480417993558745,-0.10962038477167908,0.4003821294316037],[0.3128664298768473,-0.10962063111966984,0.40066385302945545]],"gripper_width":0.03993851412401432,"jaw_actuator_force":[-0.8016301090079141,-0.7991607624117547],"joint_actuator_torque":[-0.00015015926783235045,-0.9218838167271315,-0.8243475807722689,1.7918693353832062e-06,-0.11035455242872416,-2.1952140727421465e-07],"joint_position":[-0.3129006843043496,-1.5120385044377398,1.774993039050114,1.9916290881061822e-08,-0.25725350909053535,0.31290067302262975],"joint_velocity":[5.554129008065311e-06,-0.06984283018188125,-0.17278857232792738,-7.543960755861737e-07,0.21828476868960095,1.1150260546834512e-06],"object_angular_velocity":[-0.01275228039896586,-0.03779641203519465,-3.370036382037415e-05],"object_position":[0.33875999166438153,-0.1096354570456403,0.3861843659839164],"object_quaternion":[0.9999959967362629,0.0009715922679653547,0.0026575401863877667,-2.634002807417616e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0001761019851279598,4.267579801713236e-07,0.06933897078370464],"pad_normal_forces":{"left":0.8009326633069055,"right":0.7998363135093333},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.22},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129007746467683,-1.5191059317441498,1.7570455209800344,-4.908891522841512e-10,-0.23801156377174096,0.31290077392936505],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01524904037569161,-0.004933504472766079,0.5095409224089341],[0.23606849812576483,-0.07637496935473945,0.448427223662406],[0.28667295719348995,-0.09274697172352502,0.43442200103299333],[0.3390015664297103,-0.10967678670945126,0.4341089196613583],[0.3387849269648915,-0.10960669674876464,0.39410956773236205]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3387849269648915,-0.10960669674876464,0.39410956773236205],"end_effector_quaternion":[0.9999959495480233,0.0008761280286492277,0.0027080042881449805,-1.057905215965645e-08],"end_effector_velocity":[0.00010242636729809566,-3.09500834624291e-05,0.0716324370884703],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36480482973543754,-0.10962059202683012,0.40196874727176285],[0.31286707890067,-0.10962083738222886,0.4022500455629891]],"gripper_width":0.039938512594829244,"jaw_actuator_force":[-0.8017065505204108,-0.7991248483391233],"joint_actuator_torque":[-0.0001570834199355886,-0.9219834686643935,-0.8248454587164815,7.163109531779436e-07,-0.11033109706059108,-2.1771753111465841e-07],"joint_position":[-0.31290071794456614,-1.5135248496193694,1.7710006884483638,2.0731638016504934e-08,-0.25178341951134603,0.31290070200842734],"joint_velocity":[5.880566472956123e-06,-0.06831784599002014,-0.1742663325750633,-5.045592107294554e-07,0.21822564105503184,1.1555322229966408e-06],"object_angular_velocity":[-0.012750411382141594,-0.0377907067832181,-3.5358325302125226e-05],"object_position":[0.3387607061325044,-0.10963673143466388,0.3877621133586768],"object_quaternion":[0.9999960087078201,0.0009703238190575049,0.0026534958150117673,-2.738529515698424e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00022289375390101488,-6.055996535105377e-06,0.06935876275686881],"pad_normal_forces":{"left":0.8009797300310526,"right":0.7998298020051606},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.24},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290080706429574,-1.5204274752912743,1.7529015214551793,-4.891398253041566e-10,-0.2325461729570559,0.31290080632924555],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.014863150178741461,-0.004808658433176189,0.509563881019772],[0.23599778052304393,-0.07635209924381513,0.44972232907245613],[0.28667446664361323,-0.09274747109625323,0.43600864008452955],[0.3390030778558254,-0.10967728873737459,0.43569603291967385],[0.33878676653454437,-0.10960730490123188,0.395696679028955]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33878676653454437,-0.10960730490123188,0.395696679028955],"end_effector_quaternion":[0.9999959618088391,0.0008748014492509027,0.0027039024462595825,-1.29991549381122e-08],"end_effector_velocity":[0.00014403715056294022,-4.428195636564506e-05,0.07166696965046251],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36480665336291496,-0.10962117945295795,0.4035560718022758],[0.31286890181478383,-0.10962142381104946,0.4038369440031449]],"gripper_width":0.039938511002225785,"jaw_actuator_force":[-0.8017845277590707,-0.7990890113628559],"joint_actuator_torque":[-0.00016403448728397052,-0.9221097680394905,-0.8253174931281819,-3.753817761875911e-07,-0.11030773333557065,-2.1566558672247993e-07],"joint_position":[-0.3129007527495269,-1.5149756802420422,1.7669741434871475,2.146412766069958e-08,-0.24631466600838134,0.3129007320439009],"joint_velocity":[6.2112400076006445e-06,-0.06678850029064884,-0.17574916285553327,-2.485785877466322e-07,0.21816746836276787,1.1938182590362047e-06],"object_angular_velocity":[-0.012748387540802207,-0.0377845196208717,-3.7026199603571716e-05],"object_position":[0.33876259494857563,-0.10963838742009875,0.38934058038659525],"object_quaternion":[0.9999960206743378,0.0009690604614132922,0.002649444701991543,-2.8440226448981955e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00027085947336421423,-1.285325722751364e-05,0.0693781798921638],"pad_normal_forces":{"left":0.801027985065524,"right":0.799823715066794},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.26},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129008403120088,-1.5217129818980195,1.7487227147983282,-4.856067143690079e-10,-0.22708201527773259,0.31290083956166387],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014486704310706814,-0.004686867895309554,0.5095857089830347],[0.2359298006066194,-0.0763301151382441,0.45101779774004297],[0.28667717684109933,-0.09274835929808327,0.43759598474685735],[0.3390057900113829,-0.10967817965130577,0.43728385259145575],[0.3387898073881216,-0.10960830212229615,0.39728449673867494]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3387898073881216,-0.10960830212229615,0.39728449673867494],"end_effector_quaternion":[0.9999959740717758,0.0008734725874011801,0.0026997936734516783,-1.5466741141751763e-08],"end_effector_velocity":[0.0001867934761714228,-5.798250054084276e-05,0.07170140885818649],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36480967825107813,-0.10962215591370267,0.40514410310639926],[0.31287192604828834,-0.10962239926941579,0.4054245484966512]],"gripper_width":0.03993850935052458,"jaw_actuator_force":[-0.8018640351138746,-0.79905315189328],"joint_actuator_torque":[-0.00017100693224847419,-0.9222631711904796,-0.8257634992434078,-1.4828702960900685e-06,-0.11028447500395444,-2.1333790201083502e-07],"joint_position":[-0.3129007886675267,-1.5163908896845224,1.7629132724818612,2.2111033307437106e-08,-0.2408472222354376,0.31290076306889575],"joint_velocity":[6.5461565547617315e-06,-0.06525447595853026,-0.1772375156967773,1.3529760739020339e-08,0.21811037775571823,1.229721353832607e-06],"object_angular_velocity":[-0.012746208921293776,-0.03777784955822978,-3.870478643168007e-05],"object_position":[0.3387656855352297,-0.10964043398256863,0.39091976756974045],"object_quaternion":[0.9999960326339411,0.0009678023963662375,0.0026453874595559557,-2.9505323816183086e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00032010260814602167,-1.9993235774507404e-05,0.0693972136941064],"pad_normal_forces":{"left":0.8010774032349421,"right":0.7998179727178668},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.28},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290087431295893,-1.5229623040697449,1.7445089158060907,-4.802116207917997e-10,-0.2216190531336003,0.3129008735497583],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014119736253180554,-0.00456814369030463,0.509606446834413],[0.23586458886595327,-0.07630902688792039,0.45231363735743074],[0.28668111758971365,-0.09274964595404067,0.4391840351856223],[0.3390097327007182,-0.10967946907329662,0.43887237878017915],[0.33879407928689415,-0.10960969802023039,0.3988730209652684]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33879407928689415,-0.10960969802023039,0.3988730209652684],"end_effector_quaternion":[0.9999959863351373,0.0008721416153253429,0.0026956785080383327,-1.7986815871452204e-08],"end_effector_velocity":[0.00023079771785818395,-7.208482545241609e-05,0.07173575219794695],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36481393414322993,-0.10962353102030173,0.40673284126000436],[0.31287618134127154,-0.10962377336814823,0.4070128591753184]],"gripper_width":0.03993850764325989,"jaw_actuator_force":[-0.8019450815763296,-0.7990171755500919],"joint_actuator_torque":[-0.00017799472672663796,-0.9224441785502222,-0.8261832767099122,-2.605767186568792e-06,-0.11026133523127513,-2.1070388100952187e-07],"joint_position":[-0.3129008256432783,-1.5177703632708837,1.758817932397482,2.2669354996149153e-08,-0.235381058703028,0.31290079501876017],"joint_velocity":[6.885328781137691e-06,-0.06371541861918738,-0.17873188126882222,2.8174450233059257e-07,0.2180544963842053,1.2630601203582454e-06],"object_angular_velocity":[-0.012743875473344018,-0.037770695074226306,-4.039496825377853e-05],"object_position":[0.33877000762863874,-0.10964288086414602,0.39249967542311603],"object_quaternion":[0.9999960445849815,0.0009665497982056421,0.0026413246268473323,-3.058112768724707e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0003707369247295102,-2.750690952992524e-05,0.06941585519243658],"pad_normal_forces":{"left":0.8011279720088107,"right":0.7998125021431524},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.3},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290090898365625,-1.524175281362823,1.7402599231550193,-4.728645648801481e-10,-0.2161572457603893,0.31290090821013755],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013762281727217402,-0.004452497373932795,0.5096261340947871],[0.2358021782802841,-0.07628884514725598,0.4536098554135536],[0.28668632124036186,-0.09275134151197588,0.44077279154910426],[0.33901493827542667,-0.10968116744803211,0.4404616115812955],[0.33879961454585317,-0.10961150302804452,0.4004622518044182]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33879961454585317,-0.10961150302804452,0.4004622518044182],"end_effector_quaternion":[0.9999959985974775,0.0008708086789491906,0.002691557407581472,-2.0564904726433946e-08],"end_effector_velocity":[0.0002761626960482381,-8.662541807409217e-05,0.07176999713863225],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36481945332984167,-0.10962531520834352,0.4083222863351295],[0.31288169998165655,-0.10962555654234878,0.4086018761587314]],"gripper_width":0.039938505883252186,"jaw_actuator_force":[-0.8020276904759935,-0.7989809916515824],"joint_actuator_torque":[-0.00018499127968141238,-0.9226533401772485,-0.8265766074082421,-3.7436299239688844e-06,-0.11023832652777088,-2.077295455649164e-07],"joint_position":[-0.31290086361751085,-1.519113977315432,1.7546879678707805,2.3135778936206953e-08,-0.2299161427730853,0.3129008278238126],"joint_velocity":[7.228775899932683e-06,-0.06217093195430252,-0.18023279217024607,5.560384638419066e-07,0.2179999514280515,1.293631751940677e-06],"object_angular_velocity":[-0.012741387044913493,-0.037763054063502416,-4.209772237094039e-05],"object_position":[0.3387755935157823,-0.10964573864684843,0.39408030448099707],"object_quaternion":[0.9999960565260668,0.0009653028110131212,0.002637256661443312,-3.1668221660382765e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00042288789588025024,-3.542839673484679e-05,0.069434094863964],"pad_normal_forces":{"left":0.8011796909829273,"right":0.7998072364333443},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.32},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290094423320425,-1.5253517387646591,1.7359755177721772,-4.6346181112924585e-10,-0.21069654922120903,0.3129009434520165],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013414378987403943,-0.004339941321734492,0.5096448092593644],[0.23574260459337082,-0.07626958146394859,0.45490645919367567],[0.2866928229614049,-0.09275345732987265,0.44236225397028867],[0.33902144190469236,-0.1096832861301163,0.4420515510854288],[0.3388064483048167,-0.10961372849102509,0.4020521893469353]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388064483048167,-0.10961372849102509,0.4020521893469353],"end_effector_quaternion":[0.9999960108576273,0.0008694738947276807,0.0026874307391676735,-2.3207130687250028e-08],"end_effector_velocity":[0.00032301314182848,-0.00010164461616623817,0.07180414111040295],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36482627091855313,-0.10962751982526109,0.4099124384036829],[0.31288851707513654,-0.10962776013888502,0.41019159955694345]],"gripper_width":0.039938504072668246,"jaw_actuator_force":[-0.802111899478513,-0.7989445117531755],"joint_actuator_torque":[-0.0001919893503838921,-0.9228912621998688,-0.8269432529053802,-4.8959534450143655e-06,-0.11021546066416121,-2.0437700598563424e-07],"joint_position":[-0.31290090252650865,-1.5204215980425284,1.7505232101033545,2.3506629558121355e-08,-0.2244524386526231,0.31290086140872425],"joint_velocity":[7.5765246917114536e-06,-0.060620572187142195,-0.1817408290431672,8.363779735428691e-07,0.2179468701123581,1.3212086029708086e-06],"object_angular_velocity":[-0.012738743377189669,-0.03775492377605941,-4.3814135220080675e-05],"object_position":[0.3387824783048675,-0.10964901884217666,0.3956616553038913],"object_quaternion":[0.9999960684560831,0.0009640615449377834,0.002633183929382371,-3.2767237824768897e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0004766943529063769,-4.379539759634917e-05,0.06945192254001087],"pad_normal_forces":{"left":0.8012325715795235,"right":0.7998021134221495},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.34},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290097996227967,-1.5264914848245723,1.731655460956001,-4.518834374443675e-10,-0.20523691639762237,0.312900979176199],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013076069155119403,-0.00423048883683401,0.5096625097857272],[0.23568590662742073,-0.07625124838040853,0.45620345577873783],[0.28670066104815645,-0.09275600577581103,0.44395242256880274],[0.33902928188480114,-0.10968583748400955,0.4436421973816401],[0.33881461883886094,-0.10961638676697213,0.4036428336820185]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33881461883886094,-0.10961638676697213,0.4036428336820185],"end_effector_quaternion":[0.9999960231147271,0.0008681373458983704,0.002683298767926079,-2.5920305946435908e-08],"end_effector_velocity":[0.00037148742710165373,-0.00011718716762207045,0.07183818147819365],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36483442514323206,-0.10963015723051475,0.4115032975413057],[0.31289667085417944,-0.10963039651656155,0.4117820294731464]],"gripper_width":0.03993850221307006,"jaw_actuator_force":[-0.8021977608561155,-0.7989076482016211],"joint_actuator_torque":[-0.00019898094475934158,-0.9231586143641834,-0.8272829514595514,-6.0621612334392624e-06,-0.11019274857060779,-2.0060380379050002e-07],"joint_position":[-0.31290094230157867,-1.5216930803587085,1.7463234756023203,2.3777812405141185e-08,-0.21898990738646426,0.3129008956917999],"joint_velocity":[7.92861066641871e-06,-0.05906384156928312,-0.18325662719670283,1.1227220706141782e-06,0.21789537971358222,1.3455341116998437e-06],"object_angular_velocity":[-0.01273594409996233,-0.03774630074889329,-4.5545419415300354e-05],"object_position":[0.3387907002349026,-0.10965273399370894,0.397243728486234],"object_quaternion":[0.9999960803742353,0.0009628260717860662,0.002629106693362527,-3.38788629201995e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0005323104402051445,-5.2649715642877915e-05,0.06946932729614926],"pad_normal_forces":{"left":0.8012866369686753,"right":0.7997970745900519},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.36},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290101606192483,-1.5275943094840243,1.7272994921963991,-4.379906404043722e-10,-0.19977829698080737,0.3129010152738723],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.012747396598360149,-0.004124154272818514,0.5096792720805353],[0.23563212664357233,-0.0762338595502249,0.45750085204429347],[0.2867098772789335,-0.09275900034296386,0.4455432974526547],[0.3390384999952099,-0.10968883499899502,0.4452335505607449],[0.33882416791548087,-0.10961949134152173,0.4052341849005651]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33882416791548087,-0.10961949134152173,0.4052341849005651],"end_effector_quaternion":[0.9999960353682639,0.0008667990780311737,0.002679161643390101,-2.8712041740806832e-08],"end_effector_velocity":[0.0004217396211831526,-0.00013330289534255516,0.07187211550860892],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36484395771942596,-0.1096332409108504,0.41309486383140115],[0.31290620303343436,-0.10963347916136422,0.4133731660062836]],"gripper_width":0.03993850030545307,"jaw_actuator_force":[-0.8022853420502658,-0.7988703126684706],"joint_actuator_torque":[-0.00020595718966376353,-0.9234561389334885,-0.8275954144770594,-7.241594567184124e-06,-0.11017020021489543,-1.963621514278202e-07],"joint_position":[-0.3129009828684317,-1.5229282664494026,1.7420885647403188,2.394474567483692e-08,-0.2135285068492181,0.3129009305841364],"joint_velocity":[8.285079466560066e-06,-0.05750018064271639,-0.1847808844656246,1.4150215403830363e-06,0.2178456075517519,1.366317845474522e-06],"object_angular_velocity":[-0.012732988727622168,-0.03773718072790508,-4.729293417133877e-05],"object_position":[0.3388003010317719,-0.10965689779522234,0.3988265246649465],"object_quaternion":[0.9999960922800812,0.0009615964197707581,0.002625025098697432,-3.5003845485439973e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0005899079409096966,-6.203787750882551e-05,0.06948629732002112],"pad_normal_forces":{"left":0.8013419222193632,"right":0.7997920640098376},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.38},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129010524121062,-1.5286599815413655,1.722907326629946,-4.2162239634156293e-10,-0.19432063746354378,0.312901051625169],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.012428409367236676,-0.004020953174627657,0.5096951314845646],[0.23558131075803604,-0.0762174298726115,0.4587986546588975],[0.2867205173267609,-0.09276245578256613,0.44713487871968216],[0.3390491419102727,-0.10969229342211309,0.4468256107186466],[0.33883514120761943,-0.10962305696150568,0.4068262430984981]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33883514120761943,-0.10962305696150568,0.4068262430984981],"end_effector_quaternion":[0.9999960476181172,0.0008654590937113242,0.002675019383204274,-3.159088051061401e-08],"end_effector_velocity":[0.0004739419505328255,-0.00015004749244859204,0.07190594032839076],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3648549142552541,-0.10963678561358237,0.41468713736931817],[0.3129171592205865,-0.10963702281972666,0.4149650092535411]],"gripper_width":0.03993849835027436,"jaw_actuator_force":[-0.8023747265568701,-0.798832414622276],"joint_actuator_torque":[-0.00021290818041563853,-0.9237846612389831,-0.8278803222896158,-8.4334994471079e-06,-0.11014782445449356,-1.9159796593726242e-07],"joint_position":[-0.3129010241464601,-1.5241269841660476,1.7378182600998702,2.4002277468031537e-08,-0.20806819173679914,0.3129009659886313],"joint_velocity":[8.645988526229658e-06,-0.05592895898990675,-0.18631437059243794,1.7132177223540253e-06,0.21779768096252253,1.383229486280677e-06],"object_angular_velocity":[-0.012729876656346468,-0.03772755857850267,-4.905820995224194e-05],"object_position":[0.3388113263198894,-0.10966152522739482,0.4004100445290217],"object_quaternion":[0.9999961041735804,0.0009603725672198557,0.0026209391565017197,-3.6143004209034683e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0006496790613898159,-7.201187429740051e-05,0.0695028197518685],"pad_normal_forces":{"left":0.8013984746971722,"right":0.7997870273064648},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.4},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129010888799838,-1.5296882456688474,1.7184786520489106,-4.0259099330684394e-10,-0.18886388113407973,0.3129010880974405],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012119159696464299,-0.003920902441116847,0.5097101222557004],[0.23553350942520984,-0.0762019756484892,0.4600968700817879],[0.2867326312380474,-0.09276638825851202,0.4487271664585996],[0.3390612576779429,-0.10969622891271748,0.4484183779596521],[0.3388475887739382,-0.10962709979001942,0.4084190083800718]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388475887739382,-0.10962709979001942,0.4084190083800718],"end_effector_quaternion":[0.999996059864614,0.000864117346142489,0.002670871853524266,-3.456645726243517e-08],"end_effector_velocity":[0.0005282877603998036,-0.00016748347974931835,0.07193965287184721],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36486734472898746,-0.10964080750156899,0.41628011826669015],[0.31292958939390875,-0.10964104365348577,0.41655755931265104]],"gripper_width":0.03993849634747092,"jaw_actuator_force":[-0.8024660151774299,-0.798793859692279],"joint_actuator_torque":[-0.0002198227936105468,-0.9241451022775209,-0.8281373190886825,-9.63701060210668e-06,-0.11012562885571242,-1.862497178706235e-07],"joint_position":[-0.3129010660478901,-1.5252890451610661,1.7335123245586315,2.394458509009197e-08,-0.20260891355794416,0.3129010017988078],"joint_velocity":[9.011409093561887e-06,-0.05434946410151857,-0.1878579385033523,2.0172410362495314e-06,0.21775172724038247,1.3958914111770726e-06],"object_angular_velocity":[-0.012726607163031336,-0.037717428182839116,-5.08429784649648e-05],"object_position":[0.3388238261007105,-0.10966663271689196,0.40199428883033667],"object_quaternion":[0.9999961160551515,0.0009591544349901379,0.002616848723424018,-3.7297237720749695e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0007118397874807561,-8.263005431007202e-05,0.06951888049061171],"pad_normal_forces":{"left":0.8014563547338674,"right":0.7997819106027321},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.42},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129011253178152,-1.530678818876458,1.714013125360168,-3.8067705278625435e-10,-0.18340796807344237,0.3129011245431653],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011819704589058825,-0.003824020513891351,0.5097242775494053],[0.23548877800197576,-0.07618751476279216,0.46139550455963824],[0.2867462739924359,-0.09277081552816527,0.4503201607494833],[0.3390749022796543,-0.10970065922323749,0.45001185239970315],[0.3388615656205971,-0.10963163758780398,0.41001248086109343]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388615656205971,-0.10963163758780398,0.41001248086109343],"end_effector_quaternion":[0.9999960721085959,0.0008627737313992321,0.0026667187452800744,-3.7649696737681985e-08],"end_effector_velocity":[0.0005849951063542618,-0.00018568136685779158,0.07197324981400953],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3648813040474163,-0.10964532433448299,0.41787380665590784],[0.3129435484606087,-0.10964555942112746,0.41815081628389816]],"gripper_width":0.03993849429646793,"jaw_actuator_force":[-0.8025593276957936,-0.7987545478677331],"joint_actuator_torque":[-0.00022668845619477906,-0.9245384938573125,-0.8283660068002519,-1.0851131741054767e-05,-0.11010361947113623,-1.8024697467922124e-07],"joint_position":[-0.3129011084767806,-1.5264142427173382,1.729170499061121,2.3765051663144815e-08,-0.1971506206264004,0.3129010378974123],"joint_velocity":[9.381428656226897e-06,-0.05276088788237423,-0.18941253795813875,2.327009145313157e-06,0.2177078735412237,1.4038695822762327e-06],"object_angular_velocity":[-0.012723179407022962,-0.03770678232140562,-5.264920935324707e-05],"object_position":[0.33883785531224536,-0.10967223832261662,0.40357925839594744],"object_quaternion":[0.9999961279257429,0.0009579418772545184,0.0026127534770475406,-3.8467536125518713e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0007766339595234991,-9.395820576367239e-05,0.06953446395633121],"pad_normal_forces":{"left":0.801515636607165,"right":0.7997766594157015},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.44},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290116156039555,-1.531631386286041,1.7095103683596267,-3.556224517180736e-10,-0.1779528351584732,0.31290116079739605],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.011530106499217997,-0.003730327598228292,0.5097376293960586],[0.23544717741115023,-0.0761740668988041,0.46269456412208965],[0.28676150616180135,-0.09277575715518604,0.45191386166347175],[0.3390901362893566,-0.1097056039119476,0.45160603416942785],[0.3388771323626064,-0.1096366899267718,0.4116066606719612]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388771323626064,-0.1096366899267718,0.4116066606719612],"end_effector_quaternion":[0.9999960843514993,0.0008614280789734279,0.0026625595452163054,-4.0853056267616e-08],"end_effector_velocity":[0.0006443111437591355,-0.0002047210712746929,0.07200672748494438],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36489685270284317,-0.10965035568220116,0.4194682026946841],[0.3129590969138079,-0.10965058969114608,0.41974478027167705]],"gripper_width":0.03993849219617683,"jaw_actuator_force":[-0.8026548050624136,-0.7987143714628582],"joint_actuator_torque":[-0.00023349085776658285,-0.9249659969545974,-0.8285659376194872,-1.2074710966683919e-05,-0.11008180056333927,-1.7350861014620023e-07],"joint_position":[-0.312901151327832,-1.5275023492046387,1.7247925000080864,2.3456113396995804e-08,-0.19169325805478463,0.3129010741547299],"joint_velocity":[9.756153913192681e-06,-0.05116231016605619,-0.19097923220299481,2.6424246298547077e-06,0.21766624672723026,1.406662075909868e-06],"object_angular_velocity":[-0.012719592436088336,-0.037695612535919576,-5.4479155606036355e-05],"object_position":[0.3388534744874731,-0.1096783619551779,0.40516495414218445],"object_quaternion":[0.9999961397869164,0.000956734670229704,0.002608652885804019,-3.96549946808258e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.000844338258713988,-0.00010607088020370448,0.06954955279687781],"pad_normal_forces":{"left":0.8015764098828739,"right":0.7997712174638756},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.46},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129011974219031,-1.532545596036833,1.7049699626464756,-3.27122626475897e-10,-0.17249841607389768,0.31290119667461147],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011250434137371982,-0.0036398459235221564,0.5097502086744061],[0.2354087749270658,-0.0761616537919467,0.46399405457567483],[0.2867783946913706,-0.09278123476179398,0.4535082692613822],[0.3391070266546799,-0.1097110845951621,0.4532009234168792],[0.3388943560078419,-0.1096422784431317,0.41320154796038716]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3388943560078419,-0.1096422784431317,0.41320154796038716],"end_effector_quaternion":[0.999996096595456,0.0008600801401442149,0.002658393500267637,-4.4190828782629796e-08],"end_effector_velocity":[0.0007065175376998398,-0.00022469366738239955,0.07204008175896029],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36491405755147543,-0.10965592317776203,0.42106330657065716],[0.3129763016109288,-0.10965615609496476,0.4213394513853948]],"gripper_width":0.039938490044982435,"jaw_actuator_force":[-0.8027526121953317,-0.7986732127605114],"joint_actuator_torque":[-0.00024021358819936722,-0.9254289241420111,-0.8287366048290323,-1.3306409862097667e-05,-0.1100601742592957,-1.659405342024911e-07],"joint_position":[-0.31290119448496057,-1.528553113076721,1.7203780161756383,2.3009069156307003e-08,-0.18623676775158163,0.3129011104265419],"joint_velocity":[1.0135714434827081e-05,-0.04955267840464246,-0.19255921845842497,2.9633720386404423e-06,0.21762697312984797,1.403684720738995e-06],"object_angular_velocity":[-0.01271584519871949,-0.03768390897021243,-5.633541011368573e-05],"object_position":[0.3388707505345058,-0.10968502563733228,0.40675137709096526],"object_quaternion":[0.9999961516409532,0.0009555324982704668,0.0026045461718739167,-4.0860830068534683e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0009152683608522554,-0.00011905302375631386,0.0695641275221242],"pad_normal_forces":{"left":0.8016387811919308,"right":0.7997655253346857},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.48},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129012326919699,-1.533421053085182,1.7003914434447176,-2.948150521057124e-10,-0.16704464133832025,0.3129012319647986],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.010980763427089816,-0.0035526000528575035,0.5097620450801408],[0.23537364511296277,-0.07615029953260585,0.4652939814956087],[0.286797013832642,-0.09278727233004819,0.4551033835908201],[0.3391256476299102,-0.10971712524843286,0.454796520309759],[0.3389133108935557,-0.10964842713974114,0.4147971428936009]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3389133108935557,-0.10964842713974114,0.4147971428936009],"end_effector_quaternion":[0.9999961088434163,0.0008587295735458017,0.002654219573359312,-4.7679524198582045e-08],"end_effector_velocity":[0.0007719371921115371,-0.0002457035619445212,0.07207330791010222],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3649329927426142,-0.1096620508195109,0.4226591185059293],[0.3129952367028854,-0.10966228262903299,0.42293482973941776]],"gripper_width":0.03993848784071789,"jaw_actuator_force":[-0.8028529415466004,-0.7986309412202823],"joint_actuator_torque":[-0.00024683767780686594,-0.9259287672492746,-0.8288774314032707,-1.454466421784027e-05,-0.11003874011374037,-1.5743280101787605e-07],"joint_position":[-0.3129012378195765,-1.5295662552975593,1.7159267050507785,2.2413840008438046e-08,-0.18078108842342452,0.3129011465516291],"joint_velocity":[1.0520267182671152e-05,-0.04793078241481552,-0.1941538533579784,3.2897140686789907e-06,0.2175901781963069,1.3942527560817076e-06],"object_angular_velocity":[-0.012711936565943908,-0.03767166018511654,-5.822097694352438e-05],"object_position":[0.33888975766800816,-0.10969225381542709,0.4083385283888563],"object_quaternion":[0.9999961634909839,0.0009543349365626385,0.002600432265028356,-4.2086399914858935e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0009897866013404055,-0.00013300200639552426,0.06957816604358726],"pad_normal_forces":{"left":0.8017028765415755,"right":0.799759518947764},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.5},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290126713073446,-1.5342573115794693,1.695774292019971,-2.582659439301943e-10,-0.16159143835135523,0.3129012664285158],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010721178652629136,-0.003468617254257488,0.509773167088343],[0.23534187094897127,-0.07614003093052225,0.46659435021472817],[0.286817446266883,-0.09279389656466626,0.45669920468119146],[0.33914608189955514,-0.10972375256926825,0.4563928250368377],[0.33893407981437174,-0.10965516275027158,0.4163934456597448]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33893407981437174,-0.10965516275027158,0.4163934456597448],"end_effector_quaternion":[0.9999961210993065,0.0008573759270859907,0.002650036388036683,-5.133835255789438e-08],"end_effector_velocity":[0.0008409427040023745,-0.0002678712273271964,0.07210640042182329],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36495374083700916,-0.10966876533500582,0.4242556387613885],[0.3130159847524471,-0.109668996018673,0.424530915451642]],"gripper_width":0.039938485580625877,"jaw_actuator_force":[-0.80295601763435,-0.7985874101012786],"joint_actuator_torque":[-0.00025334100564577966,-0.9264672318125804,-0.8289877557164118,-1.5787633569969766e-05,-0.11001749455214593,-1.4785587865162597e-07],"joint_position":[-0.3129012811884886,-1.5305414650510818,1.7114381884353527,2.1658663116749186e-08,-0.17532615558580802,0.3129011823486916],"joint_velocity":[1.0910002189716238e-05,-0.046295222660605685,-0.19576468485175416,3.621286619674352e-06,0.21755598596884332,1.377557257834618e-06],"object_angular_velocity":[-0.012707865367438436,-0.037658852942682404,-6.013936206424e-05],"object_position":[0.3389105785303869,-0.10970007373497674,0.40992640932959645],"object_quaternion":[0.9999961753411547,0.0009531414293723438,0.0025963097446374222,-4.333322628747974e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0010683116194718698,-0.0001480301717307274,0.06959164308877379],"pad_normal_forces":{"left":0.8017688442957008,"right":0.7997531277288614},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.52},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129013004625317,-1.535053865374896,1.6911179262666218,-2.1695120320678291e-10,-0.15613873147268284,0.31290129979060144],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010471773848452154,-0.0033879279502113295,0.5097836019081017],[0.23531354520199724,-0.07613087795731983,0.4678951658085828],[0.286839784470518,-0.09280113733394887,0.4582957325357764],[0.33916842194381713,-0.10973099641793535,0.4579898378081387],[0.33895675539336656,-0.10966251518184195,0.41799045646802635]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33895675539336656,-0.10966251518184195,0.41799045646802635],"end_effector_quaternion":[0.999996133368225,0.0008560186150527162,0.00264584215837312,-5.518984671191888e-08],"end_effector_velocity":[0.0009139671024428822,-0.0002913366734198597,0.07213935273339746],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36497639416508754,-0.10967609662332314,0.42585286764056973],[0.31303863809248655,-0.10967632616030873,0.42612770864007354]],"gripper_width":0.039938483261303455,"jaw_actuator_force":[-0.803062102814768,-0.7985424522972373],"joint_actuator_torque":[-0.00025969752958587833,-0.9270462804506678,-0.8290668134141015,-1.7033135517595793e-05,-0.10999643015194494,-1.3705581380918375e-07],"joint_position":[-0.3129013244313272,-1.5314783945416537,1.7069120471228458,2.0729696464047232e-08,-0.169871901586875,0.3129012176125056],"joint_velocity":[1.1305149691150425e-05,-0.04464436997741409,-0.19739349265916947,3.957892227020123e-06,0.21752451832212602,1.3526343489107663e-06],"object_angular_velocity":[-0.012703630449061852,-0.03764547195458885,-6.209469023168128e-05],"object_position":[0.33893330555366585,-0.10970851589777733,0.41151502138102564],"object_quaternion":[0.999996187196835,0.0009519512624183658,0.002592176766029629,-4.460302424900034e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.001151330628419138,-0.00016426807629384022,0.06960452944730143],"pad_normal_forces":{"left":0.801836859011388,"right":0.7997462723799927},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.54},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129013323677355,-1.5358101360839973,1.6864216888770356,-1.702323205825636e-10,-0.15068644214936686,0.3129013317320374],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010232654499570745,-0.00331056626775915,0.5097933754270806],[0.23528877210636795,-0.07612287428941232,0.4691964330752803],[0.28686413239125896,-0.09280902821104117,0.4598929671196594],[0.3391927717148312,-0.10973889035856929,0.4595875588532545],[0.33898144176548706,-0.10967051805847346,0.41958817554699473]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33898144176548706,-0.10967051805847346,0.41958817554699473],"end_effector_quaternion":[0.9999961456566937,0.0008546568887939336,0.0026416345992156644,-5.9260671841397215e-08],"end_effector_velocity":[0.000991517655999411,-0.0003162639116097523,0.0721721568980116],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3650010564930118,-0.10968407829809322,0.42745080549268416],[0.3130633004920642,-0.10968430666440167,0.42772520941653364]],"gripper_width":0.03993848087862737,"jaw_actuator_force":[-0.8031715046710586,-0.7984958751064823],"joint_actuator_torque":[-0.00026587627016283477,-0.9276681881387958,-0.8291137141410445,-1.827855905451906e-05,-0.10997553470373589,-1.248477907722645e-07],"joint_position":[-0.31290136736734575,-1.532376652626696,1.7023478143859174,1.9610502437918498e-08,-0.16441825565117416,0.3129012521090756],"joint_velocity":[1.170598926338061e-05,-0.04297631380411527,-0.19904234018590256,4.299291293973714e-06,0.21749589384707865,1.318324558495008e-06],"object_angular_velocity":[-0.01269923076287748,-0.037631499589141824,-6.409185759920937e-05],"object_position":[0.3389580426302882,-0.10971761462396401,0.41310436621771035],"object_quaternion":[0.9999961990648886,0.0009507635273658859,0.0025880309658702118,-4.5897736687715045e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00123941521784795,-0.0001818686549113469,0.06961679098811623],"pad_normal_forces":{"left":0.8019071263899453,"right":0.799738862086014},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.56},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290136247204636,-1.536525457808991,1.6816848322633158,-1.1732278538229317e-10,-0.14523448911655246,0.3129013618792661],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010003939646541879,-0.0032365707194858574,0.5098025121429866],[0.23526766944905236,-0.07611605798158723,0.47049815650808613],[0.28689060752879436,-0.0928176071458188,0.46149090834175477],[0.3392192487174915,-0.1097474723308693,0.46118598841684316],[0.3390082566676897,-0.10967920939582812,0.42118660313998396]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3390082566676897,-0.10967920939582812,0.42118660313998396],"end_effector_quaternion":[0.9999961579729875,0.0008532897986835352,0.0026374108097808008,-6.358269470682764e-08],"end_effector_velocity":[0.0010741938651598571,-0.00034284677186470795,0.07220480311538657],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36502784508901204,-0.10969274836169594,0.42904945271423456],[0.31309008922279846,-0.10969297552951571,0.4293234178761821]],"gripper_width":0.03993847842765488,"jaw_actuator_force":[-0.8032845855471553,-0.7984474535485564],"joint_actuator_torque":[-0.00027183994893675845,-0.9283356135848635,-0.8291274112474412,-1.9520748408934485e-05,-0.10995478996799868,-1.1100753738446656e-07],"joint_position":[-0.31290140979140035,-1.533235796929105,1.6977449679179912,1.828136248784756e-08,-0.15896514395375305,0.31290128556943514],"joint_velocity":[1.2112861548072046e-05,-0.04128879474465261,-0.20071364205164102,4.645190119099772e-06,0.21747022621084555,1.273218286917052e-06],"object_angular_velocity":[-0.012694665506901265,-0.03761691553166969,-6.613673379892812e-05],"object_position":[0.3389849071857077,-0.10972740875096872,0.4146944457610566],"object_quaternion":[0.9999962109540179,0.0009495770755970288,0.0025838693389830763,-4.721957717704198e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0013332419835364903,-0.00020101264937271587,0.06962838735999022],"pad_normal_forces":{"left":0.8019798897061641,"right":0.799730790934274},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.58},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129013903321782,-1.5371990573238725,1.6769064990377582,-5.724173744842946e-11,-0.1397827887108358,0.31290138978991905],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009785764525133417,-0.003165985057487534,0.5098110350777368],[0.23525037118946965,-0.07611047231326078,0.471800340257877],[0.2869193435500467,-0.09282691730937548,0.4630895560283258],[0.3392479866248865,-0.10975678549434507,0.46278512674986844],[0.33903733406662606,-0.10968863244945853,0.4227857394962845]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33903733406662606,-0.10968863244945853,0.4227857394962845],"end_effector_quaternion":[0.999996170327564,0.0008519161440742772,0.0026331671205186294,-6.819441841847081e-08],"end_effector_velocity":[0.0011627112612326834,-0.0003713165971843998,0.07223727908294009],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36505689331787816,-0.10970215005279772,0.43064880974831465],[0.31311913765340665,-0.10970237598967854,0.43092233408090946]],"gripper_width":0.039938475902493616,"jaw_actuator_force":[-0.803401774973862,-0.7983969216747822],"joint_actuator_torque":[-0.0002775431324124611,-0.9290516927649151,-0.8291066617687193,-2.0755844670740335e-05,-0.10993417000330474,-9.525956201628105e-08],"joint_position":[-0.31290145146883597,-1.5340553239411874,1.693102919735189,1.6718353190495408e-08,-0.15351248974036918,0.3129013176816093],"joint_velocity":[1.2526183592757421e-05,-0.03957911539201193,-0.20241025324079423,4.995224308900241e-06,0.2174476217286395,1.2155813338024835e-06],"object_angular_velocity":[-0.01268993434178919,-0.03760169639493638,-6.823643403551903e-05],"object_position":[0.33901403278127484,-0.10973794251377664,0.416285262229443],"object_quaternion":[0.9999962228752352,0.0009483904571415036,0.002579688075644694,-4.857108306210081e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0014336198674253656,-0.00022191579008444832,0.0696392702459464],"pad_normal_forces":{"left":0.8020554382354,"right":0.7997219332214788},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.6},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129014154163502,-1.5378300278868124,1.6720856962938144,1.1251020603336783e-11,-0.13433125535916998,0.31290141493336576],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.009578283924324199,-0.0030988593597272734,0.5098189656684008],[0.23523703079754388,-0.07610616686671812,0.4731029880811456],[0.28695049362265673,-0.09283700817040352,0.4646889098840663],[0.3392791386120166,-0.10976687930438687,0.4643849740943684],[0.3390688275087353,-0.10969883679623026,0.4243855848558198]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3390688275087353,-0.10969883679623026,0.4243855848558198],"end_effector_quaternion":[0.9999961827336405,0.0008505344063887338,0.0026288988884338293,-7.314293977372673e-08],"end_effector_velocity":[0.001257933417186879,-0.00040195259327866243,0.07226956907956134],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3650883539438988,-0.10971233292682299,0.4322488770801638],[0.3131505985527067,-0.10971255759461453,0.43252195803362964]],"gripper_width":0.03993847329613107,"jaw_actuator_force":[-0.8035235860649834,-0.798343961070259],"joint_actuator_torque":[-0.00028292965298248873,-0.929820163545287,-0.8290499726475673,-2.197906561956009e-05,-0.10991363887965377,-7.72607791077462e-08],"joint_position":[-0.31290149212888246,-1.5348346564303732,1.6884210033421139,1.4892077646220353e-08,-0.14806021351823417,0.31290134808001924],"joint_velocity":[1.2946469039169511e-05,-0.03784402041571504,-0.2041355887811304,5.348935284420365e-06,0.21742817572931522,1.1432514003308964e-06],"object_angular_velocity":[-0.012685037728646448,-0.037585815280758855,-7.039969195860641e-05],"object_position":[0.3390455724286296,-0.1097492666693642,0.41787681820205036],"object_quaternion":[0.9999962348424756,0.0009472018386822758,0.0025754823431294463,-4.99551816398464e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0015415270083119189,-0.00024483845740210457,0.06964938097707238],"pad_normal_forces":{"left":0.8021341184331379,"right":0.7997121371686399},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.62},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129014370770953,-1.538417293924508,1.6672212610297459,8.97497564770723e-11,-0.12887980234631197,0.31290143666360387],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009381676527693686,-0.0030352514345287833,0.509826323626386],[0.23522782557506228,-0.07610319892294459,0.4744061032670505],[0.2869842347317509,-0.09284793688903989,0.46628896943470277],[0.3393128816728747,-0.10977781090570592,0.4659855306582928],[0.3391029144596074,-0.10970987973504802,0.42598613942385766]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3391029144596074,-0.10970987973504802,0.42598613942385766],"end_effector_quaternion":[0.9999961952079782,0.0008491426580387327,0.002624600218546189,-7.848667576651575e-08],"end_effector_velocity":[0.0013609158256557815,-0.00043509601542571935,0.07230165264604924],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36512240340181845,-0.109723354255389,0.4338496552267042],[0.31318464836065096,-0.10972357760884859,0.4341222896388826]],"gripper_width":0.03993847060021033,"jaw_actuator_force":[-0.803650637469369,-0.7982881853556938],"joint_actuator_torque":[-0.00028792894735829577,-0.9306455348389591,-0.8289555270936262,-2.3184392921242445e-05,-0.10989314748931989,-5.6577302842697463e-08],"joint_position":[-0.31290153145599037,-1.5355731271513189,1.6836984571576559,1.2765887300622944e-08,-0.14260823335582146,0.31290137633125575],"joint_velocity":[1.3374355158371202e-05,-0.03607953224103352,-0.20589378745707826,5.70573623743562e-06,0.2174119670348903,1.0534910082045779e-06],"object_angular_velocity":[-0.012679977460961042,-0.037569241305547625,-7.263738137578687e-05],"object_position":[0.3390797028765973,-0.1097614399563351,0.4194691167018565],"object_quaternion":[0.9999962468734512,0.0009460088914264197,0.002571245986938273,-5.137527322817777e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0016581613676369502,-0.0002700989270164314,0.06965864720517236],"pad_normal_forces":{"left":0.8022163489853958,"right":0.7997012163184726},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.64},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.312901454512356,-1.5389595622790664,1.6623118125754635,1.8034324301240834e-10,-0.12342834303466205,0.3129014541804772],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009196150630143647,-0.002975228670005138,0.5098331267522644],[0.23522296235227028,-0.07610163530162661,0.4757096885333942],[0.2870207733719243,-0.09285977015470653,0.46788973394156974],[0.33934942231285536,-0.10978964696963446,0.46758679657485214],[0.33913980202734184,-0.10972182813427857,0.42758740333018563]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33913980202734184,-0.10972182813427857,0.42758740333018563],"end_effector_quaternion":[0.9999962077719715,0.0008477384358798276,0.002620263577019536,-8.429924629692819e-08],"end_effector_velocity":[0.0014729673507594219,-0.0004711700379590562,0.07233350264195222],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3651592474185637,-0.1097352808719395,0.435451144716341],[0.313221492810144,-0.10973550285686985,0.43572332864244695]],"gripper_width":0.03993846780473344,"jaw_actuator_force":[-0.8037836832611065,-0.7982291188802648],"joint_actuator_torque":[-0.0002924507286223843,-0.9315333211297911,-0.8288210815461525,-2.4364116510167046e-05,-0.10987262900003891,-3.265054715484439e-08],"joint_position":[-0.31290156907824895,-1.53626995739249,1.6789344027185509,1.0293331236913998e-08,-0.1371564653539259,0.3129014019145732],"joint_velocity":[1.3810639501388107e-05,-0.03428072097934634,-0.2076899406063594,6.064861506489314e-06,0.21739904942064942,9.42773409750308e-07],"object_angular_velocity":[-0.01267475751489369,-0.03755193912686797,-7.496326324036011e-05],"object_position":[0.33911663025561867,-0.10977453102477602,0.4210621613061781],"object_quaternion":[0.9999962589908362,0.0009448086345280209,0.0025669711135074724,-5.283533596501682e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0017850118041397467,-0.00029809192401397834,0.06966697815763999],"pad_normal_forces":{"left":0.8023026414314112,"right":0.799688937486156},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.66},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290146670811403,-1.5394552530469632,1.657355685349103,2.858299030519511e-10,-0.11797679283998318,0.31290146647248945],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009021951825871361,-0.0029188705212088075,0.5098393906871085],[0.23522268515562095,-0.07610155483777603,0.47701374587538814],[0.2870603532103552,-0.09287258666032269,0.46949120227270225],[0.33938900421246576,-0.10980246616760349,0.4691887718372799],[0.33917973467026863,-0.1097347609196279,0.42918937656362477]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.33917973467026863,-0.1097347609196279,0.42918937656362477],"end_effector_quaternion":[0.9999962204531982,0.000846318561200192,0.0026158792410420997,-9.067514777540812e-08],"end_effector_velocity":[0.0015957384434612774,-0.0005107082783401889,0.07236508230917894],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3651991285657843,-0.10974819165708495,0.4370533460528586],[0.31326137447969116,-0.10974841220778768,0.4373250745380906]],"gripper_width":0.0399384648976633,"jaw_actuator_force":[-0.8039236544385835,-0.7981661667878504],"joint_actuator_torque":[-0.0002963770118924458,-0.932490375621569,-0.8286438179010247,-2.550815179662917e-05,-0.10985199220650266,-4.746578241565658e-09],"joint_position":[-0.31290160455157023,-1.5369242281192996,1.6741278154103227,7.4143982567167726e-09,-0.13170482439110828,0.3129014241944891],"joint_velocity":[1.4256330330296042e-05,-0.03244137425032638,-0.20953041982658477,6.425288976719186e-06,0.21738943810329373,8.064621554242003e-07],"object_angular_velocity":[-0.012669385435438963,-0.037533868562047816,-7.739508415540217e-05],"object_position":[0.3391565976634785,-0.10978862104236209,0.4226559562980424],"object_quaternion":[0.9999962712239653,0.0009435972111297052,0.002562647493127524,-5.434005833244022e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0019239603716855133,-0.0003293152635561433,0.06967425769323103],"pad_normal_forces":{"left":0.8023936290111175,"right":0.7996750034621611},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.68},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.31290147235071186,-1.53990239826852,1.6523508307425294,4.100619555399602e-10,-0.11252507251488116,0.31290147222941683],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.008859373603295743,-0.0028662719377111926,0.5098451285703154],[0.23522728578234317,-0.07610305179714802,0.47831827634051827],[0.2871032656567082,-0.09288648051493563,0.4710933727045231],[0.3394319187980829,-0.10981636258274993,0.47079145619355706],[0.3392230048320114,-0.10974877250679817,0.43079205886639205]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3392230048320114,-0.10974877250679817,0.43079205886639205],"end_effector_quaternion":[0.9999962332876823,0.0008448788765756389,0.0026114344949933043,-9.773829699785607e-08],"end_effector_velocity":[0.0017313514555988016,-0.0005543969355189032,0.07239634070008677],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36524233665038586,-0.10976218096756339,0.4386562596528069],[0.3133045831840476,-0.1097624000032668,0.43892752642145616]],"gripper_width":0.039938461864382255,"jaw_actuator_force":[-0.8040717178477204,-0.7980985719402103],"joint_actuator_torque":[-0.0002995497828237603,-0.9335253770058216,-0.8284201254336949,-2.66029820894402e-05,-0.10983111151898584,2.81222867215547e-08],"joint_position":[-0.31290163733754983,-1.5375348401998623,1.669277484197788,4.0498070554728275e-09,-0.12625322532006167,0.31290144238119055],"joint_velocity":[1.471271707469963e-05,-0.030553509571880473,-0.21142335991866948,6.785616937162087e-06,0.21738308777067897,6.383157435908176e-07],"object_angular_velocity":[-0.012663874653845908,-0.03751498450478695,-7.995624246146671e-05],"object_position":[0.3391998956058605,-0.10980380730150217,0.42425050688026944],"object_quaternion":[0.9999962836113306,0.0009423695589695262,0.002558261681302278,-5.589500631935347e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0020774338685634447,-0.0003644092150599784,0.06968033383130995],"pad_normal_forces":{"left":0.8024901080116877,"right":0.7996590274870319},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.7},{"goal":[0.34000000012423015,-0.1099999969254506,0.44599147829693725],"joint_targets":[-0.3129014696870079,-1.540298487715997,1.6472946684169614,5.585164136368644e-10,-0.10707311379313852,0.31290146970294147],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.008708772372463803,-0.002817548225134782,0.509850350555013],[0.23523711880726053,-0.07610624072307731,0.47962327968371044],[0.2871498648652348,-0.09290156608718914,0.4726962426090369],[0.3394785202453198,-0.10983145055191745,0.47239484897398537],[0.3392699680418781,-0.10976397767526308,0.43239544956112724]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3392699680418781,-0.10976397767526308,0.43239544956112724],"end_effector_quaternion":[0.9999962463233129,0.00084341384864827,0.002606912417639026,-1.056553547111066e-07],"end_effector_velocity":[0.001882599729115239,-0.0006031391710136463,0.0724272053027129],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3652892234150963,-0.10977736350445907,0.4402598857375984],[0.31335147067489233,-0.10977758092415288,0.44053068275617474]],"gripper_width":0.039938458686941264,"jaw_actuator_force":[-0.8042293620379599,-0.7980253512255144],"joint_actuator_torque":[-0.0003017511840965881,-0.9346495645991126,-0.8281452679733547,-2.7629955889962917e-05,-0.10980981136009405,6.732337354264928e-08],"joint_position":[-0.31290166677155773,-1.5381004579843818,1.6643819546132455,9.20130143586913e-11,-0.12080158492880065,0.3129014554713937],"joint_velocity":[1.518147009522578e-05,-0.02860662961976233,-0.21337939481962936,7.1438606008542375e-06,0.21737985565120532,4.2969232504214454e-07],"object_angular_velocity":[-0.012658248485066621,-0.03749523760315621,-8.267840856333651e-05],"object_position":[0.33924687677504867,-0.1098202083594332,0.4258458194899344],"object_quaternion":[0.999996296204381,0.0009411189097685142,0.002553795682383794,-5.750683129227588e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00224863608964694,-0.00040421665865320917,0.06968500239883892],"pad_normal_forces":{"left":0.802593098748046,"right":0.7996404943916225},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.72},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.29625016751807665,-1.5372739268320412,1.6580813336252365,0.00010960287175083485,-0.120786173869213,0.29632271478015143],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.008570589525668321,-0.0027728421819978445,0.5098550630976975],[0.2352526236222952,-0.07611126355449818,0.48092875382041084],[0.2872005897694389,-0.09291798511902952,0.474299807944366],[0.3395292475156335,-0.10984787177718379,0.473998948801782],[0.3393210651035558,-0.10978051872963096,0.43399954726063034]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3393210651035558,-0.10978051872963096,0.43399954726063034],"end_effector_quaternion":[0.9999962596251961,0.0008419159451197897,0.0026022899810431606,-1.1465738829776405e-07],"end_effector_velocity":[0.002053264201148989,-0.0006581574991471099,0.07245756963176286],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3653402240441582,-0.1097938814658902,0.44186422414552967],[0.3134024721465821,-0.10979409714058254,0.4421345409884069]],"gripper_width":0.03993845534299445,"jaw_actuator_force":[-0.8043985261660254,-0.7979451984373025],"joint_actuator_torque":[-0.0003026701977120183,-0.9358778931816687,-0.8278128552324233,-2.8562416620278748e-05,-0.10978784082846005,1.1481520090228514e-07],"joint_position":[-0.31290169201511014,-1.5386194264713664,1.6594394452316432,-4.609576657184102e-09,-0.11534982525073613,0.31290146215641645],"joint_velocity":[1.5664783459646108e-05,-0.026586538240190107,-0.21541282467019798,7.497099237241888e-06,0.21737943687137545,1.6821393448819085e-07],"object_angular_velocity":[-0.012652547296394171,-0.037474576751448996,-8.560582779255314e-05],"object_position":[0.33929797768299713,-0.10983797162266941,0.4274419022815559],"object_quaternion":[0.9999963090735311,0.000939835998043616,0.0025492248353560874,-5.918351824745518e-07],"object_size":[0.04,0.04,0.04],"object_velocity":[0.002441918422371752,-0.0004498787816365974,0.06968798039907195],"pad_normal_forces":{"left":0.802703938612432,"right":0.7996186992538539},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.74},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.29236498099972846,-1.5367425320729577,1.656593388509873,6.887418534112101e-05,-0.11984172359760814,0.292425348845246],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.008632805608258036,-0.002755931404354406,0.5098533178460183],[0.23561410210120337,-0.0752172969895587,0.4810637096529738],[0.28763064921417003,-0.09182302660283469,0.47446609110873444],[0.3400251991778918,-0.10854958290966495,0.47428320258121204],[0.3398987644549793,-0.10850827074507295,0.4342834237372497]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3398987644549793,-0.10850827074507295,0.4342834237372497],"end_effector_quaternion":[0.999998074567479,0.0005147551833654268,0.0015809736151195435,-0.0010423103492048765],"end_effector_velocity":[0.03148977405387951,0.06953409122527046,-0.0017259360167982164],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3657455939556963,-0.1085703195542858,0.44220170501422473],[0.3138074717600208,-0.1084621322382736,0.44236598721104003]],"gripper_width":0.039938494686970485,"jaw_actuator_force":[-0.7825213902582719,-0.8199394697011586],"joint_actuator_torque":[-0.20047728662075315,-1.049669124963998,-1.0119555727054603,-0.0025599984477850616,-0.0766618737285274,0.039291617185984506],"joint_position":[-0.30901281382667717,-1.5384262609592894,1.6586725291113054,2.2761979555441864e-05,-0.11692101609901563,0.3069308827499339],"joint_velocity":[0.21223118014031778,0.023270638494615383,-0.0040132935177181125,0.0028075756682319664,-0.0944366039550655,-0.2959816967493454],"object_angular_velocity":[-0.0190122918328945,-0.04268810390030372,-0.06539622674205404],"object_position":[0.3397434477644965,-0.10832864604305144,0.42757946399103364],"object_quaternion":[0.9999984786640935,0.00046769361544317704,0.0012454748353425708,-0.0011281509715453325],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03617025433915033,0.06682973483691577,-0.0033122939937068234],"pad_normal_forces":{"left":0.7965961140636726,"right":0.8055939975321387},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.76},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.28778172928032597,-1.5359601069429314,1.6556977595647413,5.0349208258391396e-05,-0.11973452330889722,0.2878347412770907],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.008797106227265948,-0.002763912382497026,0.509848122577887],[0.23610663816173147,-0.07418099133352941,0.4810387920435587],[0.28819840589671314,-0.09054740525980767,0.47443665379610844],[0.3406693559286943,-0.10703325405858327,0.47430940551421963],[0.34058159608123606,-0.10700383033384274,0.43430951260869305]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34058159608123606,-0.10700383033384274,0.43430951260869305],"end_effector_quaternion":[0.9999977763724105,0.00036586209900697054,0.0010976455903998579,-0.0017631135291940752],"end_effector_velocity":[0.029390976951493203,0.06584614870032945,0.0011948366532281585],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3665245769252943,-0.10710111379015824,0.44225254351298265],[0.31458655850068235,-0.10691800908712892,0.44236663032334955]],"gripper_width":0.03993846648687176,"jaw_actuator_force":[-0.8285034268388696,-0.7747773238545568],"joint_actuator_torque":[-0.19169468228615472,-1.0914068222664355,-1.0080537861758785,-0.0021555904487621054,-0.08204826335716042,0.031430559685343695],"joint_position":[-0.30441855405496276,-1.5378579477138141,1.6581869904035251,4.445563876916199e-05,-0.11801543561592764,0.3008976081597563],"joint_velocity":[0.2005353596091208,0.02432378533955933,-0.02175294630648757,0.0011481973153844515,-0.04212914646726387,-0.23640376978713248],"object_angular_velocity":[-0.010149864921233263,-0.02543373566772565,-0.025738206304920193],"object_position":[0.34053057871854553,-0.10683786690841879,0.4276017094472623],"object_quaternion":[0.9999979393011428,0.0003401946599981591,0.0009831409773955893,-0.0017432999969904748],"object_size":[0.04,0.04,0.04],"object_velocity":[0.036558712583226766,0.06233419725429539,0.00039865842493655966],"pad_normal_forces":{"left":0.8157518087643233,"right":0.7874698149897077},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.78},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.2832254411451278,-1.5351752871467967,1.6547855275252605,3.9862954132451127e-05,-0.11961068613962668,0.2832741968375163],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00897492730717738,-0.0027747705282772806,0.5098423687155794],[0.23660868585404274,-0.07315210316156852,0.4810343312737395],[0.2887747555210327,-0.0892802418900311,0.47443248935998455],[0.34132057058823784,-0.10552612034143383,0.47433893581744097],[0.3412561428872224,-0.10550416214311184,0.43433899373112206]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3412561428872224,-0.10550416214311184,0.43433899373112206],"end_effector_quaternion":[0.9999972725493389,0.0002727252353088703,0.0008059416600552715,-0.002175079968542575],"end_effector_velocity":[0.029271933114505932,0.06601768629933163,0.0008915154143130169],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.36724763417958556,-0.10562155436028325,0.4422970765093809],[0.31530984692469516,-0.10539563769600072,0.44238085645447045]],"gripper_width":0.03993834616497387,"jaw_actuator_force":[-0.8252352812044936,-0.7811390380966401],"joint_actuator_torque":[-0.19174044534244672,-1.0934245799177233,-1.00673899083381,-0.0020069810471198303,-0.08512941770154114,0.02840806361032122],"joint_position":[-0.29984747431077985,-1.537239756553364,1.6575633721169654,4.9048642414660824e-05,-0.11862264138389314,0.2955031554350735],"joint_velocity":[0.20073340240684653,0.0269993810554727,-0.026579619048151003,0.0005345318709765396,-0.023504412469619696,-0.2139603951631945],"object_angular_velocity":[-0.005993752523887695,-0.016560795301673533,-0.007252859157090103],"object_position":[0.34125611165199365,-0.10534062608963933,0.4276236306703021],"object_quaternion":[0.9999974108641044,0.0002538867020131924,0.000770886115644177,-0.0021259212652004413],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03320852061802942,0.06255457180756277,6.308819204866173e-05],"pad_normal_forces":{"left":0.8150287709076989,"right":0.7913367643161608},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.8},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.2786752062882827,-1.534374642435054,1.6538652815645096,3.395471423429258e-05,-0.11949318561694187,0.27872148464242696],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.009165312251961127,-0.0027878350540477674,0.5098360681310318],[0.23711935034867196,-0.0721251626482901,0.4810386460677285],[0.2893588174125015,-0.08801496688863729,0.4744392368448882],[0.34197831432138887,-0.10402068720001385,0.4743653289997157],[0.34192743421140753,-0.10400325434855952,0.43436536515835583]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34192743421140753,-0.10400325434855952,0.43436536515835583],"end_effector_quaternion":[0.9999968635648581,0.0002163756091375955,0.0006365254096848419,-0.0024126494658008074],"end_effector_velocity":[0.02916306319669705,0.06604963565758208,0.0008148693034555174],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3679238428762833,-0.10413212626939204,0.44233224869172166],[0.31598624135099007,-0.10388152378833843,0.4423984227413807]],"gripper_width":0.03993824826472786,"jaw_actuator_force":[-0.8222589151829132,-0.7862632063149064],"joint_actuator_torque":[-0.19097416459295857,-1.0949182009418337,-1.0058774833896678,-0.0018919787793060987,-0.08712707931716146,0.026599632750208713],"joint_position":[-0.29528027793207506,-1.536575628412309,1.6568546912277653,4.7129164478210486e-05,-0.11893528353872368,0.2904605967854165],"joint_velocity":[0.20052916648860006,0.028955407273063394,-0.03018514140938376,0.00029177615791500013,-0.012094370032556213,-0.2005038731370091],"object_angular_velocity":[-0.0034860864626113266,-0.010404562766366966,0.00446428123709344],"object_position":[0.34193773363096897,-0.10384189509310425,0.4276423118139834],"object_quaternion":[0.9999969935074094,0.0002013581361641036,0.0006338945566978809,-0.002360213704884096],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03197772050498613,0.06260695748979578,-2.3625363455850877e-05],"pad_normal_forces":{"left":0.8143802277191785,"right":0.7941417989927416},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.82},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.27413114850213277,-1.533554009771945,1.6529267142940753,3.055066861119045e-05,-0.11937652822484451,0.2741759701107892],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.009366019220004644,-0.0028022643312676137,0.509829278308379],[0.2376359567562852,-0.07109944468429785,0.4810485421640724],[0.28994781744168285,-0.08675088184853395,0.4744529567976688],[0.3426398108481568,-0.10251634848838041,0.4743905670549629],[0.34259683416307174,-0.10250169234794121,0.43439059282744513]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34259683416307174,-0.10250169234794121,0.43439059282744513],"end_effector_quaternion":[0.9999965902765409,0.00018183185760063347,0.0005376738819454375,-0.0025489761207612024],"end_effector_velocity":[0.02910623605576441,0.06607451189867011,0.0007788814505674329],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3685893834455505,-0.10263708479777545,0.4423626215155236],[0.3166519060793913,-0.102372317483271,0.44241852107843593]],"gripper_width":0.03993818230986007,"jaw_actuator_force":[-0.8218469515764442,-0.7881282117086768],"joint_actuator_torque":[-0.1907468109167212,-1.097045013088973,-1.0049282207171473,-0.00186038215581061,-0.08819981167837376,0.02553966608046565],"joint_position":[-0.290717923495532,-1.5358740617736513,1.6560830942650053,4.336464632965678e-05,-0.11907467340067746,0.28562514077115203],"joint_velocity":[0.20032691681169884,0.030588992822493614,-0.032834215383552336,0.00023018851262659364,-0.00540410625805191,-0.19261071674929536],"object_angular_velocity":[-0.0019841987074058934,-0.0063424550330726265,0.011726957171355482],"object_position":[0.3426071986246573,-0.10234216573598415,0.42765964334797163],"object_quaternion":[0.9999967062274502,0.00016860690557268373,0.0005459631794962652,-0.002502205060969759],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031743331493915276,0.06264575267495796,-7.314222728593551e-05],"pad_normal_forces":{"left":0.8145791481314553,"right":0.7953921028338754},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.84},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.2695930087756096,-1.5327106392368397,1.6519644129404922,2.855595105994522e-05,-0.11925841108602933,0.2696369614885559],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.009575876465777547,-0.0028175694633886797,0.5098220218142795],[0.23815709341315056,-0.07007443718477542,0.4810619626494263],[0.2905402889635902,-0.08548746937092655,0.4744711157574808],[0.3433035978468169,-0.10101261489816121,0.47441550954025113],[0.3432652462120293,-0.10099968823039758,0.4344155300145892]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3432652462120293,-0.10099968823039758,0.4344155300145892],"end_effector_quaternion":[0.9999964226341735,0.00016032365169829052,0.00047981825017220036,-0.002626554707048638],"end_effector_velocity":[0.02907473703787747,0.06609192959238883,0.0007708302736767977],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3692550327909243,-0.10113875792375443,0.442390570383911],[0.3173176396082043,-0.10086593019141334,0.44244045567666057]],"gripper_width":0.03993813371820766,"jaw_actuator_force":[-0.8222749523230286,-0.7888424442089814],"joint_actuator_torque":[-0.19069764183305438,-1.0993787520702654,-1.0040387129118926,-0.00185885953736082,-0.0887877081446593,0.024912092000839436],"joint_position":[-0.2861605484248882,-1.5351395258188256,1.6552617784414827,3.9667229952730073e-05,-0.11911123041178459,0.2809121658569797],"joint_velocity":[0.20011252897111123,0.03202135907979809,-0.03493091996050875,0.00023707062628345417,-0.001426811835087693,-0.1879359156915501],"object_angular_velocity":[-0.0010833753559201119,-0.0037038133789221907,0.016189803759068318],"object_position":[0.3432749897079286,-0.10084181334683485,0.42767656268591797],"object_quaternion":[0.9999965222141048,0.00014768240522229037,0.000490206363803235,-0.002587169751364463],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03172668090904542,0.0626732734050925,-9.525701568689956e-05],"pad_normal_forces":{"left":0.8150551478619963,"right":0.7960574334990704},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.86},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.26506082122873886,-1.5318431302169075,1.6509752967595115,2.7366199531586974e-05,-0.11913735587197832,0.265104243871438],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.00979415683518135,-0.002833415243472335,0.5098143067284908],[0.23868189190174985,-0.06904983473676565,0.48107773550670907],[0.29113533118783846,-0.08422443087064538,0.4744922712683841],[0.34396877567262885,-0.09950921032487589,0.4744406872776073],[0.34393314207152526,-0.09949738726671248,0.4344407048968391]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34393314207152526,-0.09949738726671248,0.4344407048968391],"end_effector_quaternion":[0.9999963252357857,0.000146598413566216,0.00044581308009905514,-0.0026700701352225967],"end_effector_velocity":[0.029056678038810797,0.06610458798551398,0.0007797210876376685],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3699216697670531,-0.0996384943314849,0.4424175150818156],[0.31798433716949437,-0.09936114543328774,0.4424638649348399]],"gripper_width":0.03993809380473682,"jaw_actuator_force":[-0.8227737537593622,-0.7893205092952584],"joint_actuator_torque":[-0.19066574703845163,-1.1016776575306721,-1.0032354432354396,-0.001864182095415981,-0.08912393749367098,0.024535300351065104],"joint_position":[-0.28160836989957233,-1.534374806455706,1.6543984828902958,3.662766722184274e-05,-0.11908578563481195,0.2762725912828856],"joint_velocity":[0.19988722590624955,0.03333156812837322,-0.03670408245551832,0.00026448869528819774,0.0009740130189106145,-0.18512855993466285],"object_angular_velocity":[-0.0005430548720937042,-0.0020144762532900455,0.018911738123347042],"object_position":[0.34394275830132787,-0.09934106357756667,0.4276936502269242],"object_quaternion":[0.999996410031805,0.0001338202242450354,0.0004551466616986772,-0.0026372063182798036],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03172323510799861,0.06269429708654872,-0.00010067282872374151],"pad_normal_forces":{"left":0.8155296063742372,"right":0.7965604793778662},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.88},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.2605347138412158,-1.530950754791683,1.6499576031941257,2.6640369040744397e-05,-0.11901244181086709,0.2605778016173769],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010020419043584059,-0.002849563004268068,0.5098061314426039],[0.23920982915322636,-0.06802544648557057,0.4810951839482099],[0.29173240230335273,-0.08296158645003572,0.47451559181407793],[0.3446348031039085,-0.09800597315979455,0.47446641799392464],[0.3446007770410285,-0.09799487987922988,0.4344664340043507]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3446007770410285,-0.09799487987922988,0.4344664340043507],"end_effector_quaternion":[0.9999962715492916,0.00013751975927837304,0.0004256978289942094,-0.002693836889885137],"end_effector_velocity":[0.029046200689940974,0.0661143923869143,0.0007986475865378333],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3705887425649566,-0.09813707506993227,0.4424442910585683],[0.31865145578753823,-0.09785725687351764,0.4424885492134698]],"gripper_width":0.039938059405479516,"jaw_actuator_force":[-0.823202409141417,-0.7897439578333572],"joint_actuator_torque":[-0.19062255808211148,-1.1039262640878178,-1.0024934856289747,-0.0018702103739280012,-0.08932074942120316,0.02430361813140891],"joint_position":[-0.27706159914536466,-1.533581608742371,1.653497746685029,3.431915093735116e-05,-0.11902206843563588,0.2716780086425195],"joint_velocity":[0.19965272320493496,0.03456880197979528,-0.03828827392807966,0.0002939484558973432,0.0024566382608348777,-0.18340159862454603],"object_angular_velocity":[-0.00021837080869071006,-0.000945529428930169,0.020562431263811257],"object_position":[0.3446104642813731,-0.09784005065435154,0.427711252713165],"object_quaternion":[0.9999963447486845,0.00012417903043479827,0.0004332065944582914,-0.0026659709083856945],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03171405339254706,0.06271154237543781,-9.6189995246109e-05],"pad_normal_forces":{"left":0.8159472017118508,"right":0.7969958853411118},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.9},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.2560148395754127,-1.5300331244385723,1.6489103114842953,2.6183236394637335e-05,-0.11888310119082286,0.25605770474428624],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010254401078111262,-0.002865833504610518,0.5097974879387825],[0.23974059679788848,-0.06700114706701699,0.4811139120055775],[0.2923311833170041,-0.08169882309173514,0.4745405925208847],[0.3453013618016792,-0.09650280618762755,0.47449288719418403],[0.3452682963496159,-0.0964922192090597,0.4344929022617898]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3452682963496159,-0.0964922192090597,0.4344929022617898],"end_effector_quaternion":[0.9999962442210371,0.00013121826261684876,0.00041367479957337425,-0.0027061409327549663],"end_effector_velocity":[0.029040140659313075,0.06612255919414903,0.0008233628523449763],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3712559704488466,-0.09663495218903852,0.4424713851346266],[0.31931871949812485,-0.09635385562854441,0.4425143927669489]],"gripper_width":0.03993802943172763,"jaw_actuator_force":[-0.8235704521778873,-0.7901201378855474],"joint_actuator_torque":[-0.19057130518461918,-1.106157126118319,-1.0017876822948892,-0.0018757918515119238,-0.08943655850567289,0.024155662733814864],"joint_position":[-0.2725204261887064,-1.5327609600464223,1.6525622256706654,3.2640202115759173e-05,-0.11893389600186169,0.2671120241439987],"joint_velocity":[0.1994101579019893,0.035762512503419656,-0.039762061706866886,0.00031916187513121027,0.0034041233355492926,-0.18229782031625189],"object_angular_velocity":[-2.2458549740036012e-05,-0.00027443675169294484,0.02155897000081067],"object_position":[0.34527806483007406,-0.09633885335696565,0.42772957237784975],"object_quaternion":[0.9999963090525605,0.00011706596303648764,0.00041947875637205904,-0.0026818304175214975],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0317055510078868,0.06272662747262905,-8.59992423671729e-05],"pad_normal_forces":{"left":0.816312109722382,"right":0.7973759409523681},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.92},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.25150135836628196,-1.5290900374845366,1.64783282918116,2.588213125023727e-05,-0.11874897981880006,0.2515440652342309],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.010495947964910022,-0.0028820826885245943,0.5097883640820227],[0.2402740144214397,-0.06597684933094831,0.4811336856186945],[0.2929314879843944,-0.08043606668650376,0.4745669884708485],[0.34596826628276395,-0.09499964999119122,0.4745202011111785],[0.3459357844208763,-0.09498943544453986,0.43452021560378506]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3459357844208763,-0.09498943544453986,0.43452021560378506],"end_effector_quaternion":[0.9999962325529105,0.0001265803313690276,0.0004063680619145052,-0.002711774769990262],"end_effector_velocity":[0.02903665545893922,0.06612981027993911,0.0008513594259072443],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3719232892502269,-0.09513238655557142,0.44249907892656165],[0.31998606700759114,-0.09485070462626179,0.4425413263151915]],"gripper_width":0.03993800327151678,"jaw_actuator_force":[-0.8238944496242082,-0.790446212093622],"joint_actuator_torque":[-0.19051601741759328,-1.1083946630693617,-1.0011026642411025,-0.0018807716494986175,-0.08950473979628981,0.024055833343876287],"joint_position":[-0.2679850270705775,-1.5319134822556464,1.6515934733878113,3.144966491718698e-05,-0.11882931182104627,0.2625652120278136],"joint_velocity":[0.19916006923790103,0.036929880807822925,-0.0411712588337273,0.00033873490445845674,0.004040087346073306,-0.1815521373678444],"object_angular_velocity":[9.657462531479856e-05,0.00014556440612549737,0.022158299384981622],"object_position":[0.34594560738526586,-0.0948375171757504,0.4277487252219282],"object_quaternion":[0.9999962916644449,0.00011147260184648936,0.00041083976987325415,-0.0026898776740530966],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0317000059827904,0.06274051424219437,-7.257481968842994e-05],"pad_normal_forces":{"left":0.8166332615350604,"right":0.7977053732609741},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.94},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.24699443267960894,-1.5281214017171423,1.6467248141799917,2.567173099332992e-05,-0.11860984851113399,0.2470370178084776],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.010744966686297281,-0.002898186938619334,0.509778745088649],[0.24080997598963863,-0.06495248868406737,0.4811543651104148],[0.293533207288321,-0.07917326616739923,0.4745946113654028],[0.3466354083678782,-0.09349646786350536,0.47454841960275435],[0.34660329017630903,-0.09348654527849568,0.4345484337282059]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34660329017630903,-0.09348654527849568,0.4345484337282059],"end_effector_quaternion":[0.9999962301411917,0.0001229424539126295,0.00040181251494074297,-0.002713509767960047],"end_effector_velocity":[0.029034651174889445,0.0661365662382893,0.0008811796424755972],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.37259069486131946,-0.0936295281106502,0.4425275343658817],[0.32065349607077764,-0.09334766587034259,0.44256930752319235]],"gripper_width":0.039937980414408145,"jaw_actuator_force":[-0.8241821495424064,-0.7907269714961487],"joint_actuator_torque":[-0.19045826350213702,-1.1106517860938538,-1.0004300604198306,-0.0018851786464006049,-0.08954507003751111,0.023983500699024773],"joint_position":[-0.2634555713983416,-1.5310395612770915,1.6505924001526198,3.061661592055793e-05,-0.11871298860193788,0.25803218354858043],"joint_velocity":[0.19890267979298454,0.038080847406231466,-0.042542579589879066,0.0003531298418230865,0.004495141266151175,-0.18101098730109905],"object_angular_velocity":[0.00016968237906735782,0.0004090854458676078,0.022517519206282983],"object_position":[0.34661314791079745,-0.09333606787271786,0.42776877684868614],"object_quaternion":[0.9999962854892568,0.00010679800478948997,0.0004053301772579411,-0.002693196859211365],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03169680359453232,0.06275377254849938,-5.735496330895478e-05],"pad_normal_forces":{"left":0.8169166618061043,"right":0.7979907495424298},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.96},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.24249422564661607,-1.5271271902161039,1.6455860709635879,2.5514069881753585e-05,-0.11846555036954866,0.24253670953977394],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011001399595624508,-0.002914034535739525,0.5097686144113773],[0.2413484183688504,-0.06392801390040018,0.4811758659534922],[0.29413627683771465,-0.07791038417146824,0.4746233610985602],[0.3473027245812915,-0.09199323679501617,0.47457757558841196],[0.34727084153710075,-0.09198355753675079,0.4345775894661212]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.34727084153710075,-0.09198355753675079,0.4345775894661212],"end_effector_quaternion":[0.9999962332124689,0.00011990908016426855,0.0003988648619815499,-0.002712948489756845],"end_effector_velocity":[0.029033481719655082,0.06614307310573854,0.0009119771082332184],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3732581888503871,-0.09212646256260489,0.4425568437605294],[0.32132100949750836,-0.09184465856971358,0.44259830985086773]],"gripper_width":0.039937960414904154,"jaw_actuator_force":[-0.8244375893303149,-0.790969291704509],"joint_actuator_torque":[-0.19039849717488266,-1.1129350482513019,-0.9997652724963473,-0.0018891030891268782,-0.08956926115497055,0.02392671589253581],"joint_position":[-0.2589322261262176,-1.5301394468400549,1.649559541243444,3.00355374004502e-05,-0.11858763053934922,0.25350988793485885],"joint_velocity":[0.19863808244936257,0.039221160026235075,-0.04389160669562534,0.00036337352502738106,0.0048455437398369034,-0.18058544067752294],"object_angular_velocity":[0.0002153265132592399,0.0005760380164848751,0.022732105607268356],"object_position":[0.34728072343969585,-0.09183451948913153,0.4277897635699281],"object_quaternion":[0.9999962861598526,0.0001026838701820021,0.0004017347162952336,-0.0026936465512827305],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03169497161908614,0.06276673987814535,-4.117479873640412e-05],"pad_normal_forces":{"left":0.8171666988496271,"right":0.7982386463741781},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":5.98},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.2380008999070469,-1.5261074150328786,1.6444164896758642,2.538705447956455e-05,-0.11831597008293818,0.23804329377380648],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01126520903227064,-0.002929520795214091,0.5097579542629123],[0.24188930312829462,-0.06290338169706854,0.48119813579511955],[0.29474065802530014,-0.07664739148707685,0.4746531773962504],[0.3479701773302961,-0.09048994201510943,0.47460768632104383],[0.3479384540559346,-0.09048047643723445,0.43460770002058746]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3479384540559346,-0.09048047643723445,0.43460770002058746],"end_effector_quaternion":[0.9999962395624763,0.00011724426912838566,0.00039686027316831275,-0.0027110176338880866],"end_effector_velocity":[0.02903276808975064,0.06614947532664354,0.0009432587888145631],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3739257704044907,-0.09062323846516193,0.44258705890113836],[0.32198860731995327,-0.09034163499933887,0.4426283159756091]],"gripper_width":0.03993794289272534,"jaw_actuator_force":[-0.8246640650633772,-0.7911791618991151],"joint_actuator_torque":[-0.190336843865353,-1.1152479715149184,-0.9991056836132657,-0.0018926540303234709,-0.08958418848702188,0.02387856087191409],"joint_position":[-0.254415156937405,-1.5292133101869279,1.6484952132213593,2.962740026005714e-05,-0.11845479253332293,0.24899662803642847],"joint_velocity":[0.19836632473560098,0.040354140005857284,-0.04522743160040455,0.000370519433050873,0.005135806426655969,-0.1802240122015672],"object_angular_velocity":[0.000244521926577166,0.0006838498140486015,0.022859856175669845],"object_position":[0.3479483544804635,-0.09033287938979327,0.42781170464124507],"object_quaternion":[0.9999962910167602,9.891645924170552e-05,0.00039930665865861657,-0.00269234515802502],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03169386604088523,0.06277961263692962,-2.4521039665907326e-05],"pad_normal_forces":{"left":0.8173871671374391,"right":0.7984546008219348},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.0},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.23351461692906822,-1.5250621115428058,1.6432160104102864,2.527782254257163e-05,-0.11816101608361715,0.23355692660257943],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011536368415492318,-0.002944545300176504,0.5097467459270211],[0.2424326060134693,-0.06187855353924547,0.4812211410083532],[0.29534632712967235,-0.07538426376069877,0.4746840232144918],[0.3486377440331563,-0.08898657369882887,0.47463875991685733],[0.3486061360351799,-0.08897730348704688,0.4346387734793892]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3486061360351799,-0.08897730348704688,0.4346387734793892],"end_effector_quaternion":[0.9999962479096703,0.00011480720121781671,0.00039541238528802424,-0.0027082531147129226],"end_effector_velocity":[0.029032288452490614,0.0661558584341268,0.0009747368212768004],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3745934375219867,-0.08911988289026018,0.4426182079770708],[0.32265628812952774,-0.08883856655339135,0.44265931392038116]],"gripper_width":0.03993792752502322,"jaw_actuator_force":[-0.8248647360971972,-0.791361336526597],"joint_actuator_torque":[-0.19027338742694155,-1.117592525621376,-0.998449775987865,-0.0018959371843153233,-0.08959386816491666,0.023835032129749578],"joint_position":[-0.249904528598683,-1.528261277436597,1.6473996050449038,2.9335646197618648e-05,-0.11831535851794193,0.24449149004087434],"joint_velocity":[0.1980874450009987,0.041481698369077974,-0.04655535906461368,0.0003754553880232297,0.0053919133130215565,-0.17989690982188444],"object_angular_velocity":[0.0002638429920360627,0.0007556667419616216,0.02293562067686743],"object_position":[0.3486160517193159,-0.08883115077572389,0.42783460937164197],"object_quaternion":[0.9999962984560364,9.536820867921167e-05,0.0003975904080534826,-0.0026899630106736612],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031693129792166715,0.06279250815507524,-7.678019893807535e-06],"pad_normal_forces":{"left":0.8175815169511804,"right":0.7986431117176317},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.02},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.22903553664925064,-1.5239913292425404,1.6419846023327695,2.5178888092590175e-05,-0.11800061013066515,0.229077764856384],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.011814857065919492,-0.0029590103260462926,0.5097349699454866],[0.24297831083154417,-0.060853493761659036,0.48124485883879786],[0.2959532689861665,-0.07412097954898696,0.47471587504351503],[0.3493054108123399,-0.08748312498765215,0.474670799153799],[0.3492738915288838,-0.08747403859492424,0.4346708126041483]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3492738915288838,-0.08747403859492424,0.4346708126041483],"end_effector_quaternion":[0.9999962575106492,0.00011251377098538313,0.0003942968646593513,-0.002704964940460298],"end_effector_velocity":[0.029031912557494273,0.06616227263567785,0.001006242906653337],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.37526118802418507,-0.08761641049115605,0.442650305422036],[0.32332405018018295,-0.0873354356779562,0.44269129479624664]],"gripper_width":0.03993791403590763,"jaw_actuator_force":[-0.8250425737849971,-0.7915196433608056],"joint_actuator_torque":[-0.1902081697208189,-1.1199698085451928,-0.9977966661147093,-0.0018990374442340078,-0.08960064288265102,0.02379381435459038],"joint_position":[-0.24540050493644672,-1.5272834489681444,1.6462728311998385,2.9121031481938094e-05,-0.11816982055838232,0.2399940130771887],"joint_velocity":[0.19780148319657673,0.04260492469903687,-0.047878484977853034,0.00037886201569118006,0.005629040226737929,-0.1795869094212231],"object_angular_velocity":[0.0002772146901644899,0.0008056818009612712,0.022980286067729377],"object_position":[0.3492838204505383,-0.08732933460732654,0.4278584812724839],"object_quaternion":[0.9999963075226729,9.196294251146739e-05,0.00039630997578054877,-0.002686898256643931],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03169256630435529,0.06280549325470028,9.188017130064247e-06],"pad_normal_forces":{"left":0.8177528652883136,"right":0.7988078858365025},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.04},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.22456381730086689,-1.522895126366562,1.6407222514917006,2.508589873393864e-05,-0.11783468121452398,0.22460596497739968],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012100657188621796,-0.0029728199461625296,0.5097226062319082],[0.24352640589121627,-0.059828168467694294,0.48126927282545556],[0.2965614733022275,-0.07285751917054532,0.4747487172531435],[0.3499731688266918,-0.08597959080476092,0.47470380368689546],[0.3499417220924002,-0.08597068072895886,0.43470381704047956]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3499417220924002,-0.08597068072895886,0.43470381704047956],"end_effector_quaternion":[0.9999962679343193,0.00011031369918398027,0.00039338364076722067,-0.0027013325660055123],"end_effector_velocity":[0.029031563511456984,0.066168747614138,0.0010376784908098765],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3759290197904577,-0.08611282874525232,0.4426833576494844],[0.32399189167986014,-0.08583223120705542,0.44272425149345895]],"gripper_width":0.039937902187723556,"jaw_actuator_force":[-0.8252002833681011,-0.7916572578171825],"joint_actuator_torque":[-0.19014123167696084,-1.1223804015087353,-0.9971458463151066,-0.0019020198985194043,-0.08960588183262708,0.023753571086913894],"joint_position":[-0.24090324870066493,-1.5262799107087517,1.6451149626839388,2.8956928220955436e-05,-0.11801844163802483,0.23550399781184742],"joint_velocity":[0.19750848627553577,0.04372442986021722,-0.049198616772735335,0.00038123405940465826,0.005856059685066594,-0.1792840678114057],"object_angular_velocity":[0.00028698084292470594,0.0008425398219077456,0.023006314024892137],"object_position":[0.3499516629421653,-0.08582743041356054,0.4278833204556932],"object_quaternion":[0.9999963176455301,8.865513673247927e-05,0.00039529912378624124,-0.002683388576001985],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03169206281365693,0.06281860703098562,2.5979458678921108e-05],"pad_normal_forces":{"left":0.8179039931073984,"right":0.7989520393685833},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.06},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.22009961533102596,-1.5217735667362617,1.6394289537004112,2.4996329211903587e-05,-0.11766316199148666,0.22014168238365425],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012393752117275364,-0.0029858795286325725,0.5097096341420797],[0.24407688192988347,-0.05880254488477887,0.48129437013214704],[0.2971709325119395,-0.07159386402889574,0.4747825387965375],[0.35064101213763527,-0.08447596714510656,0.4747377713411198],[0.35060962780090066,-0.08446722830506047,0.43473778460792095]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35060962780090066,-0.08446722830506047,0.43473778460792095],"end_effector_quaternion":[0.9999962789302823,0.00010817688712180308,0.00039259747289323234,-0.002697460022721143],"end_effector_velocity":[0.02903119547315894,0.06617530083311321,0.0010689857591089154],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.37659693073936445,-0.08460914098599845,0.4427173663940475],[0.3246598108058864,-0.08432894566679434,0.44275817792366073]],"gripper_width":0.03993789177452562,"jaw_actuator_force":[-0.8253402844523254,-0.7917768688515885],"joint_actuator_torque":[-0.19007260947090288,-1.1248245791422278,-0.9964970286295056,-0.0019049317051873884,-0.08961038699879076,0.023713532627102296],"joint_position":[-0.2364129214065593,-1.5252507407052474,1.643926045074319,2.8825572284066252e-05,-0.1178613505928367,0.23102139558179294],"joint_velocity":[0.19720850835612144,0.04484054608211309,-0.050516810676164606,0.0003829185595659979,0.00607816809298165,-0.1789826589529218],"object_angular_velocity":[0.0002945417417801934,0.0008714742440630503,0.023021133172114343],"object_position":[0.3506195796941589,-0.08432543689065027,0.4279091250417744],"object_quaternion":[0.9999963284838681,8.541755289881569e-05,0.0003944582932474559,-0.0026795755784391256],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03169155231014364,0.06283187215657159,4.263884856632907e-05],"pad_normal_forces":{"left":0.8180373623171482,"right":0.799078229530788},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.08},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.21564308535865376,-1.5206267179086117,1.6381047103776192,2.4908719772829625e-05,-0.1174859867012301,0.21568507110645893],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.012694125295538837,-0.0029980954581123706,0.5096960325185276],[0.24462973090801077,-0.057776590988298376,0.4813201399929122],[0.2977816405275356,-0.070329996213966,0.4748173312891253],[0.3513089364681843,-0.08297225065014277,0.4747726988661091],[0.3512776078424935,-0.08296367941675477,0.4347727120529717]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3512776078424935,-0.08296367941675477,0.4347727120529717],"end_effector_quaternion":[0.9999962903524822,0.00010608527782963618,0.00039189500583979643,-0.0026934077842696766],"end_effector_velocity":[0.029030780693869152,0.06618194250826166,0.001100130675098504],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3772649187862669,-0.0831053481564053,0.44275233065829755],[0.32532780568359365,-0.08282557371817183,0.44279306858142414]],"gripper_width":0.03993788261716619,"jaw_actuator_force":[-0.8254647231637993,-0.7918807805568839],"joint_actuator_torque":[-0.19000233660884192,-1.1273024356794394,-0.9958500533207371,-0.0019078059370287084,-0.089614629729029,0.023673257435948614],"joint_position":[-0.23192968319054397,-1.5241960129428485,1.6427061090580617,2.8715270613245302e-05,-0.11769859747392682,0.22654624418477573],"joint_velocity":[0.1969016098852706,0.04595344375332973,-0.05183368509268465,0.00038415295657040363,0.006298418021397053,-0.17867939912530065],"object_angular_velocity":[0.0003007342867055809,0.0008956392544732579,0.02302918048033613],"object_position":[0.35128757014580675,-0.0828233522335161,0.4279358919803651],"object_quaternion":[0.9999963398343846,8.223386203136278e-05,0.0003937282276397312,-0.0026755435912109294],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03169099415127193,0.06284530154735395,5.9132126330414346e-05],"pad_normal_forces":{"left":0.8181551435285728,"right":0.7991887424242017},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.1},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.21119438014838476,-1.5194546500812323,1.6367495261138951,2.4822231970973182e-05,-0.11730308995497546,0.21123628357857244],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.013001759689516232,-0.0030093749867698824,0.5096817797196755],[0.24518494530924106,-0.056750275283208425,0.481346572806638],[0.29839359201376137,-0.06906589826780893,0.4748530878890669],[0.35197693848168565,-0.0814684383527168,0.4748085823765758],[0.35194566086394213,-0.08146003197086832,0.4348085954885358]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35194566086394213,-0.08146003197086832,0.4348085954885358],"end_effector_quaternion":[0.9999963021150292,0.00010402800009201974,0.0003912514218577938,-0.0026892111794214477],"end_effector_velocity":[0.029030301961366817,0.06618867846687365,0.0011310930918308868],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3779329818193729,-0.0816014498227064,0.4427882478466707],[0.32599587437553856,-0.08132211125774405,0.4428289182905018]],"gripper_width":0.039937874559431756,"jaw_actuator_force":[-0.8255754948345393,-0.7919709814417173],"joint_actuator_torque":[-0.18993044045262764,-1.1298139601616413,-0.9952048345444382,-0.0019106647117424912,-0.08961888831869658,0.023632494171319962],"joint_position":[-0.22745369268934568,-1.523115799556919,1.6414551765665366,2.861841139799864e-05,-0.11753018583279103,0.22207863069502362],"joint_velocity":[0.19658785627240236,0.04706319957422125,-0.053149603443629255,0.00038509656959417714,0.00651861175721389,-0.1783724190255932],"object_angular_velocity":[0.0003060584456849577,0.0009169247878777294,0.023033060765302475],"object_position":[0.35195563308891137,-0.08132117436140288,0.4279636175313038],"object_quaternion":[0.9999963515751961,7.909424353051377e-05,0.00039307391498715703,-0.0026713429757909556],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031690363238490164,0.06285890058977442,7.5439013139963e-05],"pad_normal_forces":{"left":0.8182592462671545,"right":0.7992855561818647},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.12},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.20675365059470052,-1.518257435437912,1.6353634072441223,2.473638952546947e-05,-0.11711440603338237,0.20679547051071698],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.013316637452239979,-0.0030196261593486533,0.5096668536398681],[0.24574251773506775,-0.055723566679529365,0.48137365961024586],[0.2990067819665491,-0.06780155304873745,0.4748898026451241],[0.3526450153625695,-0.07996452752551184,0.4748454176095679],[0.3526137851720679,-0.07995628376930858,0.434845430650624]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3526137851720679,-0.07995628376930858,0.434845430650624],"end_effector_quaternion":[0.9999963141666834,0.00010199846862444308,0.0003906526759241566,-0.0026848910306811894],"end_effector_velocity":[0.02902974823142726,0.06619551210612404,0.0011618609590383208],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.37860111768840904,-0.08009744476191932,0.44282511442616346],[0.3266640148787022,-0.07981855489989143,0.4428657220572746]],"gripper_width":0.039937867464894056,"jaw_actuator_force":[-0.8256742687296503,-0.792049196012564],"joint_actuator_torque":[-0.18985695554979998,-1.1323590789683067,-0.9945613305591223,-0.001913523775672216,-0.0896233288397088,0.02359110141474119],"joint_position":[-0.22298510694695697,-1.5220101721070332,1.6401732643448677,2.8530084847937947e-05,-0.11735609155108549,0.21761866992824605],"joint_velocity":[0.19626731737175854,0.04816983624034802,-0.054464780697054356,0.0003858551136162399,0.006739822528249386,-0.17806066839297968],"object_angular_velocity":[0.0003108139102738437,0.0009364628329442425,0.023034366697301203],"object_position":[0.35262376691166314,-0.07981890102002108,0.4279922975435485],"object_quaternion":[0.9999963636332725,7.599275672605301e-05,0.0003924748897409781,-0.0026670037107435077],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03168964362675657,0.06287267361934053,9.154704015663214e-05],"pad_normal_forces":{"left":0.8183513478773963,"right":0.7993703893144954},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.14},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.2023210457017519,-1.5170351477514314,1.6339463610085776,2.465092718608636e-05,-0.11691986848444656,0.20236278080908668],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013638739735384767,-0.003028757780432141,0.5096512317239779],[0.24630244067144727,-0.054696434421110864,0.48140139177241825],[0.29962120546929494,-0.0665369436512664,0.4749274701168525],[0.3533131645731864,-0.07846051558879426,0.4748832000745828],[0.35328197885150286,-0.07845243255598378,0.4348832130481431]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35328197885150286,-0.07845243255598378,0.4348832130481431],"end_effector_quaternion":[0.9999963264761444,9.999265426716493e-05,0.000390090980342552,-0.0026804597949853853],"end_effector_velocity":[0.029029112035811412,0.06620244518461281,0.001192426974709974],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3792693241988124,-0.078593331299808,0.4428629263110638],[0.3273322251244146,-0.07831490167680026,0.44290347498602933]],"gripper_width":0.0399378612142801,"jaw_actuator_force":[-0.8257625124577865,-0.7921169246872548],"joint_actuator_torque":[-0.1897819108160519,-1.1349376827031392,-0.9939195239178389,-0.0019163931188990913,-0.08962805149217346,0.02354900167422258],"joint_position":[-0.21852408133609286,-1.5208792023046034,1.6388603860266582,2.8447152361867406e-05,-0.11717627382266596,0.21316649197064305],"joint_velocity":[0.195940065978478,0.04927334567703288,-0.05577934564071204,0.00038649764264995953,0.00696269818153516,-0.17774357140952476],"object_angular_velocity":[0.0003151796515202122,0.00095492336862772,0.023033992836089826],"object_position":[0.35329196974225147,-0.07831652986442468,0.4280219276195715],"object_quaternion":[0.9999963759638548,7.292577341226778e-05,0.00039191935844241975,-0.0026625439345918955],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031688824763521625,0.06288662049275351,0.00010744856722689369],"pad_normal_forces":{"left":0.8184329205171679,"right":0.7994447387229888},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.16},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.197896712568471,-1.5157878621357066,1.6324983950555108,2.456570252563399e-05,-0.11671940989597133,0.19793836152434513],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.013968046587219783,-0.00303667940582473,0.5096348909787967],[0.2468647063552625,-0.05366884804779328,0.4814297608160085],[0.3002368575521056,-0.06527205336157774,0.4749660851537029],[0.3539813837124687,-0.07695640005668124,0.4749219251415655],[0.3539502398332556,-0.07694847604631584,0.434921938050707]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3539502398332556,-0.07694847604631584,0.434921938050707],"end_effector_quaternion":[0.9999963390235637,9.80080491565679e-05,0.0003895621785418139,-0.002675925111317555],"end_effector_velocity":[0.02902838800971412,0.06620947858986452,0.0012227866083799176],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3799375991084213,-0.07708910750796799,0.44290167908740985],[0.3280005029790632,-0.07681114886697614,0.44294217223037025]],"gripper_width":0.03993785570324318,"jaw_actuator_force":[-0.8258415147029163,-0.7921754759686399],"joint_actuator_torque":[-0.18970533783245003,-1.137549640171187,-0.9932794118650463,-0.0019192796498504693,-0.08963311824344977,0.02350615436199277],"joint_position":[-0.21407076950026416,-1.51972296242135,1.6375165533360017,2.836762317011993e-05,-0.11699068156343416,0.2087222349514552],"joint_velocity":[0.19560617756332951,0.05037370251471997,-0.05709337707412826,0.0003870690224071109,0.007187638384102384,-0.17742082716053523],"object_angular_velocity":[0.00031926314923854467,0.0009727038285751528,0.023032480262302098],"object_position":[0.3539602395331027,-0.07681405850172988,0.4280525032111284],"object_quaternion":[0.999996388538876,6.989103978001703e-05,0.00039140069018795987,-0.0026579747829046305],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031687899243320675,0.0629007405345606,0.00012313862480039075],"pad_normal_forces":{"left":0.8185052553495243,"right":0.7995099108285597},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.18},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.19348079637073748,-1.5145156548852452,1.6310195171439927,2.4480644498469922e-05,-0.11651296177117347,0.193522357812891],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014304536901024489,-0.0030433013474314577,0.5096178079825318],[0.2474293066991971,-0.052640777375866574,0.48145875831536705],[0.30085373311127833,-0.06400686563238296,0.4750056427666418],[0.35464967043410783,-0.07545217850464143,0.47496158809247085],[0.354618565934913,-0.07544441194441831,0.4349616009400895]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.354618565934913,-0.07544441194441831,0.4349616009400895],"end_effector_quaternion":[0.9999963517956637,9.604304909936668e-05,0.0003890642183355777,-0.0026712918467506823],"end_effector_velocity":[0.029027572016261514,0.0662166126527982,0.0012529369602979601],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38060594012538396,-0.0755847713173134,0.44294136814388696],[0.3286688462449418,-0.07530729389616427,0.4429818089653734]],"gripper_width":0.03993785084045309,"jaw_actuator_force":[-0.8259124061137841,-0.7922259927459869],"joint_actuator_torque":[-0.1896272687747711,-1.140194807276771,-0.9926409999026191,-0.0019221880641028875,-0.08963856867960374,0.023462540315456692],"joint_position":[-0.2096253233050815,-1.518541525511856,1.6361417767812332,2.829024548603705e-05,-0.11679925715420114,0.20428604085350507],"joint_velocity":[0.1952657296529215,0.051470871986161446,-0.05840692497313777,0.0003875981626102111,0.007414897841191611,-0.1770922941160438],"object_angular_velocity":[0.00032312904116609193,0.0009900379939012716,0.023030146910226815],"object_position":[0.35462857411021265,-0.07531148451430199,0.42808401967523163],"object_quaternion":[0.9999964013401184,6.688711691339846e-05,0.00039091531766196973,-0.0026533032505409544],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03168686150723761,0.06291503225769579,0.00013861384213004928],"pad_normal_forces":{"left":0.818569484325647,"right":0.7995670472465242},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.2},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.189073440343767,-1.5132186033652277,1.629509734963014,2.439572342841788e-05,-0.11630045446445283,0.1891149129071427],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014648188393171117,-0.003048534685646117,0.5095999588931812],[0.24799623325059775,-0.05161219248972017,0.4814883758373444],[0.301471826863758,-0.06274136406982048,0.4750461380537151],[0.35531802239919635,-0.0739478485504163,0.4750021841516655],[0.35528695488422357,-0.07394023795371367,0.4350021969405634]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35528695488422357,-0.07394023795371367,0.4350021969405634],"end_effector_quaternion":[0.9999963647829259,9.40965843165346e-05,0.0003885962642878926,-0.0026665632769075436],"end_effector_velocity":[0.029026660640792318,0.0662238473643717,0.0012828760937469857],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3812743449068649,-0.07408032058405069,0.4429819887483561],[0.32933725266119723,-0.0738033342806864,0.44302238037182096]],"gripper_width":0.03993784654594838,"jaw_actuator_force":[-0.8259761781344883,-0.7922694742939882],"joint_actuator_torque":[-0.18954773633861066,-1.1428730320942577,-0.9920042981775623,-0.0019251216087045817,-0.08964442928775895,0.02341815281450721],"joint_position":[-0.20518789279849367,-1.5173349655275006,1.6347360660520511,2.8214239924724593e-05,-0.11660193863002472,0.19985805308081014],"joint_velocity":[0.194918801478164,0.05256481452895294,-0.05972002281856076,0.00038810358604005106,0.007644646457546012,-0.1767579233058419],"object_angular_velocity":[0.00032681638787608976,0.0010070622807666937,0.023027179102000857],"object_position":[0.35529697120213394,-0.07380880547516927,0.42811647230721306],"object_quaternion":[0.9999964143551257,6.391304627856493e-05,0.0003904614839990157,-0.002648533904742134],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0316857070825082,0.0629294936639041,0.00015387178834721602],"pad_normal_forces":{"left":0.8186265995244996,"right":0.7996171464430777},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.22},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.18467478576441973,-1.511896785930978,1.6279690560183167,2.431093349978375e-05,-0.116081817152452,0.18471616809083943],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.014998977598699774,-0.003052291285766402,0.5095813194562551],[0.24856547717018923,-0.05058306373993829,0.48151860490774484],[0.3020911333219889,-0.06147553242735268,0.47508756615704456],[0.3559864372489142,-0.07244340784288408,0.4750437085039925],[0.3559554043330227,-0.0724359517835439,0.4350437212369282]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3559554043330227,-0.0724359517835439,0.4350437212369282],"end_effector_quaternion":[0.9999963779779767,9.216789874228766e-05,0.00038815818170702334,-0.002661741766545924],"end_effector_velocity":[0.02902565089618749,0.06623118250220114,0.0013126026460965176],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38194281105825817,-0.07257575312807789,0.4430235360927333],[0.3300057199048132,-0.07229926759513713,0.4430638816274251]],"gripper_width":0.03993784274970755,"jaw_actuator_force":[-0.8260336998162447,-0.7923067949247704],"joint_actuator_torque":[-0.1894667736670499,-1.1455841578411992,-0.9913693193744848,-0.0019280825928170808,-0.08965071886543896,0.023372992381041513],"joint_position":[-0.20075862617708673,-1.5161033573669471,1.633299430243661,2.813912731807323e-05,-0.11639866096419564,0.1954384150432565],"joint_velocity":[0.19456547371529104,0.05365548847519424,-0.06103269478875812,0.00038859711021422763,0.00787700439367781,-0.17641771963636604],"object_angular_velocity":[0.0003303489928626527,0.0010238553450962918,0.02302368573422981],"object_position":[0.35596542845708645,-0.07230601895750921,0.4281498563603382],"object_quaternion":[0.9999964275747925,6.0968149849818985e-05,0.0003900384975934117,-0.0026436698941430846],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031684432138906975,0.0629441224214468,0.00016891058852378578],"pad_normal_forces":{"left":0.8186774702578843,"right":0.7996610821956598},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.24},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.18028497193371262,-1.5105502818644305,1.6263974875585745,2.422628254360432e-05,-0.11585697782579987,0.18032626267749624],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.015356879877284575,-0.003054483816438636,0.5095618650121111],[0.2491370292224022,-0.04955336174511929,0.4815494369926018],[0.3027116467806583,-0.06020935460377527,0.4751299222381309],[0.3566549125888616,-0.07093885405569188,0.4750861563056421],[0.35662391186553705,-0.07093155115340657,0.43508616898535946]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35662391186553705,-0.07093155115340657,0.43508616898535946],"end_effector_quaternion":[0.9999963913746583,9.025641813152235e-05,0.0003877502366860437,-0.002656829161689437],"end_effector_velocity":[0.029024540051411755,0.06623861770582423,0.0013421156020381735],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38261133613272785,-0.07107106675545932,0.4430660053194504],[0.3306742455915889,-0.07079509145412402,0.44310630790209615]],"gripper_width":0.03993783939040568,"jaw_actuator_force":[-0.8260857327271909,-0.7923387199682574],"joint_actuator_torque":[-0.18938441428588249,-1.1483280246316099,-0.9907360774810741,-0.001931072723938788,-0.08965745167226835,0.023327063768961764],"joint_position":[-0.1963376697567887,-1.5148467768894986,1.6318318779799663,2.806461828246181e-05,-0.11618935682476246,0.1910272693299387],"joint_velocity":[0.19420582829839295,0.05474285162566581,-0.06234495995681057,0.00038908625434983944,0.008112062489556673,-0.17607171950171924],"object_angular_velocity":[0.0003337415733792555,0.0010404616744968136,0.023019730246253884],"object_position":[0.3566339434531378,-0.07080312254061673,0.42818416705758117],"object_quaternion":[0.9999964409919613,5.8051910709076765e-05,0.00038964628995646786,-0.00263871354189333],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03168303323013338,0.06295891597144034,0.00018372869974889275],"pad_normal_forces":{"left":0.8187228581489812,"right":0.799699619464199},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.26},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.17590413615976142,-1.5091791713203702,1.6247950365243775,2.4141786078224995e-05,-0.11562586329295314,0.175945333990996],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.015721869425436668,-0.0030550257689806984,0.5095415705030657],[0.2497108797725133,-0.048523057395808505,0.4815808634880873],[0.303333361310385,-0.05894281464362321,0.4751732014638214],[0.3573234459801597,-0.069434184883747,0.4751295226908331],[0.3572924750034212,-0.06942703379577946,0.4351295353200783]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3572924750034212,-0.06942703379577946,0.4351295353200783],"end_effector_quaternion":[0.9999964049674955,8.83616712785022e-05,0.00038737292171620556,-0.0026518270153629946],"end_effector_velocity":[0.02902332553178064,0.06624615252150313,0.0013714141614946558],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38327991763096453,-0.06956625927170253,0.44310939153719897],[0.33134282727709324,-0.06929080350209721,0.44314965435555254]],"gripper_width":0.03993783641433035,"jaw_actuator_force":[-0.8261329441202605,-0.7923659195623936],"joint_actuator_torque":[-0.18930069204859024,-1.151104470513019,-0.9901045870636835,-0.0019340933269380934,-0.08966463926570256,0.023280374221435807],"joint_position":[-0.1919251679468282,-1.5135653009066614,1.6303334174778032,2.7990542815650628e-05,-0.1159739570238059,0.1866247572233037],"joint_velocity":[0.19383994828081247,0.055826862173492586,-0.0636568347420705,0.0003895757987536578,0.008349894161320552,-0.1757199778211417],"object_angular_velocity":[0.0003370034506722344,0.0010569056063843766,0.023015349446275972],"object_position":[0.3573025137043437,-0.06930011381378316,0.42821939959883365],"object_quaternion":[0.9999964546005949,5.516390176238911e-05,0.00038928515387717496,-0.0026336666936485295],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031681507143157706,0.0629738715918158,0.00019832478060579606],"pad_normal_forces":{"left":0.8187634303970347,"right":0.7997334281191542},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.28},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.17153241374132877,-1.5077835352782512,1.623161709510371,2.4057463832015907e-05,-0.11538839919111143,0.17157351734777426],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01609391929251285,-0.003053831476919258,0.5095204104803738],[0.2502870187878007,-0.04749212185959259,0.4816128757154505],[0.3039562707554708,-0.05767589673895523,0.47521739899848886],[0.3579920349344822,-0.06792939804142088,0.47517380277605253],[0.3579610912088927,-0.06792239745810259,0.43517381535758354]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3579610912088927,-0.06792239745810259,0.43517381535758354],"end_effector_quaternion":[0.999996418751393,8.648324301078517e-05,0.0003870268542827687,-0.002646736717378465],"end_effector_velocity":[0.02902200486102871,0.06625378642899539,0.001400497662567996],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38394855300109143,-0.06806132848972167,0.44315368983044123],[0.3320114624575813,-0.0677864014078336,0.44319391613628495]],"gripper_width":0.03993783377443465,"jaw_actuator_force":[-0.8261759185307556,-0.79238898061267],"joint_actuator_torque":[-0.1892156410907404,-1.1539133320916335,-0.9894748628391881,-0.0019371454854735814,-0.08967229157031475,0.023232932461187517],"joint_position":[-0.1875212632261695,-1.512259007160871,1.6288040565766888,2.7916805643407264e-05,-0.11575239078776049,0.18223101841072914],"joint_velocity":[0.19346791772948221,0.05690747924872988,-0.0649683343444069,0.0003900687874668833,0.008590562330318552,-0.17536256052873145],"object_angular_velocity":[0.0003401407569275525,0.0010731996396216767,0.023010564579748437],"object_position":[0.3579711366645321,-0.06779699037893182,0.42825554916545383],"object_quaternion":[0.999996468395296,5.2303743237481275e-05,0.0003889555886056638,-0.0026285309213323203],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03167985081054081,0.06298898643615568,0.0002126976149619052],"pad_normal_forces":{"left":0.8187997714297429,"right":0.7997630948647052},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.3},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.1671699379521032,-1.5063634554971514,1.6214975127349116,2.3973337713779002e-05,-0.1151445100012387,0.16721094604030806],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.016473001399105555,-0.0030508161353571565,0.5094983591111285],[0.2508654358410862,-0.04646052658679119,0.48164546491888277],[0.30458036873404015,-0.05640858523191149,0.47526250999982644],[0.3586606769113728,-0.06642449126177596,0.47521899166287435],[0.3586297578867637,-0.06641763990425481,0.4352190041994661]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3586297578867637,-0.06641763990425481,0.4352190041994661],"end_effector_quaternion":[0.9999964327214612,8.462074619992105e-05,0.0003867127178677842,-0.00264155956881334],"end_effector_velocity":[0.029020575627654893,0.066261518857635,0.0014293655366034476],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38461723963867883,-0.0665562722347293,0.44319889526529505],[0.33268014857087397,-0.06628188286159493,0.4432390883813059]],"gripper_width":0.039937831429509255,"jaw_actuator_force":[-0.8262151679729532,-0.7924084171987245],"joint_actuator_torque":[-0.1891292957919859,-1.1567544449126217,-0.9888469194211211,-0.0019402301326086249,-0.08968041750043554,0.023184748104705832],"joint_position":[-0.18312609612190517,-1.510927974296597,1.6272438027483362,2.7843358024037633e-05,-0.11552458592351843,0.17784619081062633],"joint_velocity":[0.19308982164107014,0.057984663241539426,-0.06627947358559028,0.0003905671688388323,0.008834123458327852,-0.17499954021600295],"object_angular_velocity":[0.00034315775488067915,0.0010893493532444867,0.023005387826710747],"object_position":[0.3586398097297195,-0.06629374985251005,0.4282926109232662],"object_quaternion":[0.9999964823710257,4.9471077402727925e-05,0.00038865820842807624,-0.0026233076421726636],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03167806125939517,0.06300425755761663,0.00022684606744205073],"pad_normal_forces":{"left":0.8188323931306662,"right":0.7997891336240606},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.32},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.16281684002579774,-1.5049190144724514,1.6198024520139602,2.3889430627440693e-05,-0.11489411906544679,0.16285775132175284],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01685908655697225,-0.003045895819947967,0.5094753901851083],[0.2514461201157122,-0.04542824331641175,0.4816786222650859],[0.3052056486395901,-0.0551408646176847,0.4753085296167474],[0.3593293693168902,-0.06491946229640168,0.47526508443994825],[0.35929847238583146,-0.06491275891572405,0.43526509693439597]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35929847238583146,-0.06491275891572405,0.43526509693439597],"end_effector_quaternion":[0.9999964468729157,8.27738051579456e-05,0.000386431227593288,-0.002636296824620622],"end_effector_velocity":[0.029019035465409158,0.06626934919609204,0.0014580172819354273],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3852859748868382,-0.06505108834735045,0.44324500289330887],[0.33334888299719706,-0.06477724557381881,0.44328516621635095]],"gripper_width":0.039937829343458006,"jaw_actuator_force":[-0.8262511408941275,-0.7924246796507513],"joint_actuator_torque":[-0.18904169074370714,-1.1596276437003326,-0.9882207711644924,-0.0019433481084578652,-0.08968902532272338,0.023135831321475564],"joint_position":[-0.17873980518926694,-1.509572281826879,1.6256526630942416,2.7770180014081376e-05,-0.11529046892383545,0.1734704104651372],"joint_velocity":[0.19270574587249634,0.05905837599613986,-0.06759026740536694,0.0003910722025361171,0.009080629897720044,-0.17463099359718315],"object_angular_velocity":[0.00034605762650963186,0.0011053563127797752,0.02299982611042777],"object_position":[0.3593085302397258,-0.06479038986693424,0.42833058002465785],"object_quaternion":[0.9999964965229409,4.6665553594569696e-05,0.0003883936887222377,-0.002617998188042055],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03167613558177086,0.06301968192402338,0.00024076905731639837],"pad_normal_forces":{"left":0.8188617438102631,"right":0.7998119946026232},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.34},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.15847324914212588,-1.503450295393414,1.6180765327373021,2.380576577972763e-05,-0.1146371486057279,0.15851406239164856],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.017252144490009697,-0.003038987505347985,0.5094514771215894],[0.2520290604113997,-0.04439524408216948,0.48171233884382947],[0.3058321036433849,-0.05387271954769107,0.47535545298850945],[0.35999810950302785,-0.063414308915611,0.4753120761845049],[0.35996723199989894,-0.06340775229259007,0.4353120886396256]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.35996723199989894,-0.06340775229259007,0.4353120886396256],"end_effector_quaternion":[0.9999964612010248,8.094204585452733e-05,0.000386183110188773,-0.0026309497178852517],"end_effector_velocity":[0.0290173820419963,0.06627727679837109,0.0014864524485228054],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38595475603638274,-0.06354577468570578,0.4432920077540083],[0.3340176630599875,-0.06327248727468529,0.4433321447563415]],"gripper_width":0.039937827484663894,"jaw_actuator_force":[-0.8262842300315425,-0.7924381624775201],"joint_actuator_torque":[-0.18895286072083195,-1.1625327625164346,-0.9875964320709727,-0.0019465001966298954,-0.08969812286748358,0.023086192634922398],"joint_position":[-0.17436252699303162,-1.5081920100970703,1.6240306443361852,2.769726935179325e-05,-0.11504996503737444,0.16910381147171716],"joint_velocity":[0.19231577708077688,0.0601285809291395,-0.06890073115646693,0.00039158471692157034,0.00933013126074429,-0.1742570000280768],"object_angular_velocity":[0.00034884294394365927,0.0011212197853226883,0.022993883326951008],"object_position":[0.3599772954793292,-0.063286908071763,0.42836945161014905],"object_quaternion":[0.9999965108463051,4.388681941843922e-05,0.0003881627341393879,-0.0026126038456910808],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031674070917531244,0.06303525642769786,0.0002544655431546432],"pad_normal_forces":{"left":0.8188882160720001,"right":0.7998320722077914},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.36},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.15413929241369229,-1.5019573821012069,1.6163197598459715,2.372236627521611e-05,-0.1143735197434036,0.154180006382651],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.017652143855970397,-0.003030009083068478,0.5094265929761244],[0.25261424515065845,-0.04336150121845386,0.4817466056690811],[0.3064597266973578,-0.05260413483281302,0.4754032752445504],[0.36066689476758146,-0.061909028908847384,0.4753599619635782],[0.3606360339685783,-0.061902617854389205,0.4353599743822118]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3606360339685783,-0.061902617854389205,0.4353599743822118],"end_effector_quaternion":[0.9999964757010766,7.912509021973816e-05,0.00038596909227549004,-0.002625519473515006],"end_effector_velocity":[0.029015613052574683,0.06628530098758123,0.0015146706288780912],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3866235803260348,-0.062040329126894285,0.44333990487672786],[0.33468648602666273,-0.061767605714179975,0.4433800191059978]],"gripper_width":0.039937825825433745,"jaw_actuator_force":[-0.8263147793035364,-0.7924492112985373],"joint_actuator_torque":[-0.18886284065658998,-1.165469634869396,-0.9869739157272761,-0.0019496871471018622,-0.08970771765172358,0.023035842805184004],"joint_position":[-0.16999439609017813,-1.5067872402468458,1.622377752802459,2.7624634509899292e-05,-0.11480299831813519,0.1647465259375926],"joint_velocity":[0.1919200026689463,0.06119524310356571,-0.070210880782454,0.00039210527113844206,0.009582675217696924,-0.17387764063370129],"object_angular_velocity":[0.00035151595007568154,0.0011369377506099613,0.02298756164870468],"object_position":[0.3606461026791494,-0.06178330213470259,0.4284092208096556],"object_quaternion":[0.9999965253364306,4.1134515647651195e-05,0.00038796605982894183,-0.0026071258799562473],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031671864444410947,0.06305097789217383,0.0002679345136626323],"pad_normal_forces":{"left":0.8189121537079742,"right":0.7998497119756436},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.38},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.14981509487381983,-1.5004403590470943,1.6145321378102342,2.3639254879335572e-05,-0.11410315251894637,0.1498557083482625],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.018059052268743048,-0.003018879378683389,0.5094007104472926],[0.2532016623855613,-0.04232698736617184,0.4817814136804669],[0.30708851053733216,-0.05133509544663794,0.475451991504736],[0.3613357223542829,-0.06040362008521229,0.4754087368350598],[0.361304875477974,-0.0603973534409029,0.43540874922006934]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.361304875477974,-0.0603973534409029,0.43540874922006934],"end_effector_quaternion":[0.9999964903683642,7.732255289772614e-05,0.000385789893495494,-0.0026200073158510976],"end_effector_velocity":[0.02901372621599447,0.06629342105838858,0.0015426714527001294],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3872924449426811,-0.060534749568123276,0.4433886892820225],[0.33535534910936576,-0.06026259866243618,0.4434287843605354]],"gripper_width":0.0399378243415121,"jaw_actuator_force":[-0.8263430898509441,-0.7924581289096153],"joint_actuator_torque":[-0.1887716656193419,-1.1684380937966807,-0.986353235262527,-0.0019529096904722094,-0.08971781695109371,0.022984792759169537],"joint_position":[-0.1656355450137012,-1.505358054171081,1.6206939944114638,2.7552290365362532e-05,-0.11454949166284101,0.16039868394784407],"joint_velocity":[0.1915185107359237,0.06225832927661333,-0.07152073292743404,0.0003926342568012187,0.009838307963344423,-0.17349299778768565],"object_angular_velocity":[0.0003540787252237363,0.0011525074969689333,0.022980862285787468],"object_position":[0.3613149490163775,-0.06027956974250605,0.4284498827435715],"object_quaternion":[0.9999965399886502,3.840827333942057e-05,0.00038780438034783407,-0.002601565547022203],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031669513372321455,0.06306684307705877,0.00028117498218626177],"pad_normal_forces":{"left":0.8189338577422829,"right":0.7998652166328859},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.4},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.14550077946537693,-1.4988993112506488,1.6127136706077334,2.355645387943321e-05,-0.11382596591192709,0.14554129125160048],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.01847283632107998,-0.0030055181683655333,0.5093738018834161],[0.25379129980476206,-0.04129167547843686,0.48181675374491906],[0.3077184476864392,-0.05006558652866154,0.47550159687984683],[0.3620045894530828,-0.05889808027407554,0.47545839584865635],[0.36197375366129025,-0.05889195691291333,0.43545840820292836]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36197375366129025,-0.05889195691291333,0.43545840820292836],"end_effector_quaternion":[0.9999965051981754,7.553403943872832e-05,0.0003856462224499224,-0.0026144144727853723],"end_effector_velocity":[0.029011719271858413,0.0663016362728895,0.0015704545846021534],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38796134702166757,-0.05902903392764773,0.4434383559828365],[0.33602424946568743,-0.058757463910248754,0.4434784356064115]],"gripper_width":0.03993782301165469,"jaw_actuator_force":[-0.8263694253259812,-0.792465180599593],"joint_actuator_torque":[-0.1886793703904175,-1.171437971917726,-0.9857344032787978,-0.001956168512150131,-0.08972842783031787,0.022933053540830528],"joint_position":[-0.16128610425756665,-1.5039045344799702,1.6189793746536199,2.7480255447758782e-05,-0.114289366841283,0.1560604135418045],"joint_velocity":[0.1911113900136909,0.06331780793136353,-0.07283030500796155,0.00039317195440574903,0.010097074487586403,-0.17310315479349622],"object_angular_velocity":[0.0003565332939391572,0.0011679255865102167,0.022973780147795286],"object_position":[0.3619838316153072,-0.05877570861340465,0.42849143252451155],"object_quaternion":[0.9999965547986163,3.5707712351388104e-05,0.0003876784109031137,-0.0025959239796295567],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03166701493846199,0.06308284864427363,0.0002941859862923135],"pad_normal_forces":{"left":0.8189535917222058,"right":0.7998788513967786},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.42},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.1411964670303859,-1.4973343242579384,1.6108643617016134,2.3473985004385064e-05,-0.11354187786096477,0.14123687595496826],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01889346160768921,-0.00298984619473001,0.5093458392892414],[0.25438314474069273,-0.040255538826028586,0.48185261665843376],[0.3083495304586727,-0.048795593387367844,0.47555208647220704],[0.3626734932005277,-0.05739240732566644,0.47550893404678946],[0.36264266559940106,-0.057386426152858605,0.4355089463732341]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36264266559940106,-0.057386426152858605,0.4355089463732341],"end_effector_quaternion":[0.999996520185791,7.37591455043578e-05,0.0003855387742806527,-0.0026087421778816836],"end_effector_velocity":[0.029009589982502436,0.0663099458851135,0.0015980197179014616],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38863028364706936,-0.05752318014552139,0.44348889998552876],[0.3366931841993096,-0.05725219926960686,0.4435289679220987]],"gripper_width":0.03993782181725701,"jaw_actuator_force":[-0.8263940165597035,-0.7924705987745142],"joint_actuator_torque":[-0.18858599103840135,-1.1744691015330773,-0.9851174319924212,-0.0019594644006450863,-0.0897395572159212,0.02288063631407944],"joint_position":[-0.15694620226257167,-1.5024267644586393,1.6172338985721717,2.7408550469560053e-05,-0.11402254452244306,0.15173184069450413],"joint_velocity":[0.1906987298828138,0.06437364930175303,-0.07413961525202947,0.00039371860366821957,0.010359018748042308,-0.17270819569011284],"object_angular_velocity":[0.00035888165379513275,0.0011831893497353935,0.022966323010344965],"object_position":[0.3626527475482485,-0.057271716463235395,0.42853386525589987],"object_quaternion":[0.9999965697612108,3.3032440469514044e-05,0.0003875888361850748,-0.002590202610894225],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031664366413240864,0.06309899131109331,0.00030696657317145945],"pad_normal_forces":{"left":0.818971586381043,"right":0.7998908486441566},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.44},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.1369022763007601,-1.4957454840995696,1.6089842140184483,2.3391869376562456e-05,-0.11325080528361926,0.13694258121056702],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.019320892748660796,-0.0029717851819832178,0.5093167943325767],[0.2549771841769007,-0.03921855100268291,0.48188899314786904],[0.308981750962539,-0.04752510150325992,0.47560345537637355],[0.3633424306801933,-0.055886599111727525,0.47556034646544293],[0.36331160832139897,-0.05588075906552465,0.43556035876699406]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36331160832139897,-0.05588075906552465,0.43556035876699406],"end_effector_quaternion":[0.999996535326483,7.199745639339649e-05,0.00038546822922990473,-0.002602991671275136],"end_effector_velocity":[0.02900733612742668,0.06631834910656494,0.0016253665797448832],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.389299251852132,-0.056017186184327335,0.44354031629079543],[0.33736215036077466,-0.055746802574332996,0.44358037637885744]],"gripper_width":0.03993782074202534,"jaw_actuator_force":[-0.826417065595507,-0.792474587060723],"joint_actuator_torque":[-0.1884915625161554,-1.177531314610519,-0.9845023329622791,-0.0019627980295277543,-0.08975121183744506,0.02282755229805744],"joint_position":[-0.1526159654033688,-1.5009248280263021,1.6154575707431797,2.7337197072102096e-05,-0.11374894429820157,0.14741308930174937],"joint_velocity":[0.19028062023496412,0.0654258253863431,-0.07544868274503265,0.000394274378356483,0.01062418374929481,-0.17230820511066425],"object_angular_velocity":[0.00036112584486997586,0.0011982955981244192,0.022958491507521318],"object_position":[0.3633216938357675,-0.05576759104059976,0.4285771760351795],"object_quaternion":[0.9999965848718169,3.0382053126726798e-05,0.000387536340770653,-0.0025844026814335268],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03166156508512798,0.06311526762799925,0.0003195158169969834],"pad_normal_forces":{"left":0.8189880436736303,"right":0.7999014119602076},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.46},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.13261832388998746,-1.4941328772486668,1.6070732299258983,2.3310127484088026e-05,-0.11295266409607466,0.13265852365216108],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.01975509341315985,-0.0029512578503646933,0.509286638350885],[0.25557340475548074,-0.03818068593017098,0.481925873872787],[0.3096151011047626,-0.04625409653179326,0.47565569867988955],[0.36401139892313583,-0.05438065352617928,0.47561262813500843],[0.3639805788051198,-0.05437495357871197,0.4356126404146238]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3639805788051198,-0.05437495357871197,0.4356126404146238],"end_effector_quaternion":[0.9999965506155141,7.024854701843692e-05,0.0003854352517258272,-0.0025971642000277755],"end_effector_velocity":[0.029004955506225904,0.06632684513116391,0.001652494925638043],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.38996824861954615,-0.054511050029861514,0.44359259989456296],[0.3380311449480462,-0.054241271680731104,0.44363265604153446]],"gripper_width":0.0399378197716915,"jaw_actuator_force":[-0.8264387492662584,-0.792477323860048],"joint_actuator_torque":[-0.1883961202218103,-1.1806244428687478,-0.9838891172435069,-0.0019661701114007885,-0.08976339828716817,0.022773812788548398],"joint_position":[-0.1482955179765183,-1.4993988096951556,1.613650395254889,2.7266217242232412e-05,-0.11346848470548865,0.1431042811673959],"joint_velocity":[0.18985715149242263,0.06647430996389166,-0.0767575274468428,0.0003948394381631054,0.01089261161430138,-0.17190326819786464],"object_angular_velocity":[0.0003632679462972597,0.0012132411359428797,0.02295028510075373],"object_position":[0.36399066744729613,-0.05426333011631055,0.42862135995388556],"object_quaternion":[0.9999966001257884,2.7756133486842707e-05,0.00038752159375619676,-0.002578525446198413],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03165860827122583,0.0631316741312429,0.0003318328048497518],"pad_normal_forces":{"left":0.8190031403574187,"right":0.7999107197087675},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.48},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.12834472428567065,-1.4924965905787255,1.6051314112100892,2.3228779165751032e-05,-0.1126473692326746,0.12838481778760413],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.020196026343375827,-0.002928187929879161,0.5092553423578231],[0.25617179278460495,-0.03714191786313553,0.4819632494272935],[0.3102495725940533,-0.04498256430617345,0.47570881146404714],[0.3646803949083749,-0.0528745684857477,0.47566577408109817],[0.3646495739776693,-0.052869007643850774,0.43566578634175923]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3646495739776693,-0.052869007643850774,0.43566578634175923],"end_effector_quaternion":[0.9999965660481406,6.851198206237784e-05,0.00038544048983282363,-0.0025912610180228368],"end_effector_velocity":[0.029002445937465968,0.06633543312935353,0.0016794045399427101],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.39063727088186395,-0.053004769691744294,0.4436457457888295],[0.33870016490717536,-0.05273560446821053,0.44368580196934615]],"gripper_width":0.039937818893761814,"jaw_actuator_force":[-0.8264592223220424,-0.7924789654702211],"joint_actuator_torque":[-0.1882996995872901,-1.1837483178155708,-0.9832777953268987,-0.0019695813597514766,-0.08977612301263349,0.022719429139064218],"joint_position":[-0.14398498218943956,-1.4978487945289978,1.6118123756866005,2.719563294201881e-05,-0.11318108324744283,0.1388055359924681],"joint_velocity":[0.18942841454790843,0.06751907860374344,-0.07806617021570512,0.0003954139277315312,0.01116434361941106,-0.17149347052981806],"object_angular_velocity":[0.00036531009088175865,0.0012280229025928445,0.022941703656909278],"object_position":[0.36465966530168986,-0.05275893148399959,0.42866641209846573],"object_quaternion":[0.9999966155184533,2.515425260339537e-05,0.0003875452480860462,-0.0025725721727024313],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03165549331400239,0.06314820730730948,0.00034391663912912196],"pad_normal_forces":{"left":0.8190170311133551,"right":0.7999189281574562},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.5},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.12408158984304105,-1.4908367113213556,1.6031587590526535,2.3147843602833867e-05,-0.11233483466522663,0.12412157599234155],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.020643653378695226,-0.002902500173318285,0.509222877049722],[0.2567723342461233,-0.03610222139371241,0.48200111034187515],[0.31088515694490887,-0.043710490840052726,0.4757627888046602],[0.3653494155633805,-0.051368341930595515,0.47571977932534454],[0.36531859071593864,-0.051362919236611744,0.4357197915700568]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36531859071593864,-0.051362919236611744,0.4357197915700568],"end_effector_quaternion":[0.9999965816196137,6.678731623471856e-05,0.00038548457489574024,-0.0025852833856656937],"end_effector_velocity":[0.02899980525855053,0.06634411224890557,0.0017060952352138464],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.391306315521898,-0.05149834320401918,0.4436997489624829],[0.3393692071329196,-0.051229798839917046,0.44373980921666023]],"gripper_width":0.039937818097297254,"jaw_actuator_force":[-0.8264786201635319,-0.7924796488255206],"joint_actuator_torque":[-0.18820233605914183,-1.186902770787242,-0.9826683771250373,-0.001973032489392196,-0.08978939232071248,0.022664412753432117],"joint_position":[-0.13968447815037582,-1.4962748681016311,1.6099435150870942,2.712546586306311e-05,-0.1128866564139269,0.13451697136569277],"joint_velocity":[0.18899450072261204,0.06856010867493045,-0.07937463282680424,0.00039599798253036353,0.01143942021990423,-0.1710788980644189],"object_angular_velocity":[0.0003672544690984867,0.0012426379862529057,0.022932747313433737],"object_position":[0.3653286842677487,-0.0512543929607924,0.428712327551094],"object_quaternion":[0.9999966310451248,2.2575969708747192e-05,0.000387607940231038,-0.0025665441381126993],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03165221758058532,0.06316486359533728,0.00035576643665055283],"pad_normal_forces":{"left":0.819029851280781,"right":0.7999261742149136},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.52},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.11982903077939823,-1.4891533270239332,1.6011552740074242,2.306733931517961e-05,-0.11201497342205025,0.11986890850384128],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.021097935480073497,-0.0028741203685706276,0.5091892128120025],[0.25737501480322805,-0.035061571455926525,0.48203944708522756],[0.31152184548145095,-0.04243786233011226,0.47581762577284165],[0.3660184577645678,-0.049861971824941384,0.4757746388861913],[0.3659876258471184,-0.049856686357499236,0.4357746511179844]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3659876258471184,-0.049856686357499236,0.4357746511179844],"end_effector_quaternion":[0.9999965973251802,6.507409459657953e-05,0.00038556812130452717,-0.0025792325694650627],"end_effector_velocity":[0.028997031325636212,0.06635288161545652,0.0017325668516295673],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.39197537937313126,-0.049991768625728884,0.4437546044021044],[0.3400382684693456,-0.049723852723353494,0.44379467283377516]],"gripper_width":0.03993781737272081,"jaw_actuator_force":[-0.8264970612392215,-0.7924794938954163],"joint_actuator_torque":[-0.1881040650799335,-1.1900876329907533,-0.9820608719559232,-0.0019765242166372163,-0.08980321238057343,0.022608775079335786],"joint_position":[-0.1353941238593236,-1.4946771164550852,1.6080438159526427,2.7055737275550718e-05,-0.11258511970156142,0.13023870275524993],"joint_velocity":[0.18855550172410152,0.06959737935411042,-0.08068293798968323,0.00039659173246597216,0.011717881068972548,-0.17065963709048518],"object_angular_velocity":[0.000369103329750099,0.0012570836330306468,0.022923416399974205],"object_position":[0.36599772116473145,-0.049749712387964655,0.4287591013904746],"object_quaternion":[0.9999966467011027,2.0020832565560677e-05,0.00038771028996711503,-0.0025604426273952946],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031648778462677246,0.06318163938926132,0.00036738132785084647],"pad_normal_forces":{"left":0.81904171925433,"right":0.7999325778283609},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.54},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.11558715516946692,-1.4874465255071616,1.5991209559767638,2.2987284160459074e-05,-0.11168769760675412,0.11562692341694034],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.021558832754586546,-0.0028429753502206634,0.5091543197255199],[0.25797981980817464,-0.03401994332986211,0.4820782500660674],[0.31215962934128855,-0.041164665158529935,0.4758733174357762],[0.36668751833779556,-0.048355456157666434,0.4758303477796709],[0.3666566761492096,-0.04835030703242856,0.4358303600015989]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3666566761492096,-0.04835030703242856,0.4358303600015989],"end_effector_quaternion":[0.9999966131600865,6.337185292691054e-05,0.0003856917263391333,-0.002573109841545786],"end_effector_velocity":[0.028994122013520005,0.06636174033303611,0.0017588192564025095],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3926444592201402,-0.04848504404147264,0.4438103070927539],[0.34070734571041883,-0.04821776407098865,0.44385038786768843]],"gripper_width":0.0399378167116488,"jaw_actuator_force":[-0.8265146491461728,-0.7924786057857762],"joint_actuator_torque":[-0.18800492206985098,-1.193302735542602,-0.9814552885289913,-0.001980057259283122,-0.0898175892260138,0.022552527602474726],"joint_position":[-0.1311140351999179,-1.4930556260576768,1.6061132802046258,2.6986467935795684e-05,-0.1122763876333672,0.12597084350162013],"joint_velocity":[0.18811150960472586,0.07063087163233486,-0.08199110936465327,0.00039719530408982085,0.011999765033169943,-0.17023577418358501],"object_angular_velocity":[0.0003708589787487103,0.0012713572535841973,0.022913711395959196],"object_position":[0.3666667727628654,-0.048244887631580864,0.42880672869263203],"object_quaternion":[0.9999966624816837,1.7488377855944487e-05,0.0003878529002230427,-0.0025542689320418883],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031645173376463075,0.06319853103993586,0.0003787604559555026],"pad_normal_forces":{"left":0.8190527385836581,"right":0.799938244084014},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.56},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.11135606894165961,-1.4857163948225618,1.5970558041875322,2.2907695335068843e-05,-0.11135291841672218,0.11139572668010037],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.022026304480139633,-0.0028089930104379392,0.509118167572832],[0.25858673431004675,-0.032977312645606736,0.48211750963492456],[0.31279849947940047,-0.03989088589533292,0.47592985885748745],[0.36735659405886256,-0.0468487929429069,0.4758869010201706],[0.36732573835152804,-0.0468437793132873,0.4358869132353119]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.36732573835152804,-0.0468437793132873,0.4358869132353119],"end_effector_quaternion":[0.9999966291195799,6.168011811311675e-05,0.0003858559700677161,-0.002566916479127097],"end_effector_velocity":[0.028991075215573783,0.06637068748456851,0.0017848523432268863],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.39331355179902244,-0.04697816756194628,0.4438668520187414],[0.3413764356005804,-0.046711530860852384,0.44390694936285824]],"gripper_width":0.03993781610674297,"jaw_actuator_force":[-0.8265314744706087,-0.7924770765798232],"joint_actuator_torque":[-0.18790494240871425,-1.1965479095086948,-0.9808516349302181,-0.0019836323364675677,-0.08983252875752612,0.022495681841071757],"joint_position":[-0.12684432593226252,-1.4914104837619329,1.6041519091667709,2.6917678030135028e-05,-0.11196037377806582,0.12171350481145288],"joint_velocity":[0.1876626167204689,0.0716605683210647,-0.08329917157904719,0.00039780882194664327,0.01228511020602438,-0.1698073961647934],"object_angular_velocity":[0.00037252377672785156,0.0012854564281070233,0.022903632907556152],"object_position":[0.36733583578385537,-0.04673991658311603,0.4288552045316935],"object_quaternion":[0.9999966783821614,1.4978131592615637e-05,0.0003880363569778808,-0.0025480243491137057],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03164139976255556,0.06321553485721121,0.0003899029761848909],"pad_normal_forces":{"left":0.8190629998141652,"right":0.7999432650471395},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.58},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.10713587587523327,-1.483963023209895,1.5949598171666728,2.2828589376535954e-05,-0.1110105461612832,0.10717542209255576],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02250030913031555,-0.0027721023091585154,0.5090807258443832],[0.2591957430625643,-0.03193365538696996,0.4821572160859127],[0.31343844667203796,-0.038616511300635085,0.47598724509959656],[0.3680256816540065,-0.04534198022063235,0.4759442936211868],[0.3679948091352089,-0.04533710127848127,0.4359443058326448]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3679948091352089,-0.04533710127848127,0.4359443058326448],"end_effector_quaternion":[0.9999966451989104,5.9998408555047524e-05,0.0003860614152800879,-0.002560653763981479],"end_effector_velocity":[0.02898788884363391,0.06637972213236819,0.0018106660316819462],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3939826537978353,-0.04547113732446619,0.44392423416438453],[0.3420455348353135,-0.045205151097116446,0.44396435236195414]],"gripper_width":0.03993781555158103,"jaw_actuator_force":[-0.8265476164006893,-0.7924749869511398],"joint_actuator_torque":[-0.18780416141820666,-1.199822985943456,-0.9802499186075693,-0.001987250168454244,-0.08984803674431063,0.022438249340671845],"joint_position":[-0.12258510768669433,-1.4897417767623877,1.6021597035420074,2.684938714128093e-05,-0.11163699076905809,0.11746679575240855],"joint_velocity":[0.1872089156902741,0.07268645405728602,-0.08460715024308704,0.00039843240938349785,0.012573953920854058,-0.1693745900612584],"object_angular_velocity":[0.0003741001359532589,0.0012993789101651365,0.022893181655169872],"object_position":[0.3680049069013873,-0.04523479716006061,0.42890452398065826],"object_quaternion":[0.9999966943978288,1.248960954272477e-05,0.0003882612291953706,-0.0025417101804592547],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031637455085825855,0.06323264711199035,0.0004008080549086711],"pad_normal_forces":{"left":0.8190725820988776,"right":0.7999477213746641},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.6},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.10292667759832852,-1.4821864990545401,1.5928329927164269,2.2749982167036993e-05,-0.11066049027955892,0.10296611130234594],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02298080439934163,-0.0027322332835614392,0.5090419637446013],[0.25980683053192355,-0.03088894789497723,0.4821973596584746],[0.31407946152064026,-0.03734152832676002,0.4760454712220706],[0.3686947778004003,-0.04383501605720997,0.4760025205960664],[0.3686638851337059,-0.04383027103346576,0.4360025328069696]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3686638851337059,-0.04383027103346576,0.4360025328069696],"end_effector_quaternion":[0.9999966613933341,5.83262345768044e-05,0.00038630860745345725,-0.0025543229818868517],"end_effector_velocity":[0.028984560827910802,0.06638884331862192,0.001836260266624742],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3946517618570373,-0.04396395149347832,0.44398244851475244],[0.3427146400616987,-0.043698622810661156,0.44402259190659676]],"gripper_width":0.039937815040543084,"jaw_actuator_force":[-0.8265631441392651,-0.7924724075770619],"joint_actuator_torque":[-0.18770261434432456,-1.203127795928708,-0.9796501463556524,-0.0019909114763765013,-0.0898641188261955,0.022380241669072376],"joint_position":[-0.11833648995847158,-1.4880495925532773,1.6001366633889516,2.6781614228731523e-05,-0.11130615032308379,0.11323082324894074],"joint_velocity":[0.18675049935584903,0.07370851530802545,-0.08591507196588194,0.0003990661890347028,0.0128663327635161,-0.16893744306809128],"object_angular_velocity":[0.00037559051680674093,0.001313122629851831,0.02288235846650845],"object_position":[0.3686739827416288,-0.04372952730650913,0.4289546821121556],"object_quaternion":[0.9999967105239811,1.0022317658821488e-05,0.0003885280687880274,-0.0025353277320287956],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03163333683529691,0.0632498640382534,0.00041147486879020893],"pad_normal_forces":{"left":0.8190815546111412,"right":0.7999516837279415},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.62},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.09872857358687714,-1.48038691084483,1.5906753278891486,2.2671888937511976e-05,-0.11030265935794951,0.09876789380521514],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.023467747227156374,-0.0026893170568434424,0.5090018501978977],[0.26041998090466406,-0.029843166871139797,0.4822379305391022],[0.31472153445575957,-0.03606592412024938,0.47610453228396155],[0.36936387912664514,-0.042327898545953674,0.47606157695873735],[0.3693329629332861,-0.04232328671126153,0.4360615891722396]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3693329629332861,-0.04232328671126153,0.4360615891722396],"end_effector_quaternion":[0.999996677698114,5.666309884093603e-05,0.0003865980747333888,-0.0025479254220764024],"end_effector_velocity":[0.028981089116854524,0.06639805006586283,0.0018616350174885674],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.39532087256993315,-0.042456608261051944,0.44404149005639626],[0.3433837478789574,-0.0421919440596268,0.44408166303808766]],"gripper_width":0.03993781456871222,"jaw_actuator_force":[-0.8265781181419181,-0.7924694003770245],"joint_actuator_torque":[-0.18760033634023898,-1.2064621706101661,-0.9790523243020743,-0.001994616981954717,-0.08988078051562454,0.022321670411393768],"joint_position":[-0.11409858010337397,-1.486334018886144,1.5980827880980024,2.671437761806308e-05,-0.11096776325856168,0.10900569207899484],"joint_velocity":[0.18628746074195793,0.07472674037413547,-0.08722296437118607,0.0003997102831061452,0.013162282585206632,-0.16849604251115846],"object_angular_velocity":[0.00037699742401591424,0.0013266856963346206,0.022871164272699314],"object_position":[0.3693430598837248,-0.04222410499373251,0.4290056739991912],"object_quaternion":[0.9999967267559193,7.575752512889727e-06,0.0003888374106042845,-0.002528878313243973],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031629042523966935,0.06326718183505858,0.0004219026038180157],"pad_normal_forces":{"left":0.8190899777822291,"right":0.7999552140105399},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.64},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.09454166116436542,-1.4785643471293604,1.5884868189617427,2.2594324272681573e-05,-0.10993696114727246,0.09458086694436893],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.023961093824559333,-0.002643285846296129,0.5089603538545674],[0.2610351780955566,-0.028796289380502226,0.4822789188630249],[0.3153646557409935,-0.03478968602375779,0.47616442334412973],[0.37003298221326153,-0.04082062580765895,0.4761214577244212],[0.37000203907352,-0.0408161464729563,0.43612146994370227]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37000203907352,-0.0408161464729563,0.43612146994370227],"end_effector_quaternion":[0.9999966941085228,5.5008496764415484e-05,0.0003869303279438461,-0.002541462376690931],"end_effector_velocity":[0.028977471677027685,0.0664073413774356,0.0018867902776543973],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3959899824831205,-0.04094910584735919,0.4441013537780619],[0.34405285483898534,-0.04068511292995053,0.44414156079812195]],"gripper_width":0.0399378141317874,"jaw_actuator_force":[-0.8265925912015248,-0.7924660195974456],"joint_actuator_torque":[-0.1874973624493208,-1.209825941236545,-0.9784564578915251,-0.001998367407202414,-0.08989802719977114,0.022262547165256663],"joint_position":[-0.10987148333420312,-1.4845951437273637,1.5959980763670676,2.66476949957946e-05,-0.11062173951359258,0.10479150487160355],"joint_velocity":[0.1858198930172351,0.07574111939349121,-0.08853085611363608,0.00040036481353221306,0.013461838515938289,-0.1680504758106911],"object_angular_velocity":[0.000378323402699003,0.0013400664002142328,0.02285960010595937],"object_position":[0.37001213486028883,-0.04071852822073459,0.4290574947158794],"object_quaternion":[0.9999967430889505,5.149401731610431e-06,0.00038918977243702587,-0.002522363236400742],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031624569688582495,0.06328459666851502,0.0004320904544218493],"pad_normal_forces":{"left":0.8190979043856743,"right":0.7999583664527816},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.66},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.09036603550243905,-1.4767188964742877,1.5862674614096988,2.25173021165961e-05,-0.10956330257951084,0.09040512591107253],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02446079969842369,-0.002594072970689986,0.5089174430965843],[0.2616524057555063,-0.027748292854469055,0.48232031471587034],[0.31600881547692106,-0.033512801577835094,0.4762251394619567],[0.3707020835931757,-0.03931319599112329,0.476182157910335],[0.3706711100477666,-0.039308848508191996,0.43618217013860094]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3706711100477666,-0.039308848508191996,0.43618217013860094],"end_effector_quaternion":[0.9999967106198454,5.336191693274475e-05,0.000387305860608482,-0.002534935140235579],"end_effector_velocity":[0.02897370649295349,0.06641671623795392,0.0019117260636683467],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3966590880969368,-0.03944144250114042,0.44416203467139065],[0.3447219574468754,-0.03917812753588861,0.4442022802294921]],"gripper_width":0.03993781372600714,"jaw_actuator_force":[-0.8266066093983895,-0.7924623127626678],"joint_actuator_torque":[-0.18739372758856376,-1.21321893919594,-0.9778625518720219,-0.0020021634741268952,-0.0899158641426201,0.022202883536034612],"joint_position":[-0.10565530271817146,-1.482833055215613,1.5938825261768992,2.6581583407948147e-05,-0.11026798816362232,0.10058836210536232],"joint_velocity":[0.1853478894555305,0.0767516443436248,-0.08983877689475048,0.0004010299020616782,0.013765034978175592,-0.16760083044554658],"object_angular_velocity":[0.0003795710343235742,0.001353263215495091,0.02284766709809921],"object_position":[0.3706812041578873,-0.03921279501479265,0.42911013933816194],"object_quaternion":[0.999996759518392,2.7427444307149746e-06,0.0003895856550499535,-0.002515783816093088],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03161991588947721,0.06330210467372802,0.00044203762241525437],"pad_normal_forces":{"left":0.8191053804873151,"right":0.7999611885621318},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.68},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.08620178962233517,-1.474850647420613,1.5840172498807294,2.244083577887955e-05,-0.10918158978417418,0.08624076374607599],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02496681967695659,-0.0025416128569704767,0.5088730860432817],[0.26227164727946545,-0.02669915509341202,0.4823621081352891],[0.31665400360504037,-0.03223525852259654,0.47628667569804084],[0.3713711797522037,-0.03780560727365205,0.4762436725363735],[0.37134017230365424,-0.03780139103563761,0.436243684776857]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37134017230365424,-0.03780139103563761,0.436243684776857],"end_effector_quaternion":[0.9999967272273803,5.1722841512269126e-05,0.00038772514899271276,-0.002528345009041725],"end_effector_velocity":[0.02896979156693636,0.06642617361375086,0.0019364424145219465],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3973281858659077,-0.037933616500155524,0.4442235277315988],[0.3453910521614328,-0.037670986020524086,0.4442638163767716]],"gripper_width":0.03993781334808259,"jaw_actuator_force":[-0.8266202129329248,-0.7924583215076506],"joint_actuator_torque":[-0.18728946653216383,-1.2166409960523197,-0.9772706102793336,-0.0020060059044297992,-0.08993429648725737,0.022142691132201797],"joint_position":[-0.10145013917516645,-1.4810478416192834,1.591736134766046,2.6516059261052616e-05,-0.10990641743874419,0.09639636210776956],"joint_velocity":[0.1848715433978096,0.07775830904371706,-0.09114675747931687,0.00040170567029574293,0.01407190570126366,-0.1671471939181012],"object_angular_velocity":[0.0003807429325823321,0.001366274801464223,0.022835366479447037],"object_position":[0.3713502642175207,-0.0377069034319826,0.42916360294451156],"object_quaternion":[0.9999967760395736,3.552516474569854e-07,0.00039002554222098134,-0.002509141368652019],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031615078710296715,0.06331970195671709,0.00045174331600748385],"pad_normal_forces":{"left":0.8191124462776028,"right":0.799963721955858},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.7},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.0820490143971271,-1.4729596884414775,1.581736178167999,2.2364937941329752e-05,-0.10879172810424372,0.08208787134185273],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02547910793498658,-0.0024858410462716817,0.5088272505569174],[0.26289288581434683,-0.02564885426905987,0.4824042891125465],[0.3173002099117002,-0.030957044799282164,0.4763490271148782],[0.37204026712952665,-0.03629785786155023,0.4763059966257769],[0.3720092222435516,-0.03629377230344818,0.4363060088817379]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3720092222435516,-0.03629377230344818,0.4363060088817379],"end_effector_quaternion":[0.9999967439264416,5.009074665901742e-05,0.00038818865215816035,-0.0025216932807361333],"end_effector_velocity":[0.028965724918888703,0.0664357124533184,0.0019609393907948835],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3979972721991897,-0.03642562615162177,0.44428582795814303],[0.3460601353956752,-0.036163686556259934,0.4443261642869864]],"gripper_width":0.03993781299513896,"jaw_actuator_force":[-0.8266334368547437,-0.7924540823081365],"joint_actuator_torque":[-0.18718461389559593,-1.2200919435823607,-0.9766806364228842,-0.002009895419208154,-0.08995332925814914,0.022081981560771347],"joint_position":[-0.09725609147687729,-1.4792395912938612,1.5895588986054126,2.645113832489034e-05,-0.10953693474063084,0.09221560105541574],"joint_velocity":[0.18439094821462873,0.0787611091562015,-0.09245482971179626,0.0004023922397000509,0.014382483736290835,-0.16668965371976863],"object_angular_velocity":[0.00038184173925219056,0.001379100004464639,0.022822699577953423],"object_position":[0.372019311435095,-0.036200851557688374,0.42921788061661936],"object_quaternion":[0.9999967926478385,-2.0136132296898106e-06,0.00039050990080177734,-0.002502437211596291],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031610055757779365,0.06333738459630123,0.0004612067486586029],"pad_normal_forces":{"left":0.8191191368009113,"right":0.7999660030903133},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.72},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.07790779855476619,-1.4710461078994677,1.5794242391829403,2.2289620664989753e-05,-0.10839362211169429,0.07794653744563504],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.025997618019264764,-0.002426694199253946,0.5087799042481143],[0.2635161042669384,-0.024597368926673,0.4824468475940779],[0.31794742403203025,-0.029678148551706533,0.4764121887775279],[0.3727093421181648,-0.03478994599060023,0.476369125205781],[0.37267825622503625,-0.03478599058971006,0.4363691374805072]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37267825622503625,-0.03478599058971006,0.4363691374805072],"end_effector_quaternion":[0.9999967607123614,4.846510292385565e-05,0.0003886968120330947,-0.0025149812537169475],"end_effector_velocity":[0.028961504586120304,0.06644533168774172,0.0019852170738077156],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.3986663434610143,-0.034917469792638184,0.4443489303553668],[0.3467292035173285,-0.03465622734529833,0.4443893190102683]],"gripper_width":0.03993781266466412,"jaw_actuator_force":[-0.8266463117019027,-0.792449627119888],"joint_actuator_torque":[-0.18707920411989676,-1.2235716138105772,-0.9760926328693813,-0.0020138327386618653,-0.08997296736361271,0.022020766422775395],"joint_position":[-0.09307325624677053,-1.4774083926392811,1.5873508133724221,2.6386835736442803e-05,-0.10915944665907737,0.08804617297500726],"joint_velocity":[0.18390619726920615,0.07976004218777072,-0.0937630265329745,0.0004030897315972019,0.014696801471655955,-0.16622829729710834],"object_angular_velocity":[0.00038287012001733613,0.0013917378593651815,0.02280966781838183],"object_position":[0.372688342161889,-0.03469463750709636,0.4292729674400656],"object_quaternion":[0.9999968093385441,-4.364394034585297e-06,0.00039103918079268365,-0.0024956726630933003],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03160484466141343,0.06335514864595601,0.0004704271379518153],"pad_normal_forces":{"left":0.8191254825942359,"right":0.799968063900503},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.74},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.07377822868190569,-1.4691099940039434,1.5770814249276595,2.22148953979548e-05,-0.10798717562258255,0.07381684866323233],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02652230287376005,-0.002364110100771815,0.5087310144811732],[0.2641412853118066,-0.02354467798700477,0.48248977348300365],[0.31859563545385894,-0.028398558127599824,0.47647615575425645],[0.37337840106544173,-0.03328186992652565,0.4764330533082465],[0.3733472705613519,-0.033278044202872635,0.43643306560505396]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3733472705613519,-0.033278044202872635,0.43643306560505396],"end_effector_quaternion":[0.9999967775804909,4.6845375653318235e-05,0.00038925005349971594,-0.002508210226637863],"end_effector_velocity":[0.02895712862312697,0.06645503023112102,0.0020092755647352425],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.39933539597112444,-0.033409145790596714,0.4444128299331246],[0.34739825284930725,-0.03314860662010552,0.44445327560048925]],"gripper_width":0.03993781235446373,"jaw_actuator_force":[-0.8266588640605583,-0.7924449839392622],"joint_actuator_torque":[-0.186973271456214,-1.2270798390453592,-0.975506601429629,-0.002017818581802846,-0.08999321559832296,0.021959057308881036],"joint_position":[-0.08890172796090044,-1.4755543340572648,1.5851118739247834,2.632316600474832e-05,-0.10877385898814221,0.08388816974520952],"joint_velocity":[0.1834173838811019,0.08075510748996242,-0.09507138199687207,0.00040379826714879253,0.01501489064917913,-0.16576321201855826],"object_angular_velocity":[0.00038383076027364524,0.0014041875911894942,0.02279627272149179],"object_position":[0.3733573527050132,-0.033188259425674736,0.4293288585049721],"object_quaternion":[0.9999968261070677,-6.697641401117425e-06,0.00039161381543207925,-0.002488849041429411],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03159944307313923,0.06337299013563398,0.00047940370441190255],"pad_normal_forces":{"left":0.819131510247197,"right":0.7999699323597902},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.76},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.06966038922849059,-1.467151434768392,1.5747077264669098,2.2140772983303723e-05,-0.10757229171167726,0.06969888946361465],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027053114864935283,-0.0022980276638797587,0.508680548379252],[0.2647684113991902,-0.022490760748052285,0.48253305664060575],[0.31924483352162364,-0.027118262079841825,0.476540923117166],[0.37404744027344616,-0.0317736279654417,0.47649777597027004],[0.3740162615218628,-0.0317699314821669,0.4364977882925037]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3740162615218628,-0.0317699314821669,0.4364977882925037],"end_effector_quaternion":[0.999996794526203,4.5231025385396985e-05,0.00038984878449207654,-0.0025013814978998134],"end_effector_velocity":[0.0289525951013425,0.06646480698098951,0.0020331149836169083],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.40000442600521036,-0.03190065254358072,0.4444775217073884],[0.34806727967019024,-0.03164082264386343,0.4445180291158771]],"gripper_width":0.03993781206262176,"jaw_actuator_force":[-0.8266711170552767,-0.7924401772941314],"joint_actuator_torque":[-0.1868668499508921,-1.230616451914102,-0.9749225431417017,-0.002021853666172474,-0.09001407864592892,0.02189686579503558],"joint_position":[-0.08474159894953986,-1.4736775039086512,1.582842074273844,2.6260143016598817e-05,-0.10838007674187344,0.07974168109929446],"joint_velocity":[0.1829246012905339,0.0817463062592666,-0.09637993128764936,0.0004045179673368391,0.015336782380720455,-0.1652944851417688],"object_angular_velocity":[0.0003847263609441833,0.001416448616453188,0.022782515903224422],"object_position":[0.3740263393278599,-0.03168171548963792,0.42938554890663555],"object_quaternion":[0.9999968429488051,-9.013912345202102e-06,0.0003922342212996789,-0.002481967664489437],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03159384866706469,0.06339090507355585,0.0004881356702138839],"pad_normal_forces":{"left":0.8191372428920851,"right":0.7999716329710171},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.78},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.06555436251309746,-1.465170517967824,1.5723031338996445,2.2067263667630963e-05,-0.10714887272662718,0.0655927421842474],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.027590005806984553,-0.0022283869331828454,0.5086284728294053],[0.26539746476287207,-0.021435596886598737,0.4825766868877607],[0.31989500744026295,-0.02583724916758988,0.4766064859428005],[0.37471645599948256,-0.030265218434291877,0.4765632882347736],[0.37468522533249493,-0.03026165079801091,0.4365633005858079]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37468522533249493,-0.03026165079801091,0.4365633005858079],"end_effector_quaternion":[0.9999968115448948,4.362150824011775e-05,0.00039049339610952127,-0.0024944963651518525],"end_effector_velocity":[0.028947902108916325,0.06647466081871523,0.0020567354683754327],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4006734297953365,-0.03039198848075061,0.4445430007008308],[0.3487362802146809,-0.030132873710907268,0.44458357461961145]],"gripper_width":0.03993781178746593,"jaw_actuator_force":[-0.8266830907788574,-0.7924352286740017],"joint_actuator_torque":[-0.18675997343069994,-1.2341812853975398,-0.9743404582571884,-0.002025938707565456,-0.09003556108176625,0.021834203438237054],"joint_position":[-0.08059295939961665,-1.4717779904707382,1.580541407557544,2.6197780042815222e-05,-0.10797800416960332,0.0756067946285767],"joint_velocity":[0.18242794262333525,0.08273364153693773,-0.0976887107370384,0.00040524895293559136,0.015662507165470026,-0.16482220378159465],"object_angular_velocity":[0.0003855596342765721,0.0014285205444766792,0.022768399073820434],"object_position":[0.37469529825054754,-0.03017500390639646,0.42944303374613974],"object_quaternion":[0.9999968598591733,-1.131376985182489e-05,0.00039290079843405955,-0.002475029849245424],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031588059139007835,0.06340888944795936,0.0004966222579036154],"pad_normal_forces":{"left":0.819142700633545,"right":0.7999731871962145},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.8},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.061460228729007825,-1.4631673310962066,1.5698676363301287,2.1994377109950177e-05,-0.10671682030165465,0.06149848703715918],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0281329269870216,-0.002155129087540819,0.5085747544874786],[0.26602842742803007,-0.020379166459550378,0.48262065400632637],[0.3205461462790945,-0.024555508357302566,0.47667283931272897],[0.3753854444565169,-0.02875663969127184,0.4766295851510694],[0.37535415817617207,-0.028753200552402703,0.43662959753430897]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37535415817617207,-0.028753200552402703,0.43662959753430897],"end_effector_quaternion":[0.9999968286319868,4.2016276304573885e-05,0.00039118426274475866,-0.0024875561248003416],"end_effector_velocity":[0.028943047750422658,0.06648459060989978,0.0020801371737424095],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4013424035303638,-0.02888315206271737,0.4446092619433837],[0.34940525067405953,-0.02862475814715024,0.4446499071803949]],"gripper_width":0.03993781152753757,"jaw_actuator_force":[-0.8266948026683396,-0.7924301569072414],"joint_actuator_torque":[-0.18665267548847453,-1.2377741728638512,-0.9737603462252764,-0.0020300744197567526,-0.09005766737568699,0.021771081772361534],"joint_position":[-0.0764558973579408,-1.4698558818946303,1.5782098660129442,2.613608974509729e-05,-0.10756754477079898,0.07148359578662285],"joint_velocity":[0.1819275008565782,0.0837171182082638,-0.09899775784170471,0.0004059913444847224,0.015992094907735368,-0.16434645487869354],"object_angular_velocity":[0.0003863332996595575,0.0014404031787802328,0.022753924036927633],"object_position":[0.3753642256503531,-0.028668122914992582,0.4295013081309476],"object_quaternion":[0.9999968768336123,-1.3597782467445635e-05,0.00039361393046313364,-0.0024680369112547226],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03158207220620898,0.06342693922881816,0.000504862689004477],"pad_normal_forces":{"left":0.8191479009249143,"right":0.7999746138333329},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.82},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.057378065950998355,-1.4611419613239456,1.567401221838607,2.192212239088999e-05,-0.10627603537074948,0.057416202115726525],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.02868182919019874,-0.0020781964421335364,0.5085193597828565],[0.26666128121905835,-0.01932144990507062,0.4826649477404867],[0.321198238975672,-0.02327302882366037,0.4767399783141103],[0.37605440181361327,-0.02724789012624013,0.47669666177540576],[0.37602305619324145,-0.027244579179300666,0.43669667419428626]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37602305619324145,-0.027244579179300666,0.43669667419428626],"end_effector_quaternion":[0.9999968457829269,4.0414778011522445e-05,0.00039192174221983474,-0.0024805620715271062],"end_effector_velocity":[0.028938030146601186,0.06649459520476264,0.002103320270140426],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.40201134335636524,-0.027374141781903893,0.44467630047277606],[0.3500741871966255,-0.02711647431049509,0.44471702187300655]],"gripper_width":0.03993781128156498,"jaw_actuator_force":[-0.8267062678348722,-0.7924249784911943],"joint_actuator_torque":[-0.1865449894692084,-1.2413949481036752,-0.9731822056775172,-0.0020342615142407558,-0.09008040189493194,0.02170751230408907],"joint_position":[-0.07233049873520628,-1.4679112661626132,1.575847440948336,2.6075084183387898e-05,-0.10714860130945728,0.06737216789421785],"joint_velocity":[0.18142336878487317,0.0846967430016336,-0.10030711128103205,0.00040674526226205633,0.01632557493519908,-0.1638673251687956],"object_angular_velocity":[0.00038705007943612456,0.0014520965180649854,0.02273909268861311],"object_position":[0.3760331176621377,-0.02716107078652165,0.42956036717546864],"object_quaternion":[0.9999968938675888,-1.5866523897927824e-05,0.0003943739847472909,-0.002460990164167111],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0315758856068666,0.06344505036951684,0.0005128561825852579],"pad_normal_forces":{"left":0.8191528588978263,"right":0.7999759293465842},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.84},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.05330795014283128,-1.4590944954554215,1.5649038774515267,2.1850508022265696e-05,-0.10582641818037082,0.053345963402159705],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.029236662724746603,-0.0019975324498968847,0.5084622549230524],[0.2672960077673563,-0.01826242804351438,0.4827095577980432],[0.321851274339621,-0.021989799950385056,0.4768078980402286],[0.37672332419636323,-0.025738968161116378,0.4767645131714829],[0.37669191548189074,-0.025735785144991828,0.43676452562947155]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37669191548189074,-0.025735785144991828,0.43676452562947155],"end_effector_quaternion":[0.9999968629931916,3.881645851210506e-05,0.0003927061759400568,-0.002473515497817158],"end_effector_velocity":[0.028932847434057753,0.06650467343851801,0.0021262849425050046],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.40268024537703334,-0.025864956162894644,0.44474411133504305],[0.3507430858881271,-0.025608020591232947,0.4447849137788252]],"gripper_width":0.03993781104844029,"jaw_actuator_force":[-0.8267174993523527,-0.792419707881705],"joint_actuator_torque":[-0.18643694845631842,-1.2450434453626258,-0.9726060344132748,-0.0020385006999726536,-0.09010376890712912,0.021643506508922883],"joint_position":[-0.06821684731075238,-1.4659442310455528,1.5734541227149237,2.601477482366405e-05,-0.10672107582802637,0.06327259214507217],"joint_velocity":[0.18091563898736063,0.08567252448721528,-0.10161681093510627,0.00040751082625350077,0.016662976017872113,-0.16338490115263984],"object_angular_velocity":[0.0003877126947387692,0.0014636007575697697,0.022723907016359818],"object_position":[0.37670197037876185,-0.025653845824539764,0.4296202060016042],"object_quaternion":[0.9999969109565943,-1.812057261249464e-05,0.0003951813125355448,-0.0024538909192420243],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03156949709974821,0.06346321880849067,0.0005206019537519639],"pad_normal_forces":{"left":0.8191575876509481,"right":0.7999771481554675},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.86},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.04924995516542784,-1.4570250198865822,1.5623755891112991,2.1779541957061557e-05,-0.1053678683016287,0.049287844775671],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.02979737744691671,-0.001913081702338137,0.508403405898143],[0.26793258851907803,-0.017202082078165586,0.48275447385165987],[0.32250524105644834,-0.020705811330959376,0.4768765935910075],[0.37739220768730414,-0.024229872250267157,0.47683313441094693],[0.3773607320985539,-0.02422681694844836,0.43683314691154335]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3773607320985539,-0.02422681694844836,0.43683314691154335],"end_effector_quaternion":[0.9999968802582867,3.72207600414841e-05,0.0003935378890555866,-0.002466417693495464],"end_effector_velocity":[0.02892749776497358,0.06651482413173954,0.0021490313890370366],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.40334910565407917,-0.024355593762773946,0.4448126895850105],[0.351411942812181,-0.024099395412429805,0.4448535779863325]],"gripper_width":0.03993781082719916,"jaw_actuator_force":[-0.8267285085103229,-0.7924143577467877],"joint_actuator_torque":[-0.18632858525844043,-1.248719499375511,-0.9720318293828996,-0.002042792683119476,-0.09012777258333671,0.021579075827277805],"joint_position":[-0.06411502473806814,-1.4639548640603341,1.5710299006780701,2.5955172546145606e-05,-0.10628486966084702,0.05918494761225346],"joint_velocity":[0.18040440379540643,0.08664447307541133,-0.10292689790297418,0.00040828815612439437,0.017004326387344657,-0.16289926906656207],"object_angular_velocity":[0.00038832386132568394,0.001474916290016356,0.02270836909799491],"object_position":[0.3773707798514906,-0.024146446365457833,0.42968081973926514],"object_quaternion":[0.9999969280961505,-2.036051145412891e-05,0.00039603624913294957,-0.0024467404848751116],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031562904463712134,0.06348144047082216,0.0005280992120700936],"pad_normal_forces":{"left":0.8191620985029939,"right":0.7999782828883173},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.88},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.0452041527857074,-1.454933620562591,1.5598163416455988,2.170923159963323e-05,-0.10490028464194877,0.0452419180213094],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03036392278581749,-0.00182478992974041,0.508342778485035],[0.26857100474284235,-0.016140393595781177,0.4827996855400516],[0.32316012769132724,-0.019421052769248853,0.4769460600734929],[0.3780610483263312,-0.02272060088087982,0.4769025205738514],[0.37802950205830904,-0.022717673121672603,0.43690253312058835]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.37802950205830904,-0.022717673121672603,0.43690253312058835],"end_effector_quaternion":[0.9999968975737498,3.562712227789545e-05,0.00039441719063847705,-0.002459269945273564],"end_effector_velocity":[0.028921979306772996,0.06652504609071605,0.0021715598199085846],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.404017920207624,-0.022846053171453138,0.4448820302867476],[0.35208075399068106,-0.022590597230300914,0.4449230095915834]],"gripper_width":0.0399378106170029,"jaw_actuator_force":[-0.8267393050353968,-0.7924089391888813],"joint_actuator_torque":[-0.18621993239652213,-1.2524229453987346,-0.9714595866734044,-0.0020471381668177397,-0.09015241700122978,0.021514231660682448],"joint_position":[-0.06002511055102344,-1.4619432524273361,1.5685747631881022,2.5896287653921157e-05,-0.10583988344709733,0.05510931125532566],"joint_velocity":[0.17988975526100937,0.0876126010149625,-0.10423741452114886,0.0004090773711923709,0.017349653756674816,-0.1624105148537825],"object_angular_velocity":[0.00038888628544092807,0.0014860437067301076,0.022692481100563894],"object_position":[0.37803954209038804,-0.022638870778922356,0.4297422035268639],"object_quaternion":[0.9999969452818077,-2.2586927256643874e-05,0.0003969391140805554,-0.0024395401661348997],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031556105497257285,0.06349971126979809,0.0005353471599263758],"pad_normal_forces":{"left":0.819166401214033,"right":0.7999793446044283},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.9},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.0411706126860748,-1.4528203829355413,1.5572261187361909,2.1639583816202244e-05,-0.10442356545619756,0.04120825283944336],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03093624776812611,-0.0017326040007658256,0.5082803382515654],[0.26921123753739273,-0.015077344566944529,0.4828451824691207],[0.3238159226928497,-0.01813551428002715,0.4770162926023105],[0.3787298421110968,-0.021211152573324354,0.47697266674909333],[0.3786982213352629,-0.02120835223003068,0.4369726793455377]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3786982213352629,-0.02120835223003068,0.4369726793455377],"end_effector_quaternion":[0.9999969149351502,3.403498269420175e-05,0.0003953443738674871,-0.0024520735363056925],"end_effector_velocity":[0.028916290241816016,0.06653533810779261,0.002193870455883032],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4046866850165797,-0.021336333011986727,0.44495212851399335],[0.35274951540419397,-0.021081624534573115,0.4449932036986518]],"gripper_width":0.03993781041712281,"jaw_actuator_force":[-0.8267498972852749,-0.7924034619395908],"joint_actuator_torque":[-0.18611102209129626,-1.2561536192437188,-0.9708893014936848,-0.002051537850938861,-0.090177706148312,0.021448985368055506],"joint_position":[-0.055947182170810156,-1.4599094830279564,1.5660886975506698,2.5838129881926854e-05,-0.10538601714323312,0.051045757928178996],"joint_velocity":[0.1793717851259322,0.08857692239095945,-0.10554840438246643,0.0004098785903988525,0.01769898534059028,-0.16191872413637448],"object_angular_velocity":[0.0003894026596828076,0.0014969837985846644,0.022676245279167315],"object_position":[0.3787082530647018,-0.02113111746818322,0.4298043525117776],"object_quaternion":[0.9999969625091486,-2.480041046859488e-05,0.000397890211345457,-0.0024322912643095352],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03154909801806289,0.06351802710841958,0.0005423449908056273],"pad_normal_forces":{"left":0.8191705041797271,"right":0.7999803429884713},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.92},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.03714940247453914,-1.4506853919222316,1.5546049028872724,2.1570604945579655e-05,-0.10393760835726322,0.03718691685587544],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03151430104266678,-0.0016364719214676995,0.5082160505604276],[0.26985326783920877,-0.014012917346232164,0.482890954213036],[0.3244726143967496,-0.016849186089407355,0.4770872863000921],[0.37939858499740176,-0.019701525881504117,0.4770435680348171],[0.3793668858629267,-0.019698852872575594,0.43704358068457044]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3793668858629267,-0.019698852872575594,0.43704358068457044],"end_effector_quaternion":[0.9999969323380936,3.244377690202843e-05,0.00039631971622371305,-0.0024448297457552743],"end_effector_velocity":[0.02891042876704703,0.0665456989617073,0.0022159635268496325],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.40535539601902093,-0.019826431940878488,0.4450229793505502],[0.35341822299234515,-0.019572475848836028,0.4450641554200451]],"gripper_width":0.03993781022692659,"jaw_actuator_force":[-0.8267602924185322,-0.7923979345303822],"joint_actuator_torque":[-0.18600188625109482,-1.2599113573082832,-0.9703209681564431,-0.0020559924318606297,-0.09020364392519475,0.021383348262083768],"joint_position":[-0.05188131491357717,-1.4578536423621857,1.5635716899966445,2.578070840625809e-05,-0.1049231700349101,0.04699436038753318],"joint_velocity":[0.17885058479157825,0.08953745312257175,-0.1068599123551151,0.00041069193228109567,0.01805234787623778,-0.1614239821879338],"object_angular_velocity":[0.0003898756589012155,0.0015077375570295226,0.022659663975743028],"object_position":[0.37937690870323626,-0.01962318487044887,0.42986726185078106],"object_quaternion":[0.9999969797737884,-2.7001554784457873e-05,0.0003988898295221942,-0.0024249950764638436],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031541879862439975,0.06353638388087714,0.0005490918874577637],"pad_normal_forces":{"left":0.8191744146011116,"right":0.7999812865211163},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.94},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.033140587695445256,-1.4485287318620055,1.551952675393332,2.1502300810259567e-05,-0.10344231032609036,0.03317797563256957],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.032098030904842444,-0.0015363428337220515,0.508149880572919],[0.27049707643006154,-0.012947094672196732,0.4829369903152508],[0.32513019102959095,-0.015562058635180512,0.4771590362978685],[0.3800672728995754,-0.01819171939319519,0.47711521953878455],[0.3800354915345798,-0.018189173682359568,0.43711523224548415]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3800354915345798,-0.018189173682359568,0.43711523224548415],"end_effector_quaternion":[0.9999969497782194,3.08529389883377e-05,0.00039734347969958423,-0.002437539848370986],"end_effector_velocity":[0.028904393093663217,0.06655612741790928,0.0022378392703160683],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.406024049112546,-0.018316348648377116,0.4450945778906433],[0.3540868726541914,-0.01806314973088183,0.44513585987708454]],"gripper_width":0.03993781004586635,"jaw_actuator_force":[-0.8267704965433298,-0.7923923644422217],"joint_actuator_torque":[-0.1858925564601588,-1.2636959966105223,-0.9697545800655689,-0.002060502602248258,-0.0902302341490504,0.021317331605691603],"joint_position":[-0.04782758199874132,-1.455775816506236,1.5610237256515604,2.5724031853782646e-05,-0.10445124074837756,0.04295518930209742],"joint_velocity":[0.17832624528959654,0.09049421096071114,-0.10817198460217103,0.0004115175149448539,0.01840976764438086,-0.1609263739069461],"object_angular_velocity":[0.0003903079361049681,0.0015183061749707775,0.022642739617800455],"object_position":[0.38004550489471356,-0.018115071457229136,0.42993092671044764],"object_quaternion":[0.9999969970713756,-2.9190956783140044e-05,0.0003999382420445823,-0.0024176528950066037],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031534448884860386,0.06355477747397122,0.0005555870200414471],"pad_normal_forces":{"left":0.819178138633479,"right":0.7999821826284796},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.96},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.029144231840801102,-1.4463504864746557,1.5492694163065037,2.143467672754041e-05,-0.10293756772114288,0.02918149267897463],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03268738532090632,-0.0014321670130890717,0.5080817932525056],[0.27114264394451015,-0.011879859667170084,0.48298328028946164],[0.32578864071241936,-0.01427412256706365,0.47723153773543076],[0.38073590169084454,-0.01668173173037502,0.47718761637871293],[0.3807040342036211,-0.016679313326736275,0.4371876291460327]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3807040342036211,-0.016679313326736275,0.4371876291460327],"end_effector_quaternion":[0.9999969672512045,2.9261901843847258e-05,0.00039841591101204797,-0.0024302051140733783],"end_effector_velocity":[0.028898181446753785,0.06656662222887022,0.0022594979297814845],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4066926401546283,-0.01680608185876226,0.4451669192392469],[0.35475546024858173,-0.016553644773034257,0.44520831220025503]],"gripper_width":0.0399378098734681,"jaw_actuator_force":[-0.826780514847627,-0.7923867582365594],"joint_actuator_torque":[-0.18578306396716293,-1.2675073748192744,-0.9691901296980632,-0.002065069050840679,-0.09025748055696248,0.02125094660859972],"joint_position":[-0.043786054557957726,-1.4536760910702267,1.558444788504581,2.5668108312088592e-05,-0.10397012726133664,0.03892831326236879],"joint_velocity":[0.17779885725324632,0.09144721548551818,-0.10948466860125348,0.0004123554560392285,0.01877127049083128,-0.16042598379086923],"object_angular_velocity":[0.000390702118393473,0.0015286910477233435,0.022625474717117254],"object_position":[0.3807140374881242,-0.016606775734665943,0.42999534226751723],"object_quaternion":[0.9999970143975966,-3.1369215574429066e-05,0.0004010357074062634,-0.002410266007268521],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031526802957361585,0.06357320376849528,0.000561829544106133],"pad_normal_forces":{"left":0.8191816815164407,"right":0.7999830378129031},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":6.98},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.0251603963621828,-1.444150738818388,1.5465551044034207,2.136773752105513e-05,-0.10242327628731085,0.02519752946392574],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0332823119520668,-0.0013238958661155723,0.5080117533682003],[0.27178995087733654,-0.010811195836890036,0.48302981362050107],[0.3264479514643775,-0.012985368746859183,0.47730478576165336],[0.3814044672036919,-0.015171561549540608,0.477260753682574],[0.38137250968390995,-0.01516927050765328,0.43726076651422535]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38137250968390995,-0.01516927050765328,0.43726076651422535],"end_effector_quaternion":[0.9999969847527634,2.7670097483641562e-05,0.00039953724183205557,-0.002422826807551562],"end_effector_velocity":[0.028891792064926165,0.06657718213438261,0.0022809397530554],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4073611649629546,-0.01529563033062114,0.4452399985123725],[0.35542398159450567,-0.015043959602467166,0.44528150752951573]],"gripper_width":0.0399378097093226,"jaw_actuator_force":[-0.8267903517130648,-0.792381121670318],"joint_actuator_torque":[-0.18567343967428585,-1.2713453302866355,-0.9686276085901682,-0.002069692462245904,-0.09028538680955123,0.021184204423985165],"joint_position":[-0.03975680164473202,-1.4515545511559267,1.5558348613769866,2.5612945339655468e-05,-0.10347972691324842,0.034913798791052345],"joint_velocity":[0.17726851088951448,0.09239648810375296,-0.11079801316462556,0.00041320587272896823,0.019136881848491532,-0.15992289591092734],"object_angular_velocity":[0.00039106080291049236,0.0015388937739496279,0.02260787186838326],"object_position":[0.3813825022930641,-0.015098296243852496,0.4300605037092283],"object_quaternion":[0.9999970317481734,-3.353693245296449e-05,0.00040218246939228823,-0.0024028356950906438],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03151893996907352,0.0635916586405693,0.0005678185985390727],"pad_normal_forces":{"left":0.8191850476882783,"right":0.7999838577677277},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.0},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.021189140683199693,-1.4419295712478493,1.5438097171515495,2.1301487532317317e-05,-0.10189933116423182,0.021226145428105754],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03388275817840888,-0.001211481927089344,0.5079397254977487],[0.2724389775909137,-0.00974108706995442,0.4830765797651649],[0.32710811120627936,-0.011695788248527666,0.4773787755347811],[0.3820729652302041,-0.01366120754201659,0.47733462658885634],[0.3820409137500951,-0.01365904396193504,0.43733463948858914]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3820409137500951,-0.01365904396193504,0.43733463948858914],"end_effector_quaternion":[0.9999970022786507,2.6076957359250356e-05,0.0004007076890172232,-0.002415406187870395],"end_effector_velocity":[0.028885223199963894,0.06658780586184568,0.0023021649904641298],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.40802961931575565,-0.013784992857116119,0.44531381083731814],[0.35609243247143085,-0.013534092881512963,0.4453554410145748]],"gripper_width":0.03993780955307718,"jaw_actuator_force":[-0.8268000108147113,-0.7923754597965065],"joint_actuator_torque":[-0.18556371412656247,-1.2752097020802466,-0.9680670073199735,-0.002074373516743597,-0.09031395649449259,0.02111711614523437],"joint_position":[-0.035739890244656965,-1.4494112813145594,1.5531939258901792,2.5558549976329664e-05,-0.10297993641508989,0.030911710354084684],"joint_velocity":[0.17673529595199627,0.09334205204626671,-0.11211206845967182,0.0004140688816712231,0.01950662675947718,-0.1594171938876218],"object_angular_velocity":[0.00039138655281436766,0.0015489161564750753,0.022589933747822585],"object_position":[0.3820508950800611,-0.013589631561140993,0.4301264062336128],"object_quaternion":[0.9999970491188663,-3.5694710560637274e-05,0.0004033787573175185,-0.002395363234423759],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031510857825597045,0.06361013796292687,0.0005735533033815308],"pad_normal_forces":{"left":0.8191882408853605,"right":0.7999846474779669},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.02},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.017230522212501546,-1.439687065372212,1.541033230674995,2.1235930632366328e-05,-0.10136562689402485,0.01726739799704914],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03448867112262553,-0.0010948788542568318,0.5078656740306184],[0.2730897043225021,-0.008669517637106224,0.48312356815297053],[0.32776910776414053,-0.010405372358175876,0.47745350222267624],[0.38274139152240344,-0.012150668434253428,0.4774092302467886],[0.38270924213792745,-0.012148632461556673,0.43740924321839203]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38270924213792745,-0.012148632461556673,0.43740924321839203],"end_effector_quaternion":[0.9999970198246607,2.4481912662282925e-05,0.0004019274548514813,-0.002407944508088195],"end_effector_velocity":[0.02887847311643374,0.06659849212654015,0.002323173892939362],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4086979989521187,-0.012274168266243493,0.44538835135287913],[0.35676080861962306,-0.012024043307961134,0.44543010781512504]],"gripper_width":0.039937809404428856,"jaw_actuator_force":[-0.8268094952083747,-0.7923697770525058],"joint_actuator_torque":[-0.18545391750165585,-1.2791003300128523,-0.9675083154930917,-0.0020791128900945733,-0.09034319313015793,0.021049692802788345],"joint_position":[-0.03173538528625611,-1.4472463655046695,1.5505219624331856,2.5504928753998515e-05,-0.10247065185854487,0.02692211037224353],"joint_velocity":[0.17619930171454126,0.09428393236534421,-0.11342688602957116,0.0004149445989894534,0.019880529897768673,-0.1589089608669635],"object_angular_velocity":[0.0003916818932778689,0.001558760203250282,0.022571663111755593],"object_position":[0.38271921158088773,-0.01208078029843941,0.43019304504975037],"object_quaternion":[0.9999970665054752,-3.7843154556968356e-05,0.0004046247862745917,-0.0023878498949381683],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031502554448449155,0.06362863760615646,0.0005790327575090279],"pad_normal_forces":{"left":0.8191912642300756,"right":0.7999854113080147},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.04},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.013284596357310025,-1.4374233020133107,1.5382256197197757,2.1171070233814723e-05,-0.10082205742844894,0.013321342594670146],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03509999767355146,-0.0009740414255156669,0.5077895631707896],[0.2737421111914789,-0.007596472190353794,0.4831707681868433],[0.3284309288726706,-0.009114112573962531,0.4775289610030223],[0.3834097417925753,-0.010639942988116406,0.47748455981651694],[0.38337749054456743,-0.01063803481390923,0.43748457286382064]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38337749054456743,-0.01063803481390923,0.43748457286382064],"end_effector_quaternion":[0.9999970373866295,2.2884394619641305e-05,0.00040319672729936286,-0.0024004430148847895],"end_effector_velocity":[0.028871540091303747,0.06660923963189154,0.002343966710057212],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4093662995722969,-0.010763155421084176,0.44546361520951294],[0.35742910574046055,-0.01051380961534758,0.4455055031010345]],"gripper_width":0.039937809263118074,"jaw_actuator_force":[-0.826818807406859,-0.7923640773374299],"joint_actuator_torque":[-0.1853440796000294,-1.2830170546764066,-0.9669515217256048,-0.002083911253358402,-0.09037310016940303,0.02098194536108866],"joint_position":[-0.027743349652416545,-1.4450598870500417,1.5478189501296564,2.5452087707433096e-05,-0.1019517687246203,0.02294505923332565],"joint_velocity":[0.1756606169456693,0.0952221559321001,-0.11474251881452638,0.0004158331402476969,0.02025861559222589,-0.15839827949742752],"object_angular_velocity":[0.0003919493075041682,0.0015684281282611738,0.022553062795140962],"object_position":[0.3833874474888617,-0.010571741103497647,0.43026041537798276],"object_quaternion":[0.9999970839038416,-3.998287029803409e-05,0.0004059207573897729,-0.002380296939644865],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03149402777445627,0.06364715343989395,0.0005842560362683686],"pad_normal_forces":{"left":0.8191941203065999,"right":0.7999861530793029},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.06},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.009351416537513651,-1.4351383611638224,1.5353868576185647,2.110690930264944e-05,-0.10026851613547716,0.009388032657355057],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03571668450948739,-0.0008489255335953532,0.5077113569393377],[0.2743961782064877,-0.006521935761943189,0.48321816924372224],[0.32909356217871694,-0.007822000605939568,0.47760514706347706],[0.3840780117135785,-0.009129030001183652,0.47756061046923215],[0.38404565462887397,-0.009127249862078558,0.4375606235961071]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38404565462887397,-0.009127249862078558,0.4375606235961071],"end_effector_quaternion":[0.9999970549604352,2.128383473148342e-05,0.000404515680272436,-0.0023929029481863707],"end_effector_velocity":[0.0288644224126463,0.06662004705178641,0.0023645436915459613],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.41003451683800524,-0.009251953220066911,0.44553959756945194],[0.3580973194967376,-0.009003390573256836,0.44558162205248764]],"gripper_width":0.03993780912892203,"jaw_actuator_force":[-0.8268279494364785,-0.7923583640906919],"joint_actuator_torque":[-0.18523422869643014,-1.2869597173578313,-0.9663966135382225,-0.0020887691764543783,-0.0904036809886044,0.02091388469708977],"joint_position":[-0.023763844192442225,-1.4428519285976729,1.5450848668043613,2.540003228759035e-05,-0.10142318189168692,0.018980615304942047],"joint_velocity":[0.1751193298389606,0.09615675142929613,-0.11605902117789252,0.0004167345988092189,0.020640907845909946,-0.157885231903246],"object_angular_velocity":[0.00039219124210450925,0.0015779216223651077,0.02253412544441432],"object_position":[0.384055598458947,-0.009062512681907775,0.43032851245159087],"object_quaternion":[0.9999971013103982,-4.2114464392818095e-05,0.00040726687410215447,-0.002372705389419517],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031485275753852446,0.06366568123208954,0.0005892221989391787],"pad_normal_forces":{"left":0.8191968112210147,"right":0.7999868761206514},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.08},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.005431034200123379,-1.4328323219455414,1.5325169162547958,2.1043450369947192e-05,-0.09970489580514863,0.005467519648413716],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03633867812128724,-0.0007194881807325187,0.5076310191768119],[0.2750518852724967,-0.005445893763147924,0.48326576067511945],[0.32975699524464885,-0.006529028375784787,0.4776820556018149],[0.38474619691913164,-0.007617928307002481,0.47763737738729206],[0.3847137300116745,-0.007616276485066676,0.43763739059765167]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3847137300116745,-0.007616276485066676,0.43763739059765167],"end_effector_quaternion":[0.9999970725419992,1.9679665206868005e-05,0.00040588447383190206,-0.0023853255409144523],"end_effector_velocity":[0.028857118383028933,0.06663091310305229,0.0023849050704067513],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.41070264637265547,-0.007740560597183411,0.44561629360681554],[0.3587654455128987,-0.007492784987563303,0.44565845986011837]],"gripper_width":0.039937809001654626,"jaw_actuator_force":[-0.8268369229359047,-0.7923526403135321],"joint_actuator_torque":[-0.18512439607556663,-1.29092816051741,-0.9658435777021168,-0.0020936875216066814,-0.09043493895047838,0.020845521673842793],"joint_position":[-0.01979692773456954,-1.4406225720758714,1.5423196889491209,2.534876769328615e-05,-0.10088478564295629,0.015028834947569524],"joint_velocity":[0.17457552816927685,0.09708774936781492,-0.11737644890916174,0.0004176491362010508,0.02102743037437998,-0.15736989968118315],"object_angular_velocity":[0.00039241007489746176,0.0015872442164321739,0.022514866439023045],"object_position":[0.3847236601086078,-0.007553093732504488,0.4303973315124188],"object_quaternion":[0.9999971187202782,-4.4238544104561725e-05,0.00040866328725702955,-0.002365076829530807],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031476296357439586,0.06368421705765237,0.0005939302459096428],"pad_normal_forces":{"left":0.8191993386902716,"right":0.7999875833844395},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.1},{"goal":[0.44,0.12,0.446],"joint_targets":[-0.001523498834136449,-1.4305052625675658,1.5296157660263825,2.0980695546165455e-05,-0.09913108865511652,0.0015598530729428756],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.03696592483526619,-0.0005856874728527479,0.5075485135453938],[0.2757092121978144,-0.004368331982872658,0.48331353180753095],[0.3304212155517317,-0.005235188016418887,0.47775968182593737],[0.38541429300412433,-0.006106636775287718,0.4777148557641932],[0.38538171227604534,-0.006105113597980661,0.4377148690619943]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38538171227604534,-0.006105113597980661,0.4377148690619943],"end_effector_quaternion":[0.9999970901272881,1.807131907989087e-05,0.00040730325458080937,-0.0023777120184210365],"end_effector_velocity":[0.028849626313294893,0.0666418364359141,0.0024050510828817332],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4113706837617268,-0.0062289765221502135,0.44569369850756085],[0.35943347937541936,-0.005981991700651782,0.445736011725002]],"gripper_width":0.039937808881156056,"jaw_actuator_force":[-0.8268457291520965,-0.7923469086682191],"joint_actuator_torque":[-0.18501460922507373,-1.2949222271649887,-0.9652923996816298,-0.002098666839729166,-0.09046687731897407,0.020776867018106493],"joint_position":[-0.01584265709889714,-1.438371898652239,1.539523391688291,2.5298298570653743e-05,-0.10033647367327285,0.011089772528579706],"joint_velocity":[0.17402929899596828,0.09801518205587467,-0.11869485927551333,0.0004185768390163222,0.021418206607904465,-0.1568523638484729],"object_angular_velocity":[0.0003926081421463543,0.001596398832975792,0.022495290351001482],"object_position":[0.3853916280174848,-0.00604348301193636,0.43046686781538784],"object_quaternion":[0.999997136129549,-4.635571708243517e-05,0.0004101101607085756,-0.002357412459065305],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0314670875598996,0.06370275668759856,0.000598379176518607],"pad_normal_forces":{"left":0.8192017040475279,"right":0.7999882774364824},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.12},{"goal":[0.44,0.12,0.446],"joint_targets":[0.0023711420130221247,-1.42815726028471,1.526683375808602,2.0918646526348502e-05,-0.09854698633513087,-0.0023349195057394126],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03759837083580952,-0.00044748261331498866,0.5074638035308457],[0.2763681387009628,-0.003289236586419329,0.4833614719428618],[0.3310862105033937,-0.003940471871922407,0.4778380209539488],[0.38608229552485773,-0.0045951543125479334,0.47779304080463963],[0.3860495969675438,-0.004593760152654235,0.43779305419388354]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3860495969675438,-0.004593760152654235,0.43779305419388354],"end_effector_quaternion":[0.9999971077123118,1.6458230266605253e-05,0.0004087721557629646,-0.0023700635987476894],"end_effector_velocity":[0.02884194452613827,0.06665281575331326,0.0024249819489550223],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.41203862455292395,-0.004717200001044281,0.44577180746954737],[0.3601014166329643,-0.004471009592026179,0.44581427285872915]],"gripper_width":0.039937808767292984,"jaw_actuator_force":[-0.8268543690161465,-0.7923411714976378],"joint_actuator_torque":[-0.18490489869457688,-1.2989417612781153,-0.9647430640512766,-0.0021037081178466063,-0.09049949934128243,0.020707931337914418],"joint_position":[-0.011901087111969143,-1.4360999886919317,1.5366959487435599,2.5248628623071694e-05,-0.09977813909552442,0.007163480436265538],"joint_velocity":[0.1734807289328228,0.09893908361569331,-0.12001431101917863,0.0004195179158786578,0.021813259733551048,-0.15633270482635853],"object_angular_velocity":[0.00039278797420605076,0.0016053898592812564,0.022475419575062494],"object_position":[0.38605949772781456,-0.004533679306076128,0.430537116626548],"object_quaternion":[0.9999971535345447,-4.8466591189667526e-05,0.0004116076519666395,-0.0023497133734122367],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031457647353085476,0.06372129695368402,0.0006025678801298655],"pad_normal_forces":{"left":0.8192039083027077,"right":0.7999889605199378},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.14},{"goal":[0.44,0.12,0.446],"joint_targets":[0.006252842722564007,-1.4257883913556189,1.5237197129167934,2.085730462079196e-05,-0.09795247993166209,-0.006216752453148533],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.038235962187824435,-0.0003048338960497997,0.5073768524442281],[0.2770286444175458,-0.0022085941130595105,0.4834095703586131],[0.33175196742852364,-0.002644872496124236,0.477917068213993],[0.3867501999993568,-0.0030834798612506473,0.47787192772431614],[0.3867173795944729,-0.0030822151367192576,0.4378719412090497]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3867173795944729,-0.0030822151367192576,0.4378719412090497],"end_effector_quaternion":[0.9999971252931296,1.4839834734706278e-05,0.00041029129786647364,-0.0023623814906202937],"end_effector_velocity":[0.028834071354837034,0.06666384961151944,0.0024446978807436005],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.41270646425641644,-0.0032052300752888735,0.4458506157022778],[0.3607692527966304,-0.0029598375775037153,0.4458932384832107]],"gripper_width":0.039937808659953666,"jaw_actuator_force":[-0.826862843159871,-0.792335430887249],"joint_actuator_torque":[-0.18479528758550368,-1.302986607884236,-0.964195554096932,-0.0021088113276259758,-0.09053280816297082,0.020638725353909898],"joint_position":[-0.0079722706180558,-1.4338069217156704,1.5338373323984849,2.5199762463141513e-05,-0.09920967444602104,0.0032500090953183004],"joint_velocity":[0.17292990364501273,0.09985948997914004,-0.12133486440585389,0.0004204722884054889,0.022212612696375433,-0.15581100249167415],"object_angular_velocity":[0.00039295125727209626,0.001614217226604616,0.022455209448438904],"object_position":[0.386727264744671,-0.0030236814508426023,0.4306080732244257],"object_quaternion":[0.999997170931052,-5.0571773242207433e-05,0.00041315588836722024,-0.0023419809137070094],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03144797374309109,0.06373983182975797,0.0006064954029010703],"pad_normal_forces":{"left":0.8192059522220307,"right":0.7999896345930938},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.16},{"goal":[0.44,0.12,0.446],"joint_targets":[0.010121559583891224,-1.4233987310013494,1.5207247430678439,2.079667073998729e-05,-0.09734745997079469,-0.010085602043207999],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03887864485883525,-0.00015770269849544168,0.507287623423404],[0.27769070890691816,-0.0011263914753392248,0.48345781630819734],[0.33241847358460386,-0.0013483826533659251,0.4779968188442958],[0.3874180019075515,-0.001571612401573966,0.4779515117499568],[0.3873850556280761,-0.001570477575448484,0.4379515253342736]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3873850556280761,-0.001570477575448484,0.4379515253342736],"end_effector_quaternion":[0.9999971428658434,1.3215569362957775e-05,0.00041186078844761287,-0.0023546668957614065],"end_effector_velocity":[0.02882600514301607,0.0666749366989707,0.0024641990688206955],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.41337419834515143,-0.0016930658235988485,0.44593011842697633],[0.3614369833402622,-0.0014484746109199754,0.4459729038307371]],"gripper_width":0.03993780855904673,"jaw_actuator_force":[-0.8268711519923135,-0.7923296886609013],"joint_actuator_torque":[-0.18468580556309178,-1.3070566128446899,-0.9636498522295369,-0.0021139774438454634,-0.09056680694099128,0.020569259514322313],"joint_position":[-0.0040562584977094605,-1.431492776358167,1.530947513461991,2.5151702855489003e-05,-0.09863097169003276,-0.0006505930195173736],"joint_velocity":[0.1723769084995854,0.10077643888277077,-0.12265658121745818,0.00042144016552226834,0.022616288250536142,-0.15528733606743014],"object_angular_velocity":[0.0003931004180615702,0.001622886334520791,0.022434691086296026],"object_position":[0.3873949245362416,-0.001513488317333555,0.4306797328989589],"object_quaternion":[0.9999971883151514,-5.267187037503013e-05,0.0004147549922138953,-0.0023342163059713954],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031438064745104834,0.06375835815758076,0.0006101605566986039],"pad_normal_forces":{"left":0.8192078362987965,"right":0.7999903013903493},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.18},{"goal":[0.44,0.12,0.446],"joint_targets":[0.013977250780604807,-1.420988353363547,1.5176984303416683,2.0736745426512897e-05,-0.09673181642157018,-0.013941426444246344],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.03952636474092236,-6.051473850275251e-06,0.5071960794343009],[0.27835431165886604,-4.261595644213271e-05,0.48350619902095876],[0.33308571616089483,-5.0995317036100045e-05,0.4780772680929012],[0.388085696691556,-5.955095065504154e-05,0.47803178811901625],[0.38805262050276706,-5.854653090723194e-05,0.43803180180705764]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38805262050276706,-5.854653090723194e-05,0.43803180180705764],"end_effector_quaternion":[0.9999971604266038,1.1584873149636894e-05,0.0004134807227525441,-0.0023469210066693093],"end_effector_velocity":[0.028817744243630667,0.06668607563847063,0.002483485687023324],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4140418222549986,-0.00018070636103580934,0.44601031087622733],[0.36210460370059877,6.308031658519305e-05,0.44605326414368174]],"gripper_width":0.039937808464497876,"jaw_actuator_force":[-0.8268792956867337,-0.7923239464483833],"joint_actuator_torque":[-0.18457647956040457,-1.3111516230802636,-0.963105939701677,-0.0021192071019700276,-0.0906014987791135,0.02049954424114253],"joint_position":[-0.0001530996802427636,-1.4291576303262412,1.5280264612317356,2.510445268263118e-05,-0.0980419222258617,-0.0045382793663258135],"joint_velocity":[0.17182182806606652,0.10168996986832676,-0.12397952479858809,0.0004224216583330161,0.023024308972618476,-0.1547617841166686],"object_angular_velocity":[0.00039323753199311195,0.001631400781732453,0.02241386662350512],"object_position":[0.3880624725339686,-3.0988113921272774e-06,0.43075209095122885],"object_quaternion":[0.9999972056830464,-5.476748853343632e-05,0.00041640507610314555,-0.002326420734686397],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03142791838581736,0.06377687182655047,0.0006135621735530627],"pad_normal_forces":{"left":0.8192095608191341,"right":0.7999909624203713},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.2},{"goal":[0.44,0.12,0.446],"joint_targets":[0.017819874996454873,-1.4185573635084334,1.514641183781181,2.0681890201443997e-05,-0.09610585131690016,-0.01778418389777527],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.040179071388021965,0.0001501562711489819,0.5071021827331761],[0.27901942732278084,0.0010427447757641107,0.4835546210182318],[0.33375367555782975,0.0012472963080717445,0.4781583047918904],[0.38875327301524504,0.0014527054144433688,0.47811262524178877],[0.38872004803064214,0.001453578819621677,0.43811263905007164]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38872004803064214,0.001453578819621677,0.43811263905007164],"end_effector_quaternion":[0.9999971778945678,9.946059924502088e-06,0.00041533674493665607,-0.00233914500708823],"end_effector_velocity":[0.02880973682518635,0.06669726352948877,0.002504526467563479],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4147093047438191,0.0013318491312186516,0.44609105182993924],[0.3627720826522659,0.0015748281466818738,0.44613419748541944]],"gripper_width":0.03993780837633469,"jaw_actuator_force":[-0.8268845136010796,-0.7923209664638389],"joint_actuator_torque":[-0.18446735965683558,-1.3152819434725416,-0.9625676923093351,-0.0021245039261086913,-0.09063800090984131,0.0204295902637599],"joint_position":[0.0037371588470252637,-1.4268015469480102,1.5250744907260971,2.5058014993918348e-05,-0.09744240643842457,-0.008413005323704379],"joint_velocity":[0.17126474745510445,0.10260032857917235,-0.12530964064177746,0.00042341765436683447,0.02343671602720023,-0.1542344246095895],"object_angular_velocity":[0.00039333359483936136,0.0016331182369632713,0.022392739972847242],"object_position":[0.3887298729122198,0.0015074881664380287,0.4308250191292793],"object_quaternion":[0.9999972229563503,-5.6860037383676166e-05,0.0004182845783605507,-0.0023185953801524704],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03141805035355531,0.06379536588463629,0.0006190222653371141],"pad_normal_forces":{"left":0.8192103666264918,"right":0.7999923813030104},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.22},{"goal":[0.44,0.12,0.446],"joint_targets":[0.021649393857651876,-1.416105837440868,1.51155301310884,2.06309307654196e-05,-0.09546949898043479,-0.02161383613710053],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.040836706276606446,0.00031095595264481174,0.5070058965561449],[0.279686029535817,0.0021297025075104124,0.4836030561390875],[0.33442233278271943,0.002546498593000446,0.4782399052101785],[0.3894207201954779,0.002965157334174959,0.47819400472467544],[0.38938733141137694,0.002965898995626757,0.43819401866668994]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.38938733141137694,0.002965898995626757,0.43819401866668994],"end_effector_quaternion":[0.9999971952854253,8.297736001066977e-06,0.000417380316738588,-0.0023313399797908812],"end_effector_velocity":[0.028801687213674154,0.06670849747382647,0.0025257735589993406],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4153766429426162,0.002844601118157729,0.4461723254106914],[0.36343941731782087,0.0030867694570918956,0.44621568293630653]],"gripper_width":0.039937808299737795,"jaw_actuator_force":[-0.8268896552218727,-0.7923177119685612],"joint_actuator_torque":[-0.1843584780163603,-1.3194379830521257,-0.9620319191998306,-0.002129878062230209,-0.09067429315036257,0.020359403584309987],"joint_position":[0.0076144716656333065,-1.4244246175644895,1.5220916504482158,2.501406707778654e-05,-0.09683247853508024,-0.012274727475719345],"joint_velocity":[0.17070573305761455,0.10350691860293922,-0.12664077865209705,0.00042449780344551446,0.02384680806664981,-0.1537053037449748],"object_angular_velocity":[0.0003935408860217401,0.0016289949229371659,0.022371319320663635],"object_position":[0.38939712394100157,0.003018273260688463,0.43089849614005854],"object_quaternion":[0.9999972401525642,-5.895077997778761e-05,0.00042034100594514744,-0.002310741331455789],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03140830974527904,0.06381383582871407,0.0006246813829013456],"pad_normal_forces":{"left":0.8192110836174527,"right":0.7999935420556563},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.24},{"goal":[0.44,0.12,0.446],"joint_targets":[0.025465770875292653,-1.413633842465636,1.5084338596752402,2.0582510854983814e-05,-0.09482263413187969,-0.02543034679534028],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04149921240045623,0.00047638188498382635,0.5069071837826558],[0.28035409481887413,0.003218268599027229,0.48365149196041296],[0.3350916720397616,0.0038466176376621758,0.47832206258448234],[0.3900880307691329,0.004477805351736076,0.4782759260489567],[0.3900544677248338,0.00447841444654389,0.4382759401345709]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3900544677248338,0.00447841444654389,0.4382759401345709],"end_effector_quaternion":[0.9999972126185602,6.638865425890024e-06,0.000419554648648137,-0.0023235070329692235],"end_effector_velocity":[0.02879349001292929,0.06671977566742174,0.002546929705980218],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4160438363763043,0.004357549994567119,0.44625413404528336],[0.3641066072181509,0.004598904757905611,0.44629771702390414]],"gripper_width":0.039937808234698835,"jaw_actuator_force":[-0.8268950354317122,-0.7923139313821279],"joint_actuator_torque":[-0.1842498528754426,-1.323618205742946,-0.9614979605106555,-0.002135321138728274,-0.09071052299102433,0.020288995518266573],"joint_position":[0.01147879523774512,-1.4220269269664545,1.5190779233644498,2.497323503228659e-05,-0.09621215022896681,-0.016123404444744218],"joint_velocity":[0.1701448681992003,0.10440982544982201,-0.12797250336678498,0.0004256149840849796,0.024256556168514763,-0.15317450825245338],"object_angular_velocity":[0.0003938800191295258,0.0016211005145293528,0.022349582938398695],"object_position":[0.3900642261381307,0.004529257031254186,0.4309725211138552],"object_quaternion":[0.9999972572874977,-6.104092405344269e-05,0.00042252582754444447,-0.0023028598338472608],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031398478754317866,0.06383227716996005,0.0006301922978005907],"pad_normal_forces":{"left":0.8192117967793704,"right":0.799994420118263},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.26},{"goal":[0.44,0.12,0.446],"joint_targets":[0.029268971277211165,-1.4111414461112841,1.5052836698594496,2.0535867056181274e-05,-0.09416513601118878,-0.029233681162378497],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.042166534005883376,0.000646467317671953,0.506806006961442],[0.2810236010011076,0.004308454034100856,0.483699916861045],[0.33576167885417985,0.0051476593232824795,0.47840477121303737],[0.39075519861136115,0.005990649965688797,0.47835838702045813],[0.39072145339929515,0.005991125586233266,0.43835840125753006]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.39072145339929515,0.005991125586233266,0.43835840125753006],"end_effector_quaternion":[0.9999972299032531,4.96846610575713e-06,0.00042182782454400257,-0.0023156473006293384],"end_effector_velocity":[0.02878512350809573,0.0667310967385702,0.0025679882066508165],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4167108814948628,0.005870696129802286,0.4463364771961091],[0.3647736488036613,0.006111234536398729,0.44638029589511263]],"gripper_width":0.03993780817885403,"jaw_actuator_force":[-0.826900406420009,-0.7923099423755398],"joint_actuator_torque":[-0.18414151389933053,-1.327822634526001,-0.96096572163151,-0.0021408292777078475,-0.09074704517400889,0.02021837683292782],"joint_position":[0.015330087940108018,-1.4196085543768802,1.5160332821637135,2.4935352097110132e-05,-0.09558137876040912,-0.019958996897859124],"joint_velocity":[0.1695822362795126,0.10530924691938862,-0.12930536759929762,0.0004267384768948603,0.02466811186589253,-0.15264212081540515],"object_angular_velocity":[0.00039435550173342584,0.0016107566450116496,0.02232758080602592],"object_position":[0.3907311768014246,0.006040440036226591,0.4310470920501128],"object_quaternion":[0.999997274369014,-6.313160502624022e-05,0.0004248113828209572,-0.002294951902335734],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03138846207897417,0.06385068814271887,0.0006355500280839677],"pad_normal_forces":{"left":0.8192124209461488,"right":0.7999951689399923},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.28},{"goal":[0.44,0.12,0.446],"joint_targets":[0.03305896204284073,-1.4086287157342006,1.5021023902489614,2.0490552838208255e-05,-0.09349688408885244,-0.033023806247909],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04283861593733464,0.0008212444552116358,0.5067023284002474],[0.2816945265502154,0.005400269428200977,0.48374832013179303],[0.3364323393990006,0.006449629317844368,0.47848802657027223],[0.39142221826067275,0.007503691629722113,0.4784413851584354],[0.391388284463245,0.007504032793433242,0.43844139955367545]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.391388284463245,0.007504032793433242,0.43844139955367545],"end_effector_quaternion":[0.9999972471434325,3.285646174029835e-06,0.0004241812180466052,-0.002307761914840625],"end_effector_velocity":[0.02877657495327276,0.06674245904288996,0.0025889373891533982],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4173777738496025,0.007384039859577218,0.44641935334965643],[0.36544053762646667,0.00762375924597756,0.44646341610142654]],"gripper_width":0.039937808130572114,"jaw_actuator_force":[-0.8269056841777598,-0.7923058610472662],"joint_actuator_torque":[-0.18403348248112117,-1.3320511825478434,-0.9604351063782133,-0.00214640108854223,-0.09078405080863128,0.02014755771600063],"joint_position":[0.019168310019125213,-1.417169575841513,1.5129576915641931,2.4900004208894774e-05,-0.09494008998052907,-0.02378146739170622],"joint_velocity":[0.1690179178925164,0.10620532189170064,-0.13063969674505943,0.00042785919448827075,0.025082688162876055,-0.15210821771619729],"object_angular_velocity":[0.0003949748845756539,0.0015988057091596989,0.0223052869120767],"object_position":[0.39139797209812777,0.007551822802209765,0.4311222065995145],"object_quaternion":[0.9999972914006701,-6.522381774017093e-05,0.00042718006794036334,-0.0022870186636492662],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03137822951676817,0.06386906364580108,0.0006407412835415881],"pad_normal_forces":{"left":0.8192129237761274,"right":0.7999958524939973},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.3},{"goal":[0.44,0.12,0.446],"joint_targets":[0.036835711897310795,-1.4060957179882063,1.4988899667660773,2.0446307662459437e-05,-0.09281775778636335,-0.03680069078894391],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04351540343320022,0.0010007444721763863,0.5065961101941734],[0.2823668503100426,0.006493725032502837,0.4837966915743304],[0.337103640219319,0.007752533077577648,0.47857182480728305],[0.39208908464106546,0.00901693075063126,0.47852491779919676],[0.39205495670605833,0.009017136408280196,0.43852493235867746]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.39205495670605833,0.009017136408280196,0.43852493235867746],"end_effector_quaternion":[0.9999972643398961,1.58959887420768e-06,0.00042660401047448556,-0.002299851998613223],"end_effector_velocity":[0.0287678363045228,0.06675386093514443,0.0026097718745255677],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.41804450888501127,0.008897581479778292,0.44650276040412795],[0.3661072691317193,0.00913647929926618,0.4465470744171055]],"gripper_width":0.03993780808900993,"jaw_actuator_force":[-0.8269108505858469,-0.7923017217397925],"joint_actuator_torque":[-0.18392578144427496,-1.33630375651353,-0.9599060442217251,-0.0021520369492723946,-0.09082165121496288,0.02007654794318947],"joint_position":[0.02299342355372434,-1.414710064995561,1.5098511108787036,2.486675930126251e-05,-0.09428819111625278,-0.02759078029841924],"joint_velocity":[0.16845199237856165,0.10709815309973209,-0.13197571666678415,0.0004289768669635032,0.025501006775771252,-0.1515728725483464],"object_angular_velocity":[0.0003957457911492701,0.0015857886542562085,0.022282705797636315],"object_position":[0.3920646078359109,0.009063405817038723,0.43119786220655265],"object_quaternion":[0.999997308383282,-6.73184473145578e-05,0.0004296209282076727,-0.002279061271087982],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031367770619212386,0.06388739944350902,0.0006457591483700061],"pad_normal_forces":{"left":0.819213297238244,"right":0.7999964950471844},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.32},{"goal":[0.44,0.12,0.446],"joint_targets":[0.04059919130135539,-1.4035425185291115,1.4956463440452117,2.0402979213328565e-05,-0.09212763618623099,-0.04056430524761305],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.044196842001230655,0.001184997526062686,0.506487314244219],[0.283040551338863,0.00758883073823763,0.4838450212942718],[0.33777556806207043,0.009056375849361056,0.4786561624932423],[0.3927557928895216,0.010530367688722099,0.4786089821963242],[0.3927214657663533,0.01053043673095625,0.4386089969257788]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3927214657663533,0.01053043673095625,0.4386089969257788],"end_effector_quaternion":[0.9999972814916347,-1.204116194019151e-07,0.00042908993011484084,-0.0022919186629961775],"end_effector_velocity":[0.028758902247012115,0.0667653007159538,0.0026304895879184303],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.41871108205081436,0.010411321245263658,0.44658669593887534],[0.366773838769818,0.010649395066609951,0.4466312677698953]],"gripper_width":0.03993780805368984,"jaw_actuator_force":[-0.8269159023933046,-0.7922975378831829],"joint_actuator_torque":[-0.1838184331027506,-1.3405802454852846,-0.9593784801734273,-0.0021577377857633683,-0.09085991229343371,0.020005357097367504],"joint_position":[0.02680539243156334,-1.4122300935429561,1.5067134954381511,2.4835251554808405e-05,-0.09362557823836239,-0.031386901767901036],"joint_velocity":[0.16788453803968365,0.10798782286524365,-0.13331359439405588,0.0004300943566425714,0.025923500395862543,-0.15103615749572546],"object_angular_velocity":[0.0003966747493550682,0.0015720477983358304,0.022259841820368432],"object_position":[0.3927310796697605,0.010575189529566069,0.4312740562192581],"object_quaternion":[0.9999973253160149,-6.941629518419542e-05,0.00043212721792066315,-0.002271080857529148],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03135707948609567,0.06390569125325551,0.0006505999705334804],"pad_normal_forces":{"left":0.819213539794075,"right":0.7999971084866928},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.34},{"goal":[0.44,0.12,0.446],"joint_targets":[0.04434937243581983,-1.400969181827453,1.4923714650528852,2.036047817143398e-05,-0.09142639786058099,-0.044314621800221166],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04488287735338019,0.0013740327690980809,0.5063759022679635],[0.2837156088169379,0.008685596080433256,0.4838932995805415],[0.3384481097773366,0.010361162672614234,0.478741036464674],[0.3934223382549654,0.01204400275823484,0.47869357557875974],[0.3933878071827332,0.012043934020454568,0.43869359048375844]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3933878071827332,0.012043934020454568,0.43869359048375844],"end_effector_quaternion":[0.999997298596601,-1.8450664206320673e-06,0.00043163535486071756,-0.0022839630069077933],"end_effector_velocity":[0.028749769042445417,0.06677677664434974,0.0026510904560705134],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4193774887855191,0.011925259369142046,0.4466711573710169],[0.36744024197999686,0.01216250687534017,0.4467159932005518]],"gripper_width":0.039937808024295085,"jaw_actuator_force":[-0.8269208385833142,-0.7922933177152585],"joint_actuator_torque":[-0.18371145940011147,-1.3448805256480227,-0.9588523683993344,-0.002163504670023238,-0.09089887401006003,0.01993399464500234],"joint_position":[0.030604182328755152,-1.4097297315205732,1.5035447974055571,2.4805199512690007e-05,-0.09295214060787882,-0.03516979970563213],"joint_velocity":[0.16731563231219915,0.10887440226187847,-0.13465346358044314,0.0004312151598017403,0.026350433466560217,-0.15049814389113664],"object_angular_velocity":[0.00039776702050528707,0.0015577981460974772,0.02223669910234304],"object_position":[0.39339738315465034,0.012087174347874484,0.43135078595354603],"object_quaternion":[0.9999973421970146,-7.151810193215688e-05,0.00043469482884468934,-0.0022630785388952144],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031346151668103776,0.06392393476757585,0.0006552620682727946],"pad_normal_forces":{"left":0.8192136512511061,"right":0.7999977004106633},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.36},{"goal":[0.44,0.12,0.446],"joint_targets":[0.048086229183671364,-1.3983757710424836,1.4890652708425933,2.031875185573943e-05,-0.09071392076428952,-0.048051614321883755],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04557345537544252,0.001567878359697025,0.5062618358054398],[0.28439200199472614,0.00978403024140047,0.4839415168357246],[0.3391212522616453,0.011666898380957509,0.4788264437384982],[0.39408871603918666,0.013557836227735213,0.4787786951856386],[0.3940539764232298,0.013557628493623677,0.43877871027169235]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3940539764232298,0.013557628493623677,0.43877871027169235],"end_effector_quaternion":[0.9999973156521578,-3.5850061454045863e-06,0.00043423820568257144,-0.0022759861174825903],"end_effector_velocity":[0.028740433875781124,0.06678828694294278,0.002671575604567801],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.420043724502133,0.013439396022189415,0.4467561420477375],[0.36810647417602377,0.013675815009229035,0.4468012478401966]],"gripper_width":0.039937808000597055,"jaw_actuator_force":[-0.8269256587057185,-0.7922890670207465],"joint_actuator_torque":[-0.18360488190510793,-1.3492044656903772,-0.9583276677933554,-0.0021693386527624954,-0.09093856126630051,0.019862469960885587],"joint_position":[0.03438976069116092,-1.4072090474360597,1.5003449662299653,2.477639826994331e-05,-0.0922677632064713,-0.03893944375559207],"joint_velocity":[0.1667453518203786,0.10975795654202432,-0.13599543931507746,0.00043234242902264673,0.02678197244470969,-0.1499589023881782],"object_angular_velocity":[0.00039902673244641577,0.0015431742440134488,0.022213281627574785],"object_position":[0.3940635137699043,0.013599360638006078,0.43142804873170076],"object_quaternion":[0.9999973590238033,-7.362456500573823e-05,0.0004373212885082509,-0.002255055416522889],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03133498366240877,0.06394212565952412,0.0006597449257585645],"pad_normal_forces":{"left":0.8192136318021889,"right":0.7999982761124665},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.38},{"goal":[0.44,0.12,0.446],"joint_targets":[0.05180973711058698,-1.3957623479309327,1.4857277003878586,2.027776886647529e-05,-0.08999008216630933,-0.05177525836862726],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04626852211714309,0.001766561473904321,0.5061450762220003],[0.2850697101650087,0.010884142054063739,0.48398966353588174],[0.33979498242597794,0.012973587603683605,0.47891238146197956],[0.39475492156247477,0.015071868320347648,0.47886433828724984],[0.3947199689025483,0.015071520324381847,0.43886435355987197]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3947199689025483,0.015071520324381847,0.43886435355987197],"end_effector_quaternion":[0.9999973326553427,-5.340842122972387e-06,0.00043689730146526687,-0.0022679890703717026],"end_effector_velocity":[0.0287308944752543,0.06679982980159571,0.0026919468878457333],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42070978458430347,0.01495373133230138,0.44684164730075226],[0.36877253074231486,0.015189319707974677,0.4468870288977609]],"gripper_width":0.03993780798242516,"jaw_actuator_force":[-0.8269303628118818,-0.7922847897698073],"joint_actuator_torque":[-0.18349872176902693,-1.3535519304983836,-0.9578043393235021,-0.0021752407063103485,-0.09097899017393907,0.019790792332046614],"joint_position":[0.03816209671596922,-1.4046681083308588,1.4971139488895013,2.4748703907668218e-05,-0.0915723282076295,-0.04269580528408274],"joint_velocity":[0.16617377238305947,0.1106385483145845,-0.13733962679670778,0.00043347868889270763,0.027218226819052296,-0.14941850298422],"object_angular_velocity":[0.0004004570976478101,0.0015282603995144927,0.022189593313721587],"object_position":[0.394729466936482,0.015111748722973266,0.43150584190550156],"object_quaternion":[0.9999973757935373,-7.573635174008936e-05,0.00044000513029234596,-0.002247012578546621],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03132357265635397,0.06396025958679052,0.0006640487219162324],"pad_normal_forces":{"left":0.819213481856941,"right":0.7999988393144901},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.4},{"goal":[0.44,0.12,0.446],"joint_targets":[0.05551987344495247,-1.393128972775895,1.4823586904602812,2.0237510140928974e-05,-0.0892547586028802,-0.05548553115825772],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04696802379407088,0.001970108317001651,0.5060255847092782],[0.2857487126489316,0.011985940005277402,0.4840377302075236],[0.3404692871781705,0.014281234767173929,0.47899884688420485],[0.3954209501436668,0.01658609921390596,0.47895050219790886],[0.3953857799921983,0.016585609643136292,0.4389505176626523]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3953857799921983,0.016585609643136292,0.4389505176626523],"end_effector_quaternion":[0.9999973496030196,-7.1131646545823875e-06,0.0004396119829425299,-0.0022599729297674434],"end_effector_velocity":[0.0287211488902632,0.06681140336032418,0.0027122066145426186],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42137566438611523,0.016468265384077307,0.44692767047870624],[0.3694384070337182,0.016703021166788654,0.44697333365331976]],"gripper_width":0.03993780796964919,"jaw_actuator_force":[-0.8269349513190551,-0.7922804886437484],"joint_actuator_torque":[-0.18339299863496095,-1.3579227832933611,-0.9572823445469112,-0.002181211569913515,-0.09102017174011401,0.019718970923013224],"joint_position":[0.041921161333272,-1.4021069797994368,1.4938516900107497,2.4722017961872385e-05,-0.09086571582944505,-0.04643885736294952],"joint_velocity":[0.1656009689550139,0.11151623940056243,-0.1386861264171324,0.0004346258015449134,0.02765927306698941,-0.14887701497893033],"object_angular_velocity":[0.00040206054327486545,0.0015131094645160221,0.022165643548202378],"object_position":[0.3953952380287855,0.016624338878513386,0.43158416287012547],"object_quaternion":[0.9999973925032705,-7.785410848347907e-05,0.0004427454980362721,-0.0022389510536515254],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03131191628600207,0.06397833190247064,0.0006681740343448053],"pad_normal_forces":{"left":0.819213201935197,"right":0.7999993926682147},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.42},{"goal":[0.44,0.12,0.446],"joint_targets":[0.059216617056173454,-1.3904757043274203,1.478958175533517,2.0197963746513068e-05,-0.08850782584323338,-0.05918241154917385],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.04767190679641406,0.002178544135288826,0.5059033222848986],[0.2864289887901462,0.013089432238788066,0.48408570741454277],[0.34114415341370985,0.015589844095839973,0.4790858373400862],[0.39608679708862554,0.018100529040508198,0.47903718428406217],[0.39605140502648917,0.018099896535797563,0.4390371999465418]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.39605140502648917,0.018099896535797563,0.4390371999465418],"end_effector_quaternion":[0.9999973664919706,-8.902549256104508e-06,0.000442381893725268,-0.0022519387487742516],"end_effector_velocity":[0.0287111953595624,0.06682300578994106,0.0027323573940385196],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4220413592324448,0.01798299821793332,0.44701420896664923],[0.3701040983758615,0.018216919535548007,0.4470601594548191]],"gripper_width":0.03993780796216738,"jaw_actuator_force":[-0.8269394248462651,-0.7922761654643082],"joint_actuator_torque":[-0.18328773480598315,-1.3623168868897437,-0.9567616444888927,-0.0021872523473587223,-0.09106211397314112,0.01964701489509313],"joint_position":[0.045666927186092145,-1.399525725982836,1.4905581319154764,2.4696273768193403e-05,-0.0901478048259923,-0.050168574751725946],"joint_velocity":[0.16502701579374024,0.11239109191913946,-0.14003503676798135,0.0004357852337594673,0.028105168634754218,-0.14833450698000913],"object_angular_velocity":[0.000403839219133144,0.0014977566017411324,0.022141423262612047],"object_position":[0.39606082238206125,0.018137131341845466,0.43166300907377336],"object_quaternion":[0.9999974091497046,-7.997846735642933e-05,0.00044554191575999484,-0.002230871964642035],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03130001246371497,0.0639963388267796,0.0006721217650634837],"pad_normal_forces":{"left":0.819212792581271,"right":0.7999999381213575},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.44},{"goal":[0.44,0.12,0.446],"joint_targets":[0.06289994843492418,-1.3878025997497583,1.4755260877011398,2.0159121853625224e-05,-0.08774915886157099,-0.06286588002089934],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.048380117701495265,0.0023918932282230086,0.5057782497913392],[0.2871105179535566,0.014194626558824763,0.4841335857510428],[0.34181956801132063,0.01689941961375433,0.47917335024180824],[0.3967524576835434,0.0196151578868092,0.4791243819697901],[0.3967168393060458,0.019614381043753553,0.439124397835697]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3967168393060458,0.019614381043753553,0.439124397835697],"end_effector_quaternion":[0.9999973833189479,-1.0709560341168407e-05,0.0004452068526350126,-0.0022438875686009497],"end_effector_velocity":[0.028701032237459782,0.06683463517092483,0.002752402037439652],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4227068644191767,0.01949792983018774,0.44710126019816754],[0.37076960006536447,0.019731014918797092,0.4471475037169453]],"gripper_width":0.039937807959898916,"jaw_actuator_force":[-0.8269437840639355,-0.7922718215191393],"joint_actuator_torque":[-0.18318294895297882,-1.366734104325019,-0.956242199428857,-0.0021933636426266093,-0.09110482321553626,0.01957493321200765],"joint_position":[0.049399368612162355,-1.396924409547344,1.487233214624151,2.4671427384626656e-05,-0.08941847276773633,-0.05388493387871283],"joint_velocity":[0.16445198615248943,0.11326316892242241,-0.14138645639250721,0.00043695793758777345,0.02855596013793944,-0.14779104677797386],"object_angular_velocity":[0.00040579462771061917,0.001482223864041857,0.022116944768740324],"object_position":[0.3967262152967394,0.019650126303345943,0.4317423780230565],"object_quaternion":[0.9999974257296234,-8.2110050018885e-05,0.00044839412773216964,-0.002222776365594225],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03128785925865831,0.06401427569570674,0.0006758929209580046],"pad_normal_forces":{"left":0.819212254299808,"right":0.8000004771568549},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.46},{"goal":[0.44,0.12,0.446],"joint_targets":[0.06656984967085605,-1.3851097145724192,1.4720623566026128,2.012097897655053e-05,-0.08697863181275388,-0.0665359186519585],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04909260328847524,0.0026101789607227864,0.5056503278941519],[0.2877932795268026,0.015301530433091098,0.48418135583748306],[0.3424955178314193,0.018209965145508836,0.47926138307449645],[0.3974179271911612,0.02112998579336762,0.47921209274062154],[0.39738207809994813,0.02112906316295008,0.43921210881573214]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.39738207809994813,0.02112906316295008,0.43921210881573214],"end_effector_quaternion":[0.9999974000807065,-1.2534754380008458e-05,0.00044808677969307,-0.00223582041883741],"end_effector_velocity":[0.028690657947964375,0.06684628957893075,0.0027723435105378017],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4233721752133813,0.021013060172184128,0.44718882166304147],[0.37143490737001555,0.021245307374899543,0.44723536392109425]],"gripper_width":0.039937807962778626,"jaw_actuator_force":[-0.826948029638122,-0.792267457732625],"joint_actuator_torque":[-0.18307866025473984,-1.3711742993358484,-0.9557239683643957,-0.0021995461597110076,-0.09114830483836656,0.01950273476419273],"joint_position":[0.05311846162310601,-1.3943030916541619,1.4838768758338647,2.46474497053432e-05,-0.0886775961978981,-0.05758791282148911],"joint_velocity":[0.16387595246316317,0.11413253477287273,-0.14274048486258956,0.000438144621756389,0.029011688144560874,-0.14724670138816093],"object_angular_velocity":[0.00040792806036399966,0.0014665269626078247,0.022092211668380993],"object_position":[0.39739141204103856,0.021163323906847765,0.4318222672872202],"object_quaternion":[0.9999974422398186,-8.424947093041538e-05,0.00045130201210468845,-0.002214665288759417],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031275454838137304,0.06403213813105024,0.0006794886445194345],"pad_normal_forces":{"left":0.8192115875323216,"right":0.8000010109396611},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.48},{"goal":[0.44,0.12,0.446],"joint_targets":[0.07022630443120237,-1.3823971026432527,1.4685669093527762,2.0083530954714867e-05,-0.08619611800917931,-0.07019251109857473],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.04980931055416026,0.002833423775782487,0.5055195170796909],[0.2884772529232366,0.016410150996094164,0.48422900831882615],[0.3431719897161499,0.01952148431741559,0.4793499333944613],[0.39808320084861337,0.02264501275433612,0.4793003141465156],[0.39804711664701753,0.02264394284342811,0.43930033043669786]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.39804711664701753,0.02264394284342811,0.43930033043669786],"end_effector_quaternion":[0.9999974167740197,-1.4378681711960982e-05,0.0004510216530989344,-0.0022277383171003286],"end_effector_velocity":[0.028680070959431127,0.06685796705969493,0.002792184902692101],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4240372868534526,0.022528389149879546,0.44727689091246137],[0.3721000155289099,0.0227597969155899,0.4473237376161179]],"gripper_width":0.03993780797075332,"jaw_actuator_force":[-0.8269521621899969,-0.7922630747852812],"joint_actuator_torque":[-0.18297488735936085,-1.3756373365887384,-0.9552069088477992,-0.0022058005692442233,-0.09119256368534145,0.019430428331467908],"joint_position":[0.056824183884306774,-1.391661831923868,1.4804890508805328,2.4624321587349324e-05,-0.08792505071633412,-0.06127749128655345],"joint_velocity":[0.16329898626026654,0.11499925536641639,-0.144097223420149,0.0004393457961635642,0.029472389990776195,-0.14670153699119312],"object_angular_velocity":[0.00041024057708160085,0.001450677436692357,0.022067227743460174],"object_position":[0.39805640785252766,0.022676724249927227,0.4319026745014004],"object_quaternion":[0.9999974586770862,-8.639733914739168e-05,0.0004542655275346226,-0.002206539757018458],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03126279742839091,0.06404992174601713,0.000682910162121333],"pad_normal_forces":{"left":0.8192107926444236,"right":0.8000015404134865},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.5},{"goal":[0.44,0.12,0.446],"joint_targets":[0.07386929793892326,-1.379664816082541,1.4650396704727957,2.004677436472794e-05,-0.08540148989791818,-0.07383564257286979],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.050530186729364865,0.0030616492073292797,0.5053857776524177],[0.2891624175857617,0.01752049505244315,0.48427653386381786],[0.3438489704903527,0.02083398055861508,0.47943899882893043],[0.3987482738662545,0.024160238716998433,0.47938904380432956],[0.3987119501566293,0.02415901998875419,0.4393890603155477]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3987119501566293,0.02415901998875419,0.4393890603155477],"end_effector_quaternion":[0.9999974333956921,-1.6241887820828935e-05,0.0004540114844019505,-0.0022196422688099105],"end_effector_velocity":[0.02866926976965909,0.06686966562980994,0.0028119294108431034],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42470219454924957,0.024043916623309184,0.4473654655627848],[0.37276491975259035,0.0242744835054151,0.4474126224195019]],"gripper_width":0.03993780798377959,"jaw_actuator_force":[-0.8269561822810374,-0.7922586731834791],"joint_actuator_torque":[-0.18287164837002123,-1.3801230818421573,-0.954690976849065,-0.0022121275167641783,-0.09123760432940031,0.019358022581056566],"joint_position":[0.060516514694197915,-1.3890006883976524,1.4770696726912957,2.460203039866716e-05,-0.08716071102044223,-0.06495365058850383],"joint_velocity":[0.1627211581694345,0.11586339826860878,-0.1454567753843123,0.00044056183476394375,0.029938101445687006,-0.14615561891948853],"object_angular_velocity":[0.00041273305278678247,0.0014346843654646326,0.022041996919107243],"object_position":[0.3987211979390897,0.0241903273833513,0.43198359736925374],"object_quaternion":[0.9999974750382443,-8.855425957253329e-05,0.0004572846805531907,-0.0021984007823727873],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031249885293258242,0.06406762214594795,0.0006861587669116419],"pad_normal_forces":{"left":0.8192098699242707,"right":0.800002066360131},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.52},{"goal":[0.44,0.12,0.446],"joint_targets":[0.07749881695065232,-1.3769129052374862,1.4614805618211144,2.0010706183435526e-05,-0.08459461903736427,-0.07746529982084185],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05125517929548456,0.003294875893324039,0.5052490697318256],[0.2898487529911301,0.018632569080187424,0.4843239231649265],[0.3445264469630489,0.02214745710217695,0.4795285770766788],[0.39941314142705087,0.025675663581256458,0.4794782794000198],[0.3993765738092434,0.025674294455436827,0.439478296138338]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.3993765738092434,0.025674294455436827,0.439478296138338],"end_effector_quaternion":[0.9999974499425643,-1.812491418670758e-05,0.0004570563042621314,-0.0022115332669779717],"end_effector_velocity":[0.028658252897421663,0.0668813832757078,0.0028315803312804226],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42536689348224,0.025559642406028565,0.4474545432984767],[0.37342961522319207,0.025789367061154735,0.44750201601882655]],"gripper_width":0.039937808001822006,"jaw_actuator_force":[-0.8269600904088028,-0.7922542533037529],"joint_actuator_torque":[-0.18276896083602878,-1.384631402050445,-0.9541761266567619,-0.002218527629020204,-0.09128343122510607,0.019285526065443648],"joint_position":[0.06419543496324656,-1.3863197174965385,1.4736186717304984,2.4580567708236193e-05,-0.08638445092047473,-0.0686163736288221],"joint_velocity":[0.1621425378936726,0.11672503279995915,-0.1468192464187477,0.0004417930201935422,0.030408857703809855,-0.14560901164093926],"object_angular_velocity":[0.00041540620738058867,0.001418555405898962,0.02201652321519578],"object_position":[0.39938577747954473,0.025704133310513515,0.43206503366528953],"object_quaternion":[0.9999974913201402,-9.072083377052887e-05,0.0004603595061678134,-0.002190249364978364],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0312367167216487,0.06408523492743128,0.0006892358094334812],"pad_normal_forces":{"left":0.8192088195859565,"right":0.8000025894381988},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.54},{"goal":[0.44,0.12,0.446],"joint_targets":[0.08111484973444259,-1.3741414186367071,1.4578895025235645,1.9975323597166045e-05,-0.0837753760729669,-0.08108147110012998],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.051984236001087036,0.0035331235890952903,0.5051093532490081],[0.29053623865447964,0.019746379234191216,0.48437116693866306],[0.3452044059292154,0.023461916986192367,0.479618665909209],[0.4000777986863118,0.027191287199070397,0.47956801869071286],[0.40004098275678035,0.027189766052319247,0.4395680356622984]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40004098275678035,0.027189766052319247,0.4395680356622984],"end_effector_quaternion":[0.9999974664115168,-2.0028298859678452e-05,0.0004601561543900219,-0.0022034122920105816],"end_effector_velocity":[0.028647018877755975,0.06689311795248326,0.002851141056163442],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42603137880565545,0.027075566264526455,0.44754412187459924],[0.3740940970945981,0.0273044474512135,0.4475919161734193]],"gripper_width":0.039937808024851695,"jaw_actuator_force":[-0.8269638870078895,-0.7922498154224247],"joint_actuator_torque":[-0.1826668417453874,-1.3891621654330493,-0.9536623107998139,-0.0022250015183739712,-0.09133004880077422,0.019212947220648147],"joint_position":[0.06786092719265378,-1.3836189739792728,1.4701359759411874,2.455992776302859e-05,-0.08559614333934526,-0.0722656448743264],"joint_velocity":[0.16156319420101578,0.11758423009221175,-0.14818474471928847,0.0004430395745158325,0.030884693987036024,-0.14506177874568454],"object_angular_velocity":[0.0004182606251130263,0.0014022974182367174,0.02199081071823788],"object_position":[0.40005014162407354,0.027218141986851668,0.4321469812370526],"object_quaternion":[0.9999975075196594,-9.289766050379475e-05,0.00046349005646859575,-0.0021820864925357814],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031223290020448286,0.06410275567719431,0.0006921426929656838],"pad_normal_forces":{"left":0.8192076417746684,"right":0.800003110209734},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.56},{"goal":[0.44,0.12,0.446],"joint_targets":[0.08471738604731613,-1.3713504029445125,1.4542664089020856,1.9940623896134576e-05,-0.08294363071177199,-0.08468414615757461],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.052717304878409976,0.003776411180895905,0.5049665879428802],[0.291224854133975,0.020861931349543093,0.4844182559261204],[0.3458828341717086,0.024777363054858073,0.47970926317227963],[0.40074224077162024,0.028707109373855528,0.47965825950672814],[0.40070517212290774,0.028705434539943807,0.4396582767178542]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40070517212290774,0.028705434539943807,0.4396582767178542],"end_effector_quaternion":[0.9999974827994711,-2.1952576854364124e-05,0.0004633110830935274,-0.002195280311525535],"end_effector_velocity":[0.028635566259553342,0.06690486758252841,0.00287061507282552],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42669564564465345,0.028591687917605437,0.4476341991190656],[0.37475836049260197,0.02881972449498288,0.447682320716146]],"gripper_width":0.03993780805284559,"jaw_actuator_force":[-0.8269675724537997,-0.7922453597356673],"joint_actuator_torque":[-0.18256530751811795,-1.3937152415284118,-0.9531494799844609,-0.002231549785798697,-0.09137746151544768,0.019140294364727417],"joint_position":[0.07151297545279413,-1.3808985108992657,1.4666215106832243,2.454010649708129e-05,-0.08479566030279179,-0.0759014503353409],"joint_velocity":[0.16098319491317054,0.11844106312860349,-0.1495533811565374,0.00044430167997561187,0.031365645919638724,-0.14451398293480733],"object_angular_velocity":[0.00042129676668524815,0.0013859168414687094,0.021964863564733293],"object_position":[0.4007142854945341,0.0287323533192412,0.432229438007249],"object_quaternion":[0.9999975236337251,-9.508533609036821e-05,0.00046667639405816394,-0.002173913139882195],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031209603510532872,0.06412017997074593,0.0006948808716120017],"pad_normal_forces":{"left":0.8192063365730464,"right":0.8000036291585503},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.58},{"goal":[0.44,0.12,0.446],"joint_targets":[0.08830641711261929,-1.3685399029147765,1.4506111944017,1.9906604418477693e-05,-0.08209925169558992,-0.0882733162065796],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05345433425970491,0.004024756699672438,0.5048207333560555],[0.29191457903548235,0.021979230944996958,0.48446518089363716],[0.34656171846326467,0.026093797959550493,0.4798003667876663],[0.4014064627828901,0.030223129859836807,0.4797489997536015],[0.4013691370032855,0.030221299629883625,0.4397490172106499]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4013691370032855,0.030221299629883625,0.4397490172106499],"end_effector_quaternion":[0.999997499103392,-2.3898280432151903e-05,0.0004665211429343899,-0.002187138280183391],"end_effector_velocity":[0.028623893604493873,0.06691663005398762,0.002890005964976903],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42735968909649397,0.030108007035727025,0.4477247729347854],[0.37542240051508485,0.030335197962168724,0.44777322755531257]],"gripper_width":0.03993780808578541,"jaw_actuator_force":[-0.826971147067999,-0.7922408863738024],"joint_actuator_torque":[-0.18246437399993454,-1.3982905012331912,-0.9526375830350844,-0.002238173022895382,-0.09142567389557321,0.019067575696458228],"joint_position":[0.07515156536141264,-1.3781583795607837,1.4630751986686252,2.4521100894307765e-05,-0.08398287292329158,-0.07952377754361596],"joint_velocity":[0.16040260689490224,0.11929560677518464,-0.15092526939389897,0.0004455794927925321,0.03185174977179028,-0.14396568601030066],"object_angular_velocity":[0.00042451497652661084,0.0013694199181146906,0.02193868593090632],"object_position":[0.4013782041847171,0.030246767165359182,0.43231240197587073],"object_quaternion":[0.9999975396593027,-9.728445465115452e-05,0.0004699185883787515,-0.0021657302686992996],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031195655524738193,0.0641375033707877,0.0006974518502397986],"pad_normal_forces":{"left":0.8192049040072216,"right":0.8000041467041503},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.6},{"goal":[0.44,0.12,0.446],"joint_targets":[0.0918819355971848,-1.365709961344311,1.4469237695154658,1.98732625229847e-05,-0.08124210677264541,-0.0918489739042791],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05419527279339235,0.004278177335037228,0.5046717488303807],[0.29260539301723254,0.023098283226440565,0.484511932633539],[0.34724104556852925,0.027411224159887164,0.4798919747550961],[0.40207045979250366,0.031739348361360796,0.47984023741414666],[0.402032872465792,0.03173736098403719,0.4398402551236105]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.402032872465792,0.03173736098403719,0.4398402551236105],"end_effector_quaternion":[0.9999975153202868,-2.5865939314924538e-05,0.0004697863896153892,-0.002178987139530038],"end_effector_velocity":[0.02861199948690452,0.06692840321904993,0.002909317414912945],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4280235042307304,0.031624523240318024,0.4478158413017839],[0.37608621223220706,0.03185086757208129,0.4478646346766685]],"gripper_width":0.03993780812365713,"jaw_actuator_force":[-0.8269746111233829,-0.792236395411865],"joint_actuator_torque":[-0.18236405645618703,-1.402887816838529,-0.9521265668392971,-0.0022448718132369026,-0.09147469055983315,0.018994799294117293],"joint_position":[0.07877668406159236,-1.3753986294745033,1.459496959894429,2.4502908583714813e-05,-0.08315765137968814,-0.08313261553002019],"joint_velocity":[0.1598214960439958,0.12014793780809684,-0.15230052599277644,0.0004468731522176514,0.03234304262725376,-0.14341694886586287],"object_angular_velocity":[0.0004279154868455516,0.001352812828298886,0.021912282025992214],"object_position":[0.40204189276057783,0.03176138333301426,0.4323958712223541],"object_quaternion":[0.9999975555933995,-9.94956082909272e-05,0.0004732167137790782,-0.0021575388272889423],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03118144440711231,0.0641547214254179,0.0006998571853668696],"pad_normal_forces":{"left":0.8192033440529568,"right":0.8000046632117377},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.62},{"goal":[0.44,0.12,0.446],"joint_targets":[0.09544393558830051,-1.3628606190256303,1.4432040417072178,1.9840595578782923e-05,-0.0803720626676103,-0.09541111332850938],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.054940069460014215,0.004536689449433963,0.5045195935021183],[0.2932972757944531,0.024219093090387108,0.48455850196492223],[0.34792080224609534,0.028729643924772206,0.4799840851543148],[0.40273422684550736,0.03325576453216345,0.4799319705505694],[0.40269637355075055,0.03325361821388214,0.439931988519056]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40269637355075055,0.03325361821388214,0.439931988519056],"end_effector_quaternion":[0.9999975314472044,-2.7856080859998322e-05,0.00047310688159427387,-0.0021708278178487936],"end_effector_velocity":[0.028599882494182736,0.06694018489206512,0.0029285532066522717],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4286870860894199,0.033141236103034745,0.44790740227933673],[0.37674979068661923,0.03336673299288415,0.44795654014550146]],"gripper_width":0.03993780816645037,"jaw_actuator_force":[-0.8269779648498856,-0.7922318868772757],"joint_actuator_torque":[-0.1822643695657078,-1.407507062061427,-0.9516163762933729,-0.0022516467332585393,-0.09152451623731217,0.018921973114330193],"joint_position":[0.08238832019950292,-1.3726193083124578,1.4558867115732417,2.4485527585692985e-05,-0.08231986489364358,-0.08672795480201789],"joint_velocity":[0.15923992728162226,0.12099813493903068,-0.15367927051239696,0.00044818278641748293,0.03283956250800309,-0.1428678314782304],"object_angular_velocity":[0.00043149841960045756,0.0013361017694833634,0.021885656087530445],"object_position":[0.4027053462604627,0.03327620157943851,0.43247984390779376],"object_quaternion":[0.999997571433066,-0.00010171938724207073,0.00047657084862458114,-0.00214933975038926],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031166968512866742,0.06417182966611795,0.00070209848693449],"pad_normal_forces":{"left":0.8192016566413372,"right":0.8000051790002877},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.64},{"goal":[0.44,0.12,0.446],"joint_targets":[0.09899241257048344,-1.3599919146990298,1.4394519153319159,1.9808600964684894e-05,-0.07948898504993336,-0.09895972995458538],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05568867358797869,0.004800308592487623,0.5043642262967759],[0.2939902071439604,0.025341665127484918,0.4846048797344674],[0.34860097525053957,0.030049059333421797,0.4800766961472717],[0.40339775895985697,0.0347723779745913,0.4800241973066521],[0.403359635271171,0.03477007087968397,0.44002421554088533]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.403359635271171,0.03477007087968397,0.44002421554088533],"end_effector_quaternion":[0.9999975474812369,-2.9869230215487195e-05,0.00047648268013101934,-0.002162661230020154],"end_effector_velocity":[0.028587541227674713,0.0669519728474857,0.002947717229661409],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.42935042968736037,0.034658145144981604,0.44799945400815105],[0.37741313089369943,0.03488279384079823,0.44804894210882384]],"gripper_width":0.03993780821415793,"jaw_actuator_force":[-0.8269812084398032,-0.7922273607561783],"joint_actuator_torque":[-0.18216532741467262,-1.4121481120746466,-0.9511069542464838,-0.002258498352851818,-0.09157515578180231,0.018849104990973586],"joint_position":[0.0859864639019371,-1.36982046186238,1.4522443680614934,2.446895615580433e-05,-0.08146938170354369,-0.0903097873209407],"joint_velocity":[0.15865796454300118,0.12184627884069722,-0.15506162560835687,0.0004495085162705877,0.03334134847461119,-0.14231839289881978],"object_angular_velocity":[0.000435263787123087,0.0013192930038265524,0.02185881237781344],"object_position":[0.40336855969534574,0.034791221610536785,0.4325643182772324],"object_quaternion":[0.9999975871753929,-0.00010395637998939812,0.0004799810750371756,-0.002141133959015396],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031152226209010158,0.0641888236055263,0.000704177420599827],"pad_normal_forces":{"left":0.8191998416637988,"right":0.8000056943490033},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.66},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1025273634020561,-1.357103885003906,1.4356672915534205,1.9777276074295268e-05,-0.07859273850035575,-0.10249482063187963],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.056441034869095776,0.00506904951553005,0.5042056059235746],[0.2946841669087042,0.02646600362604009,0.4846510568172814],[0.3492815513344478,0.03136947227636531,0.4801698059804225],[0.40406105112670304,0.03628918823877284,0.48011691591002814],[0.4040226526130114,0.03628671848965576,0.44011693441685135]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4040226526130114,0.03628671848965576,0.44011693441685135],"end_effector_quaternion":[0.9999975634195178,-3.19059104678658e-05,0.00047991384958397576,-0.0021544882773865304],"end_effector_velocity":[0.02857497430390918,0.0669637648176187,0.0029668134830795855],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4300135300123538,0.03617524983588011,0.44809199471262545],[0.37807622784181727,0.03639904967925678,0.44814183879766273]],"gripper_width":0.03993780826677544,"jaw_actuator_force":[-0.8269843420529561,-0.7922228169979224],"joint_actuator_torque":[-0.18206694349002817,-1.4168108435364957,-0.9505982414441405,-0.0022654272357610153,-0.091626614183971,0.01877620263408364],"joint_position":[0.0895711067536405,-1.367002133981423,1.448569840785371,2.44531926909775e-05,-0.0806060690361957,-0.09387810647905709],"joint_velocity":[0.15807567076824589,0.12269245217322927,-0.15644771713246122,0.00045085045779620983,0.033848440713506546,-0.14176869124554628],"object_angular_velocity":[0.00043921149187268815,0.0013023928860887845,0.021831755180965796],"object_position":[0.4040315280490853,0.03630644308008934,0.4326492926620366],"object_quaternion":[0.9999976028175144,-0.00010620717338849133,0.00048344747901271916,-0.0021329223603148424],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031137215875303246,0.06420569873498698,0.0007060957104602547],"pad_normal_forces":{"left":0.8191978989768403,"right":0.8000062095025304},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.68},{"goal":[0.44,0.12,0.446],"joint_targets":[0.10604878629152012,-1.3541965644292342,1.431850068259552,1.9746618324291047e-05,-0.07768318647555204,-0.10601638356019785],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05719710337391349,0.005342926186292926,0.5040436908695431],[0.2953791350022703,0.02759211257554633,0.48469702411775584],[0.3499625172504354,0.0326908844564169,0.4802634129871379],[0.40472409831072076,0.03780619482173621,0.4802101246745443],[0.40468542053547085,0.037803560499063936,0.44021014346092313]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40468542053547085,0.037803560499063936,0.44021014346092313],"end_effector_quaternion":[0.9999975792592213,-3.3966642790921733e-05,0.00048340045787099707,-0.0021463098476217427],"end_effector_velocity":[0.02856218035615302,0.06697555849017466,0.0029858460804857165],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.43067638202550557,0.0376925495931838,0.4481850227031884],[0.3787390764926335,0.03791550001800684,0.44823522852944614]],"gripper_width":0.03993780832430098,"jaw_actuator_force":[-0.8269873658213998,-0.7922182555191215],"joint_actuator_torque":[-0.18196923067272053,-1.421495134619704,-0.9500901764689615,-0.0022724339398566204,-0.09167889658257877,0.01870327362877333],"joint_position":[0.0931422417744369,-1.3641643665492151,1.4448630381643657,2.4438235675480883e-05,-0.07972979307647832,-0.09743290707644285],"joint_velocity":[0.1574931078933,0.12353673961215796,-0.15783767423586678,0.0004522087237018517,0.03436088061815488,-0.14121878369469454],"object_angular_velocity":[0.0004433413256395134,0.001285407880118062,0.021804488800398685],"object_position":[0.40469424627871003,0.037821865588903054,0.4327347654823726],"object_quaternion":[0.9999976183566046,-0.00010847235278558898,0.00048697015077330273,-0.0021247058474326906],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03112193590574072,0.06422245052185885,0.0007078551422618551],"pad_normal_forces":{"left":0.8191958284064284,"right":0.8000067246752035},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.7},{"goal":[0.44,0.12,0.446],"joint_targets":[0.10955668077372031,-1.351269985263134,1.428000139974252,1.9716625164746782e-05,-0.07676019127078985,-0.1095244182659452],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05795682956685856,0.005621951803759949,0.5038784393932358],[0.2960750914133427,0.028719995670216165,0.4847427725704545],[0.350643859753162,0.03401329738961238,0.48035751559023376],[0.405386895450486,0.03932339716646856,0.4803038220027335],[0.40534793397132096,0.039320596309275375,0.4403038410757588]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40534793397132096,0.039320596309275375,0.4403038410757588],"end_effector_quaternion":[0.9999975949975622,-3.605194660094159e-05,0.00048694257702742473,-0.002138126814602361],"end_effector_velocity":[0.028549158036308524,0.06698735150559831,0.0030048192551176463],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.43133898066156423,0.03921004378113452,0.4482785363787415],[0.3794016717814402,0.03943214431215213,0.448329109710505]],"gripper_width":0.039937808386734795,"jaw_actuator_force":[-0.8269902798541136,-0.7922136762063214],"joint_actuator_torque":[-0.18187220123032688,-1.4262008650409825,-0.9495826956789415,-0.0022795190173222867,-0.09173200827507078,0.018630325434159545],"joint_position":[0.09669986339614968,-1.3613071994202084,1.441123865532335,2.442408365204987e-05,-0.07884041893501469,-0.10097418529764957],"joint_velocity":[0.15691033684087438,0.12437922787850175,-0.159231629476461,0.0004535834243597702,0.03487871086751987,-0.14066872647274598],"object_angular_velocity":[0.0004476529684141658,0.0012683445684466212,0.021777017556482273],"object_position":[0.40535670931474205,0.039337488683906636,0.4328207352497917],"object_quaternion":[0.9999976337898787,-0.00011075250214375023,0.0004905491852645365,-0.0021164852993820174],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03110638471028569,0.06423907440657556,0.000709457566981161],"pad_normal_forces":{"left":0.8191936297517405,"right":0.8000072400547302},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.72},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1130510476857898,-1.3483241775414359,1.4241173977666644,1.968729409057827e-05,-0.07582361398050991,-0.11301892557807378],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.05872016432119415,0.005906138813170806,0.5037098095180579],[0.2967720162101319,0.029849656312507564,0.48478829314102817],[0.35132556560134676,0.03533671240610557,0.48045211230462553],[0.4060494374589022,0.04084079466091249,0.4803980063884048],[0.4060101878272828,0.04083782526674074,0.4403980257552955]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4060101878272828,0.04083782526674074,0.4403980257552955],"end_effector_quaternion":[0.999997610631795,-3.816233972164051e-05,0.0004905402838286377,-0.0021299400382804945],"end_effector_velocity":[0.028535906017121748,0.0669991414541533,0.00302373736560804],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4320013208293084,0.040727731709754904,0.448372534229218],[0.3800640086175482,0.040948981961132426,0.4484234808386952]],"gripper_width":0.03993780845407901,"jaw_actuator_force":[-0.8269930842413293,-0.7922090789182876],"joint_actuator_torque":[-0.18177586680918978,-1.4309279160913775,-0.9490757331424788,-0.0022866830147935525,-0.09178595472810613,0.018557365382246616],"joint_position":[0.10024396743931843,-1.358430670375258,1.4373522250559574,2.4410735208948766e-05,-0.07793781061386862,-0.10450193868816963],"joint_velocity":[0.15632741751128326,0.12522000577117867,-0.16062971893139852,0.00045497466842426486,0.035401975504624136,-0.14011857484804136],"object_angular_velocity":[0.00045214598704070133,0.0012512096578120495,0.021749345784329098],"object_position":[0.40601891206156593,0.04085331185718395,0.4329072005699388],"object_quaternion":[0.9999976491145905,-0.00011304820417902008,0.0004941846827486955,-0.0021082615809171297],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031090560717065202,0.06425556579942275,0.0007109049048367877],"pad_normal_forces":{"left":0.8191913027890156,"right":0.8000077558050525},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.74},{"goal":[0.44,0.12,0.446],"joint_targets":[0.11653188914286423,-1.3453591689951605,1.4202017291569555,1.9658622653422736e-05,-0.07487331445673544,-0.11649990760379922],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.05948705893380842,0.006195498921169505,0.5035377590251909],[0.2974698895447794,0.030981097616639294,0.48483357682716377],[0.35200762155979354,0.03666113065101779,0.4805472017401159],[0.40671171922368704,0.04235838663689349,0.4804926764193599],[0.4066721769844596,0.042355246661907826,0.44049269608746633]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4066721769844596,0.042355246661907826,0.44049269608746633],"end_effector_quaternion":[0.9999976261592125,-4.0298338561821854e-05,0.0004941936604655535,-0.002121750364556027],"end_effector_velocity":[0.028522422994767215,0.06701092587274259,0.003042604902257247],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.432663397411991,0.04224561263377115,0.44846701483826373],[0.3807260818847319,0.04246601230763305,0.44851834050614936]],"gripper_width":0.03993780852633742,"jaw_actuator_force":[-0.8269957790588753,-0.7922044634876508],"joint_actuator_torque":[-0.18168023842578407,-1.4356761706663974,-0.9485692205712439,-0.002293926473458254,-0.0918407415882454,0.018484400676795687],"joint_position":[0.10377455108970673,-1.3555348150723714,1.4335480156504425,2.4398188977057665e-05,-0.07702183097022412,-0.10801616613069055],"joint_velocity":[0.15574440877309348,0.12605916420218044,-0.1620320823156577,0.00045638256321668376,0.0359307200167223,-0.1395683831222228],"object_angular_velocity":[0.00045681983373396383,0.0012340099823549568,0.02172147783164544],"object_position":[0.40668084939785176,0.04236933454494033,0.4329941601453938],"object_quaternion":[0.9999976643280337,-0.00011536004050915851,0.0004978767494629596,-0.0021000355424078375],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03107446237489336,0.06427192007702201,0.0007121991497634636],"pad_normal_forces":{"left":0.8191888472747378,"right":0.8000082720691096},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.76},{"goal":[0.44,0.12,0.446],"joint_targets":[0.11999920851354952,-1.3423749849968223,1.4162530180186588,1.9630608474329225e-05,-0.07390915126518302,-0.11996736770407118],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06025746513984332,0.00649004311109015,0.5033622454461055],[0.29816869165774373,0.03211432241208833,0.48487861465957605],[0.3526900144014293,0.03798655308523374,0.4806427826043297],[0.40737373560792406,0.043876172368972274,0.4805878307802535],[0.40733389629883143,0.04387285972805866,0.44058785075706025]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40733389629883143,0.04387285972805866,0.44058785075706025],"end_effector_quaternion":[0.999997641577146,-4.246045830727752e-05,0.0004979027952552232,-0.0021135586251473256],"end_effector_velocity":[0.028508707691847046,0.0670227022414367,0.003061426493935592],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4333252052678452,0.04376368575145992,0.44856197688606075],[0.38138788644173494,0.04398323463641839,0.4486136874021744]],"gripper_width":0.03993780860351527,"jaw_actuator_force":[-0.8269983643722227,-0.7921998297219393],"joint_actuator_torque":[-0.18158532645735193,-1.440445513298755,-0.9480630872475331,-0.0023012499291358707,-0.09189637469279965,0.01841143839213899],"joint_position":[0.10729161287459531,-1.3526196669965591,1.4297111328923517,2.4386443633182273e-05,-0.07609234167798817,-0.11151686782113131],"joint_velocity":[0.15516136845347878,0.12689679623473657,-0.16343886310733027,0.00045780721496065807,0.036464991417866216,-0.13901820462131084],"object_angular_velocity":[0.00046167384454780784,0.0012167525052952175,0.02169341805660406],"object_position":[0.40734251617704054,0.04388555612639488,0.43308161277866136],"object_quaternion":[0.9999976794275389,-0.0001176885918162335,0.000501625498327884,-0.0020918080197124124],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031058088156353962,0.06428813257848824,0.0007133423744192295],"pad_normal_forces":{"left":0.8191862629489729,"right":0.8000087889704507},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.78},{"goal":[0.44,0.12,0.446],"joint_targets":[0.12345301039512487,-1.3393716485054452,1.4122711444773173,1.960324925634543e-05,-0.07293098163896802,-0.12342131046877924],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06103133512718621,0.006789781658373866,0.5031832260546476],[0.2988684028821844,0.03324933324706219,0.48492339770304743],[0.3533727309093715,0.039312980486136594,0.4807388537058057],[0.4080354814506931,0.045394151073215074,0.48068346825560543],[0.40799534060182563,0.04539066364006325,0.4406834885487348]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40799534060182563,0.04539066364006325,0.4406834885487348],"end_effector_quaternion":[0.9999976568829625,-4.464921312871487e-05,0.0005016677833908497,-0.0021053656374585596],"end_effector_velocity":[0.028494758860817756,0.06703446797966867,0.0030802069155978946],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4339867392306679,0.045281950203412205,0.4486574191523006],[0.3820494171228547,0.04550064817308212,0.44870952031630207]],"gripper_width":0.039937808685619094,"jaw_actuator_force":[-0.8270008402409044,-0.7921951774040377],"joint_actuator_torque":[-0.18149114063142946,-1.445235830190427,-0.9475572599493489,-0.0023086539123372343,-0.09195286008110326,0.018338485471934618],"joint_position":[0.1107951526388525,-1.349685257408704,1.4258414689293493,2.4375497907434842e-05,-0.07514920318722997,-0.11500404524444889],"joint_velocity":[0.1545783533281537,0.12773299712470643,-0.16485020868011543,0.0004592487289309242,0.03700483833494965,-0.13846809168632795],"object_angular_velocity":[0.00046670723778058425,0.001199444319808156,0.02166517082572166],"object_position":[0.4080039072279051,0.045401975922591944,0.43316955737532087],"object_quaternion":[0.9999976944104736,-0.00012003443802502331,0.0005054310496968317,-0.002083579834048066],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03104143656127084,0.06430419860122287,0.0007143367357039634],"pad_normal_forces":{"left":0.8191835495385493,"right":0.8000093066151147},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.8},{"goal":[0.44,0.12,0.446],"joint_targets":[0.12689330035290963,-1.3363492143245628,1.4082559696905033,1.957606260948559e-05,-0.07193861224096737,-0.1268617414935159],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06180861001342846,0.007094722818975319,0.5030006605052997],[0.2995689929095848,0.03438613114566618,0.48496793035651264],[0.35405574732328726,0.040640412220532836,0.4808354296974156],[0.40869694101485,0.046912320676049536,0.48077960598611635],[0.4086564959638224,0.046908656490858736,0.44077962660147674]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4086564959638224,0.046908656490858736,0.44077962660147674],"end_effector_quaternion":[0.9999976720856152,-4.686247330840732e-05,0.0005054660358489534,-0.0020971722260623407],"end_effector_velocity":[0.028480689403553656,0.06704623505193938,0.003098759768250854],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4346479836618989,0.046800404012155135,0.4487533599512838],[0.3827106582876958,0.04701825102565351,0.44880585521691896]],"gripper_width":0.03993780877260848,"jaw_actuator_force":[-0.8270016544531043,-0.7921920585643596],"joint_actuator_torque":[-0.18139783292709666,-1.4500430627267633,-0.9470496913949091,-0.0023161520905602595,-0.092010032060581,0.018265548764045292],"joint_position":[0.11428517147589905,-1.3467316578335047,1.421938910416146,2.436533100320695e-05,-0.07419227586123676,-0.11847770115050951],"joint_velocity":[0.15399542572820313,0.12856838938905554,-0.1662663345087983,0.00046071099474431933,0.037550297677021276,-0.13791809566729146],"object_angular_velocity":[0.0004718595004744539,0.001182756676308493,0.021636749217819738],"object_position":[0.4086650074622382,0.046918592270275006,0.43325801133564135],"object_quaternion":[0.9999977092862983,-0.00012239549755526424,0.0005092703360835552,-0.0020753518309538383],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03102441270015086,0.0643201308526901,0.0007149414759782669],"pad_normal_forces":{"left":0.8191800097063778,"right":0.8000105223612769},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.82},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1303200840942971,-1.33330786140921,1.4042072981620366,1.9547001312694356e-05,-0.07093166970941459,-0.13028866663528865],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0625891894205746,0.007404869031889059,0.5028145180929636],[0.3002703924443396,0.03552471202755913,0.4850122665759598],[0.3547390014706191,0.041968842714066854,0.48093258393664645],[0.40935806012363884,0.048430674276071096,0.4808763280723224],[0.40931731597617466,0.04842683226705828,0.4408763490079102]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.40931731597617466,0.04842683226705828,0.4408763490079102],"end_effector_quaternion":[0.999997687232764,-4.908893541438409e-05,0.0005092004751971245,-0.002088979242449877],"end_effector_velocity":[0.028466919318299744,0.06705805501748545,0.0031163628666898663],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4353088844176017,0.04831904096875732,0.448849888427122],[0.38337155577800686,0.048536037072638226,0.4489027711667003]],"gripper_width":0.039937808868978325,"jaw_actuator_force":[-0.8269949531863006,-0.7921961545849037],"joint_actuator_torque":[-0.18130596376060737,-1.4548523789727597,-0.9465328848367562,-0.002323795414511621,-0.09206737754306538,0.018192634752969283],"joint_position":[0.11776167157098774,-1.3437590925955543,1.4180033300516721,2.435568798347473e-05,-0.07322140340260852,-0.12193783945414281],"joint_velocity":[0.15341266287058608,0.1294051079086279,-0.16768781622507167,0.00046220111406625056,0.03810216750099342,-0.13736826354655646],"object_angular_velocity":[0.0004768179396656036,0.0011697254136574483,0.021608191731738887],"object_position":[0.4093257653188786,0.048435399720017105,0.43334705942772667],"object_quaternion":[0.9999977241043252,-0.00012476064685617007,0.0005130452674392986,-0.0020671249366234963],"object_size":[0.04,0.04,0.04],"object_velocity":[0.031006713946778716,0.06433598887808732,0.0007142408844650376],"pad_normal_forces":{"left":0.81917297012006,"right":0.8000149372557291},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.84},{"goal":[0.44,0.12,0.446],"joint_targets":[0.13373336920527373,-1.3302475987454143,1.4001250168330017,1.951720645619488e-05,-0.06991003145633165,-0.13370209338091907],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06337303248642709,0.007720228521056838,0.5026247546079721],[0.3009725873898197,0.03666507758991665,0.4850563960594157],[0.35542248538851384,0.043298272168197025,0.4810303138920382],[0.4100188387541524,0.04994921087362297,0.4809736260539173],[0.4099777963378773,0.04994518947769592,0.44097364731206745]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4099777963378773,0.04994518947769592,0.44097364731206745],"end_effector_quaternion":[0.9999977022961497,-5.1334853931313085e-05,0.000512924565078912,-0.0020807872414727786],"end_effector_velocity":[0.028452897164204228,0.06706984216656844,0.003133847742694368],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.435969439798921,0.049837859643749344,0.44894699334366095],[0.3840321078773769,0.05005400494288237,0.449000262481749]],"gripper_width":0.039937808998070444,"jaw_actuator_force":[-0.8269878592614033,-0.7921995520305822],"joint_actuator_torque":[-0.18121482082227658,-1.4596831667196284,-0.9460162430322043,-0.002331518920301579,-0.09212627292549502,0.018119747895466887],"joint_position":[0.12122465647607694,-1.3407675664286478,1.414034593054187,2.4345789167062192e-05,-0.07223633849854995,-0.12538446487965577],"joint_velocity":[0.1528300700324306,0.13024114446575585,-0.16911524553089488,0.00046367115675120585,0.03866394308037937,-0.13681862701506217],"object_angular_velocity":[0.0004815104127708534,0.001159662515613652,0.02157946161299766],"object_position":[0.4099861786242259,0.049952396653810766,0.4334366927885746],"object_quaternion":[0.9999977388328105,-0.00012713712418825783,0.0005168149280088544,-0.0020588996449977387],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030988992960719514,0.06435166735449585,0.000713317642606781],"pad_normal_forces":{"left":0.8191654227066208,"right":0.8000187653379307},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.86},{"goal":[0.44,0.12,0.446],"joint_targets":[0.13713316413065962,-1.3271684362998124,1.3960089968230547,1.9487238066281567e-05,-0.0688735584039975,-0.13710203012470193],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06416009592577385,0.008040808553627338,0.5024313261880863],[0.30167556093012093,0.0378072288662649,0.4851003104780884],[0.35610618832695046,0.044628700187911007,0.48112861937788054],[0.41067927406280436,0.05146792896607325,0.481071496815812],[0.41063793209598737,0.051463726365008795,0.4410715184010688]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.41063793209598737,0.051463726365008795,0.4410715184010688],"end_effector_quaternion":[0.9999977172605073,-5.3603473273367526e-05,0.0005166646662288621,-0.0020725969373439263],"end_effector_velocity":[0.028438658787203874,0.06708159845210106,0.0031511866834107085],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4366296497267992,0.051356858274378046,0.44904467021353556],[0.3846923145057648,0.05157215294817045,0.44909832741228184]],"gripper_width":0.03993780916397641,"jaw_actuator_force":[-0.8269805377110053,-0.792202229241247],"joint_actuator_torque":[-0.1811243836683829,-1.4645345384350321,-0.9454994028055808,-0.0023393269802861206,-0.09218633794320485,0.01804689395940784],"joint_position":[0.124674130575786,-1.3377570924320403,1.410032566220699,2.433547028961816e-05,-0.07123688158535287,-0.12881758325500467],"joint_velocity":[0.15224769758524365,0.1310765343626812,-0.17054828687512485,0.00046515481126812273,0.039233604653096776,-0.13626923223129891],"object_angular_velocity":[0.00048610482054268675,0.0011514327793200147,0.021550562265591648],"object_position":[0.4106462459346502,0.051469581406516716,0.4335269083105614],"object_quaternion":[0.9999977534586183,-0.00012952774198137586,0.0005206010531525044,-0.002050676674889978],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030971104975337716,0.06436716897159772,0.0007121283738068174],"pad_normal_forces":{"left":0.819157440325687,"right":0.8000220802773969},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.88},{"goal":[0.44,0.12,0.446],"joint_targets":[0.14051947839380763,-1.3240703801101754,1.3918591036106547,1.9457425530895697e-05,-0.06782210989026487,-0.14048848635865394],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06495033658306464,0.008366615750262707,0.502234188739464],[0.30237929589510254,0.03895116657869582,0.48514400060048724],[0.3567900990707779,0.04596012614354508,0.4812274991519717],[0.41133936270243204,0.05298682692599817,0.4811699373750087],[0.41129771865338227,0.052982441139906876,0.44116995929328895]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.41129771865338227,0.052982441139906876,0.44116995929328895],"end_effector_quaternion":[0.999997732115877,-5.589684650579186e-05,0.0005204363994575945,-0.002064409019394714],"end_effector_velocity":[0.028424213106926968,0.06709332149475832,0.0031683952258511044],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4372895110714604,0.05287603506286061,0.44914291524202465],[0.3853521725391936,0.05309047936254435,0.449196963785804]],"gripper_width":0.039937809362910456,"jaw_actuator_force":[-0.8269728419303108,-0.7922044594790316],"joint_actuator_torque":[-0.1810346773827689,-1.4694062669883579,-0.9449823906780921,-0.0023472237335024127,-0.09224744765993709,0.017974078420719408],"joint_position":[0.1281100993771423,-1.3347276826616765,1.40599711811235,2.4324873789294283e-05,-0.07022285751735806,-0.13223720145806714],"joint_velocity":[0.15166559351031708,0.1319113070137166,-0.1719868928582216,0.00046666354250834833,0.0398102192341774,-0.13572012145821644],"object_angular_velocity":[0.0004906835351812431,0.0011443722345559825,0.021521498828369203],"object_position":[0.41130596353284055,0.05298695230674507,0.43361770309155784],"object_quaternion":[0.9999977679722443,-0.0001319343784908092,0.0005244181803265035,-0.002042456712297323],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03095297755949501,0.0643824903302617,0.0007106865154158957],"pad_normal_forces":{"left":0.8191490081475473,"right":0.800025024329956},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.9},{"goal":[0.44,0.12,0.446],"joint_targets":[0.14389232254111017,-1.320953432820399,1.3876751972129893,1.942795824128853e-05,-0.06675554326304407,-0.14386147260929597],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06574371155868589,0.008697656108905556,0.5020332979043183],[0.30308377491709054,0.04009689115383558,0.4851874567670621],[0.3574742061033916,0.04729254918496538,0.4813269515064409],[0.4119991009843208,0.054505903014459366,0.48126894500559947],[0.4119571515941852,0.054501331956965014,0.4412689672636794]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4119571515941852,0.054501331956965014,0.4412689672636794],"end_effector_quaternion":[0.9999977468555641,-5.821632300468495e-05,0.0005242488520932935,-0.002056224159901109],"end_effector_velocity":[0.028409566634414365,0.06710500845288472,0.0031854808097502665],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.43794901969012967,0.05439538814952131,0.44924172523163963],[0.386011677840059,0.0546089823963229,0.44929616934854244]],"gripper_width":0.039937809591040985,"jaw_actuator_force":[-0.8269647453079534,-0.7922063612422878],"joint_actuator_torque":[-0.18094571459616304,-1.4742981696313109,-0.944465163227278,-0.002355210885056867,-0.09230952430515238,0.017901307001075395],"joint_position":[0.13153256948905095,-1.3316793476620392,1.4019281164646065,2.43142259825997e-05,-0.0691941049757717,-0.13564332742899338],"joint_velocity":[0.15108380493457746,0.13274553233725403,-0.1734311037680993,0.00046820035492988404,0.04039325099446988,-0.13517133798613226],"object_angular_velocity":[0.0004952924693741401,0.0011380540780883141,0.021492275166901765],"object_position":[0.4119653270204347,0.05450450764167926,0.4337090745124455],"object_quaternion":[0.9999977823669604,-0.00013435830678714582,0.000528275389316763,-0.002034240428261512],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03093460066643805,0.0643976270245398,0.0007089965140811063],"pad_normal_forces":{"left":0.8191401456996923,"right":0.8000276698361446},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.92},{"goal":[0.44,0.12,0.446],"joint_targets":[0.14725170809552848,-1.3178175937668535,1.3834571325737937,1.9398944323708144e-05,-0.06567371414970359,-0.1472210003863581],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06654017836499002,0.009033935034656266,0.5018286090185229],[0.3037889805929407,0.04124440274066119,0.4852306690390207],[0.3581584977701794,0.04862596825662066,0.48142697446038474],[0.4126584850402976,0.056025155394224695,0.4813685171283795],[0.4126162266268673,0.05602039690331124,0.4413685397335952]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4126162266268673,0.05602039690331124,0.4413685397335952],"end_effector_quaternion":[0.9999977614747915,-6.0562858489209246e-05,0.0005281073147206768,-0.0020480430196571178],"end_effector_velocity":[0.028394723957921572,0.06711665607821111,0.0032024477509902034],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4386081713561879,0.055914915602294744,0.44934109732876937],[0.3866708261857629,0.056127660186212326,0.4493959417963015]],"gripper_width":0.03993780984528977,"jaw_actuator_force":[-0.8269562813204043,-0.7922079750429729],"joint_actuator_torque":[-0.18085749899144332,-1.4792101235306063,-0.9439476536050506,-0.0023632888983889837,-0.09237252260464501,0.017828585376669537],"joint_position":[0.1349415485948066,-1.3286120958836203,1.397825426802697,2.430374235328754e-05,-0.06815047015711315,-0.13903597016091251],"joint_velocity":[0.15050237781476966,0.13357930344984484,-0.17488101789852473,0.0004697647142669624,0.04098240986339112,-0.13462292459756728],"object_angular_velocity":[0.000499956170859755,0.001132213341253818,0.02146289482999792],"object_position":[0.41262433202067605,0.05602224563801816,0.43380102011893146],"object_quaternion":[0.9999977966377989,-0.00013680046525835413,0.0005321783202386084,-0.0020260284834617173],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030915979897825005,0.06441257402151115,0.0007070596257184654],"pad_normal_forces":{"left":0.8191308900799377,"right":0.8000300535054649},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.94},{"goal":[0.44,0.12,0.446],"joint_targets":[0.15059764751725446,-1.3146628590063094,1.3792047597217092,1.93704445972799e-05,-0.06457647656921883,-0.15056708214070644],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06733969501914042,0.009375457363858723,0.5016200770818454],[0.3044948955772425,0.042393701221628916,0.4852736272900655],[0.3588429623718076,0.04996038210570125,0.4815275658794493],[0.41331751091487556,0.05754458213576134,0.48146865125504135],[0.41327493954959504,0.057539633991070545,0.4414686742151139]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.41327493954959504,0.057539633991070545,0.4414686742151139],"end_effector_quaternion":[0.9999977759699195,-6.29371877769787e-05,0.0005320148657788324,-0.0020398662475877693],"end_effector_velocity":[0.028379688584950234,0.06712826085752083,0.0032192984516560834],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.43926696191702214,0.05743461541119793,0.4494410288854736],[0.38732961342701383,0.057646510789751505,0.44949627880081905]],"gripper_width":0.03993781012304198,"jaw_actuator_force":[-0.8269474900304985,-0.7922093256892673],"joint_actuator_torque":[-0.18077003126068547,-1.4841420292867724,-0.9434297825856675,-0.0023714578835691276,-0.09243641831638083,0.01775591906746854],"joint_position":[0.13833704542329672,-1.3255259333301421,1.3936889115781104,2.429359709159156e-05,-0.06709180307362371,-0.1424151396724511],"joint_velocity":[0.14992135688895644,0.13441272815999608,-0.17633676910427834,0.00047135499767003393,0.04157754942694433,-0.1340749228952751],"object_angular_velocity":[0.0005046871712084912,0.0011266895872024752,0.0214333614752678],"object_position":[0.41328297428443483,0.057540164451369384,0.4338935375600619],"object_quaternion":[0.9999978107809184,-0.00013926160460454238,0.0005361304512871716,-0.002017821527070909],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03089712077190485,0.06442732595177039,0.0007048750983884181],"pad_normal_forces":{"left":0.8191212778479469,"right":0.8000322034668998},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.96},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1539301541673983,-1.3114892212965057,1.374917923808333,1.934249236060067e-05,-0.06346368297916553,-0.15389973122647618],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0681422201034,0.009722227385228384,0.5014076567343849],[0.30520150263930307,0.04354478622020465,0.4853163212578792],[0.3595275882204475,0.05129578928655338,0.4816287235445133],[0.41397617462047986,0.05906418121933222,0.4815693449545307],[0.4139332862314476,0.05905904115186604,0.44156936827746507]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4139332862314476,0.05905904115186604,0.44156936827746507],"end_effector_quaternion":[0.9999977903379916,-6.533992169344104e-05,0.0005359732964653094,-0.0020316944785567395],"end_effector_velocity":[0.028364463498361664,0.06713981905170573,0.003236034130501925],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.43992538728119324,0.05895448548449756,0.44954151737785275],[0.3879880354752479,0.05916553218125938,0.44959717802418947]],"gripper_width":0.039937810421987414,"jaw_actuator_force":[-0.826938405443058,-0.7922104370707164],"joint_actuator_torque":[-0.18068331009238392,-1.4890937983733465,-0.9429114633447284,-0.002379717851318115,-0.09250120026189901,0.017683313417462543],"joint_position":[0.14171906971936477,-1.3224208633232835,1.389518429616664,2.4283919901557578e-05,-0.06601795537610668,-0.14578084697376842],"joint_velocity":[0.14934078555868224,0.13524592424346707,-0.17779851413285494,0.0004729694863091059,0.04217860770648905,-0.1335273730794363],"object_angular_velocity":[0.0005094912153498504,0.001121388121847361,0.021403686862289197],"object_position":[0.4139412496601286,0.05905826214358039,0.43398662455023235],"object_quaternion":[0.9999978247928523,-0.00014174237016925057,0.0005401339314024089,-0.0020096203625095694],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030878027098379397,0.06444187714930223,0.0007024409054267027],"pad_normal_forces":{"left":0.8191113406598305,"right":0.8000341458151523},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":7.98},{"goal":[0.44,0.12,0.446],"joint_targets":[0.15724924227194914,-1.3082966700432943,1.3705964650709177,1.9315104892357675e-05,-0.06233518428530079,-0.15721896186415737],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.06894771280756026,0.010074248859326305,0.5011913022361274],[0.30590878470019184,0.04469765710612343,0.48535874057129547],[0.36021236367558657,0.05263218816268111,0.4817304451897715],[0.4146344721723665,0.06058395053457315,0.48167059583156546],[0.4145912626042344,0.060578616232162846,0.441670619525592]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4145912626042344,0.060578616232162846,0.441670619525592],"end_effector_quaternion":[0.9999978045764707,-6.777160112907768e-05,0.0005399836493887244,-0.002023528331176212],"end_effector_velocity":[0.028349051513450213,0.06715132676818199,0.0032526552092631217],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4405834434057577,0.060474523645065746,0.44964256035662875],[0.3886460882900532,0.06068472224796791,0.44969863712538477]],"gripper_width":0.0399378107400712,"jaw_actuator_force":[-0.8269290558580469,-0.7922113323182209],"joint_actuator_torque":[-0.18059733561074864,-1.4940653494222715,-0.9423926032116015,-0.002388069013016458,-0.09256686497269406,0.01761077353963536],"joint_position":[0.14508763221285242,-1.3192968863310666,1.3853138357447425,2.427480276812897e-05,-0.06492877906879746,-0.14913310403058086],"joint_velocity":[0.14876070593978943,0.13607901685275486,-0.17926642532989284,0.00047460676621313317,0.04278557252027616,-0.13298031387888287],"object_angular_velocity":[0.0005143700945124412,0.0011162571803881507,0.02137386478625401],"object_position":[0.41459915406879616,0.06057653672497954,0.4340802788494298],"object_quaternion":[0.9999978386714355,-0.00014424334737289988,0.000544190054326622,-0.002001425366980532],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03085870190315937,0.06445622191595371,0.0006997541443306948],"pad_normal_forces":{"left":0.8191011056461703,"right":0.8000359047171226},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.0},{"goal":[0.44,0.12,0.446],"joint_targets":[0.16055492688460593,-1.3050851912246137,1.3662402187481355,1.928829012822412e-05,-0.06119082982995395,-0.1605247891029392],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.06975613296155157,0.010431525037120864,0.5009709674478989],[0.3066167248588167,0.04585231299916947,0.4854008747627274],[0.36089727716860664,0.05396957690713894,0.48183272852237563],[0.41529239961239695,0.06210388787837893,0.4817724015116229],[0.4152488646611832,0.06209835698877734,0.4417724255851641]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4152488646611832,0.06209835698877734,0.4417724255851641],"end_effector_quaternion":[0.999997818683082,-7.023272741208833e-05,0.0005440465320896907,-0.002015368406311355],"end_effector_velocity":[0.028333455522473953,0.06716277987827543,0.0032691615000935313],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4412411262975953,0.06199472762645017,0.44974415541586543],[0.3893037678805483,0.06220407878593977,0.44980065376153594]],"gripper_width":0.03993781107547613,"jaw_actuator_force":[-0.8269194654534786,-0.7922120326982096],"joint_actuator_torque":[-0.18051210434302334,-1.4990566071803642,-0.9418731051505915,-0.002396511439632343,-0.09263341364164823,0.017538304391205628],"joint_position":[0.14844274458617773,-1.3161539998303984,1.381074980517002,2.426630832546416e-05,-0.06382412574444901,-0.15247192372803559],"joint_velocity":[0.14818115860249445,0.13691213711670486,-0.18074068645213937,0.00047626572145785176,0.04339846136022031,-0.13243378255516514],"object_angular_velocity":[0.0005193233503024059,0.0011112702309615267,0.021343898765851424],"object_position":[0.4152566834956525,0.06209498610222469,0.43417449824379234],"object_quaternion":[0.9999978524142439,-0.0001467650878120513,0.0005482996295554757,-0.001993237172351734],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030839148103145038,0.06447035418364243,0.0006968112035895827],"pad_normal_forces":{"left":0.8190905963055523,"right":0.8000375020284658},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.02},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1638472238478105,-1.3018547672977296,1.3618490149655593,1.926205053492551e-05,-0.06003046736836671,-0.1638172287814785],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07056744106274909,0.010794058678065184,0.5007466058127228],[0.3073253064120898,0.04700875277192925,0.4854427132715654],[0.36158231722131373,0.055307953501773095,0.4819355712308835],[0.4159499530268449,0.06362399095155821,0.4818747596292331],[0.4159060884601453,0.06361826108421934,0.44187478409088543]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4159060884601453,0.06361826108421934,0.44187478409088543],"end_effector_quaternion":[0.9999978326557221,-7.27237791001735e-05,0.0005481622995202774,-0.002007215285942342],"end_effector_velocity":[0.028317678642654102,0.06717417406768775,0.003285552311903987],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.44189843202093143,0.06351509506853101,0.4498463001717914],[0.3899610703129456,0.06372359949560875,0.44990322558570706]],"gripper_width":0.039937811426599495,"jaw_actuator_force":[-0.8269096553485289,-0.7922125571222649],"joint_actuator_torque":[-0.18042761239073002,-1.5040675018367438,-0.9413528681301386,-0.0024050452940375068,-0.09270085020151342,0.017465910715310784],"joint_position":[0.15178441944033405,-1.312992198187172,1.3768017100008905,2.4258477808685887e-05,-0.06270384612228762,-0.15579731983378958],"joint_velocity":[0.14760218264723676,0.1377454214076849,-0.18222149035141072,0.00047794556043024753,0.044017309651171885,-0.13188781486352083],"object_angular_velocity":[0.0005243491467431589,0.001106416754002588,0.021313793919668308],"object_position":[0.41591383399169896,0.06361360808902822,0.43426928053457786],"object_quaternion":[0.9999978660190777,-0.00014930812293322457,0.0005524631599564838,-0.0019850563797743923],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030819368803906556,0.06448426774619417,0.0006936078793421927],"pad_normal_forces":{"left":0.8190798331895772,"right":0.8000389571595687},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.04},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1671261497520625,-1.2986053770933834,1.3574226786000954,1.9236385351977026e-05,-0.05885394303792833,-0.1670962974870742],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07138159830054969,0.01116185206798402,0.5005181703369876],[0.3080345128720624,0.048166975051958216,0.4854842454419616],[0.36226747246136737,0.05664731573578564,0.4820389709868515],[0.4166071285611733,0.06514425735476194,0.4819776678178697],[0.4165629301298896,0.06513832608189744,0.441977692676394]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4165629301298896,0.06513832608189744,0.441977692676394],"end_effector_quaternion":[0.9999978464924074,-7.524522124101817e-05,0.0005523311600670039,-0.001999069532058144],"end_effector_velocity":[0.028301724331340813,0.06718550480732415,0.003301826485587305],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4425553567066543,0.0650356235129224,0.4499489922471878],[0.3906179917199025,0.06524328197706712,0.4500063502422941]],"gripper_width":0.03993781179203067,"jaw_actuator_force":[-0.8268996441587939,-0.7922129221973471],"joint_actuator_torque":[-0.18034385453026403,-1.5090979687779509,-0.940831787540958,-0.0024136707599904236,-0.09276918028959891,0.01739359705090493],"joint_position":[0.15511267025979414,-1.309811472544398,1.3724938655916992,2.425133741911929e-05,-0.06156778976217689,-0.15910930696020023],"joint_velocity":[0.14702381560654604,0.13857901102270787,-0.18370903772013852,0.0004796457358204451,0.04464216393795675,-0.13134244501825387],"object_angular_velocity":[0.000529444766739157,0.001101696325868757,0.021283554831859505],"object_position":[0.41657060167945165,0.06513240040139169,0.43436462352789945],"object_quaternion":[0.999997879483896,-0.00015187297172598716,0.0005566809632983656,-0.001976883561562294],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030799367450281386,0.06449795618900842,0.000690139404354871],"pad_normal_forces":{"left":0.8190688343619846,"right":0.8000402872163335},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.06},{"goal":[0.44,0.12,0.446],"joint_targets":[0.17039172189279017,-1.295336995698459,1.3529610291286496,1.9211291883100232e-05,-0.05766110132362414,-0.1703620125124705],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.07219856657983736,0.011534907036912819,0.5002856135710271],[0.3087443279818395,0.04932697822340422,0.485525460516866],[0.36295273163646496,0.057987661203641835,0.4821429254419541],[0.41726392243363875,0.06666468458367902,0.48208112370028844],[0.41721938587878565,0.06665854944091862,0.4420811489646051]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.41721938587878565,0.06665854944091862,0.4420811489646051],"end_effector_quaternion":[0.999997860191243,-7.779751045123303e-05,0.0005565532370526104,-0.0019909316856758044],"end_effector_velocity":[0.028285596478263026,0.06719676733578947,0.003317982392696106],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4432118965627271,0.06655631039789865,0.4500522292585345],[0.3912745283109616,0.06676312372489052,0.4501100253605586]],"gripper_width":0.039937812170528775,"jaw_actuator_force":[-0.8268894484032421,-0.7922131423894276],"joint_actuator_torque":[-0.1802608241279131,-1.5141479485663467,-0.940309755375722,-0.0024223880323428638,-0.09283841063773135,0.017321367725969594],"joint_position":[0.15842751137582273,-1.306611810712374,1.3681512838426708,2.4244903033025486e-05,-0.0604158048812614,-0.16240790052531412],"joint_velocity":[0.1464460933775698,0.13941305211587618,-0.18520353648058757,0.00048136588051527775,0.045273077918261156,-0.13079770564208457],"object_angular_velocity":[0.0005346068828087489,0.0010971148750105143,0.021253185763356646],"object_position":[0.41722698276130044,0.06665136065240684,0.4344605250250892],"object_quaternion":[0.9999978928067681,-0.00015446014482644045,0.0005609532462558694,-0.001968719264113021],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030779147934892493,0.06451141287299934,0.0006864004431192497],"pad_normal_forces":{"left":0.8190576157666997,"right":0.8000415071978568},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.08},{"goal":[0.44,0.12,0.446],"joint_targets":[0.17364395822444806,-1.292049594327553,1.3484638804636482,1.918676623248096e-05,-0.05645178502171739,-0.17361439180992858],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.073018308544348,0.0119132249770007,0.5000488875888397],[0.3094547357313974,0.0504887604281789,0.48556634762935896],[0.3636380836284296,0.05932898730240724,0.48224743222197797],[0.4179203309488718,0.06818527002357765,0.48218512487861465],[0.4178754520055458,0.06817892851041728,0.44218515055780216]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4178754520055458,0.06817892851041728,0.44218515055780216],"end_effector_quaternion":[0.9999978737504047,-8.038109764205631e-05,0.0005608286042142516,-0.0019828022658296258],"end_effector_velocity":[0.028269299489865223,0.06720795663704726,0.003334017907624632],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.44386804788586404,0.06807715305281667,0.45015600880425616],[0.39193067638425094,0.06828312212245555,0.45021424854655884]],"gripper_width":0.039937812561002255,"jaw_actuator_force":[-0.8268790828416437,-0.7922132302079774],"joint_actuator_torque":[-0.18017851303852694,-1.5192173870946135,-0.9397866603026159,-0.002431197308291993,-0.09290854871826237,0.017249226848152333],"joint_position":[0.16172895792806444,-1.3033931970571073,1.3637737963008778,2.4239183556651696e-05,-0.05924773823039547,-0.16569311671217996],"joint_velocity":[0.14586905014250084,0.14024769579357113,-0.1867052015561131,0.0004831057538324747,0.04591011012877553,-0.13025362769610843],"object_angular_velocity":[0.0005398316999749326,0.00109268240706306,0.021222690772189447],"object_position":[0.41788297353001025,0.06817048634662595,0.4345569828129204],"object_quaternion":[0.9999979059858513,-0.00015707014662839355,0.0005652801489637926,-0.0019605640090411248],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0307587146954731,0.06452463091270615,0.0006823850599304454],"pad_normal_forces":{"left":0.8190461915410991,"right":0.800042630201676},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.1},{"goal":[0.44,0.12,0.446],"joint_targets":[0.17688287731135863,-1.2887431401829978,1.343931040776539,1.9162803715917963e-05,-0.05522583520312175,-0.17685345394206706],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07384078760062808,0.012296806860551786,0.4998079439667285],[0.3101657203740659,0.05165231956669104,0.48560689579178584],[0.36432351746797875,0.060671291228514626,0.48235248891836147],[0.418576350512215,0.06970601094317638,0.48228966892365827],[0.41853112491194305,0.06969946052331717,0.44228969502695326]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.41853112491194305,0.06969946052331717,0.44228969502695326],"end_effector_quaternion":[0.999997887168131,-8.299642942594122e-05,0.0005651573059454723,-0.0019746817684690434],"end_effector_velocity":[0.02825283837376561,0.06721906741394279,0.003349930360107319],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.44452380707474154,0.06959814869195605,0.4502603284529867],[0.3925864323397161,0.0698032744356657,0.45031901737351593]],"gripper_width":0.03993781296248999,"jaw_actuator_force":[-0.8268685607700057,-0.7922131963814953],"joint_actuator_torque":[-0.18009691148539275,-1.5243062358736097,-0.9392623876769903,-0.0024400987799888755,-0.09297960253833182,0.017177178293115603],"joint_position":[0.16501702582412375,-1.3001556123843443,1.3593612293431787,2.4234183241887364e-05,-0.05806343500562405,-0.1689649724260526],"joint_velocity":[0.14529271827604273,0.1410830983224009,-0.18821425487685658,0.0004848652001969221,0.046553322588848034,-0.12971024039237963],"object_angular_velocity":[0.0005451150270127669,0.0010884116396223463,0.02119207377658722],"object_position":[0.4185385703812676,0.06968977487388832,0.43465399465314275],"object_quaternion":[0.9999979190193713,-0.0001597034762690247,0.0005696617715110996,-0.00195241829324948],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030738072811380555,0.06453760314970289,0.0006780866668179346],"pad_normal_forces":{"left":0.8190345742907975,"right":0.8000436676174861},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.12},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1801084982747346,-1.285417596302345,1.339362312309449,1.9139399079014702e-05,-0.05398309117756998,-0.18007921802889978],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07466596794309811,0.012685653258259726,0.4995627337606805],[0.31087726644423436,0.052817653298121076,0.48564709388291316],[0.3650090223507447,0.062014569973922636,0.48245809307759147],[0.41923197764539094,0.07122690448778837,0.48239475336307863],[0.41918640111757943,0.07122014258942515,0.4423947798998769]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.41918640111757943,0.07122014258942515,0.4423947798998769],"end_effector_quaternion":[0.9999979004427161,-8.56439487695434e-05,0.000569539368547124,-0.0019665706652168815],"end_effector_velocity":[0.028236218829076877,0.0672300940572987,0.0033657164710883796],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4451791706450095,0.07111929440768716,0.4503651857311504],[0.3932417926941486,0.07132357780599022,0.450424329370564]],"gripper_width":0.03993781337414467,"jaw_actuator_force":[-0.8268578942836404,-0.7922130500175051],"joint_actuator_torque":[-0.18001600791863837,-1.5294144524267494,-0.9387368195168051,-0.0024490926283717595,-0.09305158051954177,0.01710522569046269],"joint_position":[0.1682917316968027,-1.2968990338172568,1.3549134040086248,2.422990324580648e-05,-0.05686273878050294,-0.17222348524903405],"joint_velocity":[0.14471712823742228,0.141919421424179,-0.18973092553542167,0.0004866441188965793,0.04720277999418998,-0.12916757108787397],"object_angular_velocity":[0.0005504523072672588,0.0010843171967543325,0.0211613385867668],"object_position":[0.41919376982832685,0.07120922350249397,0.4347515582709205],"object_quaternion":[0.9999979319056173,-0.00016236062796221758,0.000574098189363022,-0.0019442825883315387],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03071722810564868,0.0645503221212451,0.0006734979543554574],"pad_normal_forces":{"left":0.8190227753343439,"right":0.80004462930373},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.14},{"goal":[0.44,0.12,0.446],"joint_targets":[0.1833208407352094,-1.282072921391775,1.334757491174539,1.9116546599437764e-05,-0.05272339045961001,-0.18329170369039263],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0754938145806561,0.013079764357684045,0.4993132074823086],[0.3115893587767564,0.05398475904019453,0.48568693063310964],[0.36569458765502943,0.06335882032160318,0.4825642421885015],[0.41988720900399246,0.07274794767165445,0.48250037566804205],[0.41984127727690446,0.07274097168774846,0.44250040264789997]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.41984127727690446,0.07274097168774846,0.44250040264789997],"end_effector_quaternion":[0.9999979135725123,-8.832409520192268e-05,0.0005739748061190486,-0.0019584694019440427],"end_effector_velocity":[0.02821944734691798,0.06724103061001321,0.003381372272823509],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4458341352464015,0.07264058716286553,0.4504705781093134],[0.3938967540983122,0.07284402924271069,0.4505301820097132]],"gripper_width":0.039937813795217575,"jaw_actuator_force":[-0.8268470945153981,-0.7922127987436589],"joint_actuator_torque":[-0.17993578884929207,-1.5345420007789699,-0.9382098344579504,-0.0024581790178909656,-0.09312449142675305,0.017033372406896063],"joint_position":[0.17155309285860126,-1.2936234346660678,1.3504301358248352,2.4226342658400974e-05,-0.055645491451198306,-0.17546867339164932],"joint_velocity":[0.1441423084441388,0.14275683264632683,-0.19125545004516134,0.0004884424425316142,0.04785854922244489,-0.1286256451578596],"object_angular_velocity":[0.0005558386261973055,0.0010804151479579538,0.02113048891934618],"object_position":[0.41984856851893243,0.07272882937160997,0.43484967134180924],"object_quaternion":[0.9999979446429371,-0.00016504209093183217,0.0005785894619617797,-0.0019361573395006062],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030696187257316723,0.06456278002371024,0.0006686108061780292],"pad_normal_forces":{"left":0.8190108049230445,"right":0.8000455237460484},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.16},{"goal":[0.44,0.12,0.446],"joint_targets":[0.18651992475006188,-1.2787090696434338,1.3301163671401093,1.9094240116685626e-05,-0.05144656873745771,-0.1864909309837246],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.07632429336523527,0.013479139982014485,0.4990593150731689],[0.3123019825284982,0.05515363396839086,0.4857263946074215],[0.366380202961746,0.06470403884026878,0.4826709336673544],[0.4205420413972501,0.07426913736935123,0.4826065332380256],[0.420495750198774,0.07426194465790942,0.44260656067066195]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.420495750198774,0.07426194465790942,0.44260656067066195],"end_effector_quaternion":[0.9999979265559273,-9.103730473760663e-05,0.0005784636231704974,-0.001950378397115824],"end_effector_velocity":[0.02820253132508506,0.06725187072535388,0.00339689301244044],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4464886976822873,0.07416202378233139,0.45057650298685237],[0.3945513133565084,0.07436462561424854,0.4506365726907901]],"gripper_width":0.03993781422504501,"jaw_actuator_force":[-0.8268361718550707,-0.792212448828324],"joint_actuator_torque":[-0.179856238654736,-1.539688852039717,-0.937681307696721,-0.0024673580917533985,-0.09319834432421192,0.016961621526306203],"joint_position":[0.17480112725301034,-1.2903287842879896,1.345911234626465,2.422349916477588e-05,-0.05441153318995499,-0.17870055564078538],"joint_velocity":[0.1435682851240232,0.1435955058058449,-0.19278807267596335,0.0004902601218333944,0.04852069900912015,-0.1280844858457358],"object_angular_velocity":[0.0005612687050884986,0.0010767227595166779,0.021099528402025357],"object_position":[0.42050296325479475,0.07424858948278,0.43494833147692613],"object_quaternion":[0.9999979572297376,-0.0001677483490710741,0.0005831356370622138,-0.00192804296413283],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030674957929130723,0.06457496867009913,0.00066341619636544],"pad_normal_forces":{"left":0.8189986724419198,"right":0.8000463581955602},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.18},{"goal":[0.44,0.12,0.446],"joint_targets":[0.18970577074416475,-1.2753259905341923,1.3254387234020635,1.9072473013237706e-05,-0.05015245984580876,-0.18967692033428193],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07715737102273679,0.013883779609171516,0.49880100587725434],[0.3130151232024869,0.05632427501450722,0.48576547418632315],[0.367065858077013,0.06605022187822998,0.48277816484048475],[0.4211964718105542,0.07579047030613524,0.4827132233834191],[0.4211498168689347,0.07578305819051696,0.44271325127871675]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4211498168689347,0.07578305819051696,0.44271325127871675],"end_effector_quaternion":[0.9999979393914287,-9.37840095324906e-05,0.0005830058150924417,-0.0019422980398955752],"end_effector_velocity":[0.028185479198289367,0.06726260764704618,0.0034122730298068596],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4471428549321155,0.07568360094337437,0.45068295767453165],[0.3952054674490291,0.07588536363843285,0.45074349872406366]],"gripper_width":0.039937814663037696,"jaw_actuator_force":[-0.8268251361742207,-0.7922120052610415],"joint_actuator_torque":[-0.17977734096999143,-1.544854985397592,-0.937151111022331,-0.0024766300865815593,-0.09327314853508373,0.016889975846710925],"joint_position":[0.17803585340204728,-1.2870150479357902,1.341356504364162,2.4221369563458446e-05,-0.05316070240474208,-0.18191915130339925],"joint_velocity":[0.14299508220602233,0.14443562152444075,-0.1943290458509148,0.0004920971421227981,0.04918929970739804,-0.1275441140900924],"object_angular_velocity":[0.0005667368804321318,0.0010732592340123928,0.021068472040513802],"object_position":[0.4211569510141944,0.07576850071458684,0.4350475362041989],"object_quaternion":[0.9999979696639925,-0.000170479880556954,0.0005877367334301851,-0.001919940112067527],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03065354891121095,0.06458687956547504,0.0006579040518945831],"pad_normal_forces":{"left":0.8189863866020095,"right":0.8000471388105901},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.2},{"goal":[0.44,0.12,0.446],"joint_targets":[0.19287839943350643,-1.2719236286025766,1.3207243363392756,1.90512381638633e-05,-0.04884089574438882,-0.1928496924592316],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0779930151868719,0.014293682391316447,0.49853822861141495],[0.313728766675226,0.0574966788645187,0.4858041575437077],[0.3677515430579738,0.06739736555629422,0.4828859329240248],[0.421850497431312,0.07731194304710645,0.48282044330534585],[0.42180347447594413,0.07730430881635142,0.44282047167335353]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.42180347447594413,0.07730430881635142,0.44282047167335353],"end_effector_quaternion":[0.9999979520775468,-9.656463761644348e-05,0.0005876013673679965,-0.001934228687673901],"end_effector_velocity":[0.028168300604307094,0.06727323403685799,0.0034275056492184485],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.44779660417707123,0.07720531516504332,0.45078993937436584],[0.3958592135578299,0.07740623987155332,0.4508509573100257]],"gripper_width":0.039937815108664426,"jaw_actuator_force":[-0.8268139969460773,-0.7922114719053797],"joint_actuator_torque":[-0.17969907195298163,-1.5500403877212534,-0.9366191123841645,-0.0024859948414714594,-0.09334891366644715,0.01681843776737857],"joint_position":[0.18125729034947277,-1.2836821865928698,1.3367657429026474,2.4219949683251902e-05,-0.051892835703981476,-0.18512448014479332],"joint_velocity":[0.14242272085442848,0.14527736778902456,-0.19587863063202318,0.0004939534021872923,0.0498644230924094,-0.12700454829292032],"object_angular_velocity":[0.0005722370965499622,0.0010700429389120794,0.021037309395931084],"object_position":[0.42181052897715093,0.07728855973962125,0.43514728295384425],"object_quaternion":[0.9999979819449424,-0.000173237156767437,0.0005923928049460615,-0.0019118487633255864],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030631970306715415,0.06459850334896552,0.0006520631708069472],"pad_normal_forces":{"left":0.8189739555880704,"right":0.8000478706810652},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.22},{"goal":[0.44,0.12,0.446],"joint_targets":[0.19603783173918146,-1.2685019232003536,1.3159729752499754,1.9030527846370612e-05,-0.04751170650289167,-0.196009268281582],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.07883119443634307,0.0147088471747536,0.4982709313334735],[0.31444289922769647,0.05867084195535613,0.4858424326219471],[0.3684372482423816,0.0687454657592442,0.4829942350005556],[0.4225041156786996,0.07883355198464422,0.4829281900725936],[0.42245672044111465,0.0788256928938679,0.44292821892352713]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.42245672044111465,0.0788256928938679,0.44292821892352713],"end_effector_quaternion":[0.9999979646128807,-9.93796120432291e-05,0.0005922502531771673,-0.0019261706638079989],"end_effector_velocity":[0.028151006551501306,0.06728374208376207,0.0034425829737430047],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4484499428300049,0.07872716279575363,0.4508974451566742],[0.3965125490964608,0.07892725069573277,0.45095894551619714]],"gripper_width":0.0399378155614493,"jaw_actuator_force":[-0.8268027635683213,-0.7922108514383579],"joint_actuator_torque":[-0.1796214096402764,-1.5552450562803983,-0.9360851763603364,-0.002495452536243061,-0.09342564951130772,0.016747009388794254],"joint_position":[0.18446545759814117,-1.2803301567931467,1.3321387418059596,2.421923481251221e-05,-0.0506077678670035,-0.18831656232141775],"joint_velocity":[0.1418512196221905,0.14612094074244286,-0.19743709721779543,0.0004958288868555739,0.05054614213451911,-0.12646580410682712],"object_angular_velocity":[0.0005777628646000835,0.0010670942465437869,0.021006042156437112],"object_position":[0.42246369455602656,0.07880876308392207,0.4352475690306929],"object_quaternion":[0.9999979940710951,-0.00017602064136568562,0.0005971038634508967,-0.0019037692860765913],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030610233721453748,0.06460983047827226,0.0006458809569957837],"pad_normal_forces":{"left":0.8189613872758554,"right":0.800048557991204},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.24},{"goal":[0.44,0.12,0.446],"joint_targets":[0.19918408869141074,-1.2650608082133035,1.3111844020673575,1.9010333635632253e-05,-0.0461647202959437,-0.199155668834279],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0796718783362325,0.015129272520463002,0.497999061407644],[0.3151575075808873,0.05984676047097448,0.4858802871030854],[0.36912296428278735,0.07009451812630002,0.48310306799162406],[0.4231573242381482,0.08035529332455534,0.48303646059446353],[0.4231095524532294,0.08034720659540869,0.4430364899387071]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4231095524532294,0.08034720659540869,0.4430364899387071],"end_effector_quaternion":[0.9999979769961043,-0.00010222935007903306,0.0005969524305266297,-0.0019181242540829073],"end_effector_velocity":[0.028133609647493077,0.06729412330403611,0.003457495720105426],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.449102868569824,0.08024913999967176,0.45100547193307955],[0.39716547174446926,0.08044839230494381,0.4510674602498286]],"gripper_width":0.0399378160209586,"jaw_actuator_force":[-0.8267914454674488,-0.7922101454713344],"joint_actuator_torque":[-0.1795443271369095,-1.5604689987103484,-0.9355491637636533,-0.0025050031806595693,-0.0935033660826825,0.01667569237792854],"joint_position":[0.18766037504205996,-1.2769589104222525,1.3274752861086196,2.4219219768380197e-05,-0.0493053318200417,-0.1914954183058461],"joint_velocity":[0.1412805938893493,0.1469665454698734,-0.19900472556969276,0.0004977235353472935,0.051234530784403626,-0.12592789409906485],"object_angular_velocity":[0.0005833072379309952,0.001064434905936021,0.020974675382591096],"object_position":[0.42311644542980253,0.0803291070898063,0.4353483915892505],"object_quaternion":[0.9999980060410678,-0.00017883078920030075,0.0006018699069689189,-0.0018957019942706951],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030588352510092637,0.06462085064485164,0.0006393432794296165],"pad_normal_forces":{"left":0.8189486893629415,"right":0.8000492040651119},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.26},{"goal":[0.44,0.12,0.446],"joint_targets":[0.20231719131969775,-1.2616002117457175,1.3063583710504347,1.8990646259816498e-05,-0.04479976340959808,-0.20228891515045752],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08051503748425627,0.015554956725198828,0.49772256546691396],[0.31587257893667325,0.061024430336974717,0.4859177083757914],[0.36980868218618546,0.07144451803967336,0.4832124286257425],[0.42381012110145233,0.08187716306988828,0.4831452515892551],[0.4237619685089903,0.08186884589110134,0.44314528143736154]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4237619685089903,0.08186884589110134,0.44314528143736154],"end_effector_quaternion":[0.9999979892259764,-0.00010511426214338714,0.0006017078380043273,-0.0019100897030538736],"end_effector_velocity":[0.028116124357011427,0.06730436848054977,0.0034722329774639384],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.449755379381629,0.08177124274078736,0.45111401642521287],[0.39781797948754233,0.08196966068870104,0.4511764982261642]],"gripper_width":0.03993781648679295,"jaw_actuator_force":[-0.8267800523277433,-0.792209354534223],"joint_actuator_torque":[-0.17946779376447353,-1.5657122345947982,-0.9350109316584394,-0.0025146467362899207,-0.09358207356833415,0.01660448794744873],"joint_position":[0.19084206289028077,-1.27356839449749,1.3227751540702979,2.4219898801943723e-05,-0.04798535861976746,-0.19466106880335354],"joint_velocity":[0.14071085559121474,0.14781439700227678,-0.20058180609281012,0.000499637271472476,0.051929663676167186,-0.12539082741174],"object_angular_velocity":[0.0005888627711121563,0.001062087859924179,0.020943213204826838],"object_position":[0.4237687795843864,0.08184958789965288,0.4354497476028405],"object_quaternion":[0.999998017853587,-0.00018166804469473623,0.0006066909153323067,-0.0018876471467748537],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03056634206785877,0.0646315528079062,0.0006324342112807532],"pad_normal_forces":{"left":0.8189358695462011,"right":0.8000498114026597},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.28},{"goal":[0.44,0.12,0.446],"joint_targets":[0.20543716052700858,-1.2581200557607006,1.3014946284462603,1.8971455423325132e-05,-0.04341666026339445,-0.2054090281377369],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.08136064356296606,0.01598589784335213,0.49744138937188076],[0.31658810102517193,0.062203847213825346,0.48595468349706533],[0.3704943933602608,0.07279546061122547,0.4833223134007535],[0.4244625046136602,0.08339915700239205,0.4832545595472406],[0.4244139669603353,0.08339060653042804,0.44325458990993166]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4244139669603353,0.08339060653042804,0.44325458990993166],"end_effector_quaternion":[0.999998001301349,-0.00010803475041543283,0.0006065163894488184,-0.0019020672095200442],"end_effector_velocity":[0.028098567315474443,0.06731446754905103,0.0034867819259538535],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4504074736036509,0.0832934667646971,0.4512230751279653],[0.39847007066445,0.08349105161337426,0.45128605593114074]],"gripper_width":0.039937816958579446,"jaw_actuator_force":[-0.8267685943072287,-0.7922084780635519],"joint_actuator_torque":[-0.17939177451569321,-1.570974797044073,-0.9344703333210305,-0.0025243831086174226,-0.09366178229666655,0.01653339679738508],"joint_position":[0.19401054158196387,-1.2701585509222388,1.3180381169117223,2.422126556006378e-05,-0.04664767744588224,-0.19781353465792695],"joint_velocity":[0.140142012798175,0.1486647214902861,-0.20216864042413174,0.0005015699990320458,0.052631615771475716,-0.12485460932214201],"object_angular_velocity":[0.0005944214746190703,0.0010600774087320347,0.020911659165905247],"object_position":[0.42442069535975097,0.0833702014375711,0.4355516338273005],"object_quaternion":[0.9999980295074892,-0.00018453283992308855,0.0006115668443986269,-0.0018796049490082236],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030544220179315566,0.06464192507938395,0.0006251357359258659],"pad_normal_forces":{"left":0.8189229356957373,"right":0.800050381710373},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.3},{"goal":[0.44,0.12,0.446],"joint_targets":[0.20854401694401536,-1.2546202556666444,1.2965929121183157,1.895274958754523e-05,-0.04201523345240821,-0.20851602843260436],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08220866939913649,0.016422093709705134,0.4971554781654555],[0.3173040621599483,0.06338500648832432,0.4859911991476481],[0.3711800896676343,0.07414734066675788,0.48343271853940056],[0.42511447352817616,0.08492127066103833,0.48336438068700527],[0.42506554657007944,0.08491248402088795,0.4433644115751706]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.42506554657007944,0.08491248402088795,0.4433644115751706],"end_effector_quaternion":[0.999998013221183,-0.00011099120706489389,0.0006113779672177502,-0.0018940569210677896],"end_effector_velocity":[0.02808095770894575,0.06732440946267215,0.0035011274941777583],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4510591499824052,0.08481580757752374,0.45133264426617736],[0.399121744022204,0.08501256060054077,0.45139612957737735]],"gripper_width":0.039937817435964224,"jaw_actuator_force":[-0.8267570822718735,-0.7922075143648355],"joint_actuator_torque":[-0.17931622939433112,-1.5762567345745992,-0.9339272182103286,-0.0025342121375104805,-0.09374250269096684,0.01646241904496648],"joint_position":[0.1971658316905207,-1.2667293162099365,1.313263938528883,2.4223313008071104e-05,-0.04529211560532619,-0.20095283674549388],"joint_velocity":[0.13957406921010823,0.14951775760922076,-0.20376554234140806,0.0005035215969578929,0.053340461902082165,-0.12431924071445684],"object_angular_velocity":[0.0005999747622769792,0.0010584293976505599,0.020880016417859547],"object_position":[0.42507219150534215,0.08489094338816129,0.4356540467581464],"object_quaternion":[0.9999980410017261,-0.00018742559220616883,0.0006164976189754273,-0.001871575550884447],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030522007441925063,0.06465195458717404,0.0006174273898012693],"pad_normal_forces":{"left":0.8189098960399745,"right":0.8000509159132223},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.32},{"goal":[0.44,0.12,0.446],"joint_targets":[0.21163778075855158,-1.2511007198373736,1.2916529511345376,1.8934515698166836e-05,-0.040595303815262336,-0.2116099362300431],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08305908903191823,0.016863541963261064,0.4968647760226914],[0.31802045130280066,0.06456790326293016,0.48602724157975613],[0.3718657634898779,0.07550015272743767,0.48354363993658345],[0.42576602707188177,0.08644349931698363,0.48347471090366806],[0.42571670657771277,0.08643447360313741,0.4434747423283636]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.42571670657771277,0.08643447360313741,0.4434747423283636],"end_effector_quaternion":[0.9999980249845636,-0.00011398401200677625,0.0006162924137360534,-0.0018860589274502086],"end_effector_velocity":[0.028063317737888414,0.06733418202722197,0.0035152519397111887],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.45171040773787113,0.08633826042136683,0.45144271974329886],[0.3997729987812404,0.08653418290174775,0.45150671505195855]],"gripper_width":0.039937817918604956,"jaw_actuator_force":[-0.8267455280567226,-0.7922064605449188],"joint_actuator_torque":[-0.17924111260998643,-1.5815581133792875,-0.9333814319568319,-0.0025441335856558516,-0.0938242452095226,0.016391554138614595],"joint_position":[0.20030795381444405,-1.263280621171417,1.3084523751819357,2.422603331724783e-05,-0.04391849855140299,-0.20407899585151146],"joint_velocity":[0.13900702353903355,0.15037375825338947,-0.205372838820267,0.0005054919137731281,0.054056276182038794,-0.12378471743230103],"object_angular_velocity":[0.0006055133887565528,0.0010571714383436923,0.02084828782464497],"object_position":[0.42572326724557374,0.08641180917174843,0.43575698257974443],"object_quaternion":[0.9999980523353811,-0.00019034670109980013,0.0006214831240451917,-0.0018635590420444314],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03049972778375097,0.06466162730896925,0.0006092858257972229],"pad_normal_forces":{"left":0.8188967593674121,"right":0.8000514141464626},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.34},{"goal":[0.44,0.12,0.446],"joint_targets":[0.21471847151395315,-1.2475613490497424,1.2866744653066529,1.891673884549903e-05,-0.039156690535984445,-0.21469077108208745],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08391187779175693,0.017310240072380592,0.4965692261948064],[0.318737258140325,0.06575253234248765,0.4860627965553949],[0.3725514078035385,0.07685389098772052,0.48365507309636313],[0.426417165022565,0.08796583794417417,0.4835855457071018],[0.42636744677768057,0.08795657022182143,0.4435855776795465]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.42636744677768057,0.08795657022182143,0.4435855776795465],"end_effector_quaternion":[0.9999980365907225,-0.00011701353004369464,0.0006212595208609272,-0.0018780732524955096],"end_effector_velocity":[0.028045673187763714,0.06734377169938494,0.0035291343311361486],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4523612466409815,0.08786082024551155,0.45155329708016106],[0.4004238347129132,0.08805591346888031,0.45161780785410216]],"gripper_width":0.0399378184061634,"jaw_actuator_force":[-0.8267339447631166,-0.7922053124103128],"joint_actuator_torque":[-0.1791663715887779,-1.5868790200924536,-0.93283281637855,-0.0025541471244031736,-0.09390702026688746,0.01632080075187403],"joint_position":[0.20343692845177738,-1.259812390557756,1.3036031751543546,2.422941771590981e-05,-0.04252664992217167,-0.20719203252925242],"joint_velocity":[0.13844086874962577,0.15123299259763157,-0.20699087127540078,0.0005074807609842111,0.05477913124786782,-0.1232510294791286],"object_angular_velocity":[0.0006110273748203449,0.0010563331753072871,0.020816476013340503],"object_position":[0.42637392235771704,0.08793279391529922,0.43586043710463623],"object_quaternion":[0.9999980635076869,-0.00019329654460498302,0.0006265231937689921,-0.0018555554447666515],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03047740910131875,0.06467092786890465,0.0006006842750541866],"pad_normal_forces":{"left":0.8188835352533479,"right":0.8000518757249179},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.36},{"goal":[0.44,0.12,0.446],"joint_targets":[0.21778610786799418,-1.2440020358172903,1.2816571646700279,1.8899401837563573e-05,-0.03769921129030273,-0.21775855165702768],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08476701239264965,0.017762185361526083,0.49626877094621363],[0.3194544731750856,0.06693888821775386,0.4860978492729893],[0.3732370162710605,0.07820854928897272,0.48376701305620873],[0.42706788780160615,0.08948828118459129,0.48369688014771617],[0.42701776761314536,0.08947876849111207,0.44369691267928724]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.42701776761314536,0.08947876849111207,0.44369691267928724],"end_effector_quaternion":[0.9999980480390623,-0.0001200801071728857,0.0006262790164420929,-0.0018700998440921678],"end_effector_velocity":[0.02802805413408224,0.06735316335381471,0.0035427499041330007],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.45301166710640506,0.08938348167243186,0.4516643713414576],[0.40107425223228005,0.08957774691912385,0.45172940302024495]],"gripper_width":0.03993781889829705,"jaw_actuator_force":[-0.8267223471207217,-0.7922040643088062],"joint_actuator_torque":[-0.17909194670143336,-1.5922195651912148,-0.932281209468556,-0.0025642523780074504,-0.09399083810422448,0.016250156638903945],"joint_position":[0.20655277585435367,-1.2563245426485483,1.298716078376706,2.423345638137495e-05,-0.041116391603879976,-0.21029196693401075],"joint_velocity":[0.1378755911543931,0.15209574862992858,-0.20861999703593218,0.0005094879183823689,0.05550909726598494,-0.1227181600194013],"object_angular_velocity":[0.000616505891334413,0.001055947210146736,0.020784574998044866],"object_position":[0.4270241572653021,0.08945389243483885,0.4359644057018231],"object_quaternion":[0.9999980745183881,-0.00019627547428003724,0.0006316175849609537,-0.001847564526580376],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03045508404797017,0.06467983935004538,0.000591591881918827],"pad_normal_forces":{"left":0.8188702343248964,"right":0.8000522990718616},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.38},{"goal":[0.44,0.12,0.446],"joint_targets":[0.22084070730111596,-1.240422663591537,1.2766007488900388,1.8882484659179854e-05,-0.036222682450786456,-0.22081329544797929],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08562447104106329,0.01821937503998355,0.495963351483039],[0.32017208783505957,0.06812696504488755,0.4861323842793986],[0.3739225833503504,0.07956412108767805,0.483879454295231],[0.4277181965857475,0.0910108233067494,0.48380870872663784],[0.42766767028912267,0.091001062653567,0.44380874182886404]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.42766767028912267,0.091001062653567,0.44380874182886404],"end_effector_quaternion":[0.9999980593291911,-0.00012318406603984236,0.0006313505472546528,-0.0018621385619137871],"end_effector_velocity":[0.028010495841798468,0.06736233990473885,0.003556069244215155],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4536616703042191,0.0909062389572194,0.4517759370468111],[0.4017242525097724,0.09109967749311704,0.4518414950333377]],"gripper_width":0.03993781939465384,"jaw_actuator_force":[-0.826710751826548,-0.7922027090096382],"joint_actuator_torque":[-0.17901776591665453,-1.5975798871848497,-0.9317264457615124,-0.0025744486486165372,-0.09407570875733562,0.016179618519714722],"joint_position":[0.20965551585658349,-1.2528169887726237,1.2937908160079377,2.4238137933326078e-05,-0.039687543826931106,-0.21337881862734961],"joint_velocity":[0.13731116908257313,0.15296233629496445,-0.21026059109903109,0.000511513067323676,0.05624624066702188,-0.12218608413918436],"object_angular_velocity":[0.0006219372314468765,0.0010560475270784432,0.02075259766873403],"object_position":[0.42767397315005173,0.09097509914409592,0.4360688832048723],"object_quaternion":[0.9999980853666163,-0.00019928380962787806,0.0006367660031871773,-0.0018395863995684944],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030432791042908105,0.06468834272554018,0.0005819728450253769],"pad_normal_forces":{"left":0.8188568685441111,"right":0.8000526816891395},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.4},{"goal":[0.44,0.12,0.446],"joint_targets":[0.22388228575893057,-1.2368231057922248,1.271504906576102,1.886596378096259e-05,-0.03472691937066213,-0.22385501841582442],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08648423356592078,0.01868180623306891,0.49565290787112676],[0.3208900946062058,0.06931675661986268,0.486166385363406],[0.3746081044279378,0.08092059941683626,0.48399239062205335],[0.4283680934430041,0.09253345815569872,0.48392102528608777],[0.4283171569101449,0.09252344653062412,0.44392105897063966]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4283171569101449,0.09252344653062412,0.44392105897063966],"end_effector_quaternion":[0.9999980704609651,-0.00012632569973954842,0.0006364736570974715,-0.0018541891618492523],"end_effector_velocity":[0.02799303986954759,0.06737128201491327,0.0035690572636578304],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4543112582960348,0.0924290859387933,0.4518879880622876],[0.4023738376073255,0.09262169900454353,0.4519540777120859]],"gripper_width":0.03993781989485961,"jaw_actuator_force":[-0.8266991781500037,-0.7922012373283893],"joint_actuator_torque":[-0.17894374857536377,-1.6029601579243717,-0.9311683561045925,-0.0025847352783137023,-0.09416164171185049,0.016109181786937654],"joint_position":[0.21274516767209795,-1.2492896327440184,1.2888271099649247,2.4243449410134e-05,-0.038239925305020156,-0.21645260634259064],"joint_velocity":[0.13674757161724074,0.1538330914407631,-0.21191304829326352,0.000513555868362997,0.05699062241018515,-0.12165476723052268],"object_angular_velocity":[0.0006273085888326852,0.0010566721218756901,0.020720546498861764],"object_position":[0.42832337208925125,0.09249640805505581,0.4361738638077938],"object_quaternion":[0.9999980960523043,-0.00020232182945429078,0.0006419680279392315,-0.0018316207832668157],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030410575513836555,0.0646964168483579,0.0005717853769318092],"pad_normal_forces":{"left":0.8188434516088514,"right":0.8000530199468788},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.42},{"goal":[0.44,0.12,0.446],"joint_targets":[0.22691085720863055,-1.233203224613508,1.2663693144780521,1.8849811264643874e-05,-0.03321173677394933,-0.2268837345461889],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08734628157544473,0.01914947601652206,0.49533737894091706],[0.3216084871945203,0.0705082563465731,0.4861998354255332],[0.3752935759822251,0.08227797683887646,0.48410581503659106],[0.4290175814993428,0.09405617909241631,0.4840338228744017],[0.4289662306492117,0.09404591346261802,0.44403385715307847]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4289662306492117,0.09404591346261802,0.44403385715307847],"end_effector_quaternion":[0.9999980814345425,-0.00012950526393576577,0.0006416477584233872,-0.0018462512761784544],"end_effector_velocity":[0.027975735519843357,0.06737996752368491,0.0035816718679300384],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4549604342015296,0.09395201598082911,0.4520005174668902],[0.4030230106449075,0.0941438047790004,0.4520671440744982]],"gripper_width":0.03993782039851028,"jaw_actuator_force":[-0.8266876484458363,-0.7921996378934679],"joint_actuator_torque":[-0.1788697991103163,-1.6083605892708306,-0.9306067681968102,-0.0025951113482488475,-0.09424864576827297,0.016038840292456058],"joint_position":[0.2158217496498478,-1.2457423701905952,1.2838246723882223,2.4249375855500912e-05,-0.03677335343120584,-0.219513347701263],"joint_velocity":[0.1361847565272784,0.15470838083478572,-0.2135777859025422,0.0005156158791637946,0.05774229575676551,-0.12112416296012411],"object_angular_velocity":[0.0006326059186652525,0.0010578630103897692,0.02068842208457775],"object_position":[0.42897235722317606,0.09401781270152076,0.4362793409311334],"object_quaternion":[0.9999981065756716,-0.00020538976210582373,0.000647223105045166,-0.0018236672854017883],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030388491519335304,0.06470403768790291,0.0005609803132186834],"pad_normal_forces":{"left":0.8188299993696028,"right":0.8000533089630932},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.44},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2299264330795813,-1.229562869531884,1.261193636530348,1.8833993591393397e-05,-0.031676949291578556,-0.22989945529078487],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08821059864877485,0.019622381454930064,0.49501670217565913],[0.3223272607263338,0.07170145719652324,0.4862327163170948],[0.3759789957857744,0.083636245387305,0.4842197195578405],[0.42966666514527313,0.09557897891913089,0.48414709357805813],[0.4296148959573491,0.09556845623492743,0.4441471284627696]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4296148959573491,0.09556845623492743,0.4441471284627696],"end_effector_quaternion":[0.999998092250455,-0.00013272296649429865,0.0006468720952544164,-0.0018383243883695953],"end_effector_velocity":[0.027958641699595554,0.06738837081737634,0.0035938622277798043],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4556092024048897,0.09547502189906096,0.45211351738651334],[0.40367177600695864,0.09566598757868079,0.4521806861679911]],"gripper_width":0.03993782090516031,"jaw_actuator_force":[-0.8266761889298726,-0.7921978966803032],"joint_actuator_torque":[-0.17879580479150547,-1.6137814416950391,-0.9300415069241694,-0.002605575701926916,-0.09433672868076615,0.01596858597790174],"joint_position":[0.21888527897689855,-1.2421750877445754,1.2787832050280385,2.4255899804619846e-05,-0.035287644550415685,-0.22256105886548974],"joint_velocity":[0.13562266783609375,0.15558860862710117,-0.2152552469624316,0.0005176925508932935,0.05850130324017466,-0.12059421060194868],"object_angular_velocity":[0.000637813728840225,0.0010596668800868787,0.0206562254019503],"object_position":[0.4296209329629506,0.09553930606510785,0.43638530705682177],"object_quaternion":[0.999998116937303,-0.0002084877720830183,0.0006525305077193212,-0.001815725373388204],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030366603848117363,0.06471117774481291,0.0005494993311281839],"pad_normal_forces":{"left":0.8188165303941941,"right":0.8000535423493158},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.46},{"goal":[0.44,0.12,0.446],"joint_targets":[0.23292902154705286,-1.2259018754098305,1.2559775226954402,1.8818470104984917e-05,-0.030122372200785036,-0.23290218885214717],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08907717057315483,0.02010051964544673,0.4946908135781522],[0.32304641199873235,0.07289635165767729,0.4862650086387935],[0.3766643631587605,0.08499539649381345,0.48433409500685715],[0.4303153502947311,0.09710184978646239,0.4842608283102788],[0.4302631588264308,0.09709106698621356,0.4442608638130213]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4302631588264308,0.09709106698621356,0.4442608638130213],"end_effector_quaternion":[0.9999981029097019,-0.00013597895363983358,0.0006521456939962117,-0.0018304078002067863],"end_effector_velocity":[0.027941829370836415,0.06739646197734074,0.0036055664924763173],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.45625756881336627,0.09699809587102139,0.4522269787850982],[0.4043201396009423,0.09718823950869702,0.45229469485543783]],"gripper_width":0.03993782141430924,"jaw_actuator_force":[-0.8266648306155151,-0.7921959964478695],"joint_actuator_torque":[-0.17872163152260612,-1.619223035463449,-0.9294723949566901,-0.002616126886901434,-0.09442589670155366,0.015898408406705755],"joint_position":[0.22193577131189032,-1.2385876620529916,1.273702398528817,2.4263000699390417e-05,-0.033782614335804755,-0.22559575410569357],"joint_velocity":[0.13506123256898075,0.15647422480066722,-0.216945904431109,0.0005197851990998416,0.059267672559516774,-0.12006483151152314],"object_angular_velocity":[0.0006429148093737765,0.001062136167865771,0.02062395760505654],"object_position":[0.4302691052509704,0.09706088048337118,0.43649175352033565],"object_quaternion":[0.9999981271382538,-0.00021161594230765949,0.000657889284779896,-0.0018077943370789272],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030344990781141112,0.06471780519534417,0.0005372725899619789],"pad_normal_forces":{"left":0.8188030666664436,"right":0.8000537118857699},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.48},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2359186265984779,-1.2222200600405402,1.250720607537027,1.8803190908707126e-05,-0.028547822453032654,-0.2358919392512648],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.08994598564181192,0.02058388776851562,0.494359647509328],[0.32376593979677004,0.07409293166883406,0.48629669148519805],[0.37734967929061464,0.08635542089599037,0.48444893072966827],[0.43096364471363857,0.09862478307629863,0.48437501654150494],[0.430911027123033,0.09861373709277958,0.4443750526743287]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.430911027123033,0.09861373709277958,0.4443750526743287],"end_effector_quaternion":[0.9999981134138746,-0.000139273291275337,0.0006574672972836125,-0.001822500588432155],"end_effector_velocity":[0.02792538482383666,0.06740420564547006,0.003616708717665867],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.45690554118516713,0.09852122932237575,0.4523408911985445],[0.40496810918522763,0.09871055189890844,0.4524091595422132]],"gripper_width":0.039937821925385635,"jaw_actuator_force":[-0.8266536105103315,-0.7921939159953073],"joint_actuator_torque":[-0.1786471182409457,-1.6246857654269888,-0.9288992536206706,-0.002626763077684874,-0.09451615394796153,0.015828294136259302],"joint_position":[0.2249732403260083,-1.234979958549382,1.2685819315827571,2.427065414015934e-05,-0.03225807830810261,-0.2286174452548396],"joint_velocity":[0.1345003564151497,0.15736573640480261,-0.21865026656635048,0.0005218929644012656,0.06004141092211739,-0.11953592439651399],"object_angular_velocity":[0.0006478898825967168,0.00106533046928418,0.020591619959662476],"object_position":[0.4309168818913256,0.09858252753394964,0.4365986702457399],"object_quaternion":[0.9999981371801853,-0.00021477425024378556,0.0006632981910198595,-0.0017998732427478882],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030323747787525453,0.06472388275241255,0.0005242155635052141],"pad_normal_forces":{"left":0.8187896344856207,"right":0.8000538070764258},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.5},{"goal":[0.44,0.12,0.446],"joint_targets":[0.23889512925723655,-1.2185172517187113,1.2454225516082464,1.8788162186030553e-05,-0.02695313235095972,-0.23886858735102753],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09081703771430183,0.02107247122137669,0.49402313651917584],[0.32448585509257755,0.07529114597078901,0.48632774221768177],[0.37803495907509904,0.087716258934196,0.4845642143569227],[0.43161157149338253,0.10014771264451473,0.48448964607122225],[0.4315585240798008,0.10013640037389959,0.44448968284618356]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4315585240798008,0.10013640037389959,0.44448968284618356],"end_effector_quaternion":[0.9999981238021804,-0.0001426064184665353,0.0006628351424491473,-0.0018145812470830188],"end_effector_velocity":[0.027909216920854366,0.06741249885164396,0.003627189448347498],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.457553144784303,0.10004435718981287,0.4524552425150622],[0.4056157100161533,0.10023285745218499,0.452524067933752]],"gripper_width":0.03993782243782442,"jaw_actuator_force":[-0.8266450740204787,-0.7921891283051412],"joint_actuator_torque":[-0.17857395998071013,-1.6301709909209876,-0.9283214440541769,-0.002637556786608468,-0.0946072410859915,0.01575886012380323],"joint_position":[0.22799756600369342,-1.2313518302247013,1.2634214699314386,2.4277632366297467e-05,-0.030713852287687974,-0.23162596933135093],"joint_velocity":[0.13394209231341808,0.15826376191324057,-0.22036890733090342,0.0005240634165282771,0.0608224252269503,-0.11901214831077897],"object_angular_velocity":[0.0006528266292881061,0.001069261929573192,0.02055717405777533],"object_position":[0.4315642885415447,0.10010418260901334,0.4367060455337849],"object_quaternion":[0.9999981470868342,-0.0002179631574573259,0.0006687554487385895,-0.0017919489696980235],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030303111621968172,0.06473044957035493,0.0005102176121241784],"pad_normal_forces":{"left":0.8187773789478858,"right":0.8000527019269152},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.52},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2418585014723094,-1.2147932431657484,1.2400829825062498,1.8773311208720667e-05,-0.025338136907868732,-0.24183210515289008],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09169032018904028,0.021566264432296235,0.4936812117350563],[0.3252061624688872,0.0764909761505515,0.4863581354006049],[0.37872020965801884,0.08907788925265167,0.4846799304072931],[0.43225914473364924,0.1016706161854271,0.4846047016628917],[0.4322056639766779,0.1016590345648767,0.44460473909197545]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4322056639766779,0.1016590345648767,0.44460473909197545],"end_effector_quaternion":[0.9999981340729754,-0.0001459778181843208,0.0006682469781035539,-0.0018066507743446027],"end_effector_velocity":[0.02789349895872098,0.06742060423233993,0.003636875383539049],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.45820039437985266,0.10156745714673353,0.4525700176141944],[0.4062629568714014,0.10175513394562703,0.45263940467591257]],"gripper_width":0.03993782294329888,"jaw_actuator_force":[-0.8266375597672555,-0.7921835913135649],"joint_actuator_torque":[-0.17850046864650437,-1.635678549552381,-0.927739471893517,-0.0026484414692169037,-0.0946993346390661,0.01568972507449118],"joint_position":[0.23100873080332673,-1.2277031223974877,1.258220677177827,2.4284461068190697e-05,-0.0291497590096827,-0.23462131077593348],"joint_velocity":[0.13338474902281874,0.15916856927784115,-0.22210185131756802,0.0005262668899049066,0.0616105203425045,-0.11849061408100933],"object_angular_velocity":[0.0006576252311314508,0.0010740413265716423,0.020521582887745866],"object_position":[0.4322113395430243,0.10162582259214421,0.4368138642804909],"object_quaternion":[0.9999981568644972,-0.00022118188603104084,0.0006742589487702175,-0.0017840182319103178],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030282932654698294,0.0647366550913884,0.0004951433168997252],"pad_normal_forces":{"left":0.8187656305468044,"right":0.8000513625972362},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.54},{"goal":[0.44,0.12,0.446],"joint_targets":[0.24480873483335855,-1.2110477954529297,1.2347015040135678,1.8758523206031874e-05,-0.023702678988574033,-0.2447824843659327],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09256582885323807,0.022065264674354653,0.4933338022806107],[0.3259268668281576,0.07769241274173351,0.4863878427962722],[0.3794054380307433,0.09044030084050783,0.4847960604144446],[0.43290637801548887,0.10319348321441985,0.4847201651814343],[0.43285246063772187,0.10318162922906138,0.44472020327645984]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43285246063772187,0.10318162922906138,0.44472020327645984],"end_effector_quaternion":[0.999998144214933,-0.00014938688869141548,0.0006736997677585738,-0.0017987158948616795],"end_effector_velocity":[0.027878398333799966,0.06742826759394267,0.003645612270570372],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4588473019663671,0.10309051840393274,0.4526851985207892],[0.4069098617523349,0.10327737128855878,0.4527551514782336]],"gripper_width":0.03993782343728814,"jaw_actuator_force":[-0.8266304012925776,-0.7921780299187633],"joint_actuator_torque":[-0.17842606872174827,-1.641208735187547,-0.9271533349188985,-0.0026594017590686045,-0.09479248360590375,0.01562070123312509],"joint_position":[0.23400674409643565,-1.2240336670131056,1.2529792066709307,2.4291444853339107e-05,-0.027565625900563058,-0.237603492404765],"joint_velocity":[0.13282770462798513,0.16008079923356044,-0.22384954548390634,0.0005284901399416521,0.062405519081925924,-0.11796990406303584],"object_angular_velocity":[0.0006622338195292001,0.0010797682042079082,0.02048543644764831],"object_position":[0.43285804708830466,0.103147436956627,0.4369221087866744],"object_quaternion":[0.9999981665075073,-0.00022442960217206878,0.0006798055982203157,-0.0017760848307380069],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03026334364186836,0.06474221149632463,0.0004788301318048037],"pad_normal_forces":{"left":0.8187541331529951,"right":0.8000501031287492},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.56},{"goal":[0.44,0.12,0.446],"joint_targets":[0.24774580929230003,-1.207280634983553,1.2292777000627342,1.8743662122285697e-05,-0.02204661625545161,-0.24771970505273486],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0934435638530881,0.022569469499305567,0.49298083470274756],[0.32664797709496,0.07889544503723386,0.48641683255352863],[0.38009065512955564,0.0918034810980091,0.4849125820609993],[0.4335532888993097,0.10471630138823207,0.48483601474708826],[0.4334989319428766,0.10470417208343329,0.4448360535195914]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4334989319428766,0.10470417208343329,0.4448360535195914],"end_effector_quaternion":[0.9999981542248456,-0.00015283287063266575,0.0006791895190993334,-0.0017907793311726758],"end_effector_velocity":[0.02786409969116306,0.06743542888667989,0.0036532015683971436],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4594938842186061,0.10461352852897592,0.4528007635637592],[0.4075564413347221,0.10479955733133997,0.45287128625511874]],"gripper_width":0.03993782391939442,"jaw_actuator_force":[-0.8266237023593161,-0.7921723208895637],"joint_actuator_torque":[-0.1783504541430574,-1.6467624405967172,-0.9265629085729188,-0.002670433385077718,-0.09488665905216465,0.015551723549492635],"joint_position":[0.23699160961652854,-1.2203432773764031,1.2476966972189922,2.429864858791456e-05,-0.025961286420381504,-0.24057252339996824],"joint_velocity":[0.13227075272387373,0.16100132386918178,-0.22561260500331085,0.0005307276369611976,0.06320717932690198,-0.11744953062576224],"object_angular_velocity":[0.0006666163351227098,0.0010865571219479749,0.02044892001820113],"object_position":[0.43350442810805934,0.10466901363916489,0.4370307577357618],"object_quaternion":[0.999998176014589,-0.00022770527925630317,0.0006853912790446856,-0.0017681506145670706],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030244599291689395,0.06474705771468735,0.00046106832359442927],"pad_normal_forces":{"left":0.8187429416524236,"right":0.8000488489036645},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.58},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2506696896953452,-1.2034914419250045,1.223811130933797,1.872855587113601e-05,-0.020369828923493212,-0.25064373218028246],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09432353079445113,0.023078876965635098,0.49262223244895575],[0.3273695073658226,0.08010006113173251,0.4864450680354239],[0.38077587699676185,0.09316741583646318,0.48502946785732287],[0.4341999001006037,0.10623905646429449,0.4849522234594745],[0.4341451010338867,0.10622664897360154,0.44495226292053813]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4341451010338867,0.10622664897360154,0.44495226292053813],"end_effector_quaternion":[0.999998164105686,-0.0001563146513035589,0.0006847109068532052,-0.0017828409804767926],"end_effector_velocity":[0.02785084544954785,0.06744200290075587,0.003659380038142367],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4601401636931856,0.10613647335696716,0.4529166861196571],[0.4082027181743699,0.10632167789833545,0.4529877818302567]],"gripper_width":0.039937824389765814,"jaw_actuator_force":[-0.8266175941603144,-0.7921663317474854],"joint_actuator_torque":[-0.17827319190730861,-1.652340871948354,-0.9259681278795142,-0.002681529425375191,-0.09498181879093126,0.015482728589599759],"joint_position":[0.2399633246929168,-1.216631743727605,1.2423727713594566,2.4306069175709652e-05,-0.02433658358009141,-0.243528400890717],"joint_velocity":[0.13171359811666436,0.161931212683126,-0.22739170453406374,0.0005329743426866594,0.0640151244472341,-0.11692901751539822],"object_angular_velocity":[0.0006707303920896432,0.0010945515075968357,0.020412158614765873],"object_position":[0.43415050535536304,0.10619053869005501,0.4371397848473146],"object_quaternion":[0.9999981853897438,-0.00023100743220465372,0.0006910104771782792,-0.0017602151308766707],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030226989008292026,0.06475110649272793,0.00044158207964098114],"pad_normal_forces":{"left":0.818732128927569,"right":0.800047525776057},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.6},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2535803191391375,-1.199679832852655,1.2183013282916408,1.871297467520436e-05,-0.0186722321316542,-0.2535545089955895],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09520574227291301,0.02359348582646391,0.49225791516143064],[0.32809147858374577,0.08130624755342658,0.48647250620370774],[0.3814611264883116,0.09453208878252219,0.4851466833175629],[0.43484624123392346,0.10776173167973092,0.4850687576466333],[0.4347909981092169,0.1077490432679859,0.4450687978066362]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4347909981092169,0.1077490432679859,0.4450687978066362],"end_effector_quaternion":[0.9999981738659849,-0.00015983057414821773,0.0006902566362883287,-0.001774898492677976],"end_effector_velocity":[0.027838961088285888,0.06744787768735372,0.0036637909934386153],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46078616999430816,0.1076593363539173,0.45303293289552954],[0.4088487218740866,0.10784371621129574,0.453104604153385]],"gripper_width":0.039937824848001825,"jaw_actuator_force":[-0.8266121945194707,-0.792159961687422],"joint_actuator_torque":[-0.17819372074997375,-1.657945608250884,-0.9253689866269497,-0.0026926820603693953,-0.09507790064431809,0.015413646199331055],"joint_position":[0.2429218778897561,-1.212898827226589,1.2370070331199148,2.4313654115207887e-05,-0.022691375045466398,-0.24647110874727957],"joint_velocity":[0.1311558390831481,0.16287182357306632,-0.22918760556880258,0.0005352253297394775,0.06482877540441408,-0.11640783725976306],"object_angular_velocity":[0.0006745259660641477,0.0011039318312547062,0.02037523526370855],"object_position":[0.4347963086927831,0.10771199567583617,0.4372491571507545],"object_quaternion":[0.9999981946422511,-0.00023433388098527042,0.0006966555952951598,-0.001752275906584825],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030210881979194172,0.06475424397833648,0.000420000085801469],"pad_normal_forces":{"left":0.8187217752503727,"right":0.8000460706277499},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.62},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2564776081621348,-1.195845332405599,1.2127477877602402,1.869659716649993e-05,-0.01695379682063397,-0.25645194624334344],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0960902201577413,0.024113295804699956,0.4918877976452356],[0.3288139210396155,0.08251398872555021,0.4864990951846726],[0.382146435825045,0.09589748085324507,0.4852641842041269],[0.4354923514176205,0.10928430684230332,0.4851855742271368],[0.4354366631110381,0.10927133497244731,0.4451856150953689]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4354366631110381,0.10927133497244731,0.4451856150953689],"end_effector_quaternion":[0.999998183520526,-0.00016337814090726144,0.0006958164156517878,-0.0017669472960505598],"end_effector_velocity":[0.02782889707886373,0.06745290089911092,0.0036659356430274403],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4614319421758522,0.10918209772627659,0.453149461344669],[0.4094944914856949,0.10936565200151144,0.4532217096093598]],"gripper_width":0.03993782529309664,"jaw_actuator_force":[-0.826607642202231,-0.7921531045970704],"joint_actuator_torque":[-0.17811127851821595,-1.6635787966064868,-0.9247655673122495,-0.002703881180589061,-0.09517480712415627,0.015344387626409883],"joint_position":[0.24586724553052164,-1.2091442510191186,1.2315990649132795,2.4321311114078584e-05,-0.021025541104842442,-0.24940061415603518],"joint_velocity":[0.13059691379780825,0.16382494507498901,-0.2310011873830373,0.0005374746588203488,0.06564723687362946,-0.11588532189177643],"object_angular_velocity":[0.0006779413206131638,0.0011149330094997203,0.02033821033234091],"object_position":[0.43544187755544844,0.1092333647886612,0.43735883237701123],"object_quaternion":[0.999998203787756,-0.000237681377095979,0.0007023158438126112,-0.0017443283181262856],"object_size":[0.04,0.04,0.04],"object_velocity":[0.03019678689074423,0.06475631596411584,0.00039580591110664287],"pad_normal_forces":{"left":0.8187119846747791,"right":0.8000444122745223},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.64},{"goal":[0.44,0.12,0.316],"joint_targets":[0.24962210508746463,-1.2039303540599575,1.2446515104751632,-2.0126917064239133e-06,-0.040601665575690046,-0.24963131762244298],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.0969769991595618,0.024638308010715548,0.4915117882856822],[0.3295368782836734,0.08372326611884319,0.48652477042533654],[0.382831850582949,0.09726356901862244,0.485381912165674],[0.4361382833473284,0.11080675690559272,0.48530261654840123],[0.4360821499389308,0.11079349934508369,0.44530265813245345]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4360821499389308,0.11079349934508369,0.44530265813245345],"end_effector_quaternion":[0.9999981930925604,-0.00016695351305353267,0.0007013752043844007,-0.0017589800913033811],"end_effector_velocity":[0.027821300664968667,0.0674568568622307,0.003665088787188932],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46207753273377683,0.1107047330547989,0.45326621559601793],[0.41014007950202663,0.11088746009104837,0.4533390407656933]],"gripper_width":0.03993782572341041,"jaw_actuator_force":[-0.8266041209726538,-0.7921456269944365],"joint_actuator_torque":[-0.1780247849366816,-1.6692434706638437,-0.9241580971127519,-0.0027151127420428365,-0.09527238069142285,0.015274829415151459],"joint_position":[0.2487993862690195,-1.2053676863455327,1.2261484230535016,2.4328906885385057e-05,-0.019338997718352707,-0.25231686117801244],"joint_velocity":[0.13003600961322975,0.1647930398447171,-0.23283349560466962,0.0005397141563036073,0.06646909539225317,-0.11536054182389707],"object_angular_velocity":[0.0006808971846639321,0.001127874021929901,0.02030113838523633],"object_position":[0.4360872650099617,0.11075462145110168,0.4374687548440786],"object_quaternion":[0.9999982128508167,-0.00024104497179357426,0.0007079753332511227,-0.0017363650028847022],"object_size":[0.04,0.04,0.04],"object_velocity":[0.030185437466138075,0.06475710497015608,0.0003682520796005675],"pad_normal_forces":{"left":0.8187029016447769,"right":0.8000424569075852},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.66},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2501182214962485,-1.2030273604942603,1.2464817520861802,3.462579167126247e-07,-0.04335536737722141,-0.2501222147123383],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09706008099778006,0.02471271681675122,0.4914739419220191],[0.32957103794944204,0.08391292947750181,0.4856438717385425],[0.38285479891753127,0.09747964487892383,0.48430781398816247],[0.43615420472663047,0.11105028929157731,0.4844124592091525],[0.4362275965012726,0.11107048459493696,0.44441253163675387]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4362275965012726,0.11107048459493696,0.44441253163675387],"end_effector_quaternion":[0.9999989939512013,0.000253406390024706,-0.0009171315164541532,-0.0010520226081770858],"end_effector_velocity":[0.0054083547690987575,0.0034295797864130825,-0.08705176892884445],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4623167874134652,0.11101150952080023,0.452460384733934],[0.4103808103595473,0.1111208096213158,0.45236514790711285]],"gripper_width":0.039936179384993664,"jaw_actuator_force":[-0.8219617541693438,-0.794371309467448],"joint_actuator_torque":[0.0093037836400498,-1.461844704693192,-1.1121676875987987,0.0016600573967691875,-0.028184086881540615,-0.006705455725587228],"joint_position":[0.24931517325467695,-1.2049896285051462,1.2292839773488535,3.656715105302233e-05,-0.02619699039079305,-0.2514182967470119],"joint_velocity":[0.004538833203855676,0.0209833229672487,0.279976298230431,-0.0013826425425561035,-0.37007762802223504,0.049887922418527526],"object_angular_velocity":[0.005718949665137402,-0.013180456725405208,0.0360225103020518],"object_position":[0.4363581901021501,0.11085096467172648,0.43623310941343724],"object_quaternion":[0.9999989036641223,0.00027493220790475215,-0.0011044603879982154,-0.0009472328581150255],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0016606474642895557,0.002829693957757482,-0.09008934560344148],"pad_normal_forces":{"left":0.8137018111604599,"right":0.8050028345328524},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.68},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2503285316855983,-1.202117278084911,1.25132455028894,-2.536492665751813e-07,-0.04911341604404314,-0.25033006962932297],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09722980709046097,0.024777835398314213,0.49140471205799985],[0.3296904108882485,0.08401759684446651,0.4841439720288429],[0.38296263259190816,0.09759337550920974,0.4824800524388278],[0.43625906954255805,0.11117528582765757,0.48262675099724756],[0.43636224745686186,0.11120244741608973,0.44262689329042426]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43636224745686186,0.11120244741608973,0.44262689329042426],"end_effector_quaternion":[0.9999988889535015,0.0003403789148737037,-0.001289498702086794,-0.0006659031866470721],"end_effector_velocity":[0.005569829464112707,0.006103263592714348,-0.08048092594178312],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46234558425537164,0.1111623599075171,0.45069391742891435],[0.410409122079743,0.11123157502527885,0.45055999655623724]],"gripper_width":0.039936680957230665,"jaw_actuator_force":[-0.8047097023455487,-0.8129634997965862],"joint_actuator_torque":[-0.016269729298301172,-1.7326377396890962,-1.2354542371061825,-0.00040071836691894184,-0.0634016051688624,-0.0027748609865412277],"joint_position":[0.24952672907772303,-1.204299035929839,1.2345567361374026,2.103813269605629e-05,-0.03292494989413409,-0.25085787222132927],"joint_velocity":[0.010115417180404356,0.035205840928645635,0.22590529271765108,-0.00041796371845033637,-0.26191068467166023,0.020542495374778032],"object_angular_velocity":[-0.004752377149212526,0.01735301021417132,0.026979340632134453],"object_position":[0.4364142630125936,0.11099283255076131,0.43445255629149654],"object_quaternion":[0.9999989598988938,0.00032160187347251445,-0.0012472007891580956,-0.0006490481932725015],"object_size":[0.04,0.04,0.04],"object_velocity":[0.003658291807935269,0.006303588531666539,-0.07857037503633407],"pad_normal_forces":{"left":0.8082299271891707,"right":0.8093162274016023},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.7},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2505502374250237,-1.2012187727265717,1.2561003848743166,-8.568807485639768e-07,-0.054790957600787005,-0.2505503254544133],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09740855982620492,0.024846477551010528,0.4913316380117261],[0.3298111734568308,0.08412654834429711,0.4826772527419933],[0.3830701057471826,0.09771156456775862,0.4806939561176795],[0.43636344761125867,0.1113053283456181,0.4808651265312205],[0.4364839419695982,0.111336610068476,0.44086532024964675]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4364839419695982,0.111336610068476,0.44086532024964675],"end_effector_quaternion":[0.9999986923293315,0.0003916851354833483,-0.0015060089917741833,-0.0004402945586361666],"end_effector_velocity":[0.0054614504236701784,0.0059713968042859,-0.080903158672809],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46242943535580394,0.1113074544627787,0.4489434937104179],[0.4104919504324554,0.11135325148637705,0.4487870744201402]],"gripper_width":0.03993774065672092,"jaw_actuator_force":[-0.8069388997926294,-0.8085840862725728],"joint_actuator_torque":[-0.015038364881817756,-1.731232017674813,-1.2305511064014354,-0.0003294570956380162,-0.0647446073205673,-0.001139312249240021],"joint_position":[0.249749296105921,-1.203571441607519,1.2396391997127216,1.3252121765889075e-05,-0.03917995246973779,-0.2506293878389199],"joint_velocity":[0.009870165105764103,0.038041570536052775,0.22147451521016992,-0.00025528148491751147,-0.24914894598326986,0.008361593397810523],"object_angular_velocity":[-0.007020319359670978,0.02515178879940605,0.017305955539803384],"object_position":[0.4365107913845363,0.11112888460517156,0.43268394039932223],"object_quaternion":[0.9999987897725295,0.0003697757060187501,-0.0014435880893574403,-0.0004469595406039316],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0052536923896177225,0.006123758657079262,-0.0791136113083272],"pad_normal_forces":{"left":0.8082378347777179,"right":0.8072053947768241},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.72},{"goal":[0.44,0.12,0.316],"joint_targets":[0.250771351064838,-1.2002982011024288,1.2608589424603622,-1.2905282280882584e-06,-0.06047212959853206,-0.25077062091223934],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09759991930148453,0.024918310062550273,0.49125338959709286],[0.32993714076985453,0.08423650381778013,0.481215092432004],[0.383181087356356,0.09783025655335363,0.47891464933167116],[0.4364713712772515,0.11143581895114053,0.4790998828876913],[0.4366018196031117,0.11146945753837684,0.43910010974233793]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4366018196031117,0.11146945753837684,0.43910010974233793],"end_effector_quaternion":[0.9999985340728624,0.00042098858666120954,-0.001630475910076767,-0.0003101113397374122],"end_effector_velocity":[0.005291752706939008,0.005926608789601186,-0.08095793574686112],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4625397808486115,0.11144659061833632,0.4471847254533994],[0.4106020894771848,0.11147887498436815,0.4470153720207345]],"gripper_width":0.03993797751028641,"jaw_actuator_force":[-0.8080492904026286,-0.8056422280038094],"joint_actuator_torque":[-0.014464375814810637,-1.7347019674245416,-1.2289667947600833,-0.00029940942905273615,-0.06598167945464706,-0.00016847579233925103],"joint_position":[0.24997075060973492,-1.2027938491267296,1.244632292300626,8.092093819736937e-06,-0.045206332378914436,-0.2505906221019607],"joint_velocity":[0.009851249911249506,0.04008537167930497,0.21760265056131428,-0.0001487410840883418,-0.24011883954632351,0.0011307367668886687],"object_angular_velocity":[-0.008517033024168464,0.031051435283697085,0.01116818621671614],"object_position":[0.4366252217800451,0.111263241368968,0.43091146807923564],"object_quaternion":[0.9999986469775393,0.00039747206001586603,-0.0015632769629505485,-0.0003228377122090067],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00560589183515,0.006059459024813268,-0.07919769102287025],"pad_normal_forces":{"left":0.8080681024507181,"right":0.8055786249007896},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.74},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2509924815776118,-1.1993537436511172,1.2655892984151258,-1.567353718934172e-06,-0.06614832001975537,-0.25099129100635],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0978013081339857,0.02499276846607529,0.49117095101041075],[0.330065742246232,0.08434709956273852,0.47975622251667527],[0.38329300839695507,0.0979491337723905,0.4771403472368609],[0.43658025323330574,0.11156648155986394,0.4773336785219961],[0.436716433138319,0.11160147748537338,0.4373339256437761]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.436716433138319,0.11160147748537338,0.4373339256437761],"end_effector_quaternion":[0.9999984278907205,0.0004378496492681636,-0.0017021486229961962,-0.0002349336874991545],"end_effector_velocity":[0.005153362876777201,0.005893651775539495,-0.08098206443053708],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4626534630364672,0.11158223978416491,0.4454222613395414],[0.41071571636231785,0.11160672115992072,0.4452454597307461]],"gripper_width":0.03993805336874639,"jaw_actuator_force":[-0.8076965084652477,-0.8046055066520621],"joint_actuator_torque":[-0.014302249850970838,-1.7368500191623184,-1.2275991996530138,-0.000295480749240511,-0.0667631239144395,0.00039155352720854353],"joint_position":[0.2501919175596325,-1.2019763096950453,1.249555627996747,4.745062023431346e-06,-0.0510944398163105,-0.25066155165272025],"joint_velocity":[0.009843915824447259,0.04178894542712636,0.21466123602024118,-7.690018244369249e-05,-0.23475054729025033,-0.00303903229692287],"object_angular_velocity":[-0.009371793284079985,0.03475533257189174,0.007375659425813029],"object_position":[0.43674086219709246,0.11139649741494764,0.42913771678632323],"object_quaternion":[0.999998543707623,0.00041413485830316956,-0.0016371035067822024,-0.0002469150851305629],"object_size":[0.04,0.04,0.04],"object_velocity":[0.005500326532649502,0.006013749752633765,-0.07925368665764052],"pad_normal_forces":{"left":0.8074801511398384,"right":0.8047849007920971},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.76},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25121375059506146,-1.1983835013147395,1.2702869659982503,-1.7339493541855745e-06,-0.07181721833050018,-0.2512123022680724],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0980115109843605,0.025069573516657076,0.49108477588372623],[0.3301957727376863,0.08445811228089016,0.4782992349287148],[0.3834046660561568,0.09806798574769357,0.4753692151265247],[0.4366888813206839,0.11169711676604789,0.47556718312411267],[0.4368283415587872,0.11173289595534566,0.43556744224130695]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4368283415587872,0.11173289595534566,0.43556744224130695],"end_effector_quaternion":[0.9999983621811559,0.0004475744064598157,-0.0017431701233276322,-0.00019149432831717825],"end_effector_velocity":[0.005032447482230189,0.005867113475601795,-0.08098180268507311],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46276498190286475,0.11171575543601012,0.44365790756987633],[0.4108271985527814,0.11173572815169382,0.4434768428713272]],"gripper_width":0.03993810280184125,"jaw_actuator_force":[-0.8070300772497729,-0.8040856438576025],"joint_actuator_torque":[-0.014277955905129147,-1.738603590041862,-1.2263793475030411,-0.0002967380814685649,-0.06726142524440881,0.000715360815785715],"joint_position":[0.25041303353370276,-1.201123559703754,1.2544218776159888,2.6146981814805106e-06,-0.05689774382266788,-0.25079587882084914],"joint_velocity":[0.009843177735656296,0.04329473741568683,0.21223400193986341,-3.025954393584366e-05,-0.23144847368543706,-0.005449447222456413],"object_angular_velocity":[-0.009866794078302637,0.03706387188098145,0.005045172414616754],"object_position":[0.4368536214164052,0.11152900366500396,0.4273634795750812],"object_quaternion":[0.9999984752919024,0.0004244471714280745,-0.0016819543277616256,-0.00020071897659454144],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0053395460606476906,0.00597779059042535,-0.07928344783500299],"pad_normal_forces":{"left":0.8068340918412363,"right":0.8042478940013804},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.78},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25143517812943755,-1.1973863798576783,1.2749493604565387,-1.8304137194335845e-06,-0.07747749483762972,-0.2514335872187649],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09822982735112817,0.025148561477328687,0.49099511657153405],[0.3303265535762537,0.08456940080441987,0.4768433135329396],[0.38351538666951157,0.09818667648354493,0.47360019200326176],[0.4367965762990783,0.11182759254132135,0.4738007930073721],[0.4369378970186652,0.11186382549902112,0.4338010590629195]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4369378970186652,0.11186382549902112,0.4338010590629195],"end_effector_quaternion":[0.9999983233075829,0.0004532066593844721,-0.0017664365447614566,-0.00016639615507213417],"end_effector_velocity":[0.004922784209490255,0.005843858824412252,-0.08096866577859735],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46287412234496383,0.11184789651256727,0.44189273160558346],[0.4109363044442492,0.111865264258099,0.4417092488723006]],"gripper_width":0.039938144901794315,"jaw_actuator_force":[-0.8064236177262254,-0.8036397023693596],"joint_actuator_torque":[-0.014277135435918353,-1.740229209431618,-1.2252152259797526,-0.0002961759237537617,-0.06757715026219469,0.0009028467399119222],"joint_position":[0.2506341882561476,-1.200238319250816,1.2592383892428698,1.2708553473154769e-06,-0.06264736906246614,-0.25096690387058634],"joint_velocity":[0.009844973955546517,0.04468751621931397,0.2101092403715532,-9.720119076565342e-07,-0.2293516079728143,-0.006844908898818951],"object_angular_velocity":[-0.010155671200792454,0.03848722656824827,0.0036209516615444627],"object_position":[0.43696353852896636,0.11166093541075948,0.4255892246847959],"object_quaternion":[0.9999984320861484,0.00043111902426442276,-0.001708835201353601,-0.00017275382927007534],"object_size":[0.04,0.04,0.04],"object_velocity":[0.005203896581838047,0.005946920779088159,-0.07929900439990092],"pad_normal_forces":{"left":0.8062564103654205,"right":0.803775500639028},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.8},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25165675862608383,-1.1963617713663246,1.2795750968295807,-1.8842705363296753e-06,-0.08312846552172469,-0.2516550906788325],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09845584681425595,0.025229636779032664,0.4909021112526419],[0.3304577027195954,0.08468088062030397,0.47538797375796177],[0.38362479469790234,0.09830512400059532,0.47183265058209756],[0.4369029593301844,0.1119578284646201,0.47203472540350266],[0.4370453187239091,0.11199432607472201,0.4320349953828203]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4370453187239091,0.11199432607472201,0.4320349953828203],"end_effector_quaternion":[0.9999983010899145,0.0004564912095439038,-0.0017794261003179128,-0.0001519072539208614],"end_effector_velocity":[0.004819950985374477,0.005822474977375361,-0.08094816579984164],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.462981242950553,0.11197909597392915,0.4401273416666314],[0.41104339203216655,0.11199495989837054,0.4399425088697862]],"gripper_width":0.039938182225097416,"jaw_actuator_force":[-0.8059173928988912,-0.8032106369631551],"joint_actuator_torque":[-0.014277284007746971,-1.7418085966712056,-1.2240700822820259,-0.00029346250810946344,-0.06778343875171977,0.0010115644996204765],"joint_position":[0.2508554181190607,-1.1993221687842865,1.2640095124263135,4.2586774338975613e-07,-0.06836143957003056,-0.2511592048309711],"joint_velocity":[0.009848142563494863,0.04601345259713324,0.20816375158095354,1.7062124786408244e-05,-0.22795537487292736,-0.0076540549970490705],"object_angular_velocity":[-0.010326311804584046,0.03935798729532076,0.0027554706088665647],"object_position":[0.43707111047046854,0.11179238781933153,0.4238152130569212],"object_quaternion":[0.9999984056896773,0.00043570165054002477,-0.0017246665684798222,-0.00015590831185418753],"object_size":[0.04,0.04,0.04],"object_velocity":[0.005087982547018231,0.005918962076360633,-0.07930625070845575],"pad_normal_forces":{"left":0.8057582269940997,"right":0.8033401762464749},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.82},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25187848775973143,-1.195309376469666,1.2841634805254043,-1.9128598824382776e-06,-0.0887697890192268,-0.2518767800504651],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09868931684403086,0.025312742383586252,0.4908058354674617],[0.3305890004327836,0.08479250308346295,0.4739329335676181],[0.38373267792187277,0.09842328157718469,0.4700662268822373],[0.4370078161808322,0.11208777877557313,0.4702691056736292],[0.43715073912358837,0.1121244326606671,0.43026937780549057]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43715073912358837,0.1121244326606671,0.43026937780549057],"end_effector_quaternion":[0.999998288870081,0.00045843080914835695,-0.0017864740303421395,-0.00014355710452756902],"end_effector_velocity":[0.004721251744390036,0.005802234195805183,-0.08092331845779475],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46308650246657235,0.11210960458673026,0.43836208966543644],[0.4111486208178876,0.11212460183299429,0.4381765242735197]],"gripper_width":0.03993821530997044,"jaw_actuator_force":[-0.8054880066917232,-0.8028125701899249],"joint_actuator_torque":[-0.014277767809559805,-1.743364643949576,-1.2229245009190208,-0.00028940982740611586,-0.06792605736947621,0.001074736955835931],"joint_position":[0.2510767441078334,-1.198376066561124,1.268737867776328,-1.0451076588245648e-07,-0.0740505148783794,-0.2513638663459848],"joint_velocity":[0.00985223375323606,0.04729858377734244,0.20632645823576784,2.7961148564627592e-05,-0.22696727063251446,-0.00812423127608581],"object_angular_velocity":[-0.010428977277517775,0.039886731116090236,0.0022323852567105056],"object_position":[0.4371766157729416,0.11192341624266812,0.4220415952153596],"object_quaternion":[0.9999983900206045,0.00043908608309330854,-0.0017337528074069504,-0.0001458108790373802],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00498106949902282,0.005892752291959645,-0.0793084587731799],"pad_normal_forces":{"left":0.8053262439678431,"right":0.8029460209031329},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.84},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25210036497620225,-1.194229077135953,1.288714212864932,-1.9266731440101243e-06,-0.094401315902697,-0.25209863865720816],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.098930074038843,0.02539784326581306,0.4907063290526609],[0.3307203192178725,0.08490424083800092,0.47247802995959925],[0.38383891707140005,0.09854112361496065,0.4683007114174393],[0.43711102633699545,0.11221741861552194,0.4685040078809715],[0.43725423867456287,0.11225416684994668,0.4285042811344844]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43725423867456287,0.11225416684994668,0.4285042811344844],"end_effector_quaternion":[0.999998282537009,0.0004596021116388483,-0.0017900935199820095,-0.00013875921959632096],"end_effector_velocity":[0.0046251206632258535,0.005782717895888764,-0.08089585688002326],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4631899392678019,0.1122395688614159,0.4365971808162687],[0.4112520295989119,0.11225406811960124,0.43641123913029045]],"gripper_width":0.03993824453437804,"jaw_actuator_force":[-0.8051166912978669,-0.802454068805174],"joint_actuator_torque":[-0.014279462501633589,-1.7449078922765011,-1.2217670580898812,-0.0002845983204952449,-0.06803174182646465,0.0011115730390862666],"joint_position":[0.2512981809716402,-1.1974006188784976,1.2734250772643199,-4.36814770358969e-07,-0.0797207661396922,-0.25157573386727633],"joint_velocity":[0.009856977482480612,0.04855786013793902,0.20455624220064964,3.434972764410462e-05,-0.22621780873624986,-0.008398426127841705],"object_angular_velocity":[-0.010492535309760027,0.04020510716480813,0.0019179645362263167],"object_position":[0.4372801777254844,0.11205405412646756,0.4202684595785081],"object_quaternion":[0.9999983810173916,0.0004417843379135651,-0.0017387489810838002,-0.00013978975081502558],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004878210297975299,0.0058676173132010566,-0.07930750062012076],"pad_normal_forces":{"left":0.8049486994654053,"right":0.8025946862532158},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.86},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25232239186303035,-1.1931208583575872,1.2932272207440285,-1.9319268423707974e-06,-0.1000230062063558,-0.25232065890230576],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09917800625692551,0.025484917024911083,0.49060361102474137],[0.3308515849574055,0.08501607874992972,0.4710231688493934],[0.3839434467429322,0.09865863664524649,0.46653598418420944],[0.4372125236236021,0.1123467350971273,0.4667394763287702],[0.43735586771112445,0.11238354246328867,0.42673975010857756]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43735586771112445,0.11238354246328867,0.42673975010857756],"end_effector_quaternion":[0.9999982796243924,0.0004603365765423233,-0.001791741562830892,-0.0001360171457077868],"end_effector_velocity":[0.00453065699636266,0.005763677930956265,-0.08086679738950205],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4632915622264811,0.11236907492810712,0.4348327353997939],[0.411353627334206,0.112383289572161,0.43464662230891066]],"gripper_width":0.0399382702928478,"jaw_actuator_force":[-0.8047928934789512,-0.8021350828263367],"joint_actuator_torque":[-0.014282354499542294,-1.7464452584478067,-1.2205909197334677,-0.00027934226346082577,-0.06811580100555048,0.0011331852439973034],"joint_position":[0.25151973953223333,-1.1963962291941088,1.2780721841670195,-6.446785156609184e-07,-0.08537582058800122,-0.25179182807482087],"joint_velocity":[0.009862191260968217,0.049799925363257266,0.202829270831533,3.788523079399157e-05,-0.22560874976380246,-0.00855934758849585],"object_angular_velocity":[-0.010533584916172456,0.040394747691244674,0.0017300171961155653],"object_position":[0.4373818572298173,0.11218432218223173,0.4184958587241996],"object_quaternion":[0.9999983760800376,0.00044409048704561956,-0.001741282466475737,-0.0001362215054715902],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004777612188856934,0.005843159753548104,-0.07930446776241329],"pad_normal_forces":{"left":0.8046173965481767,"right":0.8022838605028798},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.88},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25254457104636957,-1.1919847630491673,1.2977025587875641,-1.9322630831561193e-06,-0.10563488219834961,-0.2525428381871925],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.09943303099556208,0.025573948513092977,0.49049768809815814],[0.3309827545176128,0.08512800865069588,0.4695682958951183],[0.38404623282474937,0.09877581409889655,0.4647719768485883],[0.43731227344536444,0.11247572210993513,0.46497553787645424],[0.4374556591735581,0.11251256873132959,0.4249758118416494]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4374556591735581,0.11251256873132959,0.4249758118416494],"end_effector_quaternion":[0.9999982786756026,0.000460824557638843,-0.0017922627226163253,-0.00013446520786678594],"end_effector_velocity":[0.004437338167911361,0.005744968226610029,-0.08083673575993545],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4633913784699052,0.11249817386879174,0.43306882431162996],[0.41145342104798727,0.11251222742508277,0.4328826569360513]],"gripper_width":0.03993829297305736,"jaw_actuator_force":[-0.8045097711523157,-0.8018524215053864],"joint_actuator_torque":[-0.014286136695687901,-1.747981237745762,-1.2193920917718515,-0.00027381606426952847,-0.0681870288745543,0.0011460017303619452],"joint_position":[0.2517414279437968,-1.1953631832964646,1.2826798953188017,-7.746121260320832e-07,-0.09101783006974318,-0.2520104277995036],"joint_velocity":[0.009867757771961973,0.05102978633150613,0.20113168865874673,3.961877972507928e-05,-0.22508310223343475,-0.008654833667331876],"object_angular_velocity":[-0.010561667645897598,0.04050594062636248,0.001618393778138878],"object_position":[0.43748169147573746,0.11231423363924672,0.4167238243726925],"object_quaternion":[0.999998373585143,0.00044617328610256884,-0.001742345281711317,-0.00013412452133924356],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004678529141180045,0.00581914663198977,-0.07929999873519443],"pad_normal_forces":{"left":0.8043261295943083,"right":0.8020097969278852},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.9},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25276690572835026,-1.1908208665802502,1.3021403531774183,-1.929802267439685e-06,-0.11123700086520784,-0.2527651767452448],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.09969508289450921,0.02566492675370055,0.4903885596207792],[0.33111380267871804,0.0852400263499514,0.4681133796768456],[0.3841472592959326,0.09889265334075889,0.4630086509396941],[0.4374102594706476,0.11260437739103206,0.4632122091806619],[0.4375536358619933,0.11264125219344301,0.4232124831383582]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4375536358619933,0.11264125219344301,0.4232124831383582],"end_effector_quaternion":[0.9999982788380806,0.00046117525943129587,-0.001792146362150149,-0.00013360266899860518],"end_effector_velocity":[0.004344857174032482,0.0057265037140727445,-0.08080601997231371],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46348939657058674,0.11262689644503888,0.4313054897271897],[0.41155141912042004,0.1126408604689775,0.4311193343307227]],"gripper_width":0.039938312934091565,"jaw_actuator_force":[-0.804261952203964,-0.8016023507210948],"joint_actuator_torque":[-0.014290560530838547,-1.7495185343508979,-1.2181682990352556,-0.00026812550524937036,-0.06825051502698898,0.0011537404148498354],"joint_position":[0.25196325266512887,-1.1943016985243395,1.2872487210228027,-8.559246602515023e-07,-0.09664808987465441,-0.25223053947967233],"joint_velocity":[0.009873605766499984,0.05225035116187584,0.19945540057259228,4.0218583664043515e-05,-0.22460776961090417,-0.008712549368435166],"object_angular_velocity":[-0.010582264509742222,0.04056948472461204,0.0015526598091620775],"object_position":[0.43757970622775005,0.1124437973599741,0.4149523761078966],"object_quaternion":[0.9999983725351236,0.0004481294812622838,-0.0017425391278205284,-0.00013290771377262166],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004580546504202349,0.005795442746092229,-0.07929446741064172],"pad_normal_forces":{"left":0.8040697594835262,"right":0.8017685898015111},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.92},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2529893994927781,-1.1896292623655786,1.3065407693920845,-1.925774380262696e-06,-0.11682943790607317,-0.25298767647500997],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.0999641065171257,0.02575784317210869,0.4902762204338956],[0.3312447145180246,0.08535212993359248,0.4666584019883959],[0.3842465205182306,0.09900915398309919,0.4612459852613022],[0.4375064758530226,0.11273270086801859,0.46144950094468723],[0.43764981458643765,0.11276959782103212,0.42144977478784507]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43764981458643765,0.11276959782103212,0.42144977478784507],"end_effector_quaternion":[0.9999982796156682,0.0004614512500657655,-0.0017916758124894953,-0.00013313989151136148],"end_effector_velocity":[0.004253031081652215,0.0057082349822862345,-0.08077485313340695],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46358562554644916,0.1127552616482986,0.42954275712634127],[0.41164763034279717,0.1127691776340969,0.42935665052746247]],"gripper_width":0.039938330499693475,"jaw_actuator_force":[-0.8040448810341658,-0.8013812868239247],"joint_actuator_torque":[-0.014295479503445563,-1.7510587001403906,-1.2169182749533434,-0.00026233767966541566,-0.06830921995143946,0.0011585515293504045],"joint_position":[0.25218521914217584,-1.1932119521967117,1.2917790558937026,-9.07020206889439e-07,-0.10226739729365769,-0.2524515903093673],"joint_velocity":[0.009879693490099078,0.05346331930853954,0.1977956386189712,4.010855133155183e-05,-0.2241635050246702,-0.008748492494641439],"object_angular_velocity":[-0.010598522493205463,0.040604144640681815,0.0015144318241610616],"object_position":[0.4376759203838139,0.11257301967118755,0.41318152645705086],"object_quaternion":[0.9999983723236595,0.0004500144652243841,-0.0017422272602142584,-0.00013221643905962703],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00448340187737962,0.005771969824735912,-0.07928809352563589],"pad_normal_forces":{"left":0.8038438743315346,"right":0.8015565557338957},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.94},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25321205620272963,-1.1884100536754136,1.3109039936935236,-1.920891269339778e-06,-0.12241227847672292,-0.2532103402838197],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10024005218965101,0.025852690579627434,0.4901606625276199],[0.33137548098534686,0.0854643187872747,0.465203352218553],[0.38434401675102714,0.09912531691819387,0.4594839686060585],[0.43760092270404166,0.11286069371249537,0.4596874203947656],[0.4377442085585474,0.11289760967040227,0.4196876940660024]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4377442085585474,0.11289760967040227,0.4196876940660024],"end_effector_quaternion":[0.999998280720845,0.00046168831022350794,-0.0017910148978854097,-0.00013290934452626633],"end_effector_velocity":[0.00416174872784278,0.005690133191105628,-0.08074335414688269],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4636800742399028,0.11288328165081903,0.4277806422797794],[0.4117420633252826,0.11289717370478103,0.4275946042710293]],"gripper_width":0.03993834595842525,"jaw_actuator_force":[-0.8038546357864202,-0.8011859247198565],"joint_actuator_torque":[-0.014300814201675394,-1.752602609005919,-1.2156413355421591,-0.000256495305427576,-0.0683648708065192,0.0011616786979935512],"joint_position":[0.2524073322421029,-1.192094098000058,1.2962712255986117,-9.394123788815147e-07,-0.10787625946585964,-0.2526732508030541],"joint_velocity":[0.009885997234874454,0.05466969455511041,0.19614955822751484,3.955647603169668e-05,-0.2237390912063754,-0.008771914502222686],"object_angular_velocity":[-0.010612248046450225,0.04062130134728808,0.0014926496996645023],"object_position":[0.43777034847864116,0.11270190542578155,0.41141128383794695],"object_quaternion":[0.9999983725852638,0.00045185989307691926,-0.0017416279878883151,-0.00013183858672393694],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004386928610367836,0.005748682427388287,-0.07928100737593446],"pad_normal_forces":{"left":0.8036446510840317,"right":0.8013703212114138},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.96},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25343487993801705,-1.1871633489842783,1.3152302225348695,-1.915564187175749e-06,-0.12798561186632687,-0.2534331717100624],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10052287360247311,0.02594946258895063,0.4900418760008586],[0.33150609633591976,0.08557659303390996,0.4637482240945379],[0.38443975154566795,0.09924114376087982,0.45772259553267275],[0.4376936034624592,0.11298835779665004,0.45792597271720636],[0.43783682877444535,0.11302529125873956,0.41792624618777385]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43783682877444535,0.11302529125873956,0.41792624618777385],"end_effector_quaternion":[0.9999982819876807,0.00046190684125730974,-0.0017902581277564012,-0.00013281413055163765],"end_effector_velocity":[0.004070940464621168,0.005672181326428818,-0.08071159308186962],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46377275116651073,0.11301096466864935,0.4260191553032271],[0.4118347263602393,0.11302484684011586,0.425833195854612]],"gripper_width":0.03993835956600936,"jaw_actuator_force":[-0.8036878296478971,-0.8010132599171511],"joint_actuator_torque":[-0.01430652202016347,-1.7541507476587412,-1.2143371325868202,-0.00025062532490814757,-0.06841847849674387,0.0011638412880081717],"joint_position":[0.2526295965184766,-1.1909482754372382,1.3007255139161702,-9.602796144896207e-07,-0.11347501389744732,-0.2528953322043766],"joint_velocity":[0.009892504249194177,0.05587007959522246,0.1945154283859512,3.8730771693661924e-05,-0.2233279669853839,-0.008788166215616587],"object_angular_velocity":[-0.010624478077224567,0.04062783085789121,0.001480682219382478],"object_position":[0.43786300229258773,0.1128304586145495,0.4096416542643838],"object_quaternion":[0.9999983731011557,0.00045368379969625244,-0.0017408718927736167,-0.00013164765293287694],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004291021726539791,0.0057255540057016005,-0.07927328742995456],"pad_normal_forces":{"left":0.8034687667604385,"right":0.8012068384778926},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":8.98},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2536578749571254,-1.1858892593482864,1.3195196565368523,-1.9100302775946992e-06,-0.13354952845411328,-0.25365617470592805],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10081252642250023,0.02604815327675614,0.4899198496213464],[0.3316365566394877,0.08568895320922117,0.4622930137945115],[0.38453373023088067,0.09935663652707774,0.45596186391752846],[0.4377845233647327,0.11311569538113705,0.456165161891511],[0.4379276848134532,0.11315264578024692,0.4161654351490993]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4379276848134532,0.11315264578024692,0.4161654351490993],"end_effector_quaternion":[0.9999982833209169,0.0004621184192477891,-0.001789459812433304,-0.00013279821310907978],"end_effector_velocity":[0.0039805605824182536,0.005654369179636641,-0.08067961169511141],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46386366450584954,0.11313831661695382,0.4242583030089993],[0.4119256274201243,0.11315219713921665,0.42407242644564347]],"gripper_width":0.03993837154824817,"jaw_actuator_force":[-0.8035415278327314,-0.8008605908798225],"joint_actuator_torque":[-0.01431258055393414,-1.7557033812247482,-1.2130055122059957,-0.0002447445765816665,-0.0684706379916431,0.0011654555156823676],"joint_position":[0.25285201637283505,-1.1897746152940707,1.305142178438916,-9.740839857879818e-07,-0.11906389836168398,-0.25311772717031833],"joint_velocity":[0.00989920848888566,0.05706484496445265,0.1928921644287701,3.773692662369463e-05,-0.22292627171350263,-0.0088003432132921],"object_angular_velocity":[-0.010635807879255447,0.040627873866822116,0.0014745656568914641],"object_position":[0.4379538918562896,0.11295868271829862,0.40787264233217846],"object_quaternion":[0.9999983737412739,0.0004554964084862964,-0.0017400366635410523,-0.00013156838447483704],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004195613760503547,0.005702568894345431,-0.07926498211942838],"pad_normal_forces":{"left":0.8033133262747002,"right":0.8010633800799897},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.0},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2538810456757959,-1.184587896948304,1.3237724971001343,-1.9044259216541056e-06,-0.13910411798553501,-0.2538793535141732],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10110896748501125,0.02614875698781189,0.4897945711559565],[0.33176685891201463,0.08580140007448894,0.46083771885425984],[0.3846259590307029,0.0994717974485191,0.45420177353512103],[0.43787368855406855,0.11324270893607215,0.45440499117331823],[0.438016785297706,0.11327967623054531,0.41440526421498636]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.438016785297706,0.11327967623054531,0.41440526421498636],"end_effector_quaternion":[0.9999982846663054,0.00046232955903071434,-0.0017886509527381533,-0.00013282919529573097],"end_effector_velocity":[0.003890577095006524,0.00563669046495357,-0.08064743533322886],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46395282210640526,0.1132653420673124,0.4224980902698283],[0.41201477416517424,0.11327922581114022,0.42231229769442974]],"gripper_width":0.03993838210403773,"jaw_actuator_force":[-0.8034131778995688,-0.8007255093804027],"joint_actuator_torque":[-0.014318979060831794,-1.7572606464781302,-1.2116464337184425,-0.00023886351537522613,-0.06852170281499603,0.0011667623050115594],"joint_position":[0.2530745961544165,-1.1885732428229971,1.3095214597227678,-9.835915778884137e-07,-0.12464309145599646,-0.2533403754768071],"joint_velocity":[0.009906108071587242,0.058254225916564505,0.19127905846179752,3.6640783015577875e-05,-0.22253171168265354,-0.008810237171608105],"object_angular_velocity":[-0.01064657939228779,0.040623917093195294,0.001471937171529458],"object_position":[0.4380430260472114,0.11308658091069977,0.40610425178915605],"object_quaternion":[0.9999983744289184,0.0004573034653126115,-0.0017391682058865215,-0.00013155612359003993],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004100659127705202,0.005679717706492303,-0.07925612245368828],"pad_normal_forces":{"left":0.8031758021809323,"right":0.8009375220076225},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.02},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25410439665667,-1.183259374303116,1.3279889445385222,-1.8988292125203133e-06,-0.1446494686121587,-0.25410271259995265],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10141215431764569,0.02625126822009189,0.4896660275690505],[0.3318970006075357,0.08591393450830587,0.45938233753452895],[0.3847164445489688,0.09958662886602157,0.4524423252349511],[0.43796110555959805,0.11336940103853901,0.45264546337429384],[0.4381041381547756,0.11340638547837754,0.4126457362023752]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4381041381547756,0.11340638547837754,0.4126457362023752],"end_effector_quaternion":[0.9999982859933648,0.00046254387510735376,-0.0017878490374083613,-0.0001328883577517748],"end_effector_velocity":[0.0038009658012861805,0.005619141160147702,-0.08061507984099417],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4640402314833626,0.11339204480149298,0.42073852080973895],[0.41210217394165133,0.113405934694711,0.4205528115068523]],"gripper_width":0.03993839140828698,"jaw_actuator_force":[-0.8033005533950375,-0.8006058816961694],"joint_actuator_torque":[-0.014325713806684348,-1.7588226048421802,-1.2102599229397129,-0.00023298859654650048,-0.06857188630180211,0.0011679012261822663],"joint_position":[0.2532973402229173,-1.187344279617915,1.3138635866551533,-9.905128423871121e-07,-0.13021273614988743,-0.25356324419190907],"joint_velocity":[0.009913203743971194,0.059438377993616655,0.18967562380605174,3.5483309375958146e-05,-0.222142903045982,-0.008818885939863514],"object_angular_velocity":[-0.01065698924998865,0.04061745069522844,0.0014713916772477603],"object_position":[0.43813041293361515,0.11321415617525707,0.40433648586458576],"object_quaternion":[0.9999983751193533,0.0004591081513549172,-0.0017382933861974821,-0.00013158443152133718],"object_size":[0.04,0.04,0.04],"object_velocity":[0.004006124757303867,0.0056569946816086986,-0.0792467293246548],"pad_normal_forces":{"left":0.8030539845503963,"right":0.8008271201987972},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.04},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2543279326061177,-1.1819038038676455,1.3321691970899707,-1.8932845386697157e-06,-0.15018566637385736,-0.2543262566148444],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10172204485481648,0.026355681556265397,0.4895342051450241],[0.3320269793182594,0.0860265574437714,0.457926868455466],[0.3848051934661318,0.09970113316799152,0.4506835204641089],[0.43804678099000544,0.11349577431398165,0.4508865810241842],[0.4381897507657711,0.11353277630697281,0.4108868536439166]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4381897507657711,0.11353277630697281,0.4108868536439166],"end_effector_quaternion":[0.9999982872853742,0.000462763321713089,-0.00178706372652415,-0.00013296489575391845],"end_effector_velocity":[0.0037117068268865774,0.005601718549517319,-0.08058255557342879],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.464125899811863,0.113518428131847,0.418979597662516],[0.41218783377433305,0.1135323259807911,0.4187939699121969]],"gripper_width":0.039938399614646486,"jaw_actuator_force":[-0.8032017081910992,-0.8004998249270274],"joint_actuator_torque":[-0.014332785370342549,-1.7603892727751713,-1.2088460452542336,-0.00022712377989533627,-0.06862132030754964,0.0011689532540231085],"joint_position":[0.2535202529890648,-1.1860878447384589,1.3181687796409236,-9.959029704710999e-07,-0.135772953473364,-0.2537863162145721],"joint_velocity":[0.009920497959155951,0.060617408903547325,0.18808150523145692,3.4289924822189035e-05,-0.22175899094360685,-0.00882689160902261],"object_angular_velocity":[-0.01066715077400454,0.04060936623350856,0.0014720954895775908],"object_position":[0.4382160599699016,0.11334141137278639,0.4025693474594591],"object_quaternion":[0.999998375786917,0.00046091218018661726,-0.0017374276985255416,-0.00013163769463329946],"object_size":[0.04,0.04,0.04],"object_velocity":[0.003911984641742866,0.005634396155907776,-0.07923681773937337],"pad_normal_forces":{"left":0.8029459389573403,"right":0.8007302842495858},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.06},{"goal":[0.44,0.12,0.316],"joint_targets":[0.254551658375757,-1.1805212978527733,1.3363134504347176,-1.887816811246004e-06,-0.15571279493734658,-0.2545499903797731],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10203859726127645,0.02646199162172544,0.489399089567336],[0.33215679259493236,0.08613926983178856,0.45647131038591987],[0.38489221235889515,0.09981531275492803,0.44892536099017866],[0.4381307213512156,0.1136218314027206,0.44912834646445465],[0.43827363004666753,0.11365885143791217,0.4091286188826103]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43827363004666753,0.11365885143791217,0.4091286188826103],"end_effector_quaternion":[0.9999982885335671,0.0004629889041376965,-0.0017863001484710018,-0.0001330525853778666],"end_effector_velocity":[0.0036227826012010045,0.0055844206712485495,-0.08054986972644904],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46420983391841564,0.11364449508669174,0.41722132343729307],[0.4122717603565692,0.11365840205164693,0.41703577498610694]],"gripper_width":0.03993840685800039,"jaw_actuator_force":[-0.8031149387561323,-0.800405681889111],"joint_actuator_torque":[-0.014340197051410541,-1.7619606392261176,-1.2074048900985304,-0.00022127147212832465,-0.06867008923961748,0.0011699654956913719],"joint_position":[0.25374333894192336,-1.1848040554039592,1.322437252528956,-1.0004114178841324e-06,-0.14132385049024776,-0.25400958365069615],"joint_velocity":[0.009927994325383558,0.061791396800385076,0.18649642715854017,3.307635869994162e-05,-0.22137942872635977,-0.008834604433187081],"object_angular_velocity":[-0.010677129532399156,0.040600196683946245,0.001473554986723709],"object_position":[0.43829997410563104,0.11346834928034222,0.40080283925623555],"object_quaternion":[0.9999983764172952,0.00046271642672112925,-0.0017365798635729358,-0.0001317067188570798],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0038182166665604042,0.005611919679805015,-0.07922639927335232],"pad_normal_forces":{"left":0.8028499708203033,"right":0.8006453509253589},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.08},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25477557896713515,-1.1791119681731403,1.3404218975070685,-1.8824396995088107e-06,-0.16123093548347953,-0.2547739188791569],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1023617698182073,0.02657019305779963,0.48926066597259915],[0.3322864378364748,0.08625207261933503,0.45501566212252187],[0.3849775075906611,0.09992917001885356,0.4471678487402125],[0.43821293293564173,0.11374757494082964,0.4473707619021953],[0.4383557824904927,0.11378461354488853,0.40737103412629055]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4383557824904927,0.11378461354488853,0.40737103412629055],"end_effector_quaternion":[0.9999982897337667,0.00046322108655934464,-0.001785560812527066,-0.00013314785486423546],"end_effector_velocity":[0.0035341766641785784,0.005567245997811877,-0.08051702769081136],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4642920402712393,0.11377024851756717,0.4154637004722079],[0.41235396003904135,0.11378416538803457,0.4152782288054733]],"gripper_width":0.039938413256708875,"jaw_actuator_force":[-0.8030387523792273,-0.800321996615251],"joint_actuator_torque":[-0.014347953934404245,-1.7635366756313147,-1.2059365620439735,-0.00021543311512386916,-0.06871824978505892,0.0011709654915037504],"joint_position":[0.2539666026683643,-1.1834930274408861,1.3266692138122178,-1.0044369742719443e-06,-0.14686552495866806,-0.2542330439864707],"joint_velocity":[0.009935697281372332,0.06296040075663319,0.1849201637781079,3.185231898964674e-05,-0.221003849980408,-0.008842229185583965],"object_angular_velocity":[-0.010686963728075451,0.04059026072255412,0.0014754784895015414],"object_position":[0.43838216184410117,0.11359497261365947,0.3990369637819707],"object_quaternion":[0.9999983770028988,0.00046452128762371377,-0.0017357545801098904,-0.00013178611089501922],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00372480074671911,0.005589563508449737,-0.07921548349313397],"pad_normal_forces":{"left":0.8027645948100632,"right":0.8005708589258129},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.1},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25499969953865975,-1.1776759264694658,1.3444947284780393,-1.877160400128343e-06,-0.16674016668110334,-0.2549980472618783],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10269152084504923,0.02668028050363711,0.4891189189904475],[0.3324159122192995,0.08636496673630568,0.45355992242082854],[0.3850610852425652,0.10004270733129224,0.44541098570695753],[0.43829342175245445,0.11387300754920127,0.4456138294409522],[0.43843621418631823,0.11391006526161791,0.40561410147879245]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43843621418631823,0.11391006526161791,0.40561410147879245],"end_effector_quaternion":[0.9999982908844339,0.0004634600257642428,-0.001784846718375332,-0.00013324866891633235],"end_effector_velocity":[0.003445872952010216,0.00555019325063151,-0.08048403383884818],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4643725249695335,0.11389569116127024,0.413706730923101],[0.41243443881741826,0.11390961851543624,0.41352133342182257]],"gripper_width":0.039938418914607074,"jaw_actuator_force":[-0.8029718400418835,-0.8002474914585571],"joint_actuator_torque":[-0.014356062348213072,-1.7651173416030588,-1.2044411756959335,-0.00020960955210405847,-0.06876584234770533,0.001171969486122748],"joint_position":[0.25419004886802465,-1.1821548755893798,1.3308648674089938,-1.008223886477637e-06,-0.15239806807130823,-0.2544566978793981],"joint_velocity":[0.009943611910223858,0.06412446674955505,0.18335252182956174,3.062378122034344e-05,-0.220631994347397,-0.008849886665631615],"object_angular_velocity":[-0.010696675884880852,0.0405797492162727,0.0014776940089444245],"object_position":[0.43846262927107804,0.11372128404006532,0.39727172344444556],"object_quaternion":[0.9999983775401118,0.0004663268877507331,-0.0017349541671943234,-0.0001318727248484489],"object_size":[0.04,0.04,0.04],"object_velocity":[0.003631717715208819,0.005567326307330946,-0.07920407878175269],"pad_normal_forces":{"left":0.8026885084097818,"right":0.8005055255894761},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.12},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2552240254142511,-1.1762132841749213,1.3485321308384142,-1.8719824014971334e-06,-0.1722405647116075,-0.25522238084656595],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10302780864167535,0.026792248583042362,0.48897383277535744],[0.33254521264912784,0.0864779530872417,0.4521040899566555],[0.38514295106750235,0.10015592703612071,0.44365477389403635],[0.43837219348109996,0.1139981318272641,0.44385755109814523],[0.4385149308242469,0.11403520918635271,0.40385782295756517]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4385149308242469,0.11403520918635271,0.40385782295756517],"end_effector_quaternion":[0.9999982919855377,0.00046370570502145736,-0.0017841579997480506,-0.00013335388331619187],"end_effector_velocity":[0.003357855358240715,0.005533261292081514,-0.080450891981714],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4644512937315381,0.11402082567569681,0.41195041681450423],[0.4125132023188658,0.11403476397291812,0.4117650908454111]],"gripper_width":0.039938423922776634,"jaw_actuator_force":[-0.8029130530495161,-0.8001810462066397],"joint_actuator_torque":[-0.014364529561149197,-1.7667025881260656,-1.2029188528035206,-0.0002038012548691242,-0.06881289767894216,0.0011729872131098773],"joint_position":[0.25441368236579165,-1.1807897137296053,1.3350244132031455,-1.011921306368948e-06,-0.15792156608272603,-0.25468054788497885],"joint_velocity":[0.009951743838356774,0.06528363106634753,0.18179333069627174,2.9394412347245796e-05,-0.2202636645320301,-0.008857649274775047],"object_angular_velocity":[-0.010706279543431438,0.04056877693935619,0.0014801003759653852],"object_position":[0.43854138206556637,0.11384728618586797,0.39550712055265447],"object_quaternion":[0.9999983780276499,0.00046813319834587794,-0.0017341795422975918,-0.00013196474261246237],"object_size":[0.04,0.04,0.04],"object_velocity":[0.003538948646951627,0.005545206981834909,-0.07919219281812634],"pad_normal_forces":{"left":0.8026205689528642,"right":0.800448225787316},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.14},{"goal":[0.44,0.12,0.316],"joint_targets":[0.255448562093427,-1.1747241526083618,1.3525342895420003,-1.8669070869531966e-06,-0.17773220332352493,-0.25544692512977485],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10337059144203789,0.02690609189411482,0.4888253910340111],[0.33267433572530136,0.08659103254582386,0.4506481633049358],[0.38522311045688257,0.10026883144517384,0.44189921528368936],[0.43844925343769564,0.1141229503493262,0.4421019288146905],[0.4385919376916674,0.11416004788440666,0.4021022005034062]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4385919376916674,0.11416004788440666,0.4021022005034062],"end_effector_quaternion":[0.999998293037901,0.00046395801073506967,-0.001783494297835528,-0.0001334628716584141],"end_effector_velocity":[0.0032701074522295823,0.0055164490619681265,-0.0804176056354289],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46452835188124075,0.11414565466049865,0.41019476006873945],[0.41259025578731906,0.11415960429504642,0.41000950303551287]],"gripper_width":0.039938428361109606,"jaw_actuator_force":[-0.8028613827828934,-0.8001216793043904],"joint_actuator_torque":[-0.014373363616925872,-1.7682923593131932,-1.2013697206520533,-0.0001980084643405586,-0.06885944072151773,0.0011740246634026619],"joint_position":[0.2546375081230743,-1.1793976550629592,1.3391480474463586,-1.0156199812896709e-06,-0.16343610129185498,-0.25490459772473],"joint_velocity":[0.009960099187024861,0.06643792222065004,0.18024243673734977,2.8166454105287564e-05,-0.21989870139340287,-0.008865561599667707],"object_angular_velocity":[-0.010715783096464884,0.040557413427948524,0.0014826382647937333],"object_position":[0.4386184254994925,0.11397298164052998,0.39374315732821646],"object_quaternion":[0.9999983784655895,0.00046994010469073917,-0.001733430802799353,-0.00013206113045839408],"object_size":[0.04,0.04,0.04],"object_velocity":[0.003446474434273357,0.0055232045782010785,-0.079179832856008],"pad_normal_forces":{"left":0.8025597736179179,"right":0.8003979730212626},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.16},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2556733152626863,-1.1732086430848196,1.3565013871863492,-1.8619346667117246e-06,-0.18321515390542953,-0.2556716857962952],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10371982737415208,0.027021805000461398,0.4886735770502916],[0.33280327771173424,0.08670420595090583,0.4491921409287561],[0.3853015684140968,0.10038142283538268,0.44014431181757085],[0.4385246065482196,0.11424746566238245,0.4403469644600791],[0.4386672396637691,0.11428458388950095,0.4003472359856061]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4386672396637691,0.11428458388950095,0.4003472359856061],"end_effector_quaternion":[0.9999982940428193,0.00046421677632074677,-0.0017828549779428714,-0.00013357530953921084],"end_effector_velocity":[0.003182612286230898,0.005499755539556466,-0.08038417817584229],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46460370433359155,0.11427018066891992,0.40843976252229897],[0.4126656040673947,0.11428414200132504,0.40825457189427994]],"gripper_width":0.039938432299685606,"jaw_actuator_force":[-0.8028159430831181,-0.8000685311255156],"joint_actuator_torque":[-0.014382573255375064,-1.7698865933220986,-1.1997939112006861,-0.0001922312771756139,-0.06890549283680514,0.001175085688075228],"joint_position":[0.25486153124865296,-1.1779788122684183,1.3432359630821582,-1.0193748572698364e-06,-0.16894175265117464,-0.25512885186756634],"joint_velocity":[0.00996868455688742,0.0675873620060373,0.17869970007917388,2.6941269701620386e-05,-0.21953696952463167,-0.008873652327768308],"object_angular_velocity":[-0.010725191985208113,0.0405457013526007,0.0014852730439528835],"object_position":[0.4386937644302512,0.11409837295895273,0.3919798359115103],"object_quaternion":[0.9999983788547895,0.00047174744482079484,-0.0017327075711154978,-0.00013216131848582628],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0033542755063682246,0.005501318225571658,-0.07916700588668955],"pad_normal_forces":{"left":0.802505241963638,"right":0.8003539026229106},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.18},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2558982908081545,-1.1716668670380872,1.3604336042183491,-1.85706472062055e-06,-0.18868948557050996,-0.25589666873119016],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10407547442342241,0.027139382423268386,0.48851837370914886],[0.3329320345110574,0.08681747410337916,0.44773602117432065],[0.38537832953114043,0.10049370344673787,0.4383900653850892],[0.4385982573249035,0.11437168028472083,0.4385926598348014],[0.4387408411899903,0.11440881970439654,0.39859293120441036]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4387408411899903,0.11440881970439654,0.39859293120441036],"end_effector_quaternion":[0.9999982950018419,0.0004644818073241257,-0.0017822392552394005,-0.00013369104986803761],"end_effector_velocity":[0.0030953522509566374,0.005483179720251582,-0.08035061292926313],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46467735557808854,0.11439440621449408,0.40668542593483076],[0.4127392515868091,0.1144083795899513,0.40650029926265435]],"gripper_width":0.039938435799982776,"jaw_actuator_force":[-0.8027759548861138,-0.8000208491569021],"joint_actuator_torque":[-0.014392167884409446,-1.7714852227780966,-1.1981915606594953,-0.00018646969890326914,-0.06895107309413717,0.0011761729272983246],"joint_position":[0.255085757009616,-1.1765332976458964,1.3472883500265627,-1.0232189812631e-06,-0.17443859616008692,-0.25535331529276495],"joint_velocity":[0.009977507034035995,0.06873196604467022,0.1771649928432894,2.5719681381673885e-05,-0.219178348918976,-0.008881941152827926],"object_angular_velocity":[-0.01073450995712939,0.04053366743944751,0.0014879846443495073],"object_position":[0.43876740328835934,0.11422346266263443,0.3902171583647287],"object_quaternion":[0.9999983791965529,0.00047355503169127673,-0.0017320091992550591,-0.00013226501189051988],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0032623316295446255,0.005479547101702718,-0.07915371873441251],"pad_normal_forces":{"left":0.8024562006587594,"right":0.8003152568924137},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.2},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2561234948295258,-1.170098936152777,1.3643311191579965,-1.8522965160582052e-06,-0.19415526524919507,-0.2561218800333948],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10443749039753107,0.027258818633813627,0.4883597635200855],[0.333060601639879,0.08693083776345639,0.4462798022693836],[0.3854533979662504,0.10060567548066619,0.4366364778160977],[0.43867020984365945,0.11449559670494315,0.43683901667121383],[0.4388127462772868,0.11453275780107601,0.39683928789190803]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388127462772868,0.11453275780107601,0.39683928789190803],"end_effector_quaternion":[0.9999982959166444,0.0004647528958163148,-0.0017816462678065606,-0.0001338100509246851],"end_effector_velocity":[0.003008308955971299,0.005466720600617867,-0.0803169132258204],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46474930966057415,0.11451833377472655,0.40493175199381565],[0.41281120233713575,0.11453231953403176,0.40474668691745147]],"gripper_width":0.03993843891594122,"jaw_actuator_force":[-0.8027407327937794,-0.799977974927641],"joint_actuator_torque":[-0.014402157585251985,-1.7730881749049558,-1.1965628093266218,-0.00018072367634003637,-0.06899619901547993,0.0011772883497975783],"joint_position":[0.2553101908427296,-1.1750612232536708,1.3513053954259358,-1.0271720396122566e-06,-0.1799267051339952,-0.255577993358363],"joint_velocity":[0.009986574210595218,0.06987174403533315,0.17563819822172,2.4502178440677524e-05,-0.218822730171311,-0.008890442785120564],"object_angular_velocity":[-0.010743739786413738,0.04052132895274921,0.0014907615827209658],"object_position":[0.43883934606144537,0.11434825324013816,0.3884551266731197],"object_quaternion":[0.9999983794924214,0.00047536266588608017,-0.0017313348899383287,-0.00013237208008029866],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0031706217508400236,0.0054578904122544415,-0.07913997811276476],"pad_normal_forces":{"left":0.8024119701180942,"right":0.8002813719957507},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.22},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25634893365538186,-1.1685049625047668,1.3681941088371552,-1.847629195725666e-06,-0.199612557788003,-0.2563473260308389],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10480583289180744,0.02738010804616912,0.4881977286407351],[0.33318897420388577,0.08704429764812989,0.4448234823237265],[0.3855267774212371,0.10071734109857923,0.43488355087607866],[0.438740467721209,0.1146192173811797,0.4350860366334773],[0.43888295847065906,0.11465640062062551,0.395086307711983]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43888295847065906,0.11465640062062551,0.395086307711983],"end_effector_quaternion":[0.9999982967889537,0.0004650298286661144,-0.0017810751191417958,-0.00013393233496245604],"end_effector_velocity":[0.002921463120762726,0.005450377168101983,-0.08028308243122274],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4648195701630752,0.11464196579299099,0.40317874231672485],[0.4128814598527272,0.1146559642791824,0.40299373656909593]],"gripper_width":0.03993844169489634,"jaw_actuator_force":[-0.8027096733217514,-0.7999393325076252],"joint_actuator_torque":[-0.014412553138583917,-1.7746953714709548,-1.1949078015858277,-0.0001749931171912919,-0.06904088700344957,0.0011784335673787893],"joint_position":[0.2555348383664898,-1.1735627010442027,1.3552872839043721,-1.0312455960555709e-06,-0.1854061504023136,-0.25580289173100657],"joint_velocity":[0.009995894216004267,0.07100669981667139,0.17411921006166692,2.3289045136090934e-05,-0.21847001173673508,-0.00889916928963259],"object_angular_velocity":[-0.010752883687069503,0.04050869753841757,0.0014935974415887052],"object_position":[0.4389095962752094,0.1144727471471173,0.38669374274514745],"object_quaternion":[0.9999983797440571,0.00047717014293102646,-0.0017306837682820402,-0.00013248249171241247],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0030791238629299393,0.0054363473778629035,-0.07912579065839129],"pad_normal_forces":{"left":0.8023719527980605,"right":0.8002516664378672},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.24},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25657461386001157,-1.1668850587098698,1.3720227486521825,-1.8430618903285997e-06,-0.20506142605380884,-0.2565730132971542],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10518045925438048,0.027503245009938417,0.4880322509008534],[0.33331714687194924,0.08715785442865953,0.4433670593308659],[0.3855984711176421,0.10082870242044978,0.4331312862627438],[0.43880903409103367,0.11474254474036882,0.433333721316934],[0.43895148083108904,0.11477975057290032,0.3933339922596982]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43895148083108904,0.11477975057290032,0.3933339922596982],"end_effector_quaternion":[0.9999982976205058,0.00046531239232635923,-0.0017805249029890135,-0.00013405796451128001],"end_effector_velocity":[0.0028347944677978108,0.005434148393347149,-0.08024912396619571],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4648881401814899,0.11476530467934735,0.40142639845169314],[0.41295002718759133,0.1147793162418871,0.4012414498597121]],"gripper_width":0.03993844417839765,"jaw_actuator_force":[-0.8026822446042079,-0.7999044184045534],"joint_actuator_torque":[-0.0144233660666373,-1.7763067286185787,-1.1932266860054597,-0.00016927790172216353,-0.0690851525845595,0.0011796100197472015],"joint_position":[0.2557597053940558,-1.1720378430011562,1.3592341978082552,-1.0354463022625964e-06,-0.1908770004664842,-0.2560280163518731],"joint_velocity":[0.01000547575686597,0.0721368313107561,0.17260793276715244,2.208043917980908e-05,-0.2181200983906942,-0.008908131459652503],"object_angular_velocity":[-0.010761943550317718,0.04049578150084183,0.001496488799295424],"object_position":[0.4389781569716296,0.11459694680603857,0.38493300841199035],"object_quaternion":[0.9999983799531748,0.00047897725753648867,-0.0017300549242614694,-0.00013259627679584359],"object_size":[0.04,0.04,0.04],"object_velocity":[0.002987814876539889,0.005414917225650988,-0.07911116295162417],"pad_normal_forces":{"left":0.8023356229399994,"right":0.8002256309367056},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.26},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25680054228188437,-1.1652393380811574,1.3758172128306134,-1.8385937882153704e-06,-0.21050193104337386,-0.2567989486700816],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10556132655063122,0.02762822380292475,0.48786331182695714],[0.33344511384864994,0.08727150872799576,0.4419105311705252],[0.38566848177111257,0.10093976152332454,0.4313796856034262],[0.4388759115775335,0.11486558117752232,0.43158207224713435],[0.439018315910868,0.11490281003601686,0.3915823430603268]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.439018315910868,0.11490281003601686,0.3915823430603268],"end_effector_quaternion":[0.99999829841302,0.0004656003756440659,-0.001779994717965827,-0.00013418702895578636],"end_effector_velocity":[0.0027482816118889115,0.00541803322386623,-0.08021504131889338],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46495502230090563,0.1148883528106847,0.39967472187730957],[0.4130169068899962,0.11490237780824786,0.3994898283613923]],"gripper_width":0.0399384464029271,"jaw_actuator_force":[-0.8026579773668461,-0.79987279270137],"joint_actuator_torque":[-0.014434608687494688,-1.7779221566077013,-1.191519615509094,-0.00016357788953857982,-0.0691290105443585,0.001180819084513729],"joint_position":[0.25598479794723716,-1.1704867612795773,1.3631463174529828,-1.0397778648225138e-06,-0.19633932163625006,-0.25625337342406135],"joint_velocity":[0.010015328164415064,0.07326213038239102,0.17110428140915185,2.087643979481349e-05,-0.21777290039521868,-0.008917339635272038],"object_angular_velocity":[-0.010770921081645991,0.04048258715128643,0.0014994340148006002],"object_position":[0.4390450306844633,0.11472085460567781,0.3831729254266168],"object_quaternion":[0.9999983801214964,0.0004807838060993329,-0.0017294474379391308,-0.00013271350474079393],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0028966704920074297,0.005393599183233759,-0.07909610152953434],"pad_normal_forces":{"left":0.8023025175775486,"right":0.8002028195373404},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.28},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25702672604396914,-1.1635679147957863,1.379577674712978,-1.83422418073731e-06,-0.21593413199842265,-0.25702513927174886],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10594839152657629,0.0277550386236559,0.487690892667806],[0.33357286884476434,0.08738526111807712,0.44045389561160514],[0.38573681156351575,0.10105052043971531,0.42962875045289245],[0.43894110226791067,0.11498832905492991,0.42983109087862764],[0.4390834657261802,0.11502558135569375,0.3898313615681456]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4390834657261802,0.11502558135569375,0.3898313615681456],"end_effector_quaternion":[0.9999982991681841,0.0004658935715562313,-0.0017794836763156147,-0.00013431963709343572],"end_effector_velocity":[0.002661901941942714,0.005402030578336097,-0.08018083805334718],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4650202185682963,0.1150111125304211,0.3979237140018664],[0.4130821009745401,0.11502515133291247,0.3977388735745332]],"gripper_width":0.03993844840052878,"jaw_actuator_force":[-0.8026364570063311,-0.7998440712886055],"joint_actuator_torque":[-0.014446294179776942,-1.7795415594945325,-1.1897867475991575,-0.00015789292331333055,-0.06917247499843171,0.0011820621444655899],"joint_position":[0.2562101222717032,-1.168909568350758,1.3670238213754053,-1.0442422507397567e-06,-0.20179317815502726,-0.2564789694130766],"joint_velocity":[0.010025461449337945,0.07438258263258464,0.16960818198451277,1.9677077045587624e-05,-0.21742833308519316,-0.008926804203700007],"object_angular_velocity":[-0.010779817880611664,0.040469119606862246,0.0015024325158871526],"object_position":[0.4391102194119503,0.11484447290042867,0.38141349546257114],"object_quaternion":[0.9999983802507293,0.00048258958822524977,-0.0017288603945658152,-0.00013283427180999101],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0028056650641020103,0.005372392474098853,-0.07908061289451],"pad_normal_forces":{"left":0.8022722286485807,"right":0.8001828418198597},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.3},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25725317257612174,-1.1618709040725073,1.3833043070514544,-1.8299524939569903e-06,-0.22135808652681094,-0.25725159253103147],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10634161057085892,0.02788368358370377,0.48751497442090574],[0.33370040504530774,0.08749911211695496,0.4389971503155097],[0.38580346211236893,0.10116098115582503,0.4278784822913564],[0.43900460768135013,0.11511079070126971,0.4280807785935817],[0.4391469317267157,0.11514806684444913,0.38808104916505604]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4391469317267157,0.11514806684444913,0.38808104916505604],"end_effector_quaternion":[0.9999982998876438,0.0004661917781683166,-0.00177899090931314,-0.00013445591319094375],"end_effector_velocity":[0.002575631491965807,0.005386139341073374,-0.08014651781588293],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4650837304623112,0.115133586147888,0.39617337616226134],[0.4131456108913907,0.11514763913804983,0.39598858692617533]],"gripper_width":0.03993845019936133,"jaw_actuator_force":[-0.8026173166344455,-0.7998179190622263],"joint_actuator_torque":[-0.01445843665845814,-1.781164834751337,-1.1880282446277874,-0.00015222283061422332,-0.06921555942495061,0.0011833406305221672],"joint_position":[0.2564356848535858,-1.1673063771531214,1.3708668865947673,-1.0488404274637067e-06,-0.20723863232096695,-0.25670481105565085],"joint_velocity":[0.010035886364231344,0.07549816713430942,0.1681195717934918,1.8482349663345018e-05,-0.21708631671073902,-0.008936535919126914],"object_angular_velocity":[-0.01078863548803366,0.04045538326455676,0.001505484383438537],"object_position":[0.4391737245865199,0.11496780400944032,0.37965472011254314],"object_quaternion":[0.999998380342547,0.00048439440770831353,-0.0017282928937640523,-0.00013295869412640736],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0027147714559343436,0.005351296313701227,-0.07906470352034232],"pad_normal_forces":{"left":0.8022443960730447,"right":0.8001653560700049},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.32},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25747988963980356,-1.160148422361331,1.3869972823275873,-1.8257783134941302e-06,-0.2267738507305638,-0.2574783162082498],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10674093967504401,0.02801415269974321,0.487335537860211],[0.3338277150747503,0.08761306218570694,0.43754029283975526],[0.385868434437183,0.10127114560957363,0.4261288825225675],[0.4390664287350917,0.11523296841060048,0.42633113670026707],[0.43920871476202517,0.11527026878065276,0.3863314071590698]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43920871476202517,0.11527026878065276,0.3863314071590698],"end_effector_quaternion":[0.9999983005729981,0.00046649479950045046,-0.001778515570793792,-0.00013459599511336966],"end_effector_velocity":[0.002489444798576793,0.0053703583564152346,-0.0801120843405498],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46514555885983294,0.11525577593746734,0.39442370962266704],[0.41320743749235905,0.11526984351229318,0.3942389697683035]],"gripper_width":0.03993845182418225,"jaw_actuator_force":[-0.8026002309646385,-0.7997940439711781],"joint_actuator_torque":[-0.014471051260471768,-1.7827918728283407,-1.1862442741103223,-0.0001465674245056549,-0.06925827667306805,0.0011846560511088455],"joint_position":[0.25666149243765984,-1.1656773012504118,1.3746756888845975,-1.0535728188957838e-06,-0.21267574460786348,-0.25693090537424934],"joint_velocity":[0.010046614474354334,0.07660885611237997,0.16663839992253246,1.7292235805161126e-05,-0.2167467764417148,-0.008946546121969967],"object_angular_velocity":[-0.010797375414691921,0.040441382083535295,0.0015085901098720927],"object_position":[0.4392355470412253,0.11509085021558861,0.3778966008867558],"object_quaternion":[0.9999983803985832,0.00048619807321838624,-0.001727744055286085,-0.0001330869039826456],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00262396087832139,0.005330309905898304,-0.07904837985683873],"pad_normal_forces":{"left":0.8022187016741783,"right":0.8001500632968208},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.34},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25770688535543934,-1.158400587547127,1.39065677309183,-1.8217014056855717e-06,-0.23218147934176317,-0.25770531842251],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10714633439189548,0.02814643988529334,0.4871525635652184],[0.3339547909589933,0.08772711172510253,0.4360833206418323],[0.38593172892228655,0.10138101568839214,0.42437995247188964],[0.4391265657069576,0.11535486444121539,0.42458216643141977],[0.4392688150442477,0.1153921894074262,0.3845824367826717]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4392688150442477,0.1153921894074262,0.3845824367826717],"end_effector_quaternion":[0.9999983012257944,0.00046680244606557087,-0.0017780568396660581,-0.0001347400337002916],"end_effector_velocity":[0.002403314742354534,0.005354686422799798,-0.08007754145425178],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46520570399891775,0.1153776841375146,0.3926747155730257],[0.4132675809934163,0.11539176670959865,0.3924900233760791]],"gripper_width":0.03993845329677283,"jaw_actuator_force":[-0.8025849109328611,-0.7997721918124894],"joint_actuator_torque":[-0.014484154243035618,-1.7844225566576597,-1.1844350090853482,-0.00014092650335924674,-0.06930063895564587,0.0011860100143401553],"joint_position":[0.25688755204730834,-1.1640224549985343,1.3784504030579428,-1.0584395886748129e-06,-0.21810457378870232,-0.2571572596958345],"joint_velocity":[0.010057658237578556,0.07771461456533266,0.16516462782976463,1.6106699468301538e-05,-0.2164096424819222,-0.008956846904476639],"object_angular_velocity":[-0.010806039159598232,0.040427119754256925,0.0015117504599616667],"object_position":[0.43929568697255245,0.11521361376427454,0.37613913921118514],"object_quaternion":[0.9999983804204238,0.00048800039884122523,-0.0017272130228248618,-0.0001332190481349368],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0025332027113186303,0.005309432439470931,-0.07903164833361995],"pad_normal_forces":{"left":0.8021948638371557,"right":0.800136701993882},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.36},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25793416823277276,-1.1566275191692414,1.394282952328159,-1.8177217388540295e-06,-0.2375810258674664,-0.2579326076820435],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1075577497912963,0.028280538942082756,0.4869660319516536],[0.3340816240836689,0.08784126107198457,0.4346262310833092],[0.38599334527567103,0.10149059322675374,0.4226316933843136],[0.4391850181938708,0.11547648101433922,0.4228338689424807],[0.4393272321067899,0.11551383093138042,0.3828341391910603]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4393272321067899,0.11551383093138042,0.3828341391910603],"end_effector_quaternion":[0.9999983018475236,0.0004671145353763759,-0.0017776139219132091,-0.0001348881929247647],"end_effector_velocity":[0.0023172123700580713,0.005339122286395354,-0.08004289308198341],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4652641654376868,0.11549931294907995,0.390926395127394],[0.41332604093321285,0.11551341094798326,0.3907417489459754]],"gripper_width":0.03993845463631085,"jaw_actuator_force":[-0.8025710989585031,-0.7997521416842233],"joint_actuator_torque":[-0.014497763094396987,-1.7860567610926523,-1.182600628523005,-0.00013529985011170116,-0.06934265783072391,0.0011874042466644141],"joint_position":[0.25711387100650585,-1.162341953722481,1.382191203268409,-1.0634408186386087e-06,-0.2235251770639066,-0.2573838816741996],"joint_velocity":[0.010069031094813278,0.07881539982378746,0.16369823003832965,1.4925694237781597e-05,-0.21607485026489415,-0.008967451250469383],"object_angular_velocity":[-0.010814628222443287,0.04041259980097476,0.0015149663919022255],"object_position":[0.4393541438991819,0.11533609686203937,0.3743823364256113],"object_quaternion":[0.9999983804096015,0.0004898012045563685,-0.001726698966757535,-0.00013335528731713567],"object_size":[0.04,0.04,0.04],"object_velocity":[0.002442464304557849,0.005288663084581778,-0.07901451536345519],"pad_normal_forces":{"left":0.8021726328115526,"right":0.8001250435540559},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.38},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2581617472046393,-1.154829338659608,1.3978759938476273,-1.8138395043154283e-06,-0.24297254274502847,-0.258160192917963],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10797514041342,0.02841644355097087,0.48677592330399033],[0.33420820514825905,0.08795551049532539,0.43316902143419617],[0.3860532824833263,0.10159988000340664,0.42088410642236834],[0.43924178506583134,0.11559782031264777,0.4210862453097126],[0.4393839647584464,0.11563519552117474,0.38108651546026495]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4393839647584464,0.11563519552117474,0.38108651546026495],"end_effector_quaternion":[0.9999983024396182,0.000467430892439957,-0.001777186052396622,-0.00013504065057345728],"end_effector_velocity":[0.002231106694586604,0.0053236646341727496,-0.08000814325252334],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4653209420086563,0.11562066453442381,0.38917874932215457],[0.4133828161270824,0.11563477840811127,0.3889941475938014]],"gripper_width":0.039938455859697686,"jaw_actuator_force":[-0.8025585647624212,-0.7997337020171873],"joint_actuator_torque":[-0.01451189665986874,-1.787694352274059,-1.1807413177892272,-0.00012968723110711795,-0.06938434417397232,0.0011888406103359728],"joint_position":[0.25734045696408564,-1.160635913904992,1.3858982633297285,-1.068576624601859e-06,-0.2289376101959825,-0.2576107793156208],"joint_velocity":[0.010080747572435628,0.07991116103802372,0.1622391949473106,1.37491653600695e-05,-0.2157423407177578,-0.008978373166174402],"object_angular_velocity":[-0.010823144112871198,0.04039782564485597,0.0015182390139547876],"object_position":[0.43941091661620396,0.11545830167497953,0.3726261937814919],"object_quaternion":[0.999998380367594,0.000491600316704415,-0.0017262010863526166,-0.00013349579653559076],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0023517107525595233,0.005268000989090723,-0.07899698734541978],"pad_normal_forces":{"left":0.8021517865752017,"right":0.8001148882581943},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.4},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25838963166464995,-1.153006169602241,1.401436072715371,-1.810055140064566e-06,-0.24835608150947228,-0.25838808352192677],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.1083984602187173,0.028554147262351268,0.48658221781006405],[0.3343345241154668,0.0880698601919139,0.4317116888775871],[0.38611153875847193,0.101708877738272,0.41913719266389443],[0.43929686441474947,0.11571888447858965,0.4193392965281784],[0.4394390110323755,0.11575628530587985,0.37933956658512485]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4394390110323755,0.11575628530587985,0.37933956658512485],"end_effector_quaternion":[0.9999983030034494,0.00046775135027605656,-0.0017767724966424028,-0.00013519759930759478],"end_effector_velocity":[0.0021449644688340142,0.005308312086263096,-0.07997329610473101],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4653760317679229,0.11574174101531631,0.3874317791140888],[0.41343790461593993,0.11575587123170432,0.3872472203525869]],"gripper_width":0.0399384569818455,"jaw_actuator_force":[-0.8025471016688996,-0.7997167071165272],"joint_actuator_torque":[-0.014526575284818932,-1.7893351869147978,-1.178857269172454,-0.00012408839460546512,-0.06942570814327453,0.0011903211210366749],"joint_position":[0.257567317920601,-1.1589044533887922,1.3895717570568826,-1.073847234559809e-06,-0.23434192765212605,-0.2578379610078579],"joint_velocity":[0.010092823398584652,0.08100183858432022,0.1607875257752064,1.257705080034768e-05,-0.21541206058813242,-0.008989627812895175],"object_angular_velocity":[-0.010831588358109384,0.040382800644157585,0.0015215695621717236],"object_position":[0.4394660031442028,0.11558023032694066,0.37087071243963987],"object_quaternion":[0.9999983802958172,0.0004933975684757667,-0.0017257186117599357,-0.00013364076589864784],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00226090464076707,0.00524744527461328,-0.07897907066793204],"pad_normal_forces":{"left":0.8021321271870341,"right":0.8001060617679087},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.42},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2586178315093675,-1.151158138017528,1.404963365716397,-1.8063693565753018e-06,-0.2537316929747951,-0.25861628938829456],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10882766253420542,0.028693643485949216,0.48638489559808773],[0.33446057015517605,0.08818431028162116,0.4302542305146161],[0.3861681114849818,0.10181758808896266,0.41739095309965385],[0.4393502534974292,0.11583967561248497,0.41759302350956934],[0.4394923681292359,0.11587710237312192,0.3775932934771177]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4394923681292359,0.11587710237312192,0.3775932934771177],"end_effector_quaternion":[0.9999983035403207,0.00046807575048642776,-0.0017763725527472872,-0.0001353592480365385],"end_effector_velocity":[0.002058749929120203,0.005293063187489986,-0.07993835589476103],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4654294319385074,0.11586254447110095,0.3856854853783051],[0.41349130360937486,0.11587669151974773,0.3855009681703131]],"gripper_width":0.03993845801592945,"jaw_actuator_force":[-0.8025365233263297,-0.799701014153344],"joint_actuator_torque":[-0.014541820977626685,-1.7909791114906852,-1.1769486824833848,-0.00011850306898141468,-0.06946675913538414,0.0011918479668402426],"joint_position":[0.25779446225813857,-1.1571476915945564,1.3932118586322468,-1.079253045472346e-06,-0.23973818275637868,-0.2580654355527321],"joint_velocity":[0.0101052756355825,0.08208736337797118,0.15934324165486802,1.1409281619833699e-05,-0.2150839628355169,-0.009001231648972232],"object_angular_velocity":[-0.010839962509860385,0.04036752812053054,0.0015249593908740098],"object_position":[0.4395194006725205,0.11570188489746475,0.36911589346768264],"object_quaternion":[0.9999983801956259,0.0004951928004440071,-0.0017252508059924262,-0.00013379040184931086],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0021700057573223156,0.005226995032278834,-0.07896077171188857],"pad_normal_forces":{"left":0.8021134775656726,"right":0.8000984120615217},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.44},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2588463571856619,-1.1492853726753622,1.4084580518664436,-1.8027831667540915e-06,-0.2590994274314762,-0.2588448209614591],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1092626999954709,0.02883492547991292,0.4861839367764255],[0.33458633158223255,0.08829886080218616,0.42879664336976797],[0.3862229971541988,0.10192601264687377,0.4156453886307423],[0.43940194867189153,0.11596019577037481,0.4158474270798595],[0.43954403235367834,0.11599764876698278,0.37584769696201475]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43954403235367834,0.11599764876698278,0.37584769696201475],"end_effector_quaternion":[0.999998304051467,0.00046840394389335605,-0.0017759855534847776,-0.0001355258235799064],"end_effector_velocity":[0.0019724245029247483,0.005277916397928779,-0.07990332700426955],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46548113884706016,0.11598307693649801,0.38393986890600384],[0.4135430094221352,0.11599724133046715,0.3837553919074573]],"gripper_width":0.03993845897360939,"jaw_actuator_force":[-0.8025266607895825,-0.7996865005538618],"joint_actuator_torque":[-0.014557657596128593,-1.7926259613213915,-1.1750157657403975,-0.00011293096061571809,-0.06950750573429687,0.0011934235290205208],"joint_position":[0.25802189877350307,-1.1553657497570875,1.396818743000771,-1.0847946681205445e-06,-0.2451264278530308,-0.2582932122026501],"joint_velocity":[0.010118122831230715,0.08316765607749622,0.1579063789034637,1.0245781925058772e-05,-0.2147580070919547,-0.009013202586912957],"object_angular_velocity":[-0.010848268150974599,0.040352011377406995,0.0015284099708143275],"object_position":[0.43957110549589845,0.11582326741946078,0.3673617378372742],"object_quaternion":[0.999998380068304,0.0004969858611609328,-0.0017247969670336235,-0.00013394492874047934],"object_size":[0.04,0.04,0.04],"object_velocity":[0.002078970764623473,0.005206649318122239,-0.07894209685383692],"pad_normal_forces":{"left":0.8020956786364428,"right":0.8000918067601429},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.46},{"goal":[0.44,0.12,0.316],"joint_targets":[0.259075219744063,-1.1473880054419114,1.4119203129753655,-1.7992979200962953e-06,-0.2644593348628171,-0.25907368928917207],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10970352448368921,0.028977986339079196,0.485979321476538],[0.33471179578714133,0.0884135117034507,0.4273389243965962],[0.38627619129418245,0.10203415293278584,0.4139005000657762],[0.43945194532607507,0.11608044696158754,0.4141025079767675],[0.43959399904323704,0.11611792648562426,0.37410277777734346]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43959399904323704,0.11611792648562426,0.37410277777734346],"end_effector_quaternion":[0.9999983045380475,0.00046873579126749414,-0.0017756108686965025,-0.00013569757262503376],"end_effector_velocity":[0.0018859464746552477,0.005262870082308065,-0.07986821394992666],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4655311478529765,0.11610334039911543,0.3821949304020651],[0.41359301740304827,0.1161175226770429,0.38201049233433193]],"gripper_width":0.03993845986522508,"jaw_actuator_force":[-0.802517359912029,-0.7996730617412746],"joint_actuator_torque":[-0.014574111060767336,-1.794275559523669,-1.173058735954271,-0.00010737175146082693,-0.06954795565038552,0.001195050405723208],"joint_position":[0.2582496367152649,-1.1535587511826264,1.4003925862988615,-1.0904729664905625e-06,-0.25050671448318873,-0.2585213007015824],"joint_velocity":[0.010131385192241237,0.08424262616157091,0.1564769924968005,9.086468494721064e-06,-0.2144341602009932,-0.009025560170690913],"object_angular_velocity":[-0.010856506902245626,0.040336253713408175,0.0015319228923450902],"object_position":[0.43962111294354805,0.11594437987656207,0.3656082464210241],"object_quaternion":[0.9999983799150653,0.0004987766078294599,-0.0017243564301750152,-0.00013410459073540776],"object_size":[0.04,0.04,0.04],"object_velocity":[0.001987752823498394,0.005186407148025515,-0.0789230524693588],"pad_normal_forces":{"left":0.8020785867970168,"right":0.8000861307972856},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.48},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25930443089908856,-1.1454661716657557,1.4153503342719265,-1.7959153420273958e-06,-0.2698114651832705,-0.25930290608283857],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11015008705684458,0.0291228189822741,0.48577102989958676],[0.33483694915861606,0.08852826284096298,0.42588107048390755],[0.38632768839027204,0.10214201039191251,0.4121562881178144],[0.439500237797785,0.11620043114598556,0.41235826684699334],[0.43964226248849886,0.11623793747860124,0.3723585365696247]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43964226248849886,0.11623793747860124,0.3723585365696247],"end_effector_quaternion":[0.9999983050011418,0.000469071164161548,-0.0017752479080325582,-0.00013587476400457802],"end_effector_velocity":[0.00179927060187891,0.0052479224980593805,-0.0798330213944132],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4655794532688037,0.1162233367966302,0.3804506704824291],[0.41364132185525765,0.11623753752502829,0.3802662701281799]],"gripper_width":0.0399384606999679,"jaw_actuator_force":[-0.8025084790013182,-0.7996606091911298],"joint_actuator_torque":[-0.014591209600425259,-1.7959277158165037,-1.171077820030746,-0.00010182509623384774,-0.06958811564900813,0.0011967314388847683],"joint_position":[0.2584776858252523,-1.1517268215307228,1.4039335663224453,-1.0962890955909047e-06,-0.2558790935766949,-0.25874971133112545],"joint_velocity":[0.010145084783804962,0.08531217085608275,0.1550551577832614,7.93125016911761e-06,-0.21411239684628364,-0.009038325778418638],"object_angular_velocity":[-0.010864680429559981,0.04032025843271093,0.0015354998719060659],"object_position":[0.43966941729953474,0.11606522420012719,0.363855419989102],"object_quaternion":[0.9999983797370455,0.0005005649070701401,-0.0017239285706664874,-0.0001342696540464147],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0018963011614339775,0.005166267492142963,-0.0789036449366479],"pad_normal_forces":{"left":0.8020620716573212,"right":0.8000812843914893},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.5},{"goal":[0.44,0.12,0.316],"joint_targets":[0.25953400309771957,-1.1435200106102774,1.4187483051006502,-1.792637579968492e-06,-0.27515586850250795,-0.2595324837859567],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11060233787418129,0.029269416138482374,0.4855590423672733],[0.3349617769967211,0.08864311396885227,0.42442307846248734],[0.38637748179563647,0.10224958638831204,0.4104127534009739],[0.43954681928455436,0.11632015023084774,0.4106147042431974],[0.4396888158432172,0.11635768364382049,0.3706149738913533]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4396888158432172,0.11635768364382049,0.3706149738913533],"end_effector_quaternion":[0.9999983054417422,0.00046940994587077727,-0.0017748961241164194,-0.00013605769133675995],"end_effector_velocity":[0.0017123476728073258,0.005233071781779294,-0.07979775415921807],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46562604827061954,0.11634306801359445,0.37870708967124184],[0.41368791594645093,0.1163572877894304,0.3785227258699907]],"gripper_width":0.039938461486032514,"jaw_actuator_force":[-0.8024998866962294,-0.7996490687679962],"joint_actuator_torque":[-0.014608984035803019,-1.7975822251500517,-1.1690732558134869,-9.629061919340185e-05,-0.06962799146684517,0.001198469745261832],"joint_position":[0.25870605638517463,-1.1498700891247293,1.4074418630406875,-1.1022445404185618e-06,-0.2612436156619638,-0.2589784549624244],"joint_velocity":[0.010159245760170094,0.08637617388375146,0.15364097248086134,6.780027034303946e-06,-0.21379270028510225,-0.009051522855947425],"object_angular_velocity":[-0.010872790451558733,0.040304028853359694,0.001539142761001387],"object_position":[0.43971601171314817,0.11618580226583433,0.3621032592054651],"object_quaternion":[0.9999983795352968,0.0005023506357985127,-0.0017235128067604225,-0.00013444040954662393],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0018045605744424805,0.005146229268728595,-0.07888388064037563],"pad_normal_forces":{"left":0.8020460140124818,"right":0.8000771812878607},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.52},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2597639495974421,-1.1415496659406175,1.4221144197035491,-1.7894672572902448e-06,-0.28049259541972504,-0.2597624356521147],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11106022611272938,0.029417770331686976,0.48534333937759483],[0.3350862634151006,0.08875806473185956,0.42296494511245325],[0.38642556363022734,0.10235688219856577,0.40866989642669166],[0.43959168174182073,0.11643960606733422,0.4088718206206847],[0.43973365102278295,0.11647716682409388,0.3688720901976829]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43973365102278295,0.11647716682409388,0.3688720901976829],"end_effector_quaternion":[0.9999983058607479,0.00046975203254365466,-0.0017745550162180507,-0.0001362466760893785],"end_effector_velocity":[0.0016251239937730643,0.005218315933803343,-0.07976241723959523],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4656709247968005,0.11646253587781161,0.37696418839773155],[0.41373279160749526,0.11647677533140492,0.37677986004099556]],"gripper_width":0.03993846223075092,"jaw_actuator_force":[-0.8024914600264239,-0.7996383793148105],"joint_actuator_torque":[-0.014627468108400876,-1.7992388661267,-1.1670452932934836,-9.076791041864483e-05,-0.06966758771377002,0.0012002687525622946],"joint_position":[0.2589347592691973,-1.1479886852957553,1.4109176591630443,-1.108341158298981e-06,-0.26660033109675213,-0.25920754311489486],"joint_velocity":[0.01017389463216328,0.08743450400249822,0.15223455901068525,5.6326893974849965e-06,-0.21347506320564524,-0.009065177188040646],"object_angular_velocity":[-0.01088083874797405,0.04028756831399784,0.001542853557120912],"object_position":[0.4397608880976834,0.11630611588980716,0.3603517646236494],"object_quaternion":[0.9999983793107808,0.0005041336822335723,-0.001723108603234135,-0.00013461717580976325],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0017124708496893829,0.0051262913372499,-0.07886376597593239],"pad_normal_forces":{"left":0.8020303040130579,"right":0.8000737472378792},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.54},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2599942845555767,-1.1395552862752867,1.4254488781022912,-1.78640753598757e-06,-0.2858216973536333,-0.2599927758342689],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11152369987452365,0.02956787386414183,0.48512390166633035],[0.33521039123049823,0.08887311465638678,0.4215066671713384],[0.3864719246662424,0.10246389900460957,0.4069277175995694],[0.43963481576751084,0.11655880044647196,0.40712961633373984],[0.43977675858915116,0.11659638880322636,0.3671298858427625]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43977675858915116,0.11659638880322636,0.3671298858427625],"end_effector_quaternion":[0.9999983062589544,0.00047009733446858737,-0.001774224134526311,-0.00013644207114237792],"end_effector_velocity":[0.0015375407928492658,0.005203652800546969,-0.07972701582198517],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46571407343329163,0.11658174215621842,0.3752219669927685],[0.41377593941759033,0.11659600195450871,0.37503767301878294]],"gripper_width":0.03993846294071135,"jaw_actuator_force":[-0.8024830826182692,-0.799628491472828],"joint_actuator_torque":[-0.014646698863558072,-1.8008973991763355,-1.1649941960187107,-8.525652149824575e-05,-0.06970690775756339,0.0012021322414703661],"joint_position":[0.25916380600345007,-1.1460827447658601,1.4143611407688308,-1.114581226394073e-06,-0.2719492903234528,-0.2594369880228787],"joint_velocity":[0.010189060579000861,0.08848701329076185,0.15083606723209966,4.489116546584355e-06,-0.21315948873149437,-0.00907931721483014],"object_angular_velocity":[-0.010888827168717686,0.040270880179123114,0.0015466344164773945],"object_position":[0.43980403701574455,0.11642616682419996,0.3586009366820506],"object_quaternion":[0.9999983790643601,0.0005059139470608382,-0.0017227154754839696,-0.0001348003026511767],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0016199660931490547,0.0051064524906811225,-0.07884330735399496],"pad_normal_forces":{"left":0.802014839498868,"right":0.8000709186920929},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.56},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2602250231320039,-1.1375370258147974,1.428751887099772,-1.7834621915314743e-06,-0.2911432269147315,-0.2602235194874079],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11199270608284562,0.029719718797789462,0.48490071027523973],[0.33533414183739974,0.08898826314039843,0.420048241343035],[0.3865165541978184,0.10257063788557964,0.40518621721273806],[0.4396762104707356,0.11667773509458473,0.40538809163156525],[0.43981812761993566,0.11671535130156512,0.36538836107567607]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43981812761993566,0.11671535130156512,0.36538836107567607],"end_effector_quaternion":[0.999998306637046,0.0004704457775733603,-0.001773903085145341,-0.00013664426494524123],"end_effector_velocity":[0.0014495335224867815,0.005189080054179491,-0.07969155530462499],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4657554832831068,0.11670068855019419,0.3734804256850653],[0.4138173484736641,0.11671496940044145,0.3732961650729792]],"gripper_width":0.03993846362186399,"jaw_actuator_force":[-0.8024746430120571,-0.7996193667139799],"joint_actuator_torque":[-0.014666717098393178,-1.8025575644336413,-1.1629202427437804,-7.975596052400076e-05,-0.0697459535880327,0.0012040643950861352],"joint_position":[0.2593932088336503,-1.144152406077466,1.417772498010326,-1.1209674957651205e-06,-0.2772905441532195,-0.2596668027116077],"joint_velocity":[0.010204775813457544,0.08953353512834317,0.1494456776612983,3.349175280873285e-06,-0.21284599160272205,-0.009093974403330396],"object_angular_velocity":[-0.010896757643946436,0.04025396784259465,0.0015504876684081948],"object_position":[0.4398454475487952,0.11654595675215382,0.35685077569860624],"object_quaternion":[0.9999983787967895,0.0005076913447792014,-0.0017223329943040111,-0.0001349901752650314],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0015269739428923651,0.005086711446826819,-0.07882251120573922],"pad_normal_forces":{"left":0.8019995244643607,"right":0.8000686416847952},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.58},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2604561816078799,-1.1354950450625083,1.4320236614244262,-1.7806357011016416e-06,-0.29645723832796433,-0.2604546828871959],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11246719036546754,0.029873296933475995,0.48467374662815577],[0.3354574950651725,0.08910350944197608,0.41858966430774636],[0.3865594398921882,0.10267709980850735,0.40344539544265257],[0.43971585332180885,0.11679641166807857,0.40364724665374807],[0.43985774555889656,0.11683405597092444,0.36364751603591117]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43985774555889656,0.11683405597092444,0.36364751603591117],"end_effector_quaternion":[0.9999983069955817,0.0004707973051752356,-0.001773591535947912,-0.00013685368639129722],"end_effector_velocity":[0.0013610310397851608,0.005174595169091532,-0.07965604132172999],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4657951418173012,0.11681937669020392,0.3717395645969509],[0.41385700624125416,0.11683367934419572,0.3715553363604157]],"gripper_width":0.039938464279615504,"jaw_actuator_force":[-0.8024660330568949,-0.7996109765719623],"joint_actuator_torque":[-0.014687567889168918,-1.8042190792616566,-1.160823729374556,-7.42656862260673e-05,-0.06978472565623761,0.0012060698572327055],"joint_position":[0.2596229808022762,-1.142197812077419,1.4211519259027627,-1.1275032541491658e-06,-0.2826241440841082,-0.2598970010841554],"joint_velocity":[0.01022107601171846,0.09057388180791942,0.148063605274197,2.2127181397506883e-06,-0.21253459956982293,-0.00910918368588059],"object_angular_velocity":[-0.010904632195185556,0.040236834729188924,0.0015544158315445684],"object_position":[0.43988510714820767,0.11666548728201746,0.3551012818647709],"object_quaternion":[0.9999983785087062,0.0005094658052659812,-0.0017219607914832303,-0.00013518721907787383],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0014334146434799024,0.005067066838494741,-0.07880138398852758],"pad_normal_forces":{"left":0.8019842676269087,"right":0.8000668708925268},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.6},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2606877775235596,-1.1334295116565571,1.4352644250461475,-1.777933348933918e-06,-0.3017637879157421,-0.2606862835678063],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11294709692243035,0.030028599787536556,0.48444299261641127],[0.335580429014506,0.08921885266628056,0.41713093273313384],[0.38660056761894,0.1027832856176594,0.4017052523432161],[0.43975372998020196,0.11691483174747137,0.4019070814251744],[0.4398955980444459,0.11695250438877858,0.3619073507482755]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4398955980444459,0.11695250438877858,0.3619073507482755],"end_effector_quaternion":[0.9999983073349821,0.0004711518800335844,-0.0017732892234633808,-0.00013707081056138596],"end_effector_velocity":[0.0012719546376019565,0.005160195394526763,-0.07962047977220023],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4658330347040693,0.11693780812965973,0.36999938373964725],[0.41389489838352206,0.11695213338851589,0.3698151869196885]],"gripper_width":0.039938464918914104,"jaw_actuator_force":[-0.8024571463482886,-0.7996033020638693],"joint_actuator_torque":[-0.014709301214267612,-1.80588163534253,-1.1587049712674116,-6.878510108135584e-05,-0.06982322268357066,0.0012081538016559534],"joint_position":[0.25985313583703445,-1.1402191104660007,1.4244996252174367,-1.1341923992115094e-06,-0.287950142659547,-0.260127598021425],"joint_velocity":[0.010238000822200102,0.09160784169638013,0.1466901040211661,1.0795813006866436e-06,-0.21222535504675896,-0.009124983980690251],"object_angular_velocity":[-0.010912452947683688,0.040219484293379154,0.0015584216317004573],"object_position":[0.43992300146445673,0.11678475994070328,0.3533524552386545],"object_quaternion":[0.999998378200613,0.0005112372756040667,-0.0017215985663863896,-0.00013539190546993355],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0013391999510332518,0.005047517202346236,-0.07877993219237953],"pad_normal_forces":{"left":0.8019689810671305,"right":0.8000655688529223},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.62},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26091982983974954,-1.1313406013364533,1.4384744126998281,-1.7753613527996963e-06,-0.30706293465371337,-0.2609183404829708],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11343236837532121,0.03018561856522675,0.48420843069536484],[0.33570291986922074,0.08933429175062381,0.41567204328688806],[0.38663992125323937,0.10288919602227731,0.39996578783911213],[0.43978982409626405,0.11703299683053452,0.40016759585029615],[0.4399316687120199,0.11707069805159583,0.3601678651171661]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4399316687120199,0.11707069805159583,0.3601678651171661],"end_effector_quaternion":[0.9999983076555125,0.0004715094867697262,-0.0017729959610235635,-0.00013729616552661593],"end_effector_velocity":[0.0011822168925287565,0.005145877722523542,-0.07958487685379753],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46586914561184717,0.11705598433786257,0.36825988300796325],[0.413931008564283,0.11707033305754719,0.36807571666500755]],"gripper_width":0.03993846554432656,"jaw_actuator_force":[-0.8024478766728649,-0.7995963332982416],"joint_actuator_torque":[-0.01473197269523041,-1.8075448952445754,-1.1565643059681179,-6.331354315603559e-05,-0.06986144143364115,0.0012103220147352545],"joint_position":[0.26008368885276845,-1.1382164544235227,1.4278158034978317,-1.141039524729202e-06,-0.2932685938748583,-0.2603586094977047],"joint_velocity":[0.010255594471326865,0.09263517584302146,0.14532547221484804,-5.041794544416992e-08,-0.2119183170811311,-0.009141418813483898],"object_angular_velocity":[-0.010920222144203686,0.040201920014417254,0.0015625080216533625],"object_position":[0.43995911415034755,0.11690377616601873,0.3516042957371605],"object_quaternion":[0.999998377872866,0.0005130057222251736,-0.0017212460937260437,-0.0001356047585556006],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0012442318301553012,0.005028060966131053,-0.0787581623473208],"pad_normal_forces":{"left":0.8019535789134067,"right":0.8000647053336045},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.64},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26115235912696355,-1.1292284990740729,1.4416538716618552,-1.7729270164014004e-06,-0.31235474081484227,-0.26115087419530525],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11392294559429844,0.030344344130350125,0.4839700439942031],[0.33582494167859755,0.08944982544728132,0.41421299265100464],[0.3866774824479161,0.10299483158241138,0.3982270017181883],[0.4398241170815705,0.11715090832438238,0.3984287897066243],[0.439965938965202,0.11718863836715608,0.3584290589200653]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.439965938965202,0.11718863836715608,0.3584290589200653],"end_effector_quaternion":[0.9999983079572651,0.00047187013473219176,-0.001772711648436979,-0.00013753034045613637],"end_effector_velocity":[0.001091720286510862,0.005131638850155334,-0.07954923910396934],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46590345598134886,0.11717390669185213,0.3665210621742967],[0.41396531821997423,0.11718827978952909,0.3663369253791932]],"gripper_width":0.03993846616010895,"jaw_actuator_force":[-0.8024381164207002,-0.7995900692719378],"joint_actuator_torque":[-0.014755644483173569,-1.8092084883401185,-1.1544020964944366,-5.785027638993127e-05,-0.0698993764384852,0.0012125809949026234],"joint_position":[0.26031465586946,-1.1361900033301404,1.4311006762233536,-1.148050022702968e-06,-0.29857955364135275,-0.26059005271493185],"joint_velocity":[0.010273906489303139,0.09365561390348827,0.14397005899620385,-1.177484241058997e-06,-0.21161356371544918,-0.009158537064912653],"object_angular_velocity":[-0.010927942160409798,0.04018414538637636,0.0015666782026985272],"object_position":[0.4399934266332006,0.1170225372977769,0.3498568031269246],"object_quaternion":[0.9999983775256551,0.0005147711334367315,-0.0017209032327817038,-0.00013582636326759645],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0011484008932574228,0.005008696434031285,-0.07873608103170882],"pad_normal_forces":{"left":0.801937976037614,"right":0.8000642568454459},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.66},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2613853877897297,-1.1270934004068716,1.4448030638370852,-1.7706389151116045e-06,-0.317639272721434,-0.26138390710035897],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11441876749817631,0.030504766970268448,0.4837278164417294],[0.3359464661041696,0.08956545230358491,0.41275377753811926],[0.38671323036804306,0.10310019269246994,0.3964888936227086],[0.43985658784147813,0.11726856753630573,0.39669066263730673],[0.43999838770920263,0.11730632664565581,0.3566909318001227]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43999838770920263,0.11730632664565581,0.3566909318001227],"end_effector_quaternion":[0.9999983082401325,0.000472233861410605,-0.0017724362835467454,-0.00013777399534129384],"end_effector_velocity":[0.0010003555463772903,0.005117475134762907,-0.07951357344905324],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4659359447601999,0.1172915764669516,0.3647829208818198],[0.41399780629422844,0.11730597492835117,0.36459881270566163]],"gripper_width":0.03993846677027198,"jaw_actuator_force":[-0.8024277549216103,-0.7995845178635559],"joint_actuator_torque":[-0.014780386326577855,-1.8108720059276493,-1.1522187352950937,-5.239447893442867e-05,-0.06993701966779753,0.0012149380729198356],"joint_position":[0.2605460541496294,-1.134139923598378,1.434354468151261,-1.1552302049644642e-06,-0.3038830803198363,-0.2608219462595975],"joint_velocity":[0.010292992585571922,0.09466884921041073,0.1426242721437682,-2.301847858736932e-06,-0.21131119483507046,-0.009176393875222864],"object_angular_velocity":[-0.010935615522144605,0.04016616390099614,0.0015709356480978973],"object_position":[0.44002591784967443,0.11714104456744069,0.348109977013804],"object_quaternion":[0.9999983771589827,0.0005165335224184709,-0.0017205699383966205,-0.00013605737505644513],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0010515845185850308,0.004989421769741493,-0.07871369488188308],"pad_normal_forces":{"left":0.8019220867309618,"right":0.8000642062967138},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.68},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2616189403338353,-1.1249355130219036,1.4479222682300743,-1.768507122841793e-06,-0.32291660163020314,-0.26161746369366556],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11491977082168019,0.030666877155271943,0.4834817329115375],[0.33606746212338856,0.0896811706387223,0.41129439471034385],[0.3867471413800301,0.103205279562013,0.39475146303923697],[0.4398872124618507,0.11738597566309866,0.3949532141426046],[0.44002899103869697,0.11742376408936055,0.354953483257635]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44002899103869697,0.11742376408936055,0.354953483257635],"end_effector_quaternion":[0.9999983085037825,0.00047260073652790593,-0.001772169976123168,-0.00013802787273828497],"end_effector_velocity":[0.00090799962895298,0.00510338254048914,-0.07947788726372405],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46596658809224917,0.11740899482574392,0.3630454586366859],[0.41402844892712887,0.11742341971375077,0.3628613781391888]],"gripper_width":0.03993846737864286,"jaw_actuator_force":[-0.8024166766541336,-0.7995796960401487],"joint_actuator_torque":[-0.014806276865726886,-1.8125349953528485,-1.1500146490607221,-4.694522905889653e-05,-0.06997436012647285,0.0012174015586872144],"joint_position":[0.26077790235928844,-1.1320663896428567,1.4375774148752034,-1.162587449179171e-06,-0.3091792353383772,-0.26105431028725207],"joint_velocity":[0.010312915712495832,0.09567453277066235,0.14128858756949042,-3.423769233931628e-06,-0.2110113356265245,-0.009195051747678547],"object_angular_velocity":[-0.010943244924737791,0.040147979020797274,0.0015752841280841164],"object_position":[0.4400565639352935,0.11725929908599268,0.3463638168306023],"object_quaternion":[0.9999983767726351,0.0005182929307982806,-0.0017202462741707028,-0.00013629853160948636],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00095364456403003,0.0049702349768111454,-0.07869101060320935],"pad_normal_forces":{"left":0.8019058233190625,"right":0.8000645427933013},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.7},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2618530436873661,-1.1227550586537238,1.4510117838961216,-1.7665434930793404e-06,-0.3281868047827677,-0.2618515708915401],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11542588984238772,0.030830664291007007,0.483231779390874],[0.33618789568052215,0.08979697851651279,0.40983484100116707],[0.38677918868509464,0.10331009219319119,0.3930147092868592],[0.43991596383973686,0.1175031337785592,0.39321644357004093],[0.4400577218698482,0.1175409517804984,0.35321671264020055]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4400577218698482,0.1175409517804984,0.35321671264020055],"end_effector_quaternion":[0.9999983087476213,0.0004729708669797192,-0.0017719129646730021,-0.00013829281205644383],"end_effector_velocity":[0.0008145132568293063,0.0050893565739781686,-0.07944218844351371],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4659953589514943,0.11752616280514318,0.3613086747990628],[0.4140572190890825,0.11754061526987032,0.36112462101519816]],"gripper_width":0.03993846798892457,"jaw_actuator_force":[-0.8024047592653059,-0.7995756303023782],"joint_actuator_torque":[-0.014833405215640028,-1.814196952874454,-1.147790304616592,-4.150148796912287e-05,-0.07001138336142532,0.00121998092170017],"joint_position":[0.26101022075771535,-1.1299695850183211,1.4407697646490243,-1.170130375028878e-06,-0.31446808391311976,-0.2612871667409384],"joint_velocity":[0.01033374736798532,0.09667226590062139,0.13996356095239354,-4.543544549337494e-06,-0.2107141408086638,-0.009214581905186986],"object_angular_velocity":[-0.010950833254698379,0.04012959413830498,0.0015797277360816723],"object_position":[0.4400853378586408,0.11737730182963953,0.3446183218226301],"object_quaternion":[0.9999983763661549,0.0005200494329487605,-0.0017199324283908746,-0.00013655066711650878],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0008544245678094983,0.004951133875710144,-0.07866803498296951],"pad_normal_forces":{"left":0.8018890946743567,"right":0.8000652615912538},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.72},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2620877275896641,-1.1205522753790047,1.4540719334973657,-1.7647620081936648e-06,-0.33344996666381954,-0.26208625841973093],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11593705605776437,0.030996117462290786,0.4829779431786944],[0.33630772927245767,0.08991287371322955,0.4083751133411449],[0.3868093418841582,0.10341463035406968,0.39127863150337316],[0.43994281124495355,0.11762004281876134,0.3914803501029399],[0.44008454950353104,0.11765789066700993,0.3514806191312641]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44008454950353104,0.11765789066700993,0.3514806191312641],"end_effector_quaternion":[0.9999983089707538,0.000473344402841282,-0.0017716656369335152,-0.00013856976708442512],"end_effector_velocity":[0.0007197378788313452,0.005075392206410196,-0.07940648549376879],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46602222670778826,0.11764308130113683,0.3595725685727502],[0.41408408614647524,0.11765756259182229,0.35938854049725055]],"gripper_width":0.039938468604754356,"jaw_actuator_force":[-0.8023918713253826,-0.799572357406972],"joint_actuator_torque":[-0.014861872916014818,-1.8158573149299855,-1.1455462161997048,-3.606207867424069e-05,-0.07004807085200326,0.0012226870148595026],"joint_position":[0.26124303142279814,-1.1278497037657853,1.443931780538079,-1.1778690587896733e-06,-0.31974969589616203,-0.2615205396116843],"joint_velocity":[0.010355569204383607,0.09766159111552167,0.13864984210851355,-5.661512709522069e-06,-0.21041979985233178,-0.009235065973036492],"object_angular_velocity":[-0.010958383613925805,0.04011101251588027,0.0015842709152412186],"object_position":[0.4401122089873725,0.11749505362285066,0.34287349103058934],"object_quaternion":[0.9999983759387963,0.0005218031411889609,-0.0017196287334087762,-0.00013681472977746756],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0007537462913270917,0.004932116076908668,-0.07864477490533542],"pad_normal_forces":{"left":0.8018718045694038,"right":0.8000663642196383},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.74},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26232302506698557,-1.118327420417996,1.457103067630086,-1.7631792198376732e-06,-0.3387061805227907,-0.2623215592886916],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11645319779986411,0.031163225166144094,0.4827202131200232],[0.3364269214534531,0.09002885367926639,0.40691520878832],[0.3868375664574006,0.10351889354685691,0.38954322862897134],[0.439967719795676,0.11773670356458156,0.38974493274699684],[0.4401094391029385,0.1177745815456608,0.34974520173669504]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4401094391029385,0.1177745815456608,0.34974520173669504],"end_effector_quaternion":[0.9999983091719308,0.0004737215447359808,-0.0017714285550702346,-0.00013885982767751265],"end_effector_velocity":[0.0006234918860027398,0.005061483778154218,-0.07937078763973847],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4660471566077184,0.11775975105065234,0.3578371389930775],[0.4141090153425034,0.11777426252981125,0.357653135562325]],"gripper_width":0.03993846922976246,"jaw_actuator_force":[-0.8023778697197068,-0.7995699254213511],"joint_actuator_torque":[-0.014891796356721443,-1.817515447347148,-1.143282954529866,-3.062565975397256e-05,-0.07008439924968002,0.0012255323548195918],"joint_position":[0.26147635852068074,-1.1257069520183716,1.4470637429785458,-1.1858152962824505e-06,-0.32502414678152813,-0.26175445525164437],"joint_velocity":[0.01037847503415379,0.09864198075699325,0.13734819290114003,-6.778064099331551e-06,-0.2101285434777021,-0.009256598085927959],"object_angular_velocity":[-0.010965899346696815,0.040092237197901344,0.0015889184838799371],"object_position":[0.4401371425694667,0.11761255511808241,0.3411293232701161],"object_quaternion":[0.9999983754894861,0.0005235542121346205,-0.0017193356893991988,-0.00013709180347949178],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0006514054096548377,0.004913178949090974,-0.07862123736890035],"pad_normal_forces":{"left":0.8018538498054688,"right":0.800067858798253},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.76},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26255897302017955,-1.1160807735912892,1.4601055701467192,-1.7618148086277937e-06,-0.3439555502337861,-0.26255751038076064],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11697423977139992,0.03133197523119642,0.48245857988591856],[0.33654542623795564,0.09014491549307951,0.4054551245646075],[0.38686382313654133,0.10362288096976105,0.38780849938680706],[0.4399906498259395,0.11785311662080933,0.38801019031442574],[0.44013235106358567,0.1178910250418776,0.3480104592689442]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44013235106358567,0.1178910250418776,0.3480104592689442],"end_effector_quaternion":[0.9999983093494865,0.00047410255295509307,-0.0017712024869366155,-0.00013916424685404477],"end_effector_velocity":[0.0005255658530575564,0.005047624881089227,-0.07933510496400094],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4660701091489786,0.11787617260983768,0.3561023849126988],[0.41413196717149575,0.11789071577023245,0.3559184049833679]],"gripper_width":0.03993846986763362,"jaw_actuator_force":[-0.8023625965523884,-0.7995683951882322],"joint_actuator_torque":[-0.014923309823473119,-1.8191706318830256,-1.141001158229983,-2.5190692429381893e-05,-0.07012033942027074,0.0012285314766273814],"joint_position":[0.2617102286311477,-1.1235415499344052,1.450165952850026,-1.1939829283279767e-06,-0.3302915189097893,-0.26198894275382484],"joint_velocity":[0.010402573355682725,0.09961282265637712,0.13605950978468392,-7.89365174727249e-06,-0.2098406518227971,-0.009279287554131552],"object_angular_velocity":[-0.01097338406948721,0.04007327088344562,0.001593675657141205],"object_position":[0.44016009910802506,0.1177298067713382,0.33938581710710886],"object_quaternion":[0.9999983750167555,0.000525302854520441,-0.001719053993748527,-0.00013738313489767805],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0005471660843499554,0.004894319581431827,-0.0785974295072381],"pad_normal_forces":{"left":0.8018351180268832,"right":0.8000697605900532},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.78},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2627956129590366,-1.113812641635014,1.4630798647777299,-1.7606923057815517e-06,-0.34919819259540086,-0.262794153183862],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11750010248155505,0.03150235471967941,0.4821930363113534],[0.33666319237380854,0.09026105580532785,0.40399485809978986],[0.3868880671407833,0.10372659147078896,0.3860744422596399],[0.44001155611576254,0.11796928239096084,0.3862761214050927],[0.4401532402465685,0.11800722158546867,0.34627639032818924]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4401532402465685,0.11800722158546867,0.34627639032818924],"end_effector_quaternion":[0.9999983095012585,0.00047448775886227803,-0.0017709884452518738,-0.00013948447500830227],"end_effector_velocity":[0.00042571648767957817,0.005033808211894622,-0.07929944857967217],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4660910393195284,0.11799234632782005,0.3543683049847923],[0.4141528966180227,0.1180069228129883,0.3541843473084249]],"gripper_width":0.03993847052217256,"jaw_actuator_force":[-0.8023458753929518,-0.799567842310343],"joint_actuator_torque":[-0.014956569364713346,-1.8208220492427927,-1.1387015483632013,-1.9755398775731474e-05,-0.07015585522348289,0.001231701387741424],"joint_position":[0.2619446711439128,-1.1213537340474014,1.4532387352009064,-1.2023882470473025e-06,-0.3355519029250423,-0.2622240344169822],"joint_velocity":[0.010427990569682678,0.10057340186289757,0.134784852491693,-9.008805687427084e-06,-0.20955646482617543,-0.009303262275631153],"object_angular_velocity":[-0.010980841703464635,0.04005411574199362,0.0015985480606640827],"object_position":[0.4401810336009364,0.1178468088124349,0.3376429708276836],"object_quaternion":[0.9999983745186726,0.0005270493389335595,-0.001718784577764354,-0.00013769016773684226],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0004407540522850954,0.004875534738568529,-0.07857335861302976],"pad_normal_forces":{"left":0.8018154851074064,"right":0.8000720928448014},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.8},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26303298873938735,-1.1115233922649923,1.4660260352683117,-1.7601041198030932e-06,-0.3544338253211883,-0.2630315316258336],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11803069823022849,0.031674348983094194,0.48192357946762726],[0.33678018607768206,0.09037727730465914,0.40253448844782813],[0.3869102770427235,0.10383003171168444,0.38434115508912414],[0.44003041667192844,0.11808520927648712,0.38454284388334653],[0.44017209872161317,0.11812318335715116,0.34454311283217576]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44017209872161317,0.11812318335715116,0.34454311283217576],"end_effector_quaternion":[0.9999983092933014,0.0004749244306187733,-0.0017709622103848008,-0.00013982193343847434],"end_effector_velocity":[0.0003229301145885621,0.005019773009557485,-0.07926550910300863],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46610994691518176,0.11810828354399248,0.3526350262821863],[0.41417180353818356,0.118122895162476,0.35245107135163234]],"gripper_width":0.03993847119780766,"jaw_actuator_force":[-0.8023345697258053,-0.7995612966041898],"joint_actuator_torque":[-0.014988968026543148,-1.8224544841848456,-1.1363773102196433,-1.420315894783879e-05,-0.07018912347033535,0.0012350614128600057],"joint_position":[0.26217971928138184,-1.1191437737377294,1.456282105494324,-1.211043166321386e-06,-0.3408054089614918,-0.2624597663131279],"joint_velocity":[0.010454754903845205,0.10152251765237838,0.13353101440179604,-1.0153173955920883e-05,-0.2092766068713735,-0.009328673116385466],"object_angular_velocity":[-0.01098986554343511,0.04004032999569767,0.001603398873554271],"object_position":[0.4401999510387137,0.11796357284734554,0.33590089979104415],"object_quaternion":[0.9999983736837328,0.0005288400948910622,-0.001718694320389095,-0.0001380140471775983],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00033171726307002544,0.004856522779255216,-0.07855104198321207],"pad_normal_forces":{"left":0.8017976330877385,"right":0.8000720618362904},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.82},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2632711521822047,-1.1092134189102982,1.468944624881153,-1.759995136447889e-06,-0.3596625972036518,-0.26326969747538],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11856593722460217,0.031847943060936676,0.4816502077345438],[0.33689634688483994,0.09049357618369686,0.40107402059948905],[0.3869303990986444,0.10393320044099606,0.382608644381039],[0.44004717724970527,0.11820089789478543,0.3828103575886271],[0.4401888675595211,0.11823890972458297,0.34281062660257045]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4401888675595211,0.11823890972458297,0.34281062660257045],"end_effector_quaternion":[0.9999983088363901,0.00047539694206466895,-0.0017710652273333733,-0.00014017870013560387],"end_effector_velocity":[0.0002173573346101131,0.005005674693498397,-0.07923178946338098],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46612677032086336,0.11822398377191164,0.35090254557643263],[0.41418862631078085,0.11823863254236314,0.3507185799669628]],"gripper_width":0.039938471879176506,"jaw_actuator_force":[-0.8023218323001151,-0.799556188971212],"joint_actuator_torque":[-0.015023220765129963,-1.8240809157203444,-1.1340369167837707,-8.646214904770098e-06,-0.07022287392417326,0.0012386293600314957],"joint_position":[0.262415408161664,-1.116911946514509,1.4592964174568814,-1.2201592785676614e-06,-0.3460519920296372,-0.2626961777909349],"joint_velocity":[0.010483114793359526,0.10245926053612028,0.13229368900925323,-1.1300664792751939e-05,-0.2089944625542175,-0.00935564812440247],"object_angular_velocity":[-0.011000383671495969,0.04003126288891681,0.0016083691562390635],"object_position":[0.4402167874215476,0.11808009844572953,0.334159605233911],"object_quaternion":[0.9999983726269677,0.0005306568490648357,-0.0017187216389227113,-0.00013835697514988742],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00021926332059302135,0.004837479791785767,-0.07852864756373945],"pad_normal_forces":{"left":0.8017789049588707,"right":0.800072907834618},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.84},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26351016376835346,-1.1068831682076181,1.4718362811484376,-1.7603284116353068e-06,-0.364884708134789,-0.26350871115038876],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11910572060908818,0.03202312020948029,0.4813729243380023],[0.33701160105612243,0.09060994683899458,0.3996134538646311],[0.38694836532523447,0.10403609460825827,0.38087690854781686],[0.44006176928856994,0.11831634732577131,0.3810786552987299],[0.44020347423888817,0.11835439871650462,0.34107892440215115]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44020347423888817,0.11835439871650462,0.34107892440215115],"end_effector_quaternion":[0.9999983082240634,0.00047589215041809644,-0.0017712479856013855,-0.0001405569129875619],"end_effector_velocity":[0.00010867385340110813,0.004991522579845988,-0.07919816387751284],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4661414326348826,0.11833944514339093,0.34917085304383344],[0.4142032880155999,0.11835413330169602,0.34898686847361027]],"gripper_width":0.03993847256665907,"jaw_actuator_force":[-0.8023066519828923,-0.7995533149892173],"joint_actuator_torque":[-0.015059912296706557,-1.825700648902398,-1.131682178248525,-3.0923270386276278e-06,-0.07025675672355902,0.0012424325313524776],"joint_position":[0.26265177791990524,-1.1146585663826696,1.46228210712089,-1.2297457122870106e-06,-0.35129167170823056,-0.2629333132707986],"joint_velocity":[0.010513280565457507,0.10338234615742499,0.13107483835866734,-1.244761214497787e-05,-0.20871334925488477,-0.009384392355051192],"object_angular_velocity":[-0.011011740795796133,0.04002495651771239,0.0016134786617020367],"object_position":[0.44023146517577194,0.11819638311665405,0.33241907941807974],"object_quaternion":[0.9999983714240982,0.0005324875831722105,-0.0017188259270148865,-0.0001387211480876028],"object_size":[0.04,0.04,0.04],"object_velocity":[0.00010314199616027743,0.004818429803377193,-0.0785060221779422],"pad_normal_forces":{"left":0.8017588272772763,"right":0.8000748924355243},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.86},{"goal":[0.44,0.12,0.316],"joint_targets":[0.263750094082841,-1.104533148681622,1.4747017428285065,-1.7611088174103998e-06,-0.3701003874970564,-0.2637486431736987],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11964994045986826,0.03219986197138428,0.4810917374924428],[0.33712586290866514,0.09072638240287167,0.39815278668386556],[0.3869640951365144,0.1041387100017542,0.37914594379023325],[0.4400741115353902,0.11843155577882727,0.37934773007308265],[0.44021583529732294,0.11846964796001003,0.3393479992819756]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44021583529732294,0.11846964796001003,0.3393479992819756],"end_effector_quaternion":[0.9999983075082347,0.00047640277795137016,-0.0017714828690106902,-0.00014095922883672904],"end_effector_velocity":[-3.5999242891967924e-06,0.00497730089820277,-0.07916462669600727],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4661538497184098,0.11845466526565557,0.3474399402989705],[0.41421570449462725,0.11846939532099518,0.3472559313548248]],"gripper_width":0.03993847326936721,"jaw_actuator_force":[-0.8022889800623831,-0.7995524419331383],"joint_actuator_torque":[-0.01509929015128364,-1.827312058421171,-1.1293144997754325,2.465184942674047e-06,-0.07029034712005,0.0012465058946986574],"joint_position":[0.26288887422567897,-1.1123839840216183,1.4652396727316976,-1.239795555609497e-06,-0.3565245384474107,-0.26317122374008467],"joint_velocity":[0.01054549905512972,0.10429019014722016,0.12987714049484952,-1.3594902188941788e-05,-0.20843610927308331,-0.009415168944518658],"object_angular_velocity":[-0.011023535651056699,0.04002014182867642,0.0016187285834790004],"object_position":[0.4402438994073295,0.11831242389932783,0.3306793145642708],"object_quaternion":[0.9999983701189487,0.0005343257977041309,-0.0017189834207338584,-0.0001391092597842461],"object_size":[0.04,0.04,0.04],"object_velocity":[-1.7063502633503303e-05,0.004799368842783523,-0.0784831503617873],"pad_normal_forces":{"left":0.8017372598168715,"right":0.8000778761294415},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.88},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2639910265176751,-1.102163947740446,1.4775418677897174,-1.7623728366909453e-06,-0.37530990491211486,-0.2639895768693969],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12019847822276179,0.032378147914032325,0.4808066613361562],[0.33723903284009354,0.09084287462812493,0.3966920170603377],[0.3869774932732321,0.10424104116677116,0.37741574441379594],[0.44008410795998226,0.11854652057535453,0.37761757454943895],[0.4402258535306212,0.11858465447136578,0.3376178438753559]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4402258535306212,0.11858465447136578,0.3376178438753559],"end_effector_quaternion":[0.9999983067161667,0.00047692501433177774,-0.0017717552011404522,-0.00014138895807070566],"end_effector_velocity":[-0.00012006323848881692,0.004962988442760251,-0.07913118057742097],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46616392511250404,0.11856964104463351,0.345709799215618],[0.4142257792739578,0.11858441584864532,0.345525762008994]],"gripper_width":0.039938473996974144,"jaw_actuator_force":[-0.8022685252951023,-0.7995536136206702],"joint_actuator_torque":[-0.015141700154444493,-1.828913262161734,-1.1269355678563215,8.031622350445543e-06,-0.07032334579191968,0.0012508921465013145],"joint_position":[0.2631267494674436,-1.1100885933100726,1.4681696837947118,-1.2503152616001615e-06,-0.36175073755086623,-0.2634099682167199],"joint_velocity":[0.010580075185430962,0.10518090111215163,0.1287036373094274,-1.4743824658356362e-05,-0.20816491972437925,-0.009448298922311905],"object_angular_velocity":[-0.011035533977484566,0.04001599274154336,0.0016241231517622038],"object_position":[0.4402539930449798,0.11842821717643932,0.3289403022821366],"object_quaternion":[0.9999983687364707,0.0005361680522259926,-0.0017191803544601917,-0.00013952463866236169],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00014200133700831597,0.00478028836445291,-0.07846002107747843],"pad_normal_forces":{"left":0.8017139617451434,"right":0.8000818528612996},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.9},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26423306108638256,-1.0997762553313761,1.4803576694972356,-1.7641850899138812e-06,-0.38051358296317533,-0.2642316121702209],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12075120236334376,0.032557955219764255,0.4805177172970301],[0.3373509943696384,0.09095941367921201,0.39523114301573214],[0.38698844670441424,0.10434308124283545,0.37568630307626805],[0.4400916446344465,0.11866123807485429,0.37588818060728774],[0.44023341446155273,0.11869941447293975,0.33588845005971085]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44023341446155273,0.11869941447293975,0.33588845005971085],"end_effector_quaternion":[0.9999983058601792,0.000477457151763081,-0.0017720581135448332,-0.00014185021006715741],"end_effector_velocity":[-0.00024146646750950688,0.004948558094844347,-0.0790978363361866],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46617154528730387,0.11868436851677672,0.34398042131779777],[0.41423339881192184,0.11869919134732233,0.3437963526737604]],"gripper_width":0.039938474758893894,"jaw_actuator_force":[-0.8022447984429126,-0.7995570733648876],"joint_actuator_torque":[-0.01518760537301489,-1.830501982854912,-1.1245474310715053,1.361202366374214e-05,-0.07035550664107859,0.0012556444475144701],"joint_position":[0.2633654644169892,-1.1077728410938972,1.4710727952152185,-1.2613252796454442e-06,-0.36697046292748126,-0.26364961570507994],"joint_velocity":[0.010617389335920584,0.10605215990688259,0.1275579791809706,-1.589605048498098e-05,-0.20790173539918586,-0.009484181867424295],"object_angular_velocity":[-0.01104759432261493,0.040011952052357476,0.0016296674036063042],"object_position":[0.4402616321922923,0.1185437584342829,0.32720203315739294],"object_quaternion":[0.9999983672891385,0.0005380127557069893,-0.00171940959009161,-0.00013997139619405257],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00027252417719173753,0.00476117576262711,-0.07843662735177363],"pad_normal_forces":{"left":0.801688596092206,"right":0.8000869135853808},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.92},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26447631983962777,-1.0973708973096934,1.4831503679017912,-1.766640344295166e-06,-0.385711814610409,-0.26447487102493533],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1213079651090267,0.03273925810678488,0.48022493596707044],[0.33746160997324226,0.09107598779779573,0.393770162930109],[0.386996820254625,0.10444482168531904,0.37395761077580536],[0.4400965853291069,0.11877570351493494,0.3741595390314255],[0.4402383817076452,0.11881392317267268,0.334159808619274]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4402383817076452,0.11881392317267268,0.334159808619274],"end_effector_quaternion":[0.9999983049430142,0.0004779988283270535,-0.0017723896937873365,-0.00014234813642572753],"end_effector_velocity":[-0.0003687599323238303,0.004933975633291482,-0.0790646111122656],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4661765748862123,0.11879884262819312,0.34225179729395194],[0.41423842774142905,0.11881371729811327,0.3420676942364451]],"gripper_width":0.03993847556508316,"jaw_actuator_force":[-0.8022171663909976,-0.7995631859023637],"joint_actuator_torque":[-0.015237597864256713,-1.8320754239414896,-1.1221526191861813,1.921235069497426e-05,-0.07038658855381641,0.0012608304812466997],"joint_position":[0.2636050904550221,-1.1054372407112987,1.4739497680494502,-1.2728626416647252e-06,-0.3721839584159963,-0.26389024790931853],"joint_velocity":[0.01065792323048287,0.10690105320987785,0.1264447063965171,-1.7053771936985247e-05,-0.20764858576265172,-0.009523326436397585],"object_angular_velocity":[-0.011059626056589847,0.040007619429515126,0.001635366039303495],"object_position":[0.44026668128960617,0.11865904197765137,0.3254644963194002],"object_quaternion":[0.9999983657808666,0.0005398594870627045,-0.001719668516143279,-0.00014045470174808519],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0004097199421600053,0.0047420143762636905,-0.07841296298493924],"pad_normal_forces":{"left":0.8016607395844633,"right":0.8000932128212961},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.94},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2647209548285497,-1.0949488842957078,1.4859214633639333,-1.7698709548152481e-06,-0.3909050881327624,-0.2647195053503032],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12186859788590491,0.0329220270113543,0.479928359708912],[0.3375707152225717,0.09119258281123674,0.39230907585397723],[0.38700245044555787,0.1045462518487098,0.37222965663722135],[0.44009876530993086,0.11888991075766231,0.3724316391290143],[0.4402405906595912,0.11892817447911615,0.33243190886170104]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4402405906595912,0.11892817447911615,0.33243190886170104],"end_effector_quaternion":[0.9999983039605932,0.00047855063703943363,-0.0017727514976438783,-0.00014288930291051646],"end_effector_velocity":[-0.0005031680000977864,0.004919197865538594,-0.07903152795642077],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46617885058012476,0.11891305693665707,0.3405239165369098],[0.4142407027229723,0.11892798794101869,0.3403397759285723]],"gripper_width":0.03993847642672975,"jaw_actuator_force":[-0.8021848370793636,-0.7995724367020252],"joint_actuator_torque":[-0.015292438639875172,-1.8336300755731259,-1.1197543307421256,2.4840199910862508e-05,-0.07041631969929085,0.001266538362003189],"joint_position":[0.2638457126413909,-1.1030823909157068,1.476801499153307,-1.2849847589604536e-06,-0.3773915254343337,-0.26413196304928477],"joint_velocity":[0.010702299054972032,0.10772383551142224,0.12536963035363602,-1.8219838156704706e-05,-0.20740782807680055,-0.009566394771543838],"object_angular_velocity":[-0.01107156390875424,0.04000267286845038,0.0016412201702393954],"object_position":[0.4402689768884886,0.11877406056689098,0.3237276789223133],"object_quaternion":[0.9999983642092036,0.0005417086368353081,-0.0017199578449437628,-0.000140981135249836],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.000554993352570159,0.004722783151128099,-0.07838902012843924],"pad_normal_forces":{"left":0.8016298656600233,"right":0.8001009700477011},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.96},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26496716028945094,-1.092511486127375,1.4886728486454333,-1.774061389473043e-06,-0.39609402448839326,-0.2649657091981866],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12243290478614302,0.03310622741323443,0.479628046365168],[0.3376781103877663,0.09130918142059746,0.3908478818556804],[0.38700513667147163,0.10464735838061816,0.37050242748892287],[0.4400979824504857,0.11900385191569895,0.3707044682348455],[0.44023983954267204,0.11904216061475686,0.3307047381231438]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44023983954267204,0.11904216061475686,0.3307047381231438],"end_effector_quaternion":[0.9999983029031165,0.00047911396658818176,-0.0017731479171809647,-0.00014348225495934715],"end_effector_velocity":[-0.0006463033911345527,0.0049041697069170925,-0.0789986163473049],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4661781723808725,0.11902700319808346,0.3387967666170307],[0.4142400237572472,0.11904199592011074,0.3386125848646779]],"gripper_width":0.039938477356863254,"jaw_actuator_force":[-0.8021468036140105,-0.7995854717628763],"joint_actuator_torque":[-0.015353127258663335,-1.8351614208075375,-1.1173567223333976,3.05055465831345e-05,-0.07044436312233415,0.001272885721856909],"joint_position":[0.2640874340883903,-1.1007090029370286,1.479629063903857,-1.2977743302406335e-06,-0.3825935373367096,-0.26437488136717857],"joint_velocity":[0.01075133967064446,0.10851556988926936,0.12434039424105837,-1.9398008609298847e-05,-0.20718242069507792,-0.009614270738323724],"object_angular_velocity":[-0.01108335117545492,0.03999680759487446,0.0016472245458757054],"object_position":[0.440268318912832,0.11888880491654255,0.3219915654453267],"object_quaternion":[0.9999983625663148,0.0005435612473705225,-0.001720281032665752,-0.00014155927277958517],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0007101998266252957,0.004703455863526614,-0.07836478670027493],"pad_normal_forces":{"left":0.8015953065757087,"right":0.8001104915413421},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":9.98},{"goal":[0.44,0.12,0.316],"joint_targets":[0.265215192187136,-1.0900603507877362,1.491406986863065,-1.7794741798705204e-06,-0.4012794360566785,-0.2652137382694036],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12300065291852398,0.033291818098220835,0.4793240747086647],[0.3377835480456705,0.09142576215068637,0.3893865824726345],[0.3870046281789749,0.1047481243293764,0.36877590716854425],[0.4400939841177716,0.11911751680222808,0.36897801101538397],[0.440235876301216,0.119155871566584,0.3289782810722915]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.440235876301216,0.119155871566584,0.3289782810722915],"end_effector_quaternion":[0.9999983017549463,0.0004796910109603675,-0.0017735861631425695,-0.0001441384037988516],"end_effector_velocity":[-0.0008003494710950706,0.004888819629878317,-0.07896591354615969],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4661742908948713,0.1191406707708317,0.33707033258662267],[0.4142361414380828,0.11915573177988617,0.3368861053486009]],"gripper_width":0.039938478371097055,"jaw_actuator_force":[-0.8021017534788504,-0.799603166919276],"joint_actuator_torque":[-0.015421013675279482,-1.8366634766618404,-1.1149653655386373,3.6221882340539246e-05,-0.07047027296761144,0.0012800343530869895],"joint_position":[0.2643303824116601,-1.0983179404131282,1.482433779362586,-1.3113467180559837e-06,-0.387790462616493,-0.2646191533540933],"joint_velocity":[0.010806164811580882,0.10926955915553421,0.12336735061260698,-2.0593422368007184e-05,-0.20697628806667856,-0.009668169887663303],"object_angular_velocity":[-0.011094926322450557,0.03998967852592631,0.0016533617292942874],"object_position":[0.44026445787039126,0.11900326296948815,0.32025613667361796],"object_quaternion":[0.999998360839004,0.000545418990223374,-0.0017206441883435171,-0.00014220058741198148],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0008778599372074987,0.004683999871358958,-0.0783402427550526],"pad_normal_forces":{"left":0.8015561927152564,"right":0.800122209544973},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.0},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2654654014453974,-1.0875977057056287,1.4941272111319943,-1.7864970425759826e-06,-0.4064624244860572,-0.26546394309101956],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12357155756668001,0.033478748483801814,0.47901655278415345],[0.337886714053509,0.09154229774688769,0.3879251813651261],[0.38700060408174064,0.10484852778634486,0.36705007541493234],[0.44008644704226874,0.11923089209979135,0.3672522484236484],[0.44022837851244706,0.1192692942681672,0.3272525186654208]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44022837851244706,0.1192692942681672,0.3272525186654208],"end_effector_quaternion":[0.999998300493316,0.00048028493762327707,-0.0017740768117350159,-0.00014487347791225137],"end_effector_velocity":[-0.0009683646135216759,0.004873052430043989,-0.07893346686746669],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46616688787444277,0.11925404571952423,0.33534459596561983],[0.4142287375029691,0.11926918321991828,0.33516031780243527]],"gripper_width":0.03993847948867146,"jaw_actuator_force":[-0.8020479252129,-0.7996267399939976],"joint_actuator_torque":[-0.015497983278265792,-1.8381280403139044,-1.1125880055006974,4.200814266031079e-05,-0.07049342767365374,0.0012882150441662077],"joint_position":[0.2645747196528865,-1.095910280745628,1.4852173012922654,-1.3258620742768181e-06,-0.39298290171083666,-0.26486497258110325],"joint_velocity":[0.010868352387577378,0.10997639735121928,0.12246501604344254,-2.181343657840372e-05,-0.2067948860780877,-0.009729825941727435],"object_angular_velocity":[-0.011106208530750925,0.039980829961936255,0.001659590907598477],"object_position":[0.44025707535131414,0.11911741878703912,0.3185213681180792],"object_quaternion":[0.9999983590077897,0.0005472842607363224,-0.0017210564405943983,-0.00014292093627522683],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0010615183342410136,0.004664374307462956,-0.07831535439647579],"pad_normal_forces":{"left":0.8015113554305421,"right":0.8001367481514862},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.02},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26571829482907144,-1.0851267245995238,1.4968382676339518,-1.7957338419036673e-06,-0.4116445559794039,-0.2657168297941224],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12414525815606231,0.03366695428717276,0.4787056313523883],[0.33798719680445444,0.09165875260544187,0.3864636853467317],[0.3869926410780443,0.10494853972004521,0.3653249060537687],[0.440074944801001,0.11934396004775097,0.3655271560289308],[0.44021692097016857,0.11938241131646667,0.32552742647650357]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44021692097016857,0.11938241131646667,0.32552742647650357],"end_effector_quaternion":[0.9999982990855161,0.000480900259059595,-0.00177463506110163,-0.0001457100385277781],"end_effector_velocity":[-0.0011548211554604166,0.004856737288825054,-0.07890133703120075],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4661555450231902,0.1193671093948919,0.33361953314122444],[0.414217393637423,0.1193823339361367,0.33343519703578134]],"gripper_width":0.03993848073401161,"jaw_actuator_force":[-0.8019828712121146,-0.7996579405272035],"joint_actuator_torque":[-0.015586781782658932,-1.8395433730199215,-1.1102358999621629,4.789217397222346e-05,-0.07051291505885615,0.001297772388358709],"joint_position":[0.2648206583608791,-1.0934874143515594,1.4879817808910623,-1.341546051930433e-06,-0.39817164710309955,-0.26511259682046195],"joint_velocity":[0.010940225818825615,0.11062228875442678,0.12165463947198042,-2.3069174981417098e-05,-0.20664617478925248,-0.009801827225814519],"object_angular_velocity":[-0.011117076372454552,0.039969585850875934,0.0016658227555276155],"object_position":[0.44024575274018335,0.11923125075410877,0.31678722740434495],"object_quaternion":[0.9999983570447877,0.0005491604059433663,-0.0017215308570337963,-0.00014374310916633629],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.001266381842769566,0.004644527704193076,-0.07829006229127027],"pad_normal_forces":{"left":0.8014591634191426,"right":0.8001550392632237},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.04},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26597465809470017,-1.082652264762408,1.4995474005605154,-1.8081978087696228e-06,-0.41682820697609047,-0.2659731830374266],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12472127666452293,0.033856350028401705,0.47839152704938614],[0.3380844341431465,0.09177507837971327,0.38500210614466557],[0.38698015773199773,0.1050481202935555,0.3636003638540004],[0.4400588916925646,0.11945669623851544,0.3638027011508096],[0.4402009197537535,0.11949519882411545,0.32380297183196627]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4402009197537535,0.11949519882411545,0.32380297183196627],"end_effector_quaternion":[0.9999982974834926,0.00048154354221414063,-0.001775283153459748,-0.00014668216595794544],"end_effector_velocity":[-0.0013666347041254596,0.004839686949910712,-0.07886960256594674],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.4661396906277621,0.11947983603051718,0.33189511263745664],[0.4142015381053569,0.11949516170462766,0.3317107092639335]],"gripper_width":0.03993848213917183,"jaw_actuator_force":[-0.801903041165902,-0.7996993901829708],"joint_actuator_torque":[-0.015691628752009024,-1.8408917212007623,-1.107926370030782,5.391749335401528e-05,-0.07052731374314192,0.0013092522211728408],"joint_position":[0.2650684894593052,-1.0910512162455213,1.4907301352970201,-1.3587267608037763e-06,-0.40335778729215627,-0.26536238530216],"joint_velocity":[0.011025406706184356,0.11118583203423385,0.12096910030913634,-2.4378614012975653e-05,-0.20654245670812427,-0.00988827304637397],"object_angular_velocity":[-0.01112732829024398,0.03995484312591126,0.0016718676170198097],"object_position":[0.44022991764764013,0.1193447284495627,0.31505366962235737],"object_quaternion":[0.9999983549096964,0.0005510521499146118,-0.0017220861920022815,-0.0001447016763736864],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.001500543844946464,0.004624395361379664,-0.07826425767941149],"pad_normal_forces":{"left":0.8013972282791935,"right":0.8001785404997288},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.06},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2662358420140803,-1.0801825660143665,1.5022668354284943,-1.8257829577428056e-06,-0.4220173437303871,-0.2662343514601195],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12529893897108332,0.034046814856643154,0.4780745659894182],[0.33817761320564754,0.09189120578372453,0.3835404637066479],[0.38696230938440185,0.10514721203784735,0.3618763986001797],[0.4400374368786553,0.11956906559317027,0.3620788374738104],[0.44017952674869554,0.1196076225042946,0.3220791084268102]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44017952674869554,0.1196076225042946,0.3220791084268102],"end_effector_quaternion":[0.999998295613217,0.00048222479193996506,-0.001776055108030499,-0.00014784506798685854],"end_effector_velocity":[-0.0016153369017689145,0.0048216186572834505,-0.07883836360242598],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46611850007024347,0.11959218830468467,0.33017128999816125],[0.4141803462594861,0.11960763494207047,0.32998680649974044]],"gripper_width":0.03993848374788869,"jaw_actuator_force":[-0.8018029957589272,-0.7997552389808256],"joint_actuator_torque":[-0.015819495821446594,-1.8421441592112728,-1.105688167766516,6.0157930914710606e-05,-0.07053422870805548,0.0013235907445263706],"joint_position":[0.26531863505237246,-1.0886043701967094,1.493466557712444,-1.3779051934399492e-06,-0.4085429026202094,-0.2656148707669587],"joint_velocity":[0.011129991265826639,0.11163121767768998,0.1204632372097752,-2.5773422578887486e-05,-0.2065042408373133,-0.009996193280366925],"object_angular_velocity":[-0.01113659620504682,0.0399346201444074,0.0016773046878966861],"object_position":[0.44020874393056864,0.11945780666538257,0.31332062820146833],"object_quaternion":[0.9999983525422229,0.0005529663675790373,-0.001722750116044131,-0.0001458529139231252],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0017775822260066789,0.00460389864040456,-0.07823772612261168],"pad_normal_forces":{"left":0.8013218273800553,"right":0.8002096814343362},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.08},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625083682560313,-1.0799737742523934,1.502345307012266,-1.3373830238061253e-06,-0.42232843798384667,-0.2662500195731559],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12587720631257818,0.034238162195226046,0.4777552767963461],[0.3382654562803393,0.09200702729618114,0.38207879326680033],[0.38693776356461795,0.10524572554848335,0.3601529324579461],[0.44000923814404097,0.11968101407906966,0.36035549357064994],[0.44015140421572074,0.11971962962159372,0.3203557648509706]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44015140421572074,0.11971962962159372,0.3203557648509706],"end_effector_quaternion":[0.9999982933516534,0.0004829604086422693,-0.001777006823894749,-0.00014929759661919193],"end_effector_velocity":[-0.0019223471543079514,0.0048020732607344276,-0.0788077339909463],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46609068662490116,0.1197041080694281,0.32844799689528187],[0.4141525313353872,0.11971970577481517,0.3282634146135947]],"gripper_width":0.03993848562275175,"jaw_actuator_force":[-0.8016737793907733,-0.7998325521104448],"joint_actuator_torque":[-0.01598315142793183,-1.843248273137931,-1.103574443281218,6.675442014207267e-05,-0.0705291510358137,0.001342586395104206],"joint_position":[0.2655717618775125,-1.0861510626697737,1.4961976074136587,-1.3999036164236428e-06,-0.41372948239204094,-0.2658709180167085],"joint_velocity":[0.011265432722881682,0.11189168353087721,0.12023888082775215,-2.731653592907039e-05,-0.20656959317654242,-0.010139089730594589],"object_angular_velocity":[-0.011144123340044927,0.039904898833103414,0.001681114266082682],"object_position":[0.4401809410812221,0.1195704123499346,0.3115879944301973],"object_quaternion":[0.9999983498468922,0.0005549135470441287,-0.0017235653939584798,-0.0001472982713311743],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00212289837780716,0.00458295695950404,-0.07820999365264523],"pad_normal_forces":{"left":0.8012266326548994,"right":0.8002528922397956},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.1},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2662512432364708,-1.0799314457527596,1.5023079854203554,-7.060344494053652e-07,-0.42234974033950956,-0.2662507459389727],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12633287887200428,0.0343883566681542,0.47750241340555716],[0.33834340455753475,0.09209853979525247,0.3809567156143983],[0.3869291500271355,0.10532379009521249,0.35883165987059107],[0.43999794356370336,0.11976938036153639,0.3589992141323077],[0.4401155375119496,0.11980133270122512,0.3189993997488468]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4401155375119496,0.11980133270122512,0.3189993997488468],"end_effector_quaternion":[0.9999988311087468,0.0003995995720358258,-0.0014698730968925838,-0.00013256847730745296],"end_effector_velocity":[-0.0018905652760414825,0.0033814452057048558,-0.05791211271799406],"grasp_contacts":{"left":4,"right":4},"gripper_points":[[0.46605820285896693,0.11978802711319596,0.32707569410872994],[0.41411993938221836,0.11980185892334531,0.3269230138125156]],"gripper_width":0.03993848973133496,"jaw_actuator_force":[-0.7995260761179033,-0.8019190946340577],"joint_actuator_torque":[-0.011794712281528064,-1.7939663121295553,-1.0671532719654806,2.1812978601390014e-05,-0.08007625990101985,0.0008070636855990188],"joint_position":[0.2657652456990514,-1.0842162300853986,1.4982152778102682,-1.5102584954105034e-06,-0.41704549355966886,-0.2660309926054821],"joint_velocity":[0.00824170449085383,0.08228592682624429,0.08454163243104079,-1.0797608390060207e-06,-0.129057281690146,-0.0061097470746063285],"object_angular_velocity":[-0.012563366614390814,0.04021794869682722,0.0022306148537729314],"object_position":[0.44013622214218123,0.11964846849497522,0.31024402561181896],"object_quaternion":[0.9999989945105642,0.0004402462475463935,-0.0013419138984221762,-0.00012817250823328366],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.0023206194912595846,0.003178709096397469,-0.05734461987781584],"pad_normal_forces":{"left":0.8000709967830029,"right":0.801302773157599},"table_contacts":0,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.12},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625146289469975,-1.07991698269127,1.5022997254369792,-6.005437204868167e-07,-0.4223665958091428,-0.26625123081627916],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12656354730649963,0.034466627927079746,0.4773736446198982],[0.338380177122592,0.09214994294162598,0.380387302786189],[0.3869214881221132,0.10536903596579283,0.35816126611596394],[0.4399886081238832,0.11982062526740613,0.35834110319566237],[0.4401148020950426,0.11985499478292284,0.3183413170235083]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4401148020950426,0.11985499478292284,0.3183413170235083],"end_effector_quaternion":[0.9999986563603432,0.0004298089998333153,-0.0015773751291519615,-0.00012012257734515656],"end_effector_velocity":[0.00061092307739051,0.0021833009425523495,-0.01690336981416774],"grasp_contacts":{"left":2,"right":2},"gripper_points":[[0.46607856601872283,0.119841841885274,0.32642326068754984],[0.41407407053196044,0.11985440627441378,0.32625920426126276]],"gripper_width":0.04000475577490558,"jaw_actuator_force":[-0.8218565570142689,-0.864719540628009],"joint_actuator_torque":[0.042570355468058096,-0.7730802759207336,-0.36547195056448345,-0.002055466832437874,0.0009624968547825574,-0.00040263418196317957],"joint_position":[0.2658791318572453,-1.0832336459630743,1.4992390167071061,9.330363481430426e-08,-0.41927514165586166,-0.2661193394891435],"joint_velocity":[0.004251017514181648,0.02640481609360468,0.03091719614223795,0.0004940760834068988,-0.09410692004909989,-0.003369967747338981],"object_angular_velocity":[-0.026305198770282465,-0.0055716211746881135,-0.0012476915259280429],"object_position":[0.44014138696709404,0.1196818152930692,0.3098889442550898],"object_quaternion":[0.9999997486226745,0.00016453233989321083,-0.0006792584086639543,-0.00011954794509546308],"object_size":[0.04,0.04,0.04],"object_velocity":[-7.48929875747094e-05,0.0007116927948022549,0.00394110542948177],"pad_normal_forces":{"left":0.865400853017896,"right":0.8751168571508878},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.14},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625159648579605,-1.0799121281504893,1.5022997680025285,-5.354336743927759e-07,-0.4223783792538912,-0.26625149787248037],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12666977918056505,0.03450509127004347,0.47731390118388595],[0.33839125488588906,0.09217842811723816,0.38011409181128525],[0.3869107597350258,0.1053952344780536,0.3578391354967309],[0.43997683290484735,0.11985030237519717,0.35804623553080883],[0.4401220601083107,0.11989024028717721,0.31804651910653203]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4401220601083107,0.11989024028717721,0.31804651910653203],"end_effector_quaternion":[0.9999982211796381,0.0004994312925995653,-0.0018152864577542502,-0.00011375860251477384],"end_effector_velocity":[0.00038242425386057245,0.0013888006415431482,-0.013147308486652359],"grasp_contacts":{"left":2,"right":2},"gripper_points":[[0.4660919167642391,0.11987629033654085,0.3261408508035457],[0.414093152295704,0.11988821529324296,0.3259520704929718]],"gripper_width":0.03999910851605486,"jaw_actuator_force":[-0.8357389396047408,-0.6987704906778713],"joint_actuator_torque":[0.05306136444561105,-0.8051164960795063,-0.36076224897431075,-0.0014999973663878084,0.005104456325625506,0.00014936945803611934],"joint_position":[0.26594919742212564,-1.0827783850915935,1.4997563469962232,9.982151607423652e-06,-0.4207434259865255,-0.26617265508397864],"joint_velocity":[0.0027138524951578944,0.020625990137360106,0.021499359695959435,0.00011070811252442958,-0.05885744777078436,-0.0021451492280480946],"object_angular_velocity":[-0.009129669722586348,-0.0040313190608882,2.4052948834074694e-05],"object_position":[0.4401379046219446,0.11969139871676902,0.30994341889624755],"object_quaternion":[0.9999997085110223,6.280657846181015e-06,-0.000752888785812147,-0.00012687355758346692],"object_size":[0.04,0.04,0.04],"object_velocity":[-0.00039909959150659163,0.00034395083413496226,0.001454442096108042],"pad_normal_forces":{"left":0.8257453553922687,"right":0.8364575491601505},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.16},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625170193718906,-1.079908077974017,1.5022986040768749,-3.668137995866205e-07,-0.4223853262952274,-0.2662516406358018],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1267661969936089,0.034539286041425844,0.47725971976754755],[0.3384045898285865,0.09220323085349179,0.37987358036907504],[0.38690505485326887,0.10541788487292357,0.35755592342359177],[0.4399703456801986,0.11987583034223648,0.3577626170609923],[0.44011519141097705,0.11991604395930693,0.31776289952974873]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44011519141097705,0.11991604395930693,0.31776289952974873],"end_effector_quaternion":[0.9999982291982313,0.0005028587437738186,-0.0018105227252620648,-0.00010363853897840771],"end_effector_velocity":[-0.0011103184764639689,0.0012278758239390813,-0.017443888220427285],"grasp_contacts":{"left":2,"right":2},"gripper_points":[[0.46612881410655804,0.11990255575700692,0.32585714218351847],[0.4140574279773488,0.11991344382972449,0.3256685938488495]],"gripper_width":0.04007172862928442,"jaw_actuator_force":[-0.379789542618167,-0.42228680271600005],"joint_actuator_torque":[0.017262539118632958,-1.051566962191771,-0.5782023393051077,-0.004758198873212391,-0.03717835381411305,0.00013049365371387012],"joint_position":[0.26600743415799133,-1.0823658456365741,1.5001930985771184,1.9781576550834147e-05,-0.42158532799423176,-0.26620665074883487],"joint_velocity":[0.0032161474007055633,0.023953538627809055,0.02474306422947891,0.000681296615103794,-0.027535682425492994,-0.0012394165213106413],"object_angular_velocity":[-0.0007545433403070788,0.026150251001228142,0.00016915416699688464],"object_position":[0.4401423619356349,0.11969572697323745,0.30996116026118176],"object_quaternion":[0.9999997907938141,-4.054107954504805e-05,-0.0006332534342282064,-0.00012553420340510822],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0006292391338486397,8.51974539270184e-05,0.0009006842016558012],"pad_normal_forces":{"left":0.4804490667604229,"right":0.46524852565306263},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.18},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625180400989507,-1.0799031742762542,1.5022951711376191,-1.8726359927764944e-07,-0.4223889439049269,-0.2662517712052341],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12689309972396678,0.034581910621511266,0.4771886581140188],[0.33842941156922335,0.09223145851142793,0.3795724791322815],[0.3869064830337613,0.1054428132362005,0.3572021047823],[0.43997103413898414,0.1199039424512441,0.3573728614132306],[0.44009066945405484,0.11993726198114417,0.3173730541986912]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44009066945405484,0.11993726198114417,0.3173730541986912],"end_effector_quaternion":[0.9999987913857942,0.0004166233426306917,-0.0014954073854146384,-8.60737643100383e-05],"end_effector_velocity":[-0.001604257025421954,0.0009317574941001222,-0.0219998176709208],"grasp_contacts":{"left":2,"right":0},"gripper_points":[[0.4661524018080399,0.11992607497463417,0.3254510314019966],[0.41405009854594593,0.11993510920879825,0.32529520628972036]],"gripper_width":0.04010253706201078,"jaw_actuator_force":[-0.013747372419945059,0.007299651449283573],"joint_actuator_torque":[0.0013202870149200407,-1.4194693966339855,-0.8109443066464337,6.510016576758204e-05,-0.062119598782288676,0.00026102575508346604],"joint_position":[0.2660664743769254,-1.081825264380753,1.5007014782298977,1.8919345021442487e-05,-0.42198088492067015,-0.26623090014067763],"joint_velocity":[0.0029108945375168295,0.03007326575331188,0.02748082390330143,-0.0004992551942179328,-0.011586004538129118,-0.000640096672643956],"object_angular_velocity":[0.003326559209049986,0.038972278220034684,0.0007205747486320362],"object_position":[0.4401544842229762,0.11969605421234211,0.30997776883279954],"object_quaternion":[0.9999999448931132,-2.850685076105615e-05,-0.00031214649652964766,-0.00010938781439121353],"object_size":[0.04,0.04,0.04],"object_velocity":[0.000755299603204465,-5.83696803358317e-05,0.0008710735991844944],"pad_normal_forces":{"left":0.1331398402754836,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.2},{"goal":[0.44,0.12,0.316],"joint_targets":[0.266251879847144,-1.0798992841705253,1.502292191337349,-8.313980021147242e-08,-0.4223909478296874,-0.2662518572751916],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12702205921094384,0.03462401615038689,0.4771165190338947],[0.33845804533094637,0.09225780860870668,0.37927394271696907],[0.38691212548344694,0.10546555271373831,0.3568516856443403],[0.4399760164256583,0.11992959048418891,0.35697452475894875],[0.4400621019756051,0.11995347856443582,0.31697462452610176]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4400621019756051,0.11995347856443582,0.31697462452610176],"end_effector_quaternion":[0.999999374434835,0.0002986695892514227,-0.001076051062502548,-6.356513205411187e-05],"end_effector_velocity":[-0.0012686016584071494,0.0007220662892482646,-0.017325390374529757],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4665874223384067,0.11994530952213778,0.32503172591315865],[0.4135500073137571,0.11995208628497213,0.3249175857995653]],"gripper_width":0.04103753827608314,"jaw_actuator_force":[0.03678750163410793,0.03278314839183505],"joint_actuator_torque":[-0.0029706094363461943,-1.4814488447789245,-0.8489805506537778,6.642490935220168e-05,-0.06936501078697432,4.063043427393609e-05],"joint_position":[0.26611748250029754,-1.0812770481159482,1.5011860930634555,1.1175316500608986e-05,-0.4221424852751235,-0.26624004552422814],"joint_velocity":[0.0022680130807833476,0.02384912507374193,0.020859502196528747,-0.0003010889364541558,-0.005821904702964607,-0.00032617398391791505],"object_angular_velocity":[0.0012410472406085575,0.012037092997025045,4.806486185086064e-06],"object_position":[0.4401638765924528,0.11969524057819612,0.309988461272267],"object_quaternion":[0.9999999918322529,-7.270004087123475e-06,-6.916598700892631e-05,-0.00010723202162829207],"object_size":[0.04,0.04,0.04],"object_velocity":[0.0002414603528732561,-2.4877407021980572e-05,0.00026185064214549134],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.22},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625193236800204,-1.0798972441842654,1.50229090581748,-3.189916093600104e-08,-0.42239237657634743,-0.266251914897634],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12711646758975162,0.03465499153839056,0.4770636258719152],[0.33847972446708086,0.09227767424422317,0.37905750320607834],[0.38691713750146883,0.10548287236430981,0.3565977667618241],[0.43998051221260936,0.11994906476948254,0.35668460892677817],[0.44004138321071096,0.11996590829540014,0.31668465878909396]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44004138321071096,0.11996590829540014,0.31668465878909396],"end_effector_quaternion":[0.9999996873058004,0.00021057908520076226,-0.0007608780427778271,-4.592770710125878e-05],"end_effector_velocity":[-0.0008575660074542158,0.0005331811688318494,-0.012200655474215567],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.46780057783810036,0.11995997973811766,0.3247269095648666],[0.4122667936629518,0.11996509861702022,0.3246424016932443]],"gripper_width":0.043533848710451004,"jaw_actuator_force":[0.0015231504397181794,-0.0011410887260474567],"joint_actuator_torque":[-0.0022878346524493054,-1.4688451894746208,-0.8405296380692562,4.574861399998647e-05,-0.06910499297429595,2.292001907377994e-05],"joint_position":[0.2661558626174592,-1.0808754481359335,1.501530892514113,6.57439950566772e-06,-0.42223439349604935,-0.26624502860829724],"joint_velocity":[0.0016278187933167234,0.016974305715331078,0.01436391038759271,-0.00017780554621108012,-0.0036360680712253595,-0.00018966898132483597],"object_angular_velocity":[0.00024004884720136405,0.0022590871439603544,1.4673815820811274e-08],"object_position":[0.44016615109318047,0.11969500197750323,0.30999092494157876],"object_quaternion":[0.9999999941713845,-1.3380798644835082e-06,-1.2580238274042976e-05,-0.00010722488576910776],"object_size":[0.04,0.04,0.04],"object_velocity":[4.545339586646467e-05,-4.829427804642136e-06,4.936742568496469e-05],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.24},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625196781720906,-1.0798962029636632,1.5022904588383714,-9.809992114939966e-09,-0.4223934094401031,-0.266251955009551],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12718348909599628,0.03467700589967014,0.47702604187251774],[0.33849575264761306,0.0922920050000741,0.3789055080819165],[0.38692147971152524,0.10549544229391668,0.35641955242157036],[0.43998447523515066,0.1199631562812033,0.35648085529085133],[0.4400274519521758,0.1199750199318867,0.3164808801376642]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4400274519521758,0.1199750199318867,0.3164808801376642],"end_effector_quaternion":[0.9999998441586719,0.00014831345320806235,-0.0005372041331900802,-3.3128100107168206e-05],"end_effector_velocity":[-0.0005742262757895628,0.00039072376683145916,-0.008569088867630133],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4692988354441809,0.11997070255504447,0.3245123335452002],[0.4107382261143242,0.11997459189173586,0.3244494160912613]],"gripper_width":0.04656064325822459,"jaw_actuator_force":[-0.009693473445810064,-0.010806204794371332],"joint_actuator_torque":[-0.0015507325299637387,-1.4590589009579844,-0.8339607663332345,3.0613180565818767e-05,-0.06878830176651718,1.3032468537232944e-05],"joint_position":[0.26618325407898114,-1.080590269178831,1.5017680158385687,3.858070144008956e-06,-0.42229234451659475,-0.26624793101104127],"joint_velocity":[0.0011609005716187002,0.012046976513878314,0.009872323833934918,-0.00010474656717277167,-0.002300975876136975,-0.00011052257130112954],"object_angular_velocity":[4.310851180234817e-05,0.0004044637347960241,4.4797682337096736e-11],"object_position":[0.44016656702582535,0.11969495770617637,0.30999137842526253],"object_quaternion":[0.9999999942488645,-2.3909593205377413e-07,-2.2451093395959876e-06,-0.0001072248639904547],"object_size":[0.04,0.04,0.04],"object_velocity":[8.13948183479264e-06,-8.675130582799733e-07,8.932989381389179e-06],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.26},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2662519920832562,-1.0798956599369984,1.5022903604519318,-9.699310790780986e-10,-0.42239414087779703,-0.26625198304031467],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12723101784469654,0.03469263822162804,0.4769993703462132],[0.3385075512337443,0.0923023348329759,0.3787988138536197],[0.3869250901354011,0.10550455697307645,0.35629451965740033],[0.4399878097650258,0.11997334810238881,0.35633774886257713],[0.4400181201170184,0.11998169834825315,0.31633776121812957]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4400181201170184,0.11998169834825315,0.31633776121812957],"end_effector_quaternion":[0.9999999224929377,0.00010438712468130817,-0.000378876937692495,-2.386866439333864e-05],"end_effector_velocity":[-0.00038374861798244684,0.0002867634177225188,-0.006018248786568099],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4708708038016672,0.11997855274375807,0.3243611419323578],[0.40915121737812393,0.11998150395457378,0.32431437397426166]],"gripper_width":0.049719604213286875,"jaw_actuator_force":[-0.012526995009713993,-0.01308944967836645],"joint_actuator_torque":[-0.0010835203937489268,-1.452110447232144,-0.829442180248293,2.0152949913100266e-05,-0.06856537850897126,7.362785538589378e-06],"joint_position":[0.2662028125486623,-1.0803879840343524,1.5019311178029706,2.257937051549854e-06,-0.422329119399167,-0.2662496251936545],"joint_velocity":[0.0008298367793453343,0.008544919281994105,0.006790567599415846,-6.159168895739112e-05,-0.0014626165041547654,-6.453661496043864e-05],"object_angular_velocity":[7.683041767512391e-06,7.206230577180072e-05,1.367619258610036e-13],"object_position":[0.4401666412934859,0.11969494978915697,0.3099914602992464],"object_quaternion":[0.9999999942513335,-4.259044674620395e-08,-3.99870169119659e-07,-0.0001072248639242026],"object_size":[0.04,0.04,0.04],"object_velocity":[1.4502201784898157e-06,-1.5461745755840213e-07,1.6101870829047017e-06],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.28},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2662520088972804,-1.0798953678305527,1.502290390957003,2.0678887020303628e-09,-0.4223946517892298,-0.266252002673101],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12726471192719138,0.03470373846760264,0.4769804519278019],[0.33851620935933735,0.09230978343290962,0.3787239080432796],[0.38692801085420414,0.10551116873745914,0.35620678340307654],[0.43999053074410743,0.11998072489254473,0.3562372400681299],[0.4400118881172833,0.11998659863016962,0.31623724620110766]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4400118881172833,0.11998659863016962,0.31623724620110766],"end_effector_quaternion":[0.9999999615213624,7.342630882868632e-05,-0.0002669659137218194,-1.7177069867676452e-05],"end_effector_velocity":[-0.00025557295090902245,0.00021050173325129468,-0.00422671585824143],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.47246167482532075,0.11998430767892822,0.3242545731490537],[0.4075517338497269,0.11998654014911553,0.32421991582575754]],"gripper_width":0.05290995026626544,"jaw_actuator_force":[-0.013245151047414971,-0.013582577670515406],"joint_actuator_torque":[-0.0007692060055148886,-1.447202062209442,-0.8263115230455469,1.3250524546469181e-05,-0.0684044392765415,4.123153239277144e-06],"joint_position":[0.266216801926461,-1.0802445473183635,1.5020433575305634,1.3170770408952143e-06,-0.4223525677872501,-0.2662506165204809],"joint_velocity":[0.0005938182143781712,0.006059196938090261,0.004672517153747646,-3.615444593833024e-05,-0.0009346253857314703,-3.777948863436249e-05],"object_angular_velocity":[1.3682149426655433e-06,1.2832579278961964e-05,4.175144335964174e-16],"object_position":[0.4401666545218236,0.1196949483787683,0.30999147505406616],"object_quaternion":[0.9999999942514116,-7.584188146539951e-09,-7.120484926591538e-08,-0.00010722486392400796],"object_size":[0.04,0.04,0.04],"object_velocity":[2.582502545870648e-07,-2.7534746467201867e-08,2.901339799890938e-07],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.3},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2662520206491605,-1.0798952042515475,1.5022904569283357,2.705469369142918e-09,-0.42239500547928444,-0.2662520164385405],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12728859532549056,0.034711620489792844,0.4769670360656177],[0.33852254975491636,0.09231515395611022,0.3786713117013194],[0.3869303309783264,0.10551596370880795,0.3561452082011677],[0.4399927068154964,0.11998606428786648,0.3561666499093166],[0.44000774407401844,0.1199901938788944,0.31616665294897506]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44000774407401844,0.1199901938788944,0.31616665294897506],"end_effector_quaternion":[0.9999999809258909,5.1622209933562967e-05,-0.00018796509765028573,-1.2348568918722793e-05],"end_effector_velocity":[-0.00016943558386118944,0.00015443702909539178,-0.0029684981861395777],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.47405790471648135,0.11998852628401128,0.3241794539124248],[0.40595022720137913,0.11999020967051931,0.3241538502654183]],"gripper_width":0.056107682348481756,"jaw_actuator_force":[-0.013446372000525564,-0.013666214949252797],"joint_actuator_torque":[-0.0005491786919122887,-1.443740625000487,-0.8241325731831921,8.749807847981214e-06,-0.06828706081950031,2.2821319767274417e-06],"joint_position":[0.26622681458914654,-1.08014285352907,1.5021206058603835,7.649499266630319e-07,-0.42236760158036946,-0.2662511982943127],"joint_velocity":[0.0004250809918079387,0.00429606951145532,0.003215343390912472,-2.1177636386238415e-05,-0.0006007067357863751,-2.2183840889864177e-05],"object_angular_velocity":[2.436344807876104e-07,2.2850553167479026e-06,1.2749543204150721e-18],"object_position":[0.4401666568774063,0.11969494812761455,0.3099914777126352],"object_quaternion":[0.9999999942514141,-1.3504889056826553e-09,-1.267916948474462e-08,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[4.598578950400798e-08,-4.903042709905242e-09,5.2276542623386595e-08],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.32},{"goal":[0.44,0.12,0.316],"joint_targets":[0.26625202891426103,-1.0798951081676857,1.5022905220911131,2.4563864727248027e-09,-0.4223952488859149,-0.26625202609779547],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12730552439965728,0.03471721743348293,0.4769575232119981],[0.33852718568886186,0.09231902518078712,0.3786343746330843],[0.38693214973430456,0.10551943945621099,0.35610198641708324],[0.4399944219682906,0.1199899279685782,0.35611707216561383],[0.44000500264128456,0.11999283010748416,0.31611707367027697]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44000500264128456,0.11999283010748416,0.31611707367027697],"end_effector_quaternion":[0.9999999905565194,3.627790975769445e-05,-0.00013225809189939587,-8.869708686720011e-06],"end_effector_velocity":[-0.00011172611850472397,0.00011321622253166551,-0.0020848746103659887],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.47565599030230044,0.11999161687226725,0.3241265041695988],[0.40434884316798325,0.11999288250381462,0.32410764232056616]],"gripper_width":0.05930714964017515,"jaw_actuator_force":[-0.013515899720452751,-0.013663585556430213],"joint_actuator_torque":[-0.0003928317926380487,-1.4413010648916043,-0.8226134326703232,5.812614312024411e-06,-0.06820158606983995,1.2425593496345755e-06],"joint_position":[0.2662339825465672,-1.080070756724922,1.5021737674042759,4.4176372056835556e-07,-0.4223772970197501,-0.26625154092717396],"joint_velocity":[0.0003043262364268679,0.0030459332140511867,0.0022123778305442408,-1.2369234328052553e-05,-0.00038840472475951365,-1.3074079038546467e-05],"object_angular_velocity":[4.3382981346408526e-08,4.0689015333993146e-07,3.861058021332743e-21],"object_position":[0.4401666572968561,0.11969494808289244,0.30999147819165734],"object_quaternion":[0.9999999942514141,-2.4047582126785056e-10,-2.25772544011282e-09,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[8.188495716994496e-09,-8.730645235138965e-10,9.419195148330612e-09],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.34},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2662520347534852,-1.079895048771569,1.5022905749802427,1.9628069935040154e-09,-0.42239541574148126,-0.2662520328821797],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12731752475911304,0.03472119198693838,0.47695077792187424],[0.33853057110599344,0.0923218148880778,0.3786084305110497],[0.3869335608938202,0.10552195763625558,0.35607164256273577],[0.4399957587578956,0.11999272282999818,0.35608225111043895],[0.4400031998028268,0.11999476167876551,0.3160822518545146]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4400031998028268,0.11999476167876551,0.3160822518545146],"end_effector_quaternion":[0.999999995329261,2.5486201877220805e-05,-9.301289981681131e-05,-6.366498813463411e-06],"end_effector_velocity":[-7.321627873927003e-05,8.292779994955545e-05,-0.0014643411230997844],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.47725489954450295,0.11999387938763148,0.32408918174777573],[0.4027478763581495,0.11999482843863755,0.3240753215432117]],"gripper_width":0.06250702448157336,"jaw_actuator_force":[-0.013547518378818069,-0.013647670660057898],"joint_actuator_torque":[-0.0002811716675665821,-1.4395820416140168,-0.8215536609581022,3.885769599138386e-06,-0.06813963223881103,6.6036785639767e-07],"joint_position":[0.26623911435618797,-1.0800196408545797,1.5022103451651212,2.5322713851213374e-07,-0.4223835869972617,-0.26625174356930026],"joint_velocity":[0.0002178820959675737,0.0021596853400715353,0.0015219358671757777,-7.196495955547172e-06,-0.0002526432549540203,-7.738838965336198e-06],"object_angular_velocity":[7.725021035222735e-09,7.245317620344577e-08,-1.1813625927427387e-24],"object_position":[0.44016665737154576,0.11969494807492895,0.3099914782779676],"object_quaternion":[0.9999999942514141,-4.282049330385794e-11,-4.0202342939711494e-10,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[1.4580901538064024e-09,-1.55462846763632e-10,1.6971501768163142e-09],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.36},{"goal":[0.44,0.12,0.316],"joint_targets":[0.2662520388925235,-1.079895010213132,1.5022906141442922,1.4742303375617053e-09,-0.4223955298255943,-0.26625203765310357],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.127326032180147,0.03472401467902461,0.47694599477179433],[0.33853304066858547,0.09232382469029538,0.3785902046421321],[0.3869346467805193,0.1055237811512116,0.3560503360707512],[0.4399967913266553,0.11999474381982889,0.35605779317831376],[0.4400020222129011,0.11999617580871294,0.3160577935459733]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4400020222129011,0.11999617580871294,0.3160577935459733],"end_effector_quaternion":[0.999999997691698,1.790015972446678e-05,-6.538599646911089e-05,-4.5672224681890584e-06],"end_effector_velocity":[-4.763701328415704e-05,6.069082628729293e-05,-0.0010285680198072037],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4788542517579252,0.11999553441687695,0.32406287438641884],[0.40114725736931267,0.11999624440904241,0.32405271250053935]],"gripper_width":0.06570699505630023,"jaw_actuator_force":[-0.01356541683250434,-0.013633456681448664],"joint_actuator_torque":[-0.0002012929215453596,-1.4383707789423283,-0.8208141848293735,2.6134712150255464e-06,-0.06809494149028694,3.3800658627569646e-07],"joint_position":[0.2662427884807818,-1.079983397062119,1.5022355051241791,1.437342242604019e-07,-0.42238769183634395,-0.26625186401229606],"joint_velocity":[0.00015599370184506416,0.0015314415390122538,0.0010466515911777235,-4.165409845389991e-06,-0.00016530831535499404,-4.604322739412993e-06],"object_angular_velocity":[1.37556123545754e-09,1.290142451639152e-08,5.801762154393897e-25],"object_position":[0.4401666573848454,0.11969494807351094,0.30999147829351903],"object_quaternion":[0.9999999942514141,-7.624860491136328e-12,-7.158657644504832e-11,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[2.59635820246434e-10,-2.7682598810611654e-11,3.0578910740247085e-10],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.38},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662457339200196,-1.0887665383239775,1.493150061987939,-1.1669761002162824e-08,-0.4044703548156257,-0.26624576224851076],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12733206411383796,0.03472601955112647,0.4769426026724516],[0.33853484043406923,0.09232527226717102,0.3785773986560942],[0.38693547667412226,0.1055251010145979,0.3560353727356789],[0.4399975830260448,0.11999620470566422,0.35604061293288647],[0.44000125902532466,0.11999721026978181,0.3160406131144381]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.44000125902532466,0.11999721026978181,0.3160406131144381],"end_effector_quaternion":[0.9999999988599395,1.2569701971185238e-05,-4.594994988455729e-05,-3.2750180524435406e-06],"end_effector_velocity":[-3.073520918544473e-05,4.4379526263145546e-05,-0.0007225377941680372],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.480453866697883,0.11999674413937124,0.32404433073296396],[0.3995468789132339,0.11999727417652407,0.32403689539553415]],"gripper_width":0.06890698812803829,"jaw_actuator_force":[-0.01357677651771283,-0.013622960604047663],"joint_actuator_torque":[-0.00014411816461290528,-1.437517258343064,-0.8202981533022466,1.7677297041738273e-06,-0.06806283800526103,1.6238395872392175e-07],"joint_position":[0.2662454189840243,-1.0799576952928627,1.5022528051854014,8.052068975644711e-08,-0.4223903862055489,-0.2662519360148291],"joint_velocity":[0.00011168442223082639,0.0010860828628358517,0.0007195293465581505,-2.3946535086030977e-06,-0.00010878771693842513,-2.7558427526661766e-06],"object_angular_velocity":[2.449399914389585e-10,2.297300974968015e-09,-1.3464861445927143e-25],"object_position":[0.4401666573872138,0.11969494807325842,0.30999147829632095],"object_quaternion":[0.9999999942514141,-1.357726614544827e-12,-1.2747112701354218e-11,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[4.623223018502163e-11,-4.9293216280778425e-12,5.510270659797015e-11],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.4},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624593458332135,-1.0907595580979859,1.4912109055164373,-9.313754755450297e-09,-0.40052760570569373,-0.2662459489998594],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12685823106173913,0.03459682521363643,0.47720446779341086],[0.3384702206853274,0.09230772782392199,0.37978877312641934],[0.38696463497406636,0.10553314300544576,0.3574643430985671],[0.44002665028184856,0.12000423914594459,0.3573648043165369],[0.4399568104103435,0.11998518734592045,0.3173648698238247]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4399568104103435,0.11998518734592045,0.3173648698238247],"end_effector_quaternion":[0.9999995905775824,-0.00023814924732278123,0.0008729983012589036,-1.8894853078742092e-06],"end_effector_velocity":[-0.0023109263650125155,-0.0006353122382646973,0.07671609041722047],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4820296129263064,0.11998882127823109,0.3252914220961351],[0.3979227160960009,0.11998917408843221,0.32543827254027075]],"gripper_width":0.07210702503121291,"jaw_actuator_force":[-0.012797471602070232,-0.014415843922616745],"joint_actuator_torque":[0.00033302041181570985,-1.2596103083096182,-0.7012588300899552,-0.00011311532769956859,-0.1066500440125111,-1.3416249114328593e-05],"joint_position":[0.2662456353060239,-1.0819454844865175,1.4999074795588927,-1.3299856103081512e-07,-0.41615219804750747,-0.26624946815214323],"joint_velocity":[-1.174290550691784e-05,-0.11618106869021208,-0.12420050659236043,3.2122144364304e-05,0.3017165548145337,0.00010326774591175474],"object_angular_velocity":[4.361539991267985e-11,4.090705795582209e-10,3.43713253657632e-26],"object_position":[0.4401666573876354,0.11969494807321347,0.3099914782968259],"object_quaternion":[0.9999999942514141,-2.4176481700826477e-13,-2.2698232996726816e-12,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[8.232373598016378e-12,-8.777440337449574e-13,9.92880309119129e-12],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.42},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662460142486366,-1.0931699900663774,1.4887807495613181,-6.552655485345417e-09,-0.39568096613443204,-0.26624602607811854],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12627230618062776,0.03443704145716825,0.47752655386342513],[0.3383570933876402,0.09227690223420285,0.38122186269705716],[0.3869598571225805,0.10553187032893994,0.35915203763809783],[0.4400217329909183,0.12000292609123067,0.3589911822440764],[0.439908867721446,0.11997215118911785,0.31899135331523787]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.439908867721446,0.11997215118911785,0.31899135331523787],"end_effector_quaternion":[0.9999989308039926,-0.00038468832875478815,0.0014108169293808532,-1.163182209301765e-06],"end_effector_velocity":[-0.0015491631130376145,-0.0004193479131163958,0.0735170659441432],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4835857613912193,0.11997815722863245,0.326868142272298],[0.3962790921798197,0.11997845510372017,0.3271144903653793]],"gripper_width":0.07530701676417792,"jaw_actuator_force":[-0.012618834959168268,-0.014582248300575529],"joint_actuator_torque":[-6.549663299892927e-05,-1.2319543309171195,-0.6915651417153867,-6.412843598110635e-05,-0.09554651270282477,-7.4922695745271994e-06],"joint_position":[0.2662457082865783,-1.08440063964425,1.4973030939366705,1.516403965344398e-07,-0.4099778065954034,-0.26624797400792294],"joint_velocity":[6.240903807104517e-06,-0.10984033519551974,-0.113129602406351,1.2312335341112732e-05,0.24315069753779892,5.649830477302963e-05],"object_angular_velocity":[7.766383360300466e-12,7.284152111908814e-11,4.978062610026886e-27],"object_position":[0.4401666573877103,0.11969494807320546,0.30999147829691687],"object_quaternion":[0.9999999942514141,-4.305025201367339e-14,-4.0417773442497436e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[1.4659034460351626e-12,-1.5629665954555008e-13,1.7878443507255695e-12],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.44},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662461074906004,-1.0955313151978954,1.486293671787549,-3.759179917491598e-09,-0.3908291319362459,-0.26624611585235075],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12569277106261575,0.03427900287329079,0.477843251400182],[0.3382362023017528,0.0922439663994425,0.38263110490349733],[0.38694407196072167,0.10552760387418561,0.36081165466467374],[0.440005834497655,0.11999863242850438,0.3606149593312529],[0.4398678215199946,0.11996100198826075,0.32061521512747126]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4398678215199946,0.11996100198826075,0.32061521512747126],"end_effector_quaternion":[0.9999984012721003,-0.00047038249252428284,0.0017251646414175126,-7.17302700520349e-07],"end_effector_velocity":[-0.0013715279063196216,-0.00037219570495159544,0.07391510374755461],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48503959696023496,0.11996839004367639,0.32845940105903637],[0.39475316907768154,0.11996866610307869,0.3287709202603261]],"gripper_width":0.07828696530552182,"jaw_actuator_force":[-0.06824450423125761,-0.06936818277320356],"joint_actuator_torque":[-5.264919607839147e-06,-1.2315838736553815,-0.6942670029374085,-5.64522728867573e-05,-0.09259245009921102,-4.041976605861919e-06],"joint_position":[0.2662458008525331,-1.0868258860620656,1.4947637752637164,2.2394799245893464e-07,-0.40436160278884953,-0.2662471469837807],"joint_velocity":[3.625431421228717e-06,-0.10957019884326222,-0.1111657889149733,8.375675741178517e-06,0.22317357802548554,3.123999178090057e-05],"object_angular_velocity":[1.6383925617806216e-12,1.5369324590517714e-11,-1.082860341031667e-25],"object_position":[0.44016665738772354,0.11969494807320405,0.30999147829693413],"object_quaternion":[0.9999999942514141,-4.752743030899339e-15,-4.458971172168983e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[2.2398437019503144e-13,-2.388962878778238e-14,3.5768141820027796e-13],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.46},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624618621464224,-1.0978632049639965,1.4837488093436717,-1.83622377655915e-09,-0.38595050441242373,-0.2662461920634538],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1251165464228154,0.03412186514477704,0.4781562977848218],[0.33811042549077636,0.0922096930621133,0.3840318496991691],[0.38692152277718406,0.1055214869598362,0.36246166367954036],[0.4399832088619248,0.1199924989714086,0.3622442212610675],[0.4398306386344464,0.11995089889197584,0.32224453386530055]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4398306386344464,0.11995089889197584,0.32224453386530055],"end_effector_quaternion":[0.9999980462215289,-0.0005200028862866431,0.001907131330357216,-4.600662699971393e-07],"end_effector_velocity":[-0.0012568782158880376,-0.0003410527217419543,0.07407507948373288],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48564503027652134,0.11995908597073596,0.33006983870244233],[0.3940800880349544,0.11995935183682119,0.3304190932570735]],"gripper_width":0.07956560831729398,"jaw_actuator_force":[-0.025119713523045206,-0.025898679228319565],"joint_actuator_torque":[5.745995906636381e-06,-1.230491482360037,-0.6958486572117408,-5.038776495746368e-05,-0.0907750996139498,-2.0490675680662207e-06],"joint_position":[0.26624587954306134,-1.0892342191713922,1.4922401237984158,2.3483065167134595e-07,-0.39905239581031016,-0.26624670800730704],"joint_velocity":[3.4175196280055755e-06,-0.10881377217713889,-0.11052691186335771,6.577166635244918e-06,0.21128553141145168,1.6473657284139384e-05],"object_angular_velocity":[1.9576346758712767e-12,1.8373480644528958e-11,-1.5419475033436202e-25],"object_position":[0.44016665738772337,0.11969494807320405,0.30999147829693746],"object_quaternion":[0.9999999942514141,7.755938244606713e-15,7.288883039865164e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.2013355160578387e-13,2.3446771514172007e-14,1.0728449278388174e-13],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.48},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624626297292575,-1.1001663946988667,1.4811552491260915,-5.995804227133844e-10,-0.3810527794445017,-0.2662462670411792],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12454464061545198,0.03396590495370005,0.4784651882953509],[0.33798243054535093,0.09217481422881582,0.3854273857049968],[0.3868952574042861,0.10551435593769652,0.364106222611374],[0.4399568951244001,0.11998535955709881,0.36387675211954035],[0.43979588557489385,0.11994145732228056,0.32387710026457106]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43979588557489385,0.11994145732228056,0.32387710026457106],"end_effector_quaternion":[0.9999978240911434,-0.0005487797487266136,0.00201262357922168,-3.077593947889134e-07],"end_effector_velocity":[-0.0011886320864713403,-0.00032253187178375,0.0741836672719128],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48577777272948175,0.11995010798369396,0.3316920707151599],[0.39388199757817244,0.11995036754463938,0.33206197608376115]],"gripper_width":0.07989651963327601,"jaw_actuator_force":[-0.0061258265001953305,-0.00671565853406797],"joint_actuator_torque":[1.0779889478840232e-05,-1.229633635863479,-0.6970827714916368,-4.637357773639881e-05,-0.08974939932322457,-9.33903589128704e-07],"joint_position":[0.2662459567369542,-1.0916215085180572,1.4897105367616106,2.195767932537955e-07,-0.39391682537851197,-0.2662464875587314],"joint_velocity":[3.2404454402601306e-06,-0.10791396666236147,-0.11081164355920849,6.005695252086294e-06,0.2046060752430462,8.18957730772087e-06],"object_angular_velocity":[-8.673085837336023e-13,-8.14500281247654e-12,3.285415115053474e-26],"object_position":[0.44016665738771854,0.11969494807320458,0.30999147829693746],"object_quaternion":[0.9999999942514141,8.919626278211778e-15,8.387092222472567e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.324344922573108e-13,2.4746029975701614e-14,-3.2895041862852095e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.5},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624633961653915,-1.1024416974158868,1.478517890446454,1.6681264797407398e-10,-0.37613966507517427,-0.2662463424709575],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12397757798030912,0.03381126549541135,0.4787696896403081],[0.3378537347272789,0.0921397442148339,0.38681982207420745],[0.3868670206484595,0.10550668725470157,0.36574797742364273],[0.43992862858463666,0.11997768767411113,0.36551152428056594],[0.43976271988394466,0.11993244851519701,0.3255118939357548]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43976271988394466,0.11993244851519701,0.3255118939357548],"end_effector_quaternion":[0.9999976896523771,-0.0005654912427772502,0.002073863427327431,-2.169233448850098e-07],"end_effector_velocity":[-0.0011468117038751595,-0.0003111965581921464,0.07425934748026633],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48578539314966046,0.11994136852503759,0.3333210669668473],[0.39381054974335494,0.11994162415741645,0.3337025558723636]],"gripper_width":0.07997563456407791,"jaw_actuator_force":[-0.0012917339016897955,-0.0017634916106015197],"joint_actuator_torque":[1.438713809420733e-05,-1.2289009168257508,-0.6980971793772142,-4.401279234731268e-05,-0.08917813538042196,-2.9566458081831115e-07],"joint_position":[0.26624603388429086,-1.0939856611559664,1.4871621421658976,1.9800065789382104e-07,-0.3888773197105942,-0.26624639226623303],"joint_velocity":[3.0898123225608964e-06,-0.10692052348648444,-0.11162951645759094,5.9872498946809425e-06,0.2009190485285445,3.4352586038330398e-06],"object_angular_velocity":[-2.8481553582162993e-13,-2.681041153547117e-12,2.4375462304474928e-26],"object_position":[0.440166657387712,0.1196949480732053,0.30999147829693735],"object_quaternion":[0.9999999942514141,1.3376299371252389e-14,1.2566039884670832e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.458728830464674e-13,3.685362105507475e-14,-2.5042989521190673e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.52},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662464165578118,-1.1046895348937602,1.475839552940764,6.333859398276004e-10,-0.37121334016483026,-0.2662464186047738],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12341569849460052,0.033658039521934774,0.4790696724626059],[0.3377252240607481,0.09210472474446399,0.388210373334166],[0.38683782366965697,0.10549875677462693,0.3673884506172319],[0.4398994133699478,0.11996975710933927,0.3671479349405158],[0.43973065439738973,0.11992373985386831,0.327148317407077]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43973065439738973,0.11992373985386831,0.327148317407077],"end_effector_quaternion":[0.9999976095811219,-0.0005752174112601409,0.002109492106053746,-1.6253322379847028e-07],"end_effector_velocity":[-0.0011202907452165212,-0.00030402885180523856,0.07431614043624538],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4857633882549672,0.11993281671929018,0.3349541706799665],[0.39376993018880846,0.11993306987823449,0.33534229213644423]],"gripper_width":0.07999427680730564,"jaw_actuator_force":[-0.00016484691356666303,-0.0005546269395448888],"joint_actuator_torque":[1.780104427950846e-05,-1.2282501213297223,-0.6989782565893847,-4.2680384133404615e-05,-0.08887008396926888,7.232023335745907e-08],"joint_position":[0.26624611122524,-1.0963253602600245,1.4845874286023983,1.7798372148736847e-07,-0.3838890421006381,-0.2662463692715121],"joint_velocity":[2.942037233278311e-06,-0.10586929304674035,-0.11275909672679274,6.172212406374998e-06,0.19896311761235633,6.872520902538844e-07],"object_angular_velocity":[3.5472477205344583e-12,3.32334974832423e-11,9.812306288343286e-25],"object_position":[0.44016665738770516,0.11969494807320599,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1370870780955728e-14,1.0671448760614353e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-5.353453776626232e-13,5.710244530795087e-14,-2.2557477724811105e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.54},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624649223929453,-1.1069101045732654,1.4731218253359537,9.093400714536225e-10,-0.3662750692892463,-0.26624649376343357],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12285922775409704,0.03350628833620505,0.47936507132635486],[0.33759741726988807,0.09206989667266394,0.38959974538089825],[0.38680825236725686,0.10549072358310244,0.3690285248517311],[0.43986983081602027,0.11996172556284762,0.36878563757759036],[0.4396994079769887,0.11991525390963843,0.32878602762397474]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4396994079769887,0.11991525390963843,0.32878602762397474],"end_effector_quaternion":[0.9999975622071177,-0.0005808973595690075,0.0021302906052008846,-1.3066141045302383e-07],"end_effector_velocity":[-0.0011023045207795754,-0.0002994022447461529,0.07436214211357887],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4857338116586803,0.11992442236926693,0.3365899602253163],[0.3937369615483696,0.11992467410092816,0.3369819228643908]],"gripper_width":0.07999768510670671,"jaw_actuator_force":[0.0005385429706876721,-0.00024989727092439296],"joint_actuator_torque":[3.3156764800423844e-05,-1.22767117091729,-0.6997532231872583,-4.134656967020681e-05,-0.0887096004918746,2.5637618250584637e-07],"joint_position":[0.26624618707260095,-1.098639769382262,1.4819819871783513,1.617236793071717e-07,-0.3789260711847966,-0.26624638823899394],"joint_velocity":[2.3453029822702885e-06,-0.10478083055130465,-0.11407255052384466,6.264939759796704e-06,0.19800697194925165,-8.988891777529293e-07],"object_angular_velocity":[-8.976829895725628e-13,-8.413953904550055e-12,1.4698888693936878e-25],"object_position":[0.44016665738769806,0.11969494807320676,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1449256728493702e-14,1.0738468428096091e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.0155924599806546e-13,3.218262160936002e-14,-1.5789280610939994e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.56},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624657990440137,-1.1091034870851622,1.470365617168511,1.117497978159258e-09,-0.36132560783976997,-0.26624658106604776],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12230831830690952,0.03335605537173786,0.4796558608223994],[0.33747061346367935,0.09203534661299415,0.3909883497357851],[0.3867786394371058,0.10548268418911538,0.370668711778436],[0.43984021059081263,0.11995368945704402,0.37042443071964615],[0.43966880990325086,0.11990695074175708,0.3304248252553819]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43966880990325086,0.11990695074175708,0.3304248252553819],"end_effector_quaternion":[0.9999975341486056,-0.0005842356083880988,0.0021425138158350067,-1.0579314792647052e-07],"end_effector_velocity":[-0.001090507992474143,-0.00029542684675272414,0.07440154326189292],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48570222127357965,0.11991617359365765,0.33822763748199003],[0.3937061450257658,0.11991642337003554,0.3386218458464131]],"gripper_width":0.07999692084679,"jaw_actuator_force":[0.0002857012758088473,-0.00015957123521381789],"joint_actuator_torque":[-1.1537833856323232e-05,-1.2270726459063326,-0.7005471818072238,-4.184472363138813e-05,-0.08865383540800309,3.761799654000697e-07],"joint_position":[0.2662462753256159,-1.1009283553927947,1.4793432393819228,1.5192375483888972e-07,-0.3739733955902271,-0.2662464310980267],"joint_velocity":[3.931804484933265e-06,-0.10367050049349773,-0.11549071350232495,6.6601893939377995e-06,0.1976330364621181,-1.8002289662982454e-06],"object_angular_velocity":[8.968234291976712e-13,8.39779632355082e-12,5.951300343280511e-25],"object_position":[0.4401666573876913,0.11969494807320746,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1775911844137794e-14,1.1034576769529966e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.706529538661834e-13,3.95885936145996e-14,-1.56546660692042e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.58},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662466511790081,-1.1112696292203494,1.46757131536354,1.1842566906164764e-09,-0.35636535404345315,-0.2662466521425874],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12176309495494636,0.03320737075956789,0.4799420317478222],[0.33734500612520524,0.0920011165651906,0.39237642759686325],[0.3867491941017229,0.10547468331231247,0.3723093099789352],[0.4398107606315108,0.11994569162610387,0.37206420635376114],[0.4396387828984379,0.11989879512016133,0.33206460355101997]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4396387828984379,0.11989879512016133,0.33206460355101997],"end_effector_quaternion":[0.999997517514046,-0.0005862079915622871,0.0021497269422607744,-9.862993526853912e-08],"end_effector_velocity":[-0.0010798691134266346,-0.00029372796792940376,0.07443786548754044],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4856734109613134,0.11990804940841655,0.3398667469014965],[0.393676185074212,0.11990829942548022,0.34026228739498987]],"gripper_width":0.07999807619329263,"jaw_actuator_force":[0.00077789743168033,-0.00012188982331906573],"joint_actuator_torque":[5.8803769391602145e-05,-1.2265988658412539,-0.7011826006530555,-4.040720407392782e-05,-0.08862020477602073,4.841488348006351e-07],"joint_position":[0.2662463462895965,-1.1031907069412226,1.4766695781620256,1.4115575683106205e-07,-0.36902242692144915,-0.26624649234118],"joint_velocity":[1.3855521780796877e-06,-0.10254044048852386,-0.11697845866502514,6.562581646429281e-06,0.19758692555421248,-2.531404740873242e-06],"object_angular_velocity":[-1.0967819356517554e-12,-1.0270922864024662e-11,5.044502208703397e-26],"object_position":[0.4401666573876849,0.11969494807320812,0.30999147829693713],"object_quaternion":[0.9999999942514141,9.809392484237587e-15,9.196494968856553e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.6469461194441987e-13,2.8263771014664237e-14,-1.5579726015042e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.6},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624674195040887,-1.1134085131007054,1.4647392288042798,1.292538238279264e-09,-0.3513946094797283,-0.2662467427569898],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12122363762926026,0.03306026122869694,0.48022359762304623],[0.3372206893927612,0.0919672458365081,0.39376412275828315],[0.38672001375523013,0.10546676314246484,0.373950493101775],[0.4397815768044029,0.11993777580859911,0.3737048934371889],[0.43960925105739446,0.1198907842702398,0.33370529224377393]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43960925105739446,0.1198907842702398,0.33370529224377393],"end_effector_quaternion":[0.9999975074557333,-0.0005873958769385028,0.00215407715674352,-8.511154033360608e-08],"end_effector_velocity":[-0.0010727270578368832,-0.0002908353018864732,0.07447165856954263],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4856426743669007,0.11990005834209465,0.3415070405319371],[0.39364676254796976,0.11990030680831483,0.3419033757972176]],"gripper_width":0.0799967655578214,"jaw_actuator_force":[0.00015408263560523494,-9.96077855077715e-05],"joint_actuator_torque":[1.155238848582485e-06,-1.2260489756591824,-0.701911898504818,-4.1137229852890494e-05,-0.0886460868957002,4.605748458175185e-07],"joint_position":[0.2662464375753456,-1.1054265893103807,1.473960117592147,1.3818367469931627e-07,-0.3640680649942712,-0.2662465583062961],"joint_velocity":[3.3711460164513532e-06,-0.10140156265972715,-0.11850084743552909,6.836124999506328e-06,0.19774076381616126,-2.65980063810826e-06],"object_angular_velocity":[-4.531492672191785e-13,-4.250208558947834e-12,-5.85262184675477e-26],"object_position":[0.4401666573876777,0.11969494807320889,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2373720522426158e-14,1.159508925481898e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.273345059987863e-13,3.4964270933890153e-14,-1.5583889351384347e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.62},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624680593519306,-1.1155199845439736,1.4618693148356523,1.2632054937868616e-09,-0.3464134723254895,-0.2662468067036544],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.12069003798800763,0.032914745452959186,0.4805005673890185],[0.33709775117918345,0.09193374082731084,0.39515152019827327],[0.38669118545216125,0.10545892726726644,0.37559236355039416],[0.4397527462505896,0.1199299431014225,0.37534646446071973],[0.43958021048593393,0.11988289399836283,0.3353468642403198]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43958021048593393,0.11988289399836283,0.3353468642403198],"end_effector_quaternion":[0.9999975013743738,-0.0005881154514432756,0.002156702394162348,-8.982090221862468e-08],"end_effector_velocity":[-0.0010650174392155933,-0.00028974818576507535,0.07450460362966918],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4856141020655347,0.11989217886410194,0.3431483689741717],[0.3936178095380898,0.11989242876712079,0.3435451889131595]],"gripper_width":0.07999714835211816,"jaw_actuator_force":[0.0012834927935401197,-7.72652662561768e-05],"joint_actuator_torque":[6.604596588033473e-05,-1.22560925945578,-0.702511233406085,-4.0243229437727824e-05,-0.08866186306828894,5.634571671464528e-07],"joint_position":[0.26624650067641525,-1.1076357302949145,1.4712141795804758,1.3079541866551184e-07,-0.35910754185120536,-0.2662466340783413],"joint_velocity":[1.2184286682521116e-06,-0.10025052030618166,-0.12005182998464646,6.792719342827919e-06,0.1980002227589293,-3.0900130019420303e-06],"object_angular_velocity":[2.6955155523019137e-12,2.5242788726972323e-11,1.3063273667003354e-25],"object_position":[0.44016665738767097,0.11969494807320959,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0694941834056591e-14,1.0020160688161939e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.777025500107508e-13,5.103064997553862e-14,-1.563384938749248e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.64},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662468838767911,-1.117603980715715,1.458961655906926,1.2961361776077519e-09,-0.3414220789820156,-0.2662468845918712],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.12016235227606797,0.032770844340710426,0.4807729667581399],[0.3369762196252125,0.09190062470222012,0.39653867445680224],[0.3866627308927248,0.10545119936839942,0.377234982471079],[0.439724289728732,0.11992221917370835,0.37698889369177174],[0.4395516208919612,0.11987513368789729,0.3369892940884028]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4395516208919612,0.11987513368789729,0.3369892940884028],"end_effector_quaternion":[0.9999974975179212,-0.0005885702312254661,0.002158365810267498,-8.603764485151712e-08],"end_effector_velocity":[-0.001059766115049369,-0.0002876295163784674,0.0745363773109399],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4855852971486296,0.11988442599859209,0.3447906467076733],[0.3935892977777987,0.11988467556532652,0.3451877714440574]],"gripper_width":0.0799968565134507,"jaw_actuator_force":[0.0011008685548894448,-5.3701489109769796e-05],"joint_actuator_torque":[2.5004768474445882e-05,-1.2250684277310597,-0.7032377185596488,-4.263260781315089e-05,-0.08871753111786518,6.318441165831246e-07],"joint_position":[0.26624657834668736,-1.1098179909448382,1.4684314309056448,1.2858015445085706e-07,-0.35413908358953855,-0.26624670556318897],"joint_velocity":[2.641145862768703e-06,-0.09909551145630781,-0.1216134406726409,7.447336219629861e-06,0.1983311255181285,-2.9117979654320854e-06],"object_angular_velocity":[-9.791078155444051e-13,-9.16692371425921e-12,7.920525004331293e-26],"object_position":[0.4401666573876643,0.11969494807321028,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1110612288344282e-14,1.0416796010131846e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.913427064690256e-13,3.110858201774797e-14,-1.5579726015042006e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.66},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662469624222289,-1.1196603602148645,1.4560161545498016,1.3196926934230547e-09,-0.3364204689635744,-0.266246963109753],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11964064801092997,0.03262857448465125,0.48104081634392515],[0.33685613086116895,0.09186790224849808,0.3979256188393469],[0.3866346790143487,0.10544358152771298,0.37887838607788105],[0.4396962361705106,0.1199146053914039,0.3786321737714241],[0.4395234806732709,0.11986749622398779,0.33863257457012563]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4395234806732709,0.11986749622398779,0.33863257457012563],"end_effector_quaternion":[0.9999974950049746,-0.0005888662478345608,0.002159449075814102,-8.336668137706494e-08],"end_effector_velocity":[-0.0010540818645721978,-0.0002856091980805884,0.07456805298158657],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48555699472504543,0.11987679339974923,0.34643382822363605],[0.3935612251452025,0.11987704270934912,0.34683115128412395]],"gripper_width":0.07999662758092879,"jaw_actuator_force":[0.000942793928151886,-3.408119766312723e-05],"joint_actuator_torque":[3.716240541962179e-07,-1.2245930911551568,-0.7038815299990233,-4.352322663871755e-05,-0.08877075003002233,6.705966981712663e-07],"joint_position":[0.26624665660232055,-1.111973192275678,1.4656115698616385,1.2750065775279926e-07,-0.3491617752440237,-0.2662467794486499],"joint_velocity":[3.6213458057062285e-06,-0.09793173980702123,-0.12318944783068028,7.69952275627692e-06,0.19869656374733352,-3.031443078470645e-06],"object_angular_velocity":[3.872563235742001e-13,3.6089261661599186e-12,3.163988338416933e-25],"object_position":[0.44016665738765703,0.11969494807321104,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.292768874111261e-14,1.2114978969536312e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.7048512014145186e-13,3.957488658037401e-14,-1.559221602406904e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.68},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624703677877665,-1.1216889814399542,1.4530326955359254,1.3211006320077386e-09,-0.33140866606698155,-0.2662470374534521],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11912498799048413,0.03248795237159628,0.4813041388178235],[0.336737510858839,0.09183557874008552,0.3993123762114744],[0.3866070473495037,0.10543607644953097,0.38052259728085275],[0.4396686030589471,0.11990710420296394,0.38027630182209476],[0.4394957892402872,0.11985997904266672,0.34027670289156364]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4394957892402872,0.11985997904266672,0.34027670289156364],"end_effector_quaternion":[0.9999974933126743,-0.0005890661610550653,0.002160178098854892,-8.366678675183783e-08],"end_effector_velocity":[-0.0010475354069536154,-0.0002844347444702362,0.0745997387453661],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4855294465044353,0.11986927930981324,0.34807788885261937],[0.39353359162599355,0.11986952883330818,0.3484753464184116]],"gripper_width":0.07999671345974363,"jaw_actuator_force":[0.0012510617444867478,-1.6105111205533262e-05],"joint_actuator_torque":[3.463040249584992e-05,-1.2241848232364987,-0.7044531698654168,-4.294501453917273e-05,-0.0888106923355636,6.814359139184489e-07],"joint_position":[0.2662467304423544,-1.1141011724623566,1.4627543666218352,1.25383682971276e-07,-0.34417507994236807,-0.26624685520507635],"joint_velocity":[2.326438243995709e-06,-0.0967594789146541,-0.12477700592096964,7.605947938314517e-06,0.19907940975264032,-3.1087434324714314e-06],"object_angular_velocity":[-1.2267313236608397e-12,-1.1471452571464017e-11,-2.054926042147692e-26],"object_position":[0.44016665738765026,0.11969494807321175,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0179130650528287e-14,9.524894925932572e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.7838176484103784e-13,2.977606528084325e-14,-1.5574174899918883e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.7},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624711883323804,-1.1236897257040759,1.4500111954710326,1.3489911244656035e-09,-0.32638670383457824,-0.2662471195000678],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11861542644811121,0.03234899438828492,0.48156296064921694],[0.3366203723622777,0.0918036621593506,0.4006989634861189],[0.3865798391342742,0.10542869019021982,0.38216763080290894],[0.4396413933926023,0.11989972223203249,0.3819212746880367],[0.4394685370073016,0.11985258549217863,0.3419216759550767]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4394685370073016,0.11985258549217863,0.3419216759550767],"end_effector_quaternion":[0.999997492077852,-0.0005892108993013874,0.0021607101878570985,-8.026670761396458e-08],"end_effector_velocity":[-0.00104193875466736,-0.00028219715747210955,0.07463123477095521],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48550210428588586,0.11986188833069847,0.3497228133498657],[0.3935063972884705,0.1198621373434153,0.35012036817893455]],"gripper_width":0.07999656600035901,"jaw_actuator_force":[0.0007838603868854932,1.680974319739903e-06],"joint_actuator_torque":[-5.725675450207746e-06,-1.223743644100523,-0.7050562078302391,-4.3744690822713765e-05,-0.08887140061898435,6.692908840477685e-07],"joint_position":[0.26624681232264735,-1.1162018014804829,1.4598596651950793,1.262989810850783e-07,-0.33917864664798436,-0.2662469305684514],"joint_velocity":[3.8201119576027615e-06,-0.0955825400075333,-0.12637020961130382,7.784335694864568e-06,0.1994788342388131,-3.07747566215395e-06],"object_angular_velocity":[-6.527808631191795e-13,-6.099452256760385e-12,4.2446619455655564e-26],"object_position":[0.4401666573876432,0.11969494807321249,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2313004233892663e-14,1.1515242369120118e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.191251038809603e-13,3.415657048634477e-14,-1.557278712113809e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.72},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662471957663667,-1.1256624402725321,1.446951848177254,1.349405189729194e-09,-0.32135492655213327,-0.2662471964424568],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11811202845733473,0.032211716564974686,0.4818173029194608],[0.3365047178494217,0.091772148321522,0.40208532571416944],[0.38655304250177497,0.10542141393239743,0.3838134142712902],[0.4396145953784147,0.11989245000071752,0.38356699708652575],[0.4394416961498375,0.11984530155192956,0.34356739855253376]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4394416961498375,0.11984530155192956,0.34356739855253376],"end_effector_quaternion":[0.9999974908342987,-0.0005893572629086013,0.002161245732617607,-8.063126859792749e-08],"end_effector_velocity":[-0.0010352729469854144,-0.00028029199321323995,0.07466418810781707],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48547525336505143,0.11985460664061509,0.3513684867180351],[0.39347960592215386,0.11985485583650925,0.35176613982729354]],"gripper_width":0.07999650687115956,"jaw_actuator_force":[0.0008521450229572736,1.9370871475743456e-05],"joint_actuator_torque":[-7.879819847289582e-06,-1.2233478000052855,-0.7056279683509388,-4.409729187170235e-05,-0.0889249428460488,6.969366985742909e-07],"joint_position":[0.2662468888062114,-1.118274906863716,1.456927559366221,1.258113788268092e-07,-0.33417232506307565,-0.2662470085383593],"joint_velocity":[3.995412479066819e-06,-0.0943986625318802,-0.12797528506026534,7.88499346427571e-06,0.19988323920643208,-3.1954097651467515e-06],"object_angular_velocity":[1.9067477548168723e-12,1.7829794075055027e-11,1.58060455325734e-25],"object_position":[0.44016665738763605,0.11969494807321324,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.251663259455496e-14,1.1701955584814725e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.5141078890470615e-13,4.8322226144530544e-14,-1.5571399342357306e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.74},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662472768051582,-1.1276070003784868,1.443854790165828,1.3649659782953317e-09,-0.31631359432163086,-0.2662472774864252],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11761484812493393,0.03207613489441567,0.4820671915795152],[0.3363905417744648,0.09174103922407599,0.4034714215947439],[0.3865266382358156,0.10541424646628982,0.38545989097323385],[0.43958818961843144,0.1198852867544707,0.3852133999026679],[0.4394152385429622,0.119838124186043,0.3452138016094646]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4394152385429622,0.119838124186043,0.3452138016094646],"end_effector_quaternion":[0.9999974893293659,-0.0005895337560169687,0.0021618938246618312,-7.888716585970451e-08],"end_effector_velocity":[-0.0010276399890168245,-0.0002781508307425054,0.07469844990074946],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48544873841000663,0.11984743218905142,0.353014830395148],[0.3934531948814957,0.11984768120424556,0.35341260230102584]],"gripper_width":0.07999640347131648,"jaw_actuator_force":[0.0006858970958756316,3.4444344690243156e-05],"joint_actuator_torque":[-1.2533001680026246e-05,-1.222988363680372,-0.7061647855951492,-4.383797090031287e-05,-0.08897662844167087,6.572448114638973e-07],"joint_position":[0.2662469695982515,-1.1203203570443443,1.453958141612086,1.2649001949370642e-07,-0.32915611373661524,-0.2662470862175413],"joint_velocity":[4.119761000613113e-06,-0.09320786538605175,-0.12959063061387688,7.803825477076359e-06,0.2002853182078735,-3.162531631244742e-06],"object_angular_velocity":[-1.1721909470491715e-12,-1.0956314992976599e-11,-1.16485967348581e-26],"object_position":[0.4401666573876289,0.119694948073214,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1637438189213326e-14,1.0892766065543704e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.082201015706941e-13,3.2966733777492793e-14,-1.557417489991886e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.76},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624735511391845,-1.1295232488692017,1.4407198326632753,1.3662313945722507e-09,-0.3112626763697412,-0.2662473558112971],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.117123942334686,0.03194226397853104,0.48231265109761545],[0.3362778594722152,0.09171033644600775,0.4048572567289891],[0.38650063214956565,0.10540718638647116,0.3871070621861789],[0.43956218205280934,0.11987823074462885,0.38686049160842306],[0.4393891751918947,0.11983105296005937,0.34686089357440875]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4393891751918947,0.11983105296005937,0.34686089357440875],"end_effector_quaternion":[0.9999974877094304,-0.0005897239598506769,0.0021625911478120982,-7.915240247400129e-08],"end_effector_velocity":[-0.0010200649163331675,-0.0002759615157208728,0.07473264636964815],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4854225087204098,0.11984036390671252,0.35466185892245095],[0.3934271777639608,0.11984061312145476,0.35505975821275493]],"gripper_width":0.07999619145211348,"jaw_actuator_force":[0.0007539001789709232,5.1831075106534286e-05],"joint_actuator_torque":[-1.758068088975051e-05,-1.2226308166809758,-0.7067049665635068,-4.421048277722134e-05,-0.08903003213161753,6.728403576516939e-07],"joint_position":[0.26624704749694134,-1.122338010005658,1.4509512778118239,1.2658640303776724e-07,-0.3241301513752461,-0.2662471652173796],"joint_velocity":[4.371902204023878e-06,-0.09201180677521006,-0.13120958589789752,7.896437113871275e-06,0.20068293079063113,-3.2222337577676395e-06],"object_angular_velocity":[3.187155444909638e-14,2.9871095911697846e-13,4.462162396238814e-27],"object_position":[0.4401666573876219,0.11969494807321474,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3089648482366289e-14,1.2254454359063258e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.5416585971025455e-13,3.7870565148500553e-14,-1.5588052687726665e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.78},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662474306255804,-1.1314110310673295,1.4375468063256884,1.359363558706478e-09,-0.3062021584804864,-0.26624743133837014],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11663936767237898,0.03181011924738269,0.48255370562012123],[0.3361666854249037,0.09168004391450305,0.4062428356163311],[0.3864750290765239,0.10540023498405146,0.38875492790712923],[0.43953657752921926,0.11987128326687246,0.3885082755231448],[0.43936351327821493,0.1198240897951718,0.34850867775590155]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43936351327821493,0.1198240897951718,0.34850867775590155],"end_effector_quaternion":[0.9999974860421073,-0.0005899200537172028,0.002163308528455895,-8.062871846305638e-08],"end_effector_velocity":[-0.0010123084207194584,-0.0002739440552392354,0.07476681487195624],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.485396784644028,0.11983340366568476,0.3563095773707333],[0.3934015609898178,0.11983365330765844,0.3567076081906646]],"gripper_width":0.07999608471986239,"jaw_actuator_force":[0.0010095279064561424,7.119072888528422e-05],"joint_actuator_torque":[-1.0670035280213597e-05,-1.2222853548576609,-0.7072402451238986,-4.499761560761684e-05,-0.08908283461363098,7.298815134504366e-07],"joint_position":[0.2662471224362104,-1.1243277227658521,1.447906834675379,1.2582392399288245e-07,-0.31909450807768097,-0.2662472439543253],"joint_velocity":[4.149455182734548e-06,-0.09080985897495056,-0.13283352968123638,8.112342506300861e-06,0.2010780095596591,-3.2302672145048825e-06],"object_angular_velocity":[-1.0999134460816443e-12,-1.0291408209233167e-11,-5.306431581244051e-27],"object_position":[0.4401666573876156,0.1196949480732154,0.30999147829693713],"object_quaternion":[0.9999999942514141,8.882498123278014e-15,8.318158486972607e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.4597244264471576e-13,2.6292538835190272e-14,-1.5578338236261198e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.8},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624751300027527,-1.13327020451494,1.4343355618514009,1.3803114460969621e-09,-0.30113203396172417,-0.2662475137191691],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11616117761158935,0.031679716561649376,0.48279038030443794],[0.33605703064083736,0.09165016831052754,0.4076281641478155],[0.3864498302933734,0.10539339683631212,0.39040348961192284],[0.43951137719142896,0.11986444939221855,0.390156753498556],[0.4393382541815667,0.11981723993648917,0.3501571560044468]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4393382541815667,0.11981723993648917,0.3501571560044468],"end_effector_quaternion":[0.9999974843350151,-0.0005901198503444985,0.002164043021150398,-7.817936499296878e-08],"end_effector_velocity":[-0.0010038622480403004,-0.0002716265635615365,0.07480135052248738],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4853714638123528,0.11982655714970258,0.357957988309834],[0.39337634963681684,0.1198268064999951,0.3583561537986079]],"gripper_width":0.07999597582497034,"jaw_actuator_force":[0.0007775459320686906,8.633395721879822e-05],"joint_actuator_torque":[-1.4104708753848172e-05,-1.2219813326007056,-0.7077189311540337,-4.454634374617692e-05,-0.08913208739063094,6.741195264226008e-07],"joint_position":[0.26624720460110796,-1.1262893625341739,1.4448246857871332,1.2703844117748997e-07,-0.3140491970533921,-0.26624732144547414],"joint_velocity":[4.180352474702469e-06,-0.08960050340844854,-0.13446579054695273,7.969795286110407e-06,0.20147050999628657,-3.159306757354677e-06],"object_angular_velocity":[-8.779203770725681e-13,-8.213803814015219e-12,2.0567916254736958e-26],"object_position":[0.4401666573876084,0.11969494807321618,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2625956938719905e-14,1.1830397429761484e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.252278139525083e-13,3.4747467512225926e-14,-1.5576950457480418e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.82},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662475954718266,-1.1351006015671072,1.4310859057401186,1.3948517313626664e-09,-0.2960522773107095,-0.26624759620034283],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11568943154263407,0.03155107122467442,0.48302269727026026],[0.3359489139119527,0.09162071218909801,0.4090132474627858],[0.3864250452882549,0.10538667157677842,0.39205274854857286],[0.4394865906298998,0.11985772841864804,0.39180592910861917],[0.43931340914739725,0.11981050304277668,0.35180633188642213]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43931340914739725,0.11981050304277668,0.35180633188642213],"end_effector_quaternion":[0.9999974826355602,-0.0005903188501770574,0.0021647739356115024,-7.656102341801853e-08],"end_effector_velocity":[-0.0009950464224612026,-0.0002693858851377447,0.07483593047848272],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48534689551746074,0.11981982350887053,0.35960709574636424],[0.39335155196769045,0.11982007272064743,0.36000539671228804]],"gripper_width":0.07999620578350944,"jaw_actuator_force":[0.0005517689144376448,0.00010166865239114031],"joint_actuator_torque":[-5.502580847860372e-06,-1.2217034006078507,-0.7081733187749251,-4.384072742330358e-05,-0.08917820008039712,6.385823603238805e-07],"joint_position":[0.2662472868773246,-1.128222773261911,1.4417046698324592,1.2789381683457102e-07,-0.30899425532687835,-0.2662474008337802],"joint_velocity":[3.837838785667586e-06,-0.08838457801528714,-0.1361045382593076,7.76944334868183e-06,0.20186161070401762,-3.2273004712110384e-06],"object_angular_velocity":[1.3148203256643862e-12,1.2299455655525427e-11,2.217203612295296e-25],"object_position":[0.44016665738760147,0.1196949480732169,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.297279173330622e-14,1.2146877946093565e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.104772661437104e-13,4.3881375474039534e-14,-1.557417489991885e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.84},{"goal":[0.44,0.12,0.446],"joint_targets":[0.266247670394184,-1.1369020529594744,1.4277976441733786,1.3790320144696907e-09,-0.29096286420689715,-0.2662476711518661],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11522418914672672,0.03142419850750616,0.4832506781504054],[0.3358423545579502,0.09159167788473951,0.41039809057812865],[0.3864006841313556,0.10538005857535548,0.39370270592614853],[0.439462228032662,0.11985111930342247,0.39345580470230984],[0.4392889891744781,0.1198038782493484,0.3534562077470801]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4392889891744781,0.1198038782493484,0.3534562077470801],"end_effector_quaternion":[0.99999748096701,-0.000590514835351699,0.0021654911353661925,-7.938130792900542e-08],"end_effector_velocity":[-0.0009868948342780497,-0.000266785789376595,0.07487025658081958],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.485322123304151,0.11981320151461393,0.3612569071469543],[0.3933271792269822,0.11981345140020214,0.36165533834323854]],"gripper_width":0.07999580687858568,"jaw_actuator_force":[0.0008966830300103368,0.00012199242587662695],"joint_actuator_torque":[-2.161453122084822e-05,-1.2213917475323797,-0.7086732410792251,-4.52415685114107e-05,-0.0892367901058293,7.074034407139607e-07],"joint_position":[0.2662473611313191,-1.1301277966327006,1.4385466200793608,1.2726529481645686e-07,-0.30392969520828567,-0.2662474815348199],"joint_velocity":[4.613791621372683e-06,-0.08716432326087388,-0.13774673276967506,8.138925481670316e-06,0.20225620176327783,-3.297687357148742e-06],"object_angular_velocity":[-1.070311579719797e-12,-1.001383572827586e-11,1.2835686436294773e-26],"object_position":[0.4401666573875948,0.1196949480732176,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0172069096171258e-14,9.528264152846429e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.732246319631883e-13,2.9199986039730273e-14,-1.5581113793822758e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.86},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624775152564656,-1.1386744082055729,1.4244706064301969,1.3930559654111541e-09,-0.2858637744202966,-0.26624775228782116],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1147655047320845,0.03129911503629925,0.4834743464761956],[0.33573736536750787,0.0915630741585011,0.4117827009501189],[0.38637675009645905,0.10537356479067235,0.39535336551705963],[0.4394382924680569,0.11984462973885993,0.3951063829013468],[0.4392649964993791,0.1197973731177718,0.3551067862118925]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4392649964993791,0.1197973731177718,0.3551067862118925],"end_effector_quaternion":[0.9999974793059095,-0.000590709421381105,0.0021662050227865604,-7.79159465232594e-08],"end_effector_velocity":[-0.000977571582113587,-0.0002645343481372074,0.07490483055640791],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48529825348971417,0.11980669955338553,0.36290741939889903],[0.3933032327711608,0.11980694932468844,0.3633059822781544]],"gripper_width":0.07999588408966003,"jaw_actuator_force":[0.0008126319505947777,0.00013911451135051323],"joint_actuator_torque":[-8.501193192955725e-06,-1.221141901829185,-0.7091057187400338,-4.501709810762157e-05,-0.089284446721269,6.942431483025757e-07],"joint_position":[0.26624744197367384,-1.1320042921855091,1.4353503837472672,1.2765373406477557e-07,-0.29885548345620944,-0.26624755994738564],"joint_velocity":[3.994582054599527e-06,-0.08593547285092869,-0.13939874566487032,8.071152406512508e-06,0.20264816268765726,-3.201031453311334e-06],"object_angular_velocity":[-3.300788772613071e-13,-3.0909851804332183e-12,1.037745596759874e-25],"object_position":[0.4401666573875876,0.11969494807321836,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3688085667604657e-14,1.281702555519253e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.5579444874937823e-13,3.803540026659448e-14,-1.557556267869963e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.88},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662478303728369,-1.1404174910219271,1.4211045852615705,1.3955693308969344e-09,-0.2807549771973277,-0.2662478311515431],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11431343885249894,0.03117583620708653,0.48369372269432465],[0.33563396692877834,0.09153490336344255,0.41316708330145896],[0.3863532546129257,0.10536718958677414,0.3970047284405939],[0.4394147954945369,0.1198382586302425,0.39675766567877935],[0.4392414432916684,0.11979098667242041,0.3567580692511182]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4392414432916684,0.11979098667242041,0.3567580692511182],"end_effector_quaternion":[0.9999974776696983,-0.0005909011325770204,0.0021669079553321546,-7.815425213528025e-08],"end_effector_velocity":[-0.0009682809934493997,-0.00026191026288486976,0.07493942096778222],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48527462866084203,0.11980031607726362,0.3645586380757625],[0.39327972703458913,0.11980056604492323,0.36495732977411405]],"gripper_width":0.07999576555666443,"jaw_actuator_force":[0.0008684054984211542,0.000157212714535504],"joint_actuator_torque":[-1.195734031966822e-05,-1.2208932728674995,-0.7095365615368223,-4.5348168832938515e-05,-0.08933680391043097,7.075209609297417e-07],"joint_position":[0.2662475203639209,-1.1338520957298508,1.4321157812708534,1.278131946155441e-07,-0.29377162021890674,-0.26624763938790486],"joint_velocity":[4.17668434090272e-06,-0.08470066909647386,-0.14105711730039427,8.150726258415933e-06,0.2030419387001745,-3.250673855364047e-06],"object_angular_velocity":[3.5331930232948406e-12,3.3075377414827236e-11,5.251174755063827e-25],"object_position":[0.4401666573875807,0.11969494807321908,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1426833990600783e-14,1.0709845526499273e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-5.372160400245097e-13,5.738393162704958e-14,-1.5549194881864782e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.9},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624791459598235,-1.1421311372277627,1.417699385631089,1.4169534521943956e-09,-0.2756364417458951,-0.26624791538149317],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11386804831873772,0.031054378517442287,0.48390882841480143],[0.3355321753048924,0.09150717282456745,0.4145512443455282],[0.38633020440588617,0.10536093818661697,0.39865679799631976],[0.43939174372163947,0.11983201161326903,0.39840965568263775],[0.43921833569110474,0.11978472447062403,0.35841005951491267]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43921833569110474,0.11978472447062403,0.35841005951491267],"end_effector_quaternion":[0.9999974760450937,-0.0005910909388035663,0.0021676058079414,-7.55922820675355e-08],"end_effector_velocity":[-0.0009580547293030124,-0.0002593651450941971,0.07497424778217313],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4852517557239512,0.11979405707173317,0.3662105631168227],[0.3932566670447263,0.11979430672009209,0.366609384026781]],"gripper_width":0.07999595316794644,"jaw_actuator_force":[0.0005853732416571944,0.00017244071592870114],"joint_actuator_torque":[-1.345894375504031e-06,-1.2206934953330233,-0.7099113313840917,-4.438659473378408e-05,-0.08938183835046232,6.466554722805995e-07],"joint_position":[0.26624760446600926,-1.1356710549815785,1.4288426398759653,1.2903475185831687e-07,-0.288678073160103,-0.2662477186387508],"joint_velocity":[3.668146348992452e-06,-0.08345763299190767,-0.14272517110710553,7.877317661704681e-06,0.2034344642173394,-3.2200982507877755e-06],"object_angular_velocity":[-8.992706593798777e-13,-8.417936969644627e-12,3.1542092321657695e-26],"object_position":[0.4401666573875736,0.11969494807321984,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1457747960661996e-14,1.0726763044544506e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.013666238149716e-13,3.221854395523155e-14,-1.557417489991884e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.92},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624799764461177,-1.1438151636211737,1.4142547856392365,1.4272031676879583e-09,-0.27050812956224257,-0.26624799844888547],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1134293943798939,0.030934757815362302,0.48411968292423824],[0.33543201199763417,0.09147988589195728,0.4159351888140662],[0.3863076118683663,0.10535481107617697,0.40030957558048513],[0.43936914964051715,0.11982588882419642,0.4000623548989339],[0.4391956866149893,0.1197785867162377,0.360062758987358]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4391956866149893,0.1197785867162377,0.360062758987358],"end_effector_quaternion":[0.9999974744441571,-0.0005912780046072229,0.0021682932511174063,-7.462902798189181e-08],"end_effector_velocity":[-0.0009478029849687248,-0.0002564882484829863,0.07500908525611441],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48522898429111866,0.11978792232468974,0.36786319987195754],[0.39323406653422655,0.11978817194474897,0.3682621465261942]],"gripper_width":0.07999578279243336,"jaw_actuator_force":[0.00048407847156894945,0.00018877274240480801],"joint_actuator_torque":[-5.093093193409004e-06,-1.2204936875825183,-0.7102861485723793,-4.404044403584672e-05,-0.08943133321577434,6.104602476852961e-07],"joint_position":[0.2662476873081362,-1.1374610002604586,1.4255307664153383,1.3005953009923582e-07,-0.2835748295358565,-0.2662477998966493],"joint_velocity":[3.84009953649008e-06,-0.08220840774414352,-0.14440012012952363,7.766965965418808e-06,0.20382916342648627,-3.287288649560369e-06],"object_angular_velocity":[8.972373203758848e-13,8.366231324702813e-12,2.924357933293482e-26],"object_position":[0.44016665738756683,0.11969494807322055,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.176983988606489e-14,1.1007431227520629e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.6977298865159476e-13,3.957828967268559e-14,-1.5563072669672594e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.94},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624807586903015,-1.1454693836718481,1.4107705530638566,1.4191369017694452e-09,-0.2653699951488754,-0.2662480766930189],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11299753848165157,0.03081699039262917,0.48432630497105145],[0.3353334988385011,0.09145304712731274,0.4173189221250868],[0.38628548975361243,0.10534881012901105,0.4019630635562199],[0.4393470260570135,0.11981989195304119,0.40171576623500427],[0.43917350926550003,0.11977257515027154,0.3617161705740074]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43917350926550003,0.11977257515027154,0.3617161705740074],"end_effector_quaternion":[0.9999974728780342,-0.0005914616949665309,0.002168965329986646,-7.637283514467888e-08],"end_effector_velocity":[-0.0009374773969567434,-0.00025362432361756757,0.07504366536346775],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4852069018126241,0.11978191346381747,0.36951654921303057],[0.39321193556442247,0.11978216355127609,0.36991561973566095]],"gripper_width":0.07999583182053599,"jaw_actuator_force":[0.0006506273553448239,0.00020912013629015291],"joint_actuator_torque":[-5.085427901008188e-06,-1.2202958061341747,-0.7106731636267227,-4.4863366525152575e-05,-0.0894860253292542,6.694267433715595e-07],"joint_position":[0.2662477650235728,-1.1392217595167897,1.422179958574911,1.2943814247347232e-07,-0.2784618689765733,-0.26624788191025933],"joint_velocity":[3.925151798477796e-06,-0.08095274600085832,-0.14608169707176172,7.986821659053075e-06,0.20422664855691547,-3.33506566225982e-06],"object_angular_velocity":[-1.0971020291970936e-12,-1.0243081715692151e-11,-9.701239465525621e-27],"object_position":[0.4401666573875605,0.1196949480732212,0.30999147829693713],"object_quaternion":[0.9999999942514141,9.81522758604227e-15,9.170820339887533e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.639615237393595e-13,2.8277602968328247e-14,-1.5576950457480402e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.96},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624815682808217,-1.1470936217188508,1.4072464723771245,1.4254329498831353e-09,-0.26022199864629736,-0.26624815766746185],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11257253889804279,0.030701093119688053,0.48452871422946553],[0.3352366536696317,0.09142666428413403,0.41870245047603283],[0.3862638466381208,0.10534294100931955,0.4036172650325378],[0.43932538143656513,0.11981402704838692,0.40336989146201946],[0.4391518111430558,0.1197666956618282,0.3633702960504024]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4391518111430558,0.1197666956618282,0.3633702960504024],"end_effector_quaternion":[0.9999974713194065,-0.0005916439931296733,0.0021696341101658475,-7.608050278695713e-08],"end_effector_velocity":[-0.0009265051353594396,-0.0002505703206831865,0.07507845899831175],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4851850168046705,0.11977603684678477,0.37117061396962525],[0.39319028514719395,0.11977628702537205,0.37156980652568705]],"gripper_width":0.07999559776147191,"jaw_actuator_force":[0.000694278152463923,0.00022757450545540792],"joint_actuator_torque":[-9.081369995556088e-06,-1.2201239474678687,-0.7110261701153036,-4.515538011705815e-05,-0.08953885551140317,6.627993087704454e-07],"joint_position":[0.2662478456238019,-1.1409531709619951,1.4187900234811297,1.2981285630918278e-07,-0.27333913607260907,-0.26624796246136434],"joint_velocity":[4.046976072879452e-06,-0.07968929225842529,-0.14777289049216571,8.052044175275949e-06,0.20462493016475292,-3.271330542306153e-06],"object_angular_velocity":[-4.544802231783742e-13,-4.237286378719612e-12,-6.810837942691316e-27],"object_position":[0.44016665738755334,0.11969494807322198,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.236502650163539e-14,1.1564840809613097e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.2647847947745935e-13,3.4946140104065356e-14,-1.5571399342357275e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":10.98},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662482427294958,-1.1486876886642545,1.403682302194595,1.4478795233082693e-09,-0.2550640879228631,-0.2662482435747564],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11215445647917432,0.030587082879430884,0.48472692879393],[0.3351414975151829,0.09140074396185013,0.4200857797032918],[0.3862426944192682,0.10533720795990455,0.4052721830366872],[0.4393042276410075,0.11980829848408633,0.4050247336495648],[0.4391306041411309,0.11976095262577327,0.36502513848598855]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4391306041411309,0.11976095262577327,0.36502513848598855],"end_effector_quaternion":[0.9999974697691479,-0.0005918248854402826,0.002170299196437249,-7.329558878722914e-08],"end_effector_velocity":[-0.0009143990440788124,-0.0002476870844568092,0.075113419671611],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4851641471684318,0.11977029688808014,0.3728253937500687],[0.3931691255094146,0.11977054669969064,0.37322470993661505]],"gripper_width":0.07999588829682708,"jaw_actuator_force":[0.0004037527520672768,0.00024348461786161124],"joint_actuator_torque":[1.0808686326413408e-05,-1.2200082152442633,-0.7113205611613012,-4.39431269882967e-05,-0.08958236256161811,6.084984818244266e-07],"joint_position":[0.26624793151427706,-1.1426550618376488,1.4153607505551102,1.310001343569397e-07,-0.2682065937732797,-0.26624804310629685],"joint_velocity":[3.1724945560301314e-06,-0.07841680790841964,-0.1494750175014609,7.715712897352114e-06,0.20502217868717945,-3.2620662593437757e-06],"object_angular_velocity":[2.6984462063100527e-12,2.5177539106789723e-11,2.611604380037513e-25],"object_position":[0.4401666573875467,0.11969494807322267,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0693914159792057e-14,9.99490195756289e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.764791903285115e-13,5.1041046465782496e-14,-1.5585277130165086e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.0},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662483191223624,-1.150251372482296,1.4000777745883333,1.4316051239495926e-09,-0.24989620733028758,-0.26624831999663706],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11174335765129005,0.03047497592289071,0.48492096395415407],[0.3350480578820808,0.09137528808496317,0.42146891250269325],[0.38622205168497037,0.10533160962210478,0.40692781737840017],[0.4392835834760859,0.11980270411947735,0.40668029358449753],[0.4391099077783998,0.11975534398820369,0.36668069866442365]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4391099077783998,0.11975534398820369,0.36668069866442365],"end_effector_quaternion":[0.9999974682472538,-0.0005920033056331982,0.0021709516721480884,-7.642106007735077e-08],"end_effector_velocity":[-0.000903054938334803,-0.00024403876618006777,0.07514814164262748],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4851430231568749,0.11976469074759687,0.3744808957546608],[0.3931484774543532,0.11976494127528851,0.37488032992580944]],"gripper_width":0.07999541285701803,"jaw_actuator_force":[0.000764690525763001,0.0002653484665557926],"joint_actuator_torque":[-1.3752416634815745e-05,-1.219843722969813,-0.7116707333044019,-4.567404812122896e-05,-0.08964451229340753,6.827453127300487e-07],"joint_position":[0.2662480072044264,-1.1443272377633602,1.4118919076097964,1.3023493499473678e-07,-0.26306422203800706,-0.26624812589758984],"joint_velocity":[4.318293317153523e-06,-0.0771395679997388,-0.15118249877885892,8.172191605591376e-06,0.20542624085908012,-3.369874351619555e-06],"object_angular_velocity":[-9.797153075100529e-13,-9.143788004720139e-12,4.475546594936308e-26],"object_position":[0.44016665738754,0.11969494807322337,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.11242474923898e-14,1.0390655748407171e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.906116326125771e-13,3.114227268711185e-14,-1.557417489991883e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.02},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662484032415433,-1.1517844889629694,1.396432644755123,1.4498116514015882e-09,-0.24471829629771752,-0.2662484041182611],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1113393006361467,0.03036479035553065,0.48511083795189575],[0.3349563525839222,0.091350308169279,0.4228518571123826],[0.38620192698862077,0.10532615600159632,0.4085841740033275],[0.43926345723398064,0.11979725489430773,0.4083365758245633],[0.4390897293411944,0.11974988054072422,0.36833698114799324]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4390897293411944,0.11974988054072422,0.36833698114799324],"end_effector_quaternion":[0.9999974667253514,-0.0005921810813096009,0.002171604117096657,-7.430375673138748e-08],"end_effector_velocity":[-0.0008899491137959498,-0.0002409629471443991,0.07518300583812274],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48512318586043984,0.11975923026741485,0.37613711672903555],[0.3931283454135097,0.11975948054844394,0.37653667222579446]],"gripper_width":0.07999570812550862,"jaw_actuator_force":[0.0005970955806944289,0.00028334269159913106],"joint_actuator_torque":[9.500033854692447e-06,-1.2197621867105113,-0.7119397873259459,-4.49568694353767e-05,-0.08969062060841893,6.625337647392371e-07],"joint_position":[0.26624809118465986,-1.1459695323611157,1.4083832778335186,1.307587699389289e-07,-0.25791194519824456,-0.2662482061563505],"joint_velocity":[3.2668548315626206e-06,-0.0758515936290545,-0.15290308273647732,7.975401299940566e-06,0.20582788221190262,-3.260869424579834e-06],"object_angular_velocity":[3.871440561806528e-13,3.5979828083191517e-12,1.131296367460269e-25],"object_position":[0.44016665738753274,0.11969494807322413,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.295748374939727e-14,1.2084146682747745e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.695366254899952e-13,3.966318633068187e-14,-1.557556267869961e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.04},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624848753569574,-1.1532868231381699,1.3927466373940345,1.4633385471551464e-09,-0.23953029466176334,-0.2662484884309931],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11094235133985275,0.03025654317224168,0.48529656534009813],[0.3348664081693026,0.09132580852438112,0.4242346164488999],[0.3861823378593848,0.10532084850091307,0.4102412531613337],[0.4392438665591898,0.11979195178850455,0.4099935806363491],[0.4390700864916935,0.11974456324465463,0.36999398620322954]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4390700864916935,0.11974456324465463,0.36999398620322954],"end_effector_quaternion":[0.9999974652037823,-0.0005923584580937272,0.0021722563067195807,-7.294802963913288e-08],"end_effector_velocity":[-0.000876543087466201,-0.00023723061296615782,0.07521814341594094],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48510343665371497,0.11975391586346099,0.3777940622419116],[0.39310875208670937,0.11975416603657951,0.3781937370602337]],"gripper_width":0.07999555276536938,"jaw_actuator_force":[0.00047136510018219724,0.0003006122816664458],"joint_actuator_torque":[5.4005090532882605e-06,-1.2196834368650116,-0.7121923538128385,-4.450849843361426e-05,-0.08974100655632355,6.153250815543743e-07],"joint_position":[0.2662481753141466,-1.1475817501551704,1.4048346209547247,1.3194493752929854e-07,-0.25274971876223357,-0.2662482879278213],"joint_velocity":[3.4306381445128608e-06,-0.0745562691791725,-0.15463359819222816,7.835225257777202e-06,0.20623263565701605,-3.307806204857823e-06],"object_angular_velocity":[-1.2287912306549433e-12,-1.1442588751064381e-11,7.755182355038552e-27],"object_position":[0.440166657387526,0.11969494807322484,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0196104225605268e-14,9.501432596306188e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.776931740419941e-13,2.9827133957694206e-14,-1.557695045748039e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.06},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624857024937937,-1.1547581556199376,1.3890194578412398,1.4682389573625489e-09,-0.23433212738000006,-0.26624857116253636],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.11055257568383409,0.030150252135471293,0.4854781601347513],[0.3347782513138892,0.09130179576686163,0.4256171953935827],[0.3861633019791102,0.1053156911823886,0.41189905764039825],[0.4392248291570197,0.11978679878783016,0.41165131135950417],[0.4390509973374319,0.11973939613576762,0.37165171716797424]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4390509973374319,0.11973939613576762,0.37165171716797424],"end_effector_quaternion":[0.999997463693843,-0.0005925348119282868,0.002172903212828769,-7.285037804386896e-08],"end_effector_velocity":[-0.0008626378420744153,-0.00023340715854074253,0.0752531127007864],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48508427339207333,0.11974875151492201,0.379451734010598],[0.3930897112436152,0.11974900181075268,0.37985152732322996]],"gripper_width":0.07999543086285321,"jaw_actuator_force":[0.00048634898091393097,0.00032014912579647614],"joint_actuator_torque":[4.664521796371446e-06,-1.219618355478758,-0.7124410100106502,-4.4666932655178845e-05,-0.08979425044914535,6.218176942240916e-07],"joint_position":[0.26624825776092875,-1.1491636936962861,1.4012456825191826,1.322974970146454e-07,-0.24757749575543872,-0.26624837075287183],"joint_velocity":[3.489637080168376e-06,-0.07325288857854534,-0.15637377797470034,7.86687946474607e-06,0.2066404547864685,-3.3496466061624897e-06],"object_angular_velocity":[-6.54558632586632e-13,-6.0851155547470075e-12,1.1269213438443327e-26],"object_position":[0.4401666573875189,0.11969494807322557,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.235895428484565e-14,1.1489207263016136e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.1839903676689814e-13,3.4279113455390975e-14,-1.5575562678699615e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.08},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662486494516537,-1.156198260772652,1.3852508043092837,1.4620214228040794e-09,-0.22912371847890786,-0.2662486503795266],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.11017004067254893,0.03004593527506937,0.48565563539976053],[0.33469190967918727,0.09127827668866344,0.4269995981761722],[0.3861448379932086,0.10531068826261208,0.41355758964576655],[0.43920636370179045,0.11978180000195016,0.4133097701447206],[0.43903248051832755,0.11973438329908134,0.37331017619309653]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43903248051832755,0.11973438329908134,0.37331017619309653],"end_effector_quaternion":[0.9999974621944272,-0.000592710451919402,0.0021735452651792087,-7.447522054737433e-08],"end_effector_velocity":[-0.0008482199067810863,-0.00022945726123491713,0.07528789899767391],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48506583785690194,0.11974374126860027,0.3811101336110082],[0.39307124171843444,0.11974399200371819,0.3815100452043172]],"gripper_width":0.07999546536664225,"jaw_actuator_force":[0.0006754559406427774,0.0003422673901738449],"joint_actuator_torque":[5.8217875675836694e-06,-1.2195650664625646,-0.7126890947698143,-4.55771286357202e-05,-0.08985125880825606,6.859097609890341e-07],"joint_position":[0.26624833643107765,-1.1507151600438494,1.3976161998930294,1.314307973457561e-07,-0.2423952154927233,-0.26624845354731264],"joint_velocity":[3.5080777440915673e-06,-0.07194127175811592,-0.15812400954176375,8.114643288485025e-06,0.20705191966425004,-3.3693526252320628e-06],"object_angular_velocity":[1.9180371430075795e-12,1.779332974902369e-11,6.646041872837242e-26],"object_position":[0.44016665738751176,0.11969494807322632,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.257207920767953e-14,1.1677259931674013e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.5044163887696565e-13,4.854310911876126e-14,-1.555335821820711e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.1},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624873166806523,-1.1576069166124316,1.3814403770152033,1.470640435423525e-09,-0.2239049902398588,-0.2662487326100376],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10979481161029946,0.029943611231037313,0.48582900439532545],[0.3346074086601841,0.09125526072677828,0.428381830019229],[0.3861269621507827,0.10530584706955225,0.41521685255804025],[0.4391884863454406,0.11977696309621168,0.41496895926911764],[0.4390145513872028,0.11972953227994344,0.3749693655593314]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4390145513872028,0.11972953227994344,0.3749693655593314],"end_effector_quaternion":[0.9999974606829373,-0.0005928868696484298,0.0021741924550960703,-7.3943686791925e-08],"end_effector_velocity":[-0.0008328097821413563,-0.00022522086868195324,0.07532295080804598],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48504774588552446,0.11973889305093621,0.38276926414110224],[0.3930533615331755,0.11973914382883197,0.38316929389195253]],"gripper_width":0.07999525409624217,"jaw_actuator_force":[0.0007081277442981815,0.00036232842964878387],"joint_actuator_torque":[3.182031804271901e-06,-1.2195412730602015,-0.7128970361955567,-4.5824303205858845e-05,-0.08990581413437226,6.793734392829265e-07],"joint_position":[0.26624841830570634,-1.152235950917193,1.393945910281373,1.3181211225595665e-07,-0.23720279339634193,-0.2662485349308978],"joint_velocity":[3.5709131948368e-06,-0.07062027897977757,-0.1598869442234203,8.16827630107795e-06,0.20746527944222695,-3.3093934986740976e-06],"object_angular_velocity":[-1.178612704437439e-12,-1.0934451184875153e-11,-1.265482125511837e-26],"object_position":[0.44016665738750466,0.11969494807322709,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1703264631557703e-14,1.0871260473610653e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.0760801201790365e-13,3.3149559149398606e-14,-1.557556267869962e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.12},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662488197075422,-1.1589838861353354,1.3775878482428983,1.4971778244601382e-09,-0.21867585215826973,-0.266248820656853],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10942695656185963,0.029843298928780446,0.4859982786790887],[0.3345247767757369,0.09123275677285461,0.4297638959531122],[0.38610969390808375,0.10530117419545494,0.4168768499117426],[0.4391712164988635,0.11977229482982421,0.4166288823055826],[0.4389972293831505,0.11972484984020584,0.3766292888394419]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4389972293831505,0.11972484984020584,0.3766292888394419],"end_effector_quaternion":[0.9999974591601489,-0.0005930640304773614,0.002174844430521884,-7.051865744127973e-08],"end_effector_velocity":[-0.0008157853014229706,-0.00022113342500389242,0.07535815448034261],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48503093722699536,0.11973421368858568,0.384429125203856],[0.3930360882534438,0.11973446397958777,0.3848292769346944]],"gripper_width":0.0799957192435436,"jaw_actuator_force":[0.0003318554284295061,0.0003793252443404782],"joint_actuator_torque":[2.9687025218549934e-05,-1.2195849142369184,-0.7130375119671157,-4.406809917019023e-05,-0.08994888404106405,6.118855289116709e-07],"joint_position":[0.2662485064851347,-1.1537258561920702,1.3902345311736575,1.333260157415991e-07,-0.23200015777752203,-0.2662486165753839],"joint_velocity":[2.415327631770812e-06,-0.0692882171582625,-0.16166425167281698,7.685877191425623e-06,0.20787838744289766,-3.30259360543578e-06],"object_angular_velocity":[3.131468676823208e-14,2.972966617664503e-13,2.1751997867010573e-25],"object_position":[0.44016665738749766,0.11969494807322782,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3171350119078532e-14,1.22291729415165e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.534369026389484e-13,3.8105537982668275e-14,-1.5585277130165092e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.14},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662489049013042,-1.160328910867886,1.3736928690792078,1.5058581685869012e-09,-0.21343621403253965,-0.2662489058728639],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10906654864426629,0.029745017203437196,0.4861634671813979],[0.3344440479474678,0.0912107707032277,0.4311457977056888],[0.3860930582044515,0.10529667254692969,0.4185375817841721],[0.43915457923256074,0.1197677976330715,0.4182895396007558],[0.43898053978291535,0.1197203383984042,0.37828994637918656]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43898053978291535,0.1197203383984042,0.37828994637918656],"end_effector_quaternion":[0.9999974576315737,-0.0005932420935703353,0.002175498610039869,-6.986401138483484e-08],"end_effector_velocity":[-0.0007984705208301857,-0.00021638565964687004,0.07539343414689824],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4850143078848706,0.1197297050845532,0.3860897222936686],[0.39301944923593646,0.11972995539779116,0.38648999443146514]],"gripper_width":0.07999572944264491,"jaw_actuator_force":[0.00022790038896935982,0.00039833356397167563],"joint_actuator_torque":[2.9437441170898637e-05,-1.219617117674204,-0.7131848754140719,-4.360981330494509e-05,-0.09000066178487032,5.788839168019422e-07],"joint_position":[0.2662485915801031,-1.1551846456826869,1.3864817615066605,1.3424190973368073e-07,-0.22678724265600939,-0.2662487008294733],"joint_velocity":[2.472402159027333e-06,-0.06794813096338785,-0.1634526623589481,7.548190411793106e-06,0.20829695211909993,-3.3927523655046333e-06],"object_angular_velocity":[-1.1066014341092901e-12,-1.02703074589477e-11,8.918176357465759e-27],"object_position":[0.4401666573874914,0.11969494807322849,0.30999147829693713],"object_quaternion":[0.9999999942514141,8.934687852663996e-15,8.300768186689643e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.454580695508287e-13,2.644831403701883e-14,-1.557417489991884e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.16},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624898915806056,-1.1616417334653981,1.3697550784654857,1.5100605759361855e-09,-0.20818597236990233,-0.26624899014956316],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10871365941131458,0.02964878581825863,0.48632457891685643],[0.3343652541922971,0.09118931199903345,0.43252753987015224],[0.38607707799627233,0.10529234924879435,0.42019905175528255],[0.4391385974729215,0.11976347874026524,0.41995093470576567],[0.4389645054923594,0.11971600518444125,0.379951341729789]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4389645054923594,0.11971600518444125,0.379951341729789],"end_effector_quaternion":[0.999997456096616,-0.0005934211094631882,0.0021761552514903766,-6.98743198424277e-08],"end_effector_velocity":[-0.0007803209855551151,-0.00021141889065656868,0.07542857306210479],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48499825969340576,0.11972537466226148,0.3877510572904792],[0.3930034647243973,0.1197256251205744,0.3881514499689006]],"gripper_width":0.07999566628787236,"jaw_actuator_force":[0.00023564234509976245,0.00041931262481753606],"joint_actuator_torque":[2.913319981701079e-05,-1.2196655600073996,-0.7133242640800859,-4.371286128653381e-05,-0.09005572719246047,5.794643520573572e-07],"joint_position":[0.2662486756729276,-1.156612093046545,1.3826872907574455,1.346010871834459e-07,-0.22156396332726047,-0.2662487855463897],"joint_velocity":[2.502188111272724e-06,-0.06659841025180292,-0.16525358782851368,7.565005248187744e-06,0.20871973995149948,-3.406265934562569e-06],"object_angular_velocity":[-8.828875783586239e-13,-8.19725031342735e-12,8.009409279569361e-27],"object_position":[0.4401666573874842,0.11969494807322927,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2707529588619348e-14,1.1806753329209104e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.2457756921428135e-13,3.4968603744364e-14,-1.557833823626119e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.18},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662490644413586,-1.1629220742863422,1.3657740910938332,1.4863148352455491e-09,-0.20292502176605567,-0.2662490654543761],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10836836549589221,0.029554624654231518,0.48648162024070307],[0.3342884328961654,0.0911683877050995,0.4339091241180395],[0.3860617816753947,0.10528820840425673,0.42186126042326244],[0.4391232997345428,0.11975934180938153,0.42161306850200714],[0.43894915524295064,0.11971185384389847,0.3816134757717157]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43894915524295064,0.11971185384389847,0.3816134757717157],"end_effector_quaternion":[0.9999974545610789,-0.0005936012415492412,0.0021768116416570715,-7.443704219583479e-08],"end_effector_velocity":[-0.0007621561216987413,-0.00020577297852761767,0.07546341834950455],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48498229145228927,0.11972122571369502,0.38941313363201036],[0.392988164057147,0.11972147715349701,0.38981364417501385]],"gripper_width":0.07999499923339279,"jaw_actuator_force":[0.0008163329332369074,0.00044645074328997225],"joint_actuator_torque":[-2.2336336655826017e-06,-1.2196823390933673,-0.7135064924136145,-4.671159655602835e-05,-0.09012757382092929,7.091416875937284e-07],"joint_position":[0.2662487499874275,-1.158007951602873,1.3788507878117804,1.3259836036652142e-07,-0.21633024050707567,-0.26624887010786163],"joint_velocity":[3.9159422448113114e-06,-0.06524080453482316,-0.16706499868680216,8.37083936729763e-06,0.20915075114036327,-3.4418397017357457e-06],"object_angular_velocity":[1.3268643370594112e-12,1.2275680460028917e-11,-1.0435696510317155e-25],"object_position":[0.44016665738747723,0.11969494807322999,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3059346385524154e-14,1.2123407393086084e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.0968554176498453e-13,4.4181074769813e-14,-1.5572787121138064e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.2},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662491518367816,-1.1641696768618388,1.361749530459447,1.5138869632413475e-09,-0.1976532422761439,-0.26624915284972955],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10803073587929733,0.029462555201857275,0.48663460005688064],[0.33421361241691566,0.09114801380273221,0.4352905589384777],[0.38604718829011986,0.10528426473209938,0.423524216182177],[0.43910870474346664,0.11975540271374123,0.4232759478042144],[0.43893450659824124,0.11970790014719407,0.3832763553248857]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43893450659824124,0.11970790014719407,0.3832763553248857],"end_effector_quaternion":[0.9999974529925585,-0.0005937837484882524,0.002177482319311204,-7.085113871740193e-08],"end_effector_velocity":[-0.0007410989990275381,-0.0002007624699492858,0.07549848848490637],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48496805454813297,0.11971727519281627,0.3910759496870403],[0.3929735640580547,0.11971752612020925,0.39147658521108764]],"gripper_width":0.07999536286908815,"jaw_actuator_force":[0.0005507260405188674,0.00046641313209505597],"joint_actuator_torque":[3.1260803382338054e-05,-1.2198188347563814,-0.7135716179776637,-4.529166038827716e-05,-0.09017400131335407,6.717173164361157e-07],"joint_position":[0.26624883748434075,-1.1593720007069903,1.3749719279837302,1.3362980564405542e-07,-0.21108594143879955,-0.2662489508937059],"joint_velocity":[2.380806336285648e-06,-0.06386833841442875,-0.1688959631196613,7.984758760815537e-06,0.20957868529064724,-3.283263375022291e-06],"object_angular_velocity":[-1.0784950567703243e-12,-9.994534923651552e-12,-4.497868419118309e-26],"object_position":[0.4401666573874706,0.11969494807323068,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0254041340251813e-14,9.510023870554047e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.7270016119522026e-13,2.943062087879407e-14,-1.557833823626119e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.22},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624923770695325,-1.1653842319625742,1.357680974670211,1.5285120045738885e-09,-0.1923705215186408,-0.26624923874203377],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10770085287266969,0.029372598174675038,0.4867835212138206],[0.33414083560105534,0.09112819663056274,0.43667184312055013],[0.38603333164297704,0.10528052127670366,0.4251879168908423],[0.43909484650980424,0.11975166374039811,0.4249395706951166],[0.4389205937529573,0.11970414632336847,0.3849399784712975]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4389205937529573,0.11970414632336847,0.3849399784712975],"end_effector_quaternion":[0.9999974513956192,-0.0005939693779027179,0.0021781649706260143,-6.943420157248356e-08],"end_effector_velocity":[-0.0007193869544078416,-0.00019474426490101514,0.07553399993108066],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.484954117131764,0.11971352439504959,0.3927395101334314],[0.39295970393806456,0.11971377521050407,0.39314027092383447]],"gripper_width":0.07999528611905682,"jaw_actuator_force":[0.00039636194740566566,0.0004865703997687376],"joint_actuator_torque":[2.6644849157264616e-05,-1.2199477512045291,-0.7136222835013086,-4.473635924894832e-05,-0.09022786343458478,6.216477537179799e-07],"joint_position":[0.2662489232775481,-1.1607039692720804,1.3710503503353246,1.3494662027158356e-07,-0.20583098034246478,-0.26624903426758606],"joint_velocity":[2.591044307582232e-06,-0.062486335298198505,-0.17074159930793975,7.813897903210336e-06,0.21001267071895371,-3.3738228847945328e-06],"object_angular_velocity":[-3.326000575125015e-13,-3.0849735737709776e-12,-7.660336212870853e-26],"object_position":[0.44016665738746336,0.11969494807323144,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3787410943909394e-14,1.2795049725711807e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.551794114300726e-13,3.831100060047314e-14,-1.556446044845338e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.24},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624932191860484,-1.1665654291804324,1.3535679757475876,1.534145314893884e-09,-0.18707672226059385,-0.2662493229719281],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.1073787971114584,0.029284775558282117,0.4869283866204692],[0.33407014332459306,0.09110894730762342,0.43805298033484724],[0.38602024349843644,0.10527698666684747,0.4268523663943922],[0.4390817567978612,0.11974813352846449,0.42660394158790166],[0.438907448883458,0.11970060107080663,0.38660434962227724]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.438907448883458,0.11970060107080663,0.38660434962227724],"end_effector_quaternion":[0.9999974497818982,-0.0005941573870348819,0.0021788544453956323,-6.933954917717788e-08],"end_effector_velocity":[-0.000696516150255018,-0.0001884927583535431,0.07556924201712142],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4849409637975075,0.11970998208401136,0.3944038178865581],[0.39294661055277474,0.1197102330326085,0.3948047052740229]],"gripper_width":0.07999522672224399,"jaw_actuator_force":[0.00040424321201193436,0.0005093317795505925],"joint_actuator_torque":[2.680983180880503e-05,-1.2200961575844076,-0.713668919097131,-4.484658865024458e-05,-0.09028521997115391,6.278364708123263e-07],"joint_position":[0.2662490072840192,-1.1620035901443544,1.367085675910716,1.3524056668532975e-07,-0.2005652557443723,-0.2662491187210937],"joint_velocity":[2.614266728114624e-06,-0.06109305120513449,-0.17260213390389523,7.834224848331844e-06,0.21045197525725345,-3.4142649552626074e-06],"object_angular_velocity":[3.553882418727247e-12,3.301080083031199e-11,-2.440725557873358e-25],"object_position":[0.4401666573874565,0.11969494807323217,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1510149132776702e-14,1.0691242077521283e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-5.362377063856604e-13,5.777847212971114e-14,-1.55547459969879e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.26},{"goal":[0.44,0.12,0.446],"joint_targets":[0.266249394594287,-1.1677129314523471,1.349410059295369,1.503312119686871e-09,-0.181771707505882,-0.26624939565637],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10706465531589093,0.029199109754858704,0.4870691960768796],[0.3340015826694621,0.09109027476796658,0.4394339707006922],[0.3860079618546555,0.10527366675013713,0.4285175648853159],[0.43906947375792454,0.11974481737531897,0.4282690611176636],[0.4388951104780249,0.11969726967096053,0.388269469411467]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388951104780249,0.11969726967096053,0.388269469411467],"end_effector_quaternion":[0.9999974481604699,-0.000594347984996464,0.0021795465159223787,-7.516938806610515e-08],"end_effector_velocity":[-0.0006733597892663325,-0.00018164219956608076,0.07560391144268656],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48492799775972073,0.11970665312287508,0.3960688767384269],[0.39293432222208535,0.11970690529433739,0.39646988850685727]],"gripper_width":0.07999454956368748,"jaw_actuator_force":[0.0011969131447067127,0.0005400896027971669],"joint_actuator_torque":[5.263092873519781e-06,-1.2202114540973525,-0.713775783875974,-4.8415896857166186e-05,-0.09036088413798637,8.176001955462198e-07],"joint_position":[0.2662490786151905,-1.1632705718208958,1.363077501917684,1.3180691888190895e-07,-0.19528866440266304,-0.26624920308514477],"joint_velocity":[3.682278394662923e-06,-0.059690292306660966,-0.17447513078036062,8.818312699595544e-06,0.21090117761110877,-3.4738861497760185e-06],"object_angular_velocity":[-9.052780984897355e-13,-8.402784413464766e-12,1.3473879655822714e-25],"object_position":[0.4401666573874494,0.11969494807323293,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1532818128802801e-14,1.0706768524524881e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.0080866311204665e-13,3.243089883762077e-14,-1.5578338236261182e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.28},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662494908085853,-1.168826444413572,1.3452067749317773,1.5629644981290125e-09,-0.17645532126274835,-0.26624949187298363],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10675850077227639,0.029115625186464655,0.4872059542134614],[0.33393518497053537,0.09107220138763603,0.4408148255128902],[0.3859965084326364,0.1052705834337378,0.43018352518567593],[0.4390580185714433,0.11974173911653899,0.42993493919769066],[0.4388835975656581,0.119694175811692,0.38993534776171757]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388835975656581,0.119694175811692,0.38993534776171757],"end_effector_quaternion":[0.9999974464715694,-0.000594542973576444,0.0021802681002033846,-6.64169726817246e-08],"end_effector_velocity":[-0.0006457339505308228,-0.00017549489981161345,0.07563938438292325],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4849175975447609,0.11970356310733017,0.3977346838482347],[0.3929228604638072,0.11970381382846884,0.39813583301169947]],"gripper_width":0.07999561169592821,"jaw_actuator_force":[0.0002848521026255213,0.0005562392733775567],"joint_actuator_torque":[6.718705101604883e-05,-1.2205101274196295,-0.7136784612660563,-4.391687578542655e-05,-0.09039415398802575,6.434968433666199e-07],"joint_position":[0.2662491758107115,-1.164504670065873,1.3590254444794307,1.3562450125097733e-07,-0.19000101378902257,-0.26624928272998766],"joint_velocity":[8.130365992720827e-07,-0.05826794734245691,-0.1763754131594947,7.585393027852085e-06,0.21134361956594466,-3.2303771473874763e-06],"object_angular_velocity":[8.968184444494869e-13,8.350485162410996e-12,2.8821798029901876e-25],"object_position":[0.44016665738744265,0.11969494807323364,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.183083989590807e-14,1.098650343019253e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.6907476788725823e-13,3.977560888351262e-14,-1.556584822723414e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.3},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662495724951459,-1.1699055618419745,1.3409575789497576,1.5560682821378067e-09,-0.17112742655025814,-0.2662495735973453],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1064604358860153,0.029034344962344204,0.48733865314710745],[0.3338710134747421,0.09105472936943428,0.44219553496993125],[0.3859859375054919,0.10526773412939242,0.43185023705432835],[0.4390474460960205,0.11973889405116388,0.43160156736220345],[0.4388729663580232,0.11969131473435862,0.3916019762014223]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388729663580232,0.11969131473435862,0.3916019762014223],"end_effector_quaternion":[0.9999974447516153,-0.0005947431295362292,0.0021810022571313948,-6.866301516363951e-08],"end_effector_velocity":[-0.0006189111908307737,-0.00016723725774615145,0.0756752226393206],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48490644510186076,0.11970070494689235,0.3994012470153614],[0.3929122862808445,0.11970095624033364,0.39980252873615396]],"gripper_width":0.07999503401960867,"jaw_actuator_force":[0.00044772970400153156,0.000580860559075802],"joint_actuator_torque":[2.3938021357139405e-05,-1.2206990675729799,-0.7136628619498424,-4.530550853148095e-05,-0.09046225044242462,6.383654813646444e-07],"joint_position":[0.26624925693817214,-1.1657055316387626,1.3549290458016816,1.360022301705466e-07,-0.18470223162938704,-0.26624936898499846],"joint_velocity":[2.7843038129676246e-06,-0.05683866527303832,-0.1782885133826603,7.930122947655604e-06,0.21180083706700167,-3.4942611608710835e-06],"object_angular_velocity":[-1.1019765435811275e-12,-1.0223152783325514e-11,2.907003709163513e-26],"object_position":[0.4401666573874363,0.1196949480732343,0.30999147829693713],"object_quaternion":[0.9999999942514141,9.859598015039302e-15,9.152958302834916e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.634496290252805e-13,2.8405312178730436e-14,-1.5574174899918823e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.32},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624965461685673,-1.1709499205616245,1.336661917201488,1.5549425028296389e-09,-0.16578783280220455,-0.26624965572834397],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10617054803598125,0.028955294824704936,0.4874672904105565],[0.33380911460822693,0.09103787733467547,0.4435761072660347],[0.3859762861143666,0.10526513582654372,0.43351771112874843],[0.4390377931405348,0.1197363000269021,0.4332689566349954],[0.4388632539134978,0.11968870443964662,0.39326936575310883]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388632539134978,0.11968870443964662,0.39326936575310883],"end_effector_quaternion":[0.9999974430085192,-0.0005949465139889499,0.002181745875212845,-6.967920862113708e-08],"end_effector_velocity":[-0.0005897694946429746,-0.00015938130196896925,0.07571019025856816],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48489667503496336,0.11969809773146237,0.4010685684024945],[0.39290262558740296,0.11969834937458938,0.40146998646581644]],"gripper_width":0.07999492524202118,"jaw_actuator_force":[0.0006488306712064684,0.0006083361463495862],"joint_actuator_torque":[2.93488777742823e-05,-1.2209515057202793,-0.7136336106902377,-4.6209509895595735e-05,-0.0905261779533113,7.067974472363403e-07],"joint_position":[0.2662493386045138,-1.1668728559353778,1.350787845902885,1.3510870331979615e-07,-0.17939216557042528,-0.2662494535550013],"joint_velocity":[2.568237309952189e-06,-0.05539385384741343,-0.180220678716092,8.178325520593332e-06,0.212262609089193,-3.441193752263841e-06],"object_angular_velocity":[-4.554959864972761e-13,-4.230358887380073e-12,9.456324994385236e-26],"object_position":[0.4401666573874292,0.11969494807323508,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2463581465838882e-14,1.153721151317549e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.257067067249561e-13,3.5213516078995755e-14,-1.5579726015041953e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.34},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26624973498390586,-1.1719591170631423,1.3323192139903657,1.5517064111993227e-09,-0.1604363681194184,-0.26624973609670244],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10588893452383642,0.02887850102526593,0.4875918588075726],[0.3337495445388804,0.09102165969928108,0.44495654206677426],[0.3859676010006613,0.10526280022874289,0.435185948647008],[0.43902910648065147,0.11973396860615024,0.4349371073528027],[0.4388545063691476,0.11968635634013759,0.39493751675648303]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388545063691476,0.11968635634013759,0.39493751675648303],"end_effector_quaternion":[0.9999974412237218,-0.0005951550031765446,0.0021825069360372905,-7.108799593930931e-08],"end_effector_velocity":[-0.0005586198487850394,-0.0001511218014321055,0.07574508865792058],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48488800168797175,0.11969575275441137,0.4027366490613158],[0.3928939302200881,0.11969600482383189,0.40313820724966065]],"gripper_width":0.07999494787367536,"jaw_actuator_force":[0.0009231979539769952,0.0006367873922883405],"joint_actuator_torque":[4.334791039184438e-05,-1.2212378291924892,-0.713582619146564,-4.698777656007377e-05,-0.09058960434213148,7.938546175978445e-07],"joint_position":[0.2662494182916291,-1.168006303550456,1.3466013607592224,1.3353226867843586e-07,-0.1740706546054962,-0.26624953704363],"joint_velocity":[2.047289637414301e-06,-0.053934328962159085,-0.18217353029417796,8.410623804952103e-06,0.21273060585997627,-3.434033160690349e-06],"object_angular_velocity":[2.7223191108261317e-12,2.512016461941169e-11,3.5122065630318363e-25],"object_position":[0.44016665738742256,0.11969494807323579,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0786838037298024e-14,9.970192728234388e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.753344349658292e-13,5.148041409456882e-14,-1.5568623784795702e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.36},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662498187440626,-1.1729327340371423,1.3279288625254153,1.5643075849777636e-09,-0.15507284332977858,-0.266249819869998],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10561569366513548,0.028803991024077075,0.4877123500197792],[0.33369235985554274,0.09100609392915474,0.44633684115697897],[0.38595992919084443,0.10526074251156836,0.4368549537092539],[0.43902143306302666,0.11973191523960593,0.43660602259891335],[0.43884676993072647,0.11968428579251092,0.3966064322981867]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43884676993072647,0.11968428579251092,0.3966064322981867],"end_effector_quaternion":[0.9999974393762606,-0.0005953697664922835,0.0021832947025484796,-7.020886742624462e-08],"end_effector_velocity":[-0.0005252259280119167,-0.00014201115053204,0.07578050008972513],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48488010216826166,0.11969368563808984,0.40440549283721583],[0.39288624901200575,0.11969393771769724,0.40480719501509865]],"gripper_width":0.07999473019275638,"jaw_actuator_force":[0.0009504466528564848,0.0006632515071736123],"joint_actuator_torque":[4.2187171530372325e-05,-1.2215548783437384,-0.7134783260649442,-4.7193511678831785e-05,-0.09065222776922965,7.903618737259421e-07],"joint_position":[0.2662495016667232,-1.169105528978203,1.3423690851009136,1.3394425704220085e-07,-0.16873752048207888,-0.266249619291682],"joint_velocity":[2.0455946660175788e-06,-0.052459301349395734,-0.18414986869643235,8.453240956886138e-06,0.21320461046127398,-3.382739011595831e-06],"object_angular_velocity":[-9.882531524696785e-13,-9.12205964312963e-12,8.084356441348809e-26],"object_position":[0.44016665738741595,0.1196949480732365,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1224697733790412e-14,1.0366424165781845e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.8992767164931013e-13,3.142237744833027e-14,-1.5574174899918816e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.38},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662499027399182,-1.173870313117406,1.3234901964624013,1.5759580324069712e-09,-0.14969705094872446,-0.2662499038800416],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10535093183398662,0.028731793441293212,0.487828751708101],[0.3336376254224689,0.09099119648023321,0.4477170045051526],[0.38595332603649607,0.10525897634332362,0.43852472910447693],[0.43901482828588556,0.11973015343254001,0.4382757056305371],[0.4388401003457363,0.11968250631554189,0.3982761156338987]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388401003457363,0.11968250631554189,0.3982761156338987],"end_effector_quaternion":[0.9999974374757041,-0.0005955906404484879,0.002184104807304546,-6.948229218302703e-08],"end_effector_velocity":[-0.0004895224044364956,-0.00013227751995742378,0.07581590290848704],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4848733122916433,0.1196919096735565,0.40607510216554954],[0.39287963523336844,0.11969216179650018,0.406476952626706]],"gripper_width":0.07999455474406554,"jaw_actuator_force":[0.0009666464965807364,0.0006906131642665514],"joint_actuator_torque":[4.2627934476513474e-05,-1.2219060715972319,-0.7133460470349178,-4.733510000963941e-05,-0.09071548392763695,7.988974459749443e-07],"joint_position":[0.2662495852869346,-1.1701701542808498,1.3380904704858168,1.343250616690771e-07,-0.1633926012089592,-0.26624970210163734],"joint_velocity":[2.030207170390347e-06,-0.050968019514088914,-0.18614944365729716,8.480514574031792e-06,0.21368564833813017,-3.4112729926582582e-06],"object_angular_velocity":[3.904590194687789e-13,3.589758600379452e-12,-9.010120103887349e-26],"object_position":[0.4401666573874087,0.11969494807323726,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3073628017732247e-14,1.2055977021020712e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.6868153986286427e-13,4.001472463015806e-14,-1.557972601504195e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.4},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662499956071074,-1.1747713823561432,1.31900252044802,1.6141112883813495e-09,-0.14430876797574338,-0.26624999677144456],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.1050947560183356,0.028661938559274007,0.4879410505047053],[0.33358540571283485,0.09097698843454805,0.449097034733576],[0.38594784626782425,0.10525752069763168,0.44019528111935885],[0.43900934674114817,0.11972870265196904,0.4399461619432465],[0.4388345516222111,0.11968103733048836,0.39994657226180697]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388345516222111,0.11968103733048836,0.39994657226180697],"end_effector_quaternion":[0.9999974355057066,-0.000595818186802022,0.0021849445517269036,-6.422189133822062e-08],"end_effector_velocity":[-0.0004502666342082722,-0.00012221263180334772,0.07585165733635063],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48486852080588894,0.11969044471955756,0.4077454782245829],[0.3928741436160116,0.11969069606005796,0.4081474862514223]],"gripper_width":0.07999525555739406,"jaw_actuator_force":[0.0003164359824339158,0.0007132160800260579],"joint_actuator_torque":[7.149740036993535e-05,-1.2223473243921603,-0.7131183933177567,-4.432197147294198e-05,-0.09076371111017778,6.729200592303641e-07],"joint_position":[0.2662496789123477,-1.171199796456807,1.3337649464225536,1.3749120874647802e-07,-0.1580356949123952,-0.2662497854107738],"joint_velocity":[7.213342206544963e-07,-0.04945706372948428,-0.18817730290174361,7.640124247821593e-06,0.21416991019803885,-3.3880658684188854e-06],"object_angular_velocity":[-1.2383436027462205e-12,-1.1415739093891994e-11,5.841657595791787e-27],"object_position":[0.4401666573874019,0.119694948073238,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0270156959268529e-14,9.479108156171987e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.770423820304509e-13,3.004923304622866e-14,-1.557417489991883e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.42},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26625007495595565,-1.1756353940061803,1.3144650676260246,1.5978406964846604e-09,-0.1389077758917882,-0.2662500761483676],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10484729106622327,0.028594457571592426,0.4880492250565016],[0.33353578392118116,0.09096348341435102,0.450476923408171],[0.3859435635337757,0.1052563851699832,0.4418666042804286],[0.4390050624309849,0.11972757121116549,0.44161738681926105],[0.43883019836472353,0.11967988703058803,0.4016177974616532]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43883019836472353,0.11967988703058803,0.4016177974616532],"end_effector_quaternion":[0.9999974334817532,-0.0005960539361325564,0.0021858063975126567,-6.822696054542582e-08],"end_effector_velocity":[-0.00041031699520539203,-0.00011031628026899449,0.07588739854026068],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48486346782074335,0.11968929773032222,0.40941662718935834],[0.39286985014552384,0.1196895499949251,0.4098187904686844]],"gripper_width":0.07999449672856163,"jaw_actuator_force":[0.0007327969347485919,0.0007454937156445851],"joint_actuator_torque":[2.560757185676721e-05,-1.222706940551518,-0.7129672281072885,-4.708858751886091e-05,-0.0908435508766452,7.333054021785301e-07],"joint_position":[0.2662497572431206,-1.172194003697844,1.3293918851375737,1.3638145157985576e-07,-0.15266663936703642,-0.2662498726518836],"joint_velocity":[2.789478657023992e-06,-0.04793297667645033,-0.190226004731139,8.36776623123252e-06,0.21467067184589875,-3.558798246087115e-06],"object_angular_velocity":[-6.582829783555047e-13,-6.070844176232445e-12,2.17069302600398e-26],"object_position":[0.44016665738739486,0.11969494807323874,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2402180964358925e-14,1.146264411339662e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.176624862498541e-13,3.440817773430184e-14,-1.5574174899918816e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.44},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662501664791354,-1.1764618246080387,1.309877033784594,1.628234694994631e-09,-0.133493794476727,-0.26625016768326887],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10460864951184934,0.028529384465137978,0.4881532581032969],[0.33348882878836233,0.09095071063176337,0.4518566801109985],[0.3859405365392299,0.10525559787828169,0.44353871432109676],[0.4390020336515085,0.11972678871742107,0.44328939544725965],[0.4388270984142548,0.11967908518627796,0.40328980642392237]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388270984142548,0.11967908518627796,0.40328980642392237],"end_effector_quaternion":[0.9999974313925569,-0.0005962958107288162,0.002186696044315374,-6.392749781650358e-08],"end_effector_velocity":[-0.00036531361911430055,-9.906180966982067e-05,0.0759225752091877],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4848611061937584,0.11968850005223987,0.41108855107159864],[0.39286680605827967,0.11968875172253807,0.41149088102316983]],"gripper_width":0.07999517991106814,"jaw_actuator_force":[0.0003205499910183818,0.0007724603369023697],"joint_actuator_torque":[7.340017646129127e-05,-1.2232222847362095,-0.7127083304804955,-4.443691481659309e-05,-0.09089497149419756,6.80002514741318e-07],"joint_position":[0.2662498494778936,-1.1731523663327463,1.3249706407766786,1.381447943645724e-07,-0.14728518848558292,-0.26624995675029745],"joint_velocity":[6.716333888321701e-07,-0.046384094640096615,-0.19230689893688438,7.651958789483946e-06,0.21517211639739284,-3.4152230746019545e-06],"object_angular_velocity":[1.9192949750171778e-12,1.775871840738589e-11,-4.692249427640088e-26],"object_position":[0.4401666573873877,0.11969494807323951,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2597001985382098e-14,1.1650737648929171e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.494459258383466e-13,4.863732784730897e-14,-1.5554745996987878e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.46},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662502464626035,-1.1772500451139947,1.3052375520424906,1.6149850646100884e-09,-0.12806658643337246,-0.26625024769351097],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10437897060755663,0.02846675416158331,0.48825312079897665],[0.3334446366827878,0.09093868663100411,0.4532362922868622],[0.38593885182502824,0.10525517115524638,0.44521160241950264],[0.4390003473215884,0.11972636610511427,0.44496217829989027],[0.43882533825188513,0.1196786423871409,0.4049625896236018]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43882533825188513,0.1196786423871409,0.4049625896236018],"end_effector_quaternion":[0.9999974292234962,-0.0005965481560461578,0.0021876189548693556,-6.755621186222882e-08],"end_effector_velocity":[-0.000319117440094472,-8.540962215686058e-05,0.07595843380361528],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48485846623619183,0.11968806085767046,0.4127612532082707],[0.39286510764979754,0.11968831339585681,0.41316374884849616]],"gripper_width":0.0799942390957668,"jaw_actuator_force":[0.000759988544734469,0.0008070736483762886],"joint_actuator_torque":[2.4080976814389032e-05,-1.2236497918977989,-0.7124983154818665,-4.744599447856413e-05,-0.09097824051226233,7.364693104250364e-07],"joint_position":[0.26624992843827566,-1.1740743727727854,1.3205005086171235,1.3715836735089097e-07,-0.14189113630676953,-0.2662500438468464],"joint_velocity":[2.845381053209755e-06,-0.044819967270820577,-0.19441385806892733,8.439071808906284e-06,0.21569129489813338,-3.5523108350495615e-06],"object_angular_velocity":[-1.1804208638950801e-12,-1.0910152871063394e-11,-2.0392902833790496e-26],"object_position":[0.4401666573873806,0.11969494807324027,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1723449925315865e-14,1.0846934457933898e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.0691875910993704e-13,3.3206367323040436e-14,-1.5576950457480373e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.48},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26625032480786515,-1.1779994149983928,1.300545655284424,1.6017529177160637e-09,-0.1226258260530745,-0.2662503260085376],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10415838863182303,0.028406604576865592,0.48834878535428755],[0.33340329799563884,0.09092744017250867,0.45461576522269453],[0.3859385897248466,0.10525513166317688,0.4468852814425378],[0.4390000836162552,0.11972633064811657,0.4466357499810109],[0.43882499927722757,0.11967858621799506,0.40663616165883415]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43882499927722757,0.11967858621799506,0.40663616165883415],"end_effector_quaternion":[0.9999974270102923,-0.000596807066126186,0.0021885598269843496,-7.037912498580352e-08],"end_effector_velocity":[-0.00026806841731928134,-7.25552718337148e-05,0.07599237143015304],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4848582592759806,0.11968800846716697,0.4144347381023564],[0.392864822144564,0.11968826173247726,0.4148374071976804]],"gripper_width":0.0799943183991075,"jaw_actuator_force":[0.0014296078630717801,0.0008447594476272968],"joint_actuator_torque":[8.230688622745674e-05,-1.2242059711924185,-0.7122780482562234,-4.773923317592606e-05,-0.09104530275874012,9.314052284992158e-07],"joint_position":[0.26625000558681344,-1.1749595259046726,1.3159807261730518,1.3292040108416546e-07,-0.13648424903955975,-0.2662501279614321],"joint_velocity":[5.618254226070671e-07,-0.04322985943947084,-0.19655168215818786,8.615049111427845e-06,0.21621616854904127,-3.50789298917003e-06],"object_angular_velocity":[3.118396213856847e-14,2.9554755845138226e-13,-6.820872627149364e-26],"object_position":[0.4401666573873736,0.119694948073241,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3182490605199955e-14,1.220109966935587e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.52629443469911e-13,3.8138886208478084e-14,-1.55672360060149e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.5},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662504058319849,-1.1787092383298663,1.2958003499062114,1.6059005855520525e-09,-0.11717121614531562,-0.2662504070108987],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10394704919020521,0.028348975953369868,0.48844021847817026],[0.33336491304223265,0.09091700031078905,0.4559950944441646],[0.38593984017498895,0.10525550589269761,0.44855975351970495],[0.43900133240188494,0.11972670904681297,0.44831010991898806],[0.4388261694085234,0.11967894305628034,0.40831052196691153]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388261694085234,0.11967894305628034,0.40831052196691153],"end_effector_quaternion":[0.9999974246971597,-0.0005970765740270392,0.002189543013565091,-7.066135103531217e-08],"end_effector_velocity":[-0.00021223112450549815,-5.873085208158487e-05,0.07602693298976719],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48485952627318335,0.11968836948307669,0.41610900752951846],[0.3928660494723891,0.11968862301695575,0.4165118576957544]],"gripper_width":0.07999435886085068,"jaw_actuator_force":[0.001931526701490327,0.0008780936524033223],"joint_actuator_torque":[0.00015508164837285676,-1.224842701697355,-0.7119653397098205,-4.498569288677231e-05,-0.09109834347163037,9.579153541494634e-07],"joint_position":[0.2662500856561659,-1.1758072828285269,1.3114105016408548,1.305285568583972e-07,-0.13106422866815098,-0.2662502096268502],"joint_velocity":[-2.376698561705715e-06,-0.0416141539092294,-0.19872753234512006,7.983845571478387e-06,0.21674802306585014,-3.427462569769718e-06],"object_angular_velocity":[-1.1059080187159393e-12,-1.024624939812561e-11,-2.3375058522838127e-26],"object_position":[0.4401666573873674,0.11969494807324167,0.30999147829693713],"object_quaternion":[0.9999999942514141,8.926445829196677e-15,8.28113134518546e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.4488056263451776e-13,2.6428780272177576e-14,-1.5574174899918804e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.52},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662505009552483,-1.1793787686525852,1.2910005514734038,1.6602633676688956e-09,-0.1117024194051083,-0.26625050218600066],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10374510343455588,0.028293911000860497,0.48852738368232623],[0.3333295867968627,0.09090740045127424,0.45737427889154236],[0.38594269756739136,0.10525632511699405,0.45023502571032104],[0.4390041878804537,0.11972753323949739,0.449985263359306],[0.4388289415098487,0.1196797447323803,0.40998567579933015]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388289415098487,0.1196797447323803,0.40998567579933015],"end_effector_quaternion":[0.9999974222465245,-0.0005973580174002391,0.0021905852415571234,-6.326842687639715e-08],"end_effector_velocity":[-0.00015272447830044517,-4.2074422246728485e-05,0.07606347336202071],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4848627881874903,0.1196891762273553,0.4177840633267009],[0.39286888722262137,0.11968942863011738,0.4181871071124841]],"gripper_width":0.07999478386892969,"jaw_actuator_force":[0.0008825579922948634,0.0009089388362522044],"joint_actuator_torque":[0.00012594559329670574,-1.2254563839367165,-0.7115621720087688,-4.4487150862940714e-05,-0.09117009741782311,8.25605745546909e-07],"joint_position":[0.26625018198224326,-1.176617076301325,1.306788989514985,1.362868003086455e-07,-0.1256307639509008,-0.26625029113560106],"joint_velocity":[-1.4561516343929373e-06,-0.039974964390826935,-0.20094389802093965,7.710966683269394e-06,0.21729467782706166,-3.3698757961111074e-06],"object_angular_velocity":[-8.808862355761934e-13,-8.178292036953574e-12,-7.78618755783709e-26],"object_position":[0.44016665738736016,0.11969494807324245,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.2667551861177167e-14,1.1777882466674974e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.237888360796917e-13,3.486503453480204e-14,-1.5572787121138014e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.54},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662505765970066,-1.1800071075956298,1.2861449994971097,1.6342211907467186e-09,-0.10621907499091596,-0.26625057783492834],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10355273617235759,0.028241455764378493,0.4886102298972854],[0.33329745980738346,0.09089866492627355,0.4587533026959115],[0.3859472923070769,0.10525760869254117,0.45191109021226333],[0.43900878100568513,0.11972882062846915,0.4516612058531552],[0.43883344906476285,0.11968100864129026,0.411661618696231]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43883344906476285,0.11968100864129026,0.411661618696231],"end_effector_quaternion":[0.9999974197274449,-0.0005976515340136621,0.002191654875098557,-6.943320042086225e-08],"end_effector_velocity":[-8.984102881346833e-05,-2.388969311562959e-05,0.07609893615726923],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48486668245288655,0.1196904441489029,0.4194599105008195],[0.39287345885292824,0.11969069791996886,0.41986314812047043]],"gripper_width":0.07999410735995119,"jaw_actuator_force":[0.001535911938804091,0.0009520192836358632],"joint_actuator_torque":[8.177378308005245e-05,-1.2260505225552265,-0.711243661203639,-4.833986275614019e-05,-0.09126316115493971,9.71825226514511e-07],"joint_position":[0.2662502554747526,-1.177388208957706,1.3021152135529643,1.3306041821850587e-07,-0.12018363698064956,-0.26625037808820534],"joint_velocity":[6.568188597722582e-07,-0.0383113740756592,-0.20319389063176732,8.762107086317371e-06,0.21785982023393252,-3.63781880205042e-06],"object_angular_velocity":[1.323189939123327e-12,1.2243790496018126e-11,-2.2731879129369566e-25],"object_position":[0.4401666573873533,0.11969494807324317,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3022991900293119e-14,1.209186371798547e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.0862577939710506e-13,4.4057901661211286e-14,-1.5581113793822692e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.56},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26625067122652507,-1.1805933801167523,1.2812323815971995,1.6809410783310374e-09,-0.1007207464324777,-0.2662506724918361],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10337011358417246,0.028191660618602225,0.48868871233426653],[0.3332686495777592,0.09089084202336253,0.46013217544376717],[0.3859537307429562,0.1052594044286201,0.45358796907302773],[0.4390152174885393,0.11973062132186686,0.45333795711947816],[0.43883979598580797,0.11968278504908604,0.4133383703842707]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43883979598580797,0.11968278504908604,0.4133383703842707],"end_effector_quaternion":[0.999997417091709,-0.0005979550913921762,0.0021927744104717657,-6.255487582756763e-08],"end_effector_velocity":[-1.8904955436568546e-05,-5.661237699779468e-06,0.07613436141583894],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4848737107502659,0.1196922259219891,0.42113655619914286],[0.3928798687165443,0.11969247867480293,0.42154000251541757]],"gripper_width":0.07999472670278078,"jaw_actuator_force":[0.0008963915040922643,0.000985240506542695],"joint_actuator_torque":[0.00013108647863191436,-1.2268322235315168,-0.7107643056255597,-4.448376971214805e-05,-0.09131859291230526,8.436292624480757e-07],"joint_position":[0.2662503514844162,-1.1781200474043603,1.2973881793588073,1.36817245849686e-07,-0.11472244441694619,-0.2662504606239687],"joint_velocity":[-1.6415921994925556e-06,-0.036610910251446076,-0.205494459770436,7.696176623718562e-06,0.21842755857367765,-3.4115339828729785e-06],"object_angular_velocity":[-1.0747874136533683e-12,-9.968198139256838e-12,-3.3044473984617563e-26],"object_position":[0.44016665738734667,0.11969494807324386,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0214180931620686e-14,9.48481345715997e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.7197924783561977e-13,2.932069985625865e-14,-1.558388935138426e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.58},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662507475150138,-1.1811365018683952,1.2762612142568186,1.6564709730032465e-09,-0.09520703579029798,-0.2662507487859827],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10319745097149857,0.02814457932830662,0.48876276541925],[0.333243325169125,0.09088396188624309,0.4615108729914073],[0.3859621713394144,0.1052617370557702,0.45526564764336],[0.4390236564167216,0.1197329577718803,0.45501550293257287],[0.4388481418017658,0.11968509596139942,0.4150159166363743]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388481418017658,0.11968509596139942,0.4150159166363743],"end_effector_quaternion":[0.9999974143478958,-0.0005982743286368715,0.002193938318614856,-6.868775834194288e-08],"end_effector_velocity":[5.5435556871614305e-05,1.572509017060738e-05,0.07616989022789411],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48488125728018255,0.11969454125142359,0.42281399887360366],[0.3928882809232605,0.11969479538714525,0.4232176555399743]],"gripper_width":0.07999386195705724,"jaw_actuator_force":[0.001591703320137583,0.001032576664881546],"joint_actuator_torque":[8.266167085935194e-05,-1.2275199985738823,-0.7103743398247389,-4.868521985268143e-05,-0.0914168912951876,9.906919551383453e-07],"joint_position":[0.2662504254268602,-1.1788117703949152,1.2926067574330262,1.3358641277148558e-07,-0.10924688570770184,-0.2662505479358728],"joint_velocity":[6.264061434512016e-07,-0.03488398042456173,-0.20783625604708256,8.836611857790985e-06,0.21902152754605128,-3.6563371668889263e-06],"object_angular_velocity":[-3.307837870764047e-13,-3.0770798981404455e-12,3.714296142430024e-26],"object_position":[0.4401666573873395,0.11969494807324463,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3736380278038763e-14,1.2758289289842698e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.5416324442338685e-13,3.816795606203013e-14,-1.5579726015041924e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.6},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662508433061594,-1.181635372188953,1.271229862293721,1.7055301165731654e-09,-0.08967740987505503,-0.26625084461015],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.10303494830368409,0.028100271507699767,0.488832328292373],[0.3332216361126442,0.09087808167192951,0.4628894042759049],[0.3859727520688643,0.10526466316789883,0.4569441508554643],[0.43903423511929845,0.11973588891259873,0.456693867147601],[0.4388586229374161,0.11968800065102829,0.41669428131129543]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4388586229374161,0.11968800065102829,0.41669428131129543],"end_effector_quaternion":[0.9999974114735579,-0.0005986049535450905,0.0021951579191009517,-6.123012383160197e-08],"end_effector_velocity":[0.00013937118169069646,3.7432079556726445e-05,0.07620522620421237],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4848924075276969,0.11969745178166481,0.4244922484034065],[0.3928988270504556,0.11969770481472233,0.4248961321169924]],"gripper_width":0.07999446706808405,"jaw_actuator_force":[0.0009110499708526731,0.0010699181506073074],"joint_actuator_torque":[0.00013493110428441923,-1.2284130559417008,-0.709814793812825,-4.452002665320371e-05,-0.09147509842855506,8.574314023235274e-07],"joint_position":[0.2662505230370457,-1.1794626067327938,1.2877697476525227,1.3778366151243045e-07,-0.10375651234360124,-0.26625063091547896],"joint_velocity":[-1.8055454202686629e-06,-0.03311366540372192,-0.2102372095021347,7.682672374456715e-06,0.21961960438359024,-3.4337342002503218e-06],"object_angular_velocity":[3.5514259374483642e-12,3.2918372607966523e-11,3.746729815803261e-26],"object_position":[0.4401666573873326,0.11969494807324535,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1483163452476307e-14,1.0659717921389354e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-5.346945679391098e-13,5.766428285275008e-14,-1.5554745996987853e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.62},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662509316132357,-1.182088656387967,1.2661364947041724,1.717955251953482e-09,-0.0841313738862201,-0.26625093296404223],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10288285641544667,0.028058801935166904,0.488897318429067],[0.3332037843929663,0.09087324473746441,0.46426774451860053],[0.38598566372114784,0.10526822121299093,0.45862346716411867],[0.4390471448414634,0.11973945150929095,0.45837303747369185],[0.43887143021407143,0.11969153537645087,0.4183734521206668]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43887143021407143,0.11969153537645087,0.4183734521206668],"end_effector_quaternion":[0.9999974084530466,-0.0005989533461500927,0.002196438498186684,-6.074986700953374e-08],"end_effector_velocity":[0.00022921562535420468,6.274890945873733e-05,0.07624154100490144],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4849053536076989,0.11970099198427553,0.4261713007840114],[0.39291170518365354,0.11970124521099247,0.4265754204112262]],"gripper_width":0.07999453605026807,"jaw_actuator_force":[0.0005963545919414059,0.0011152903848579143],"joint_actuator_torque":[9.521380928845247e-05,-1.2292617009515538,-0.7092553658860083,-4.554589551390404e-05,-0.09156298979466193,8.125481301135551e-07],"joint_position":[0.26625061155161217,-1.180071589099401,1.2828758026492335,1.397658149007107e-07,-0.09825093071777888,-0.26625071902495956],"joint_velocity":[-1.0045679401987493e-07,-0.03130784382235287,-0.21269384175637,7.889426207594796e-06,0.22024280386626116,-3.624498856983229e-06],"object_angular_velocity":[-9.037480494244125e-13,-8.37837814578489e-12,6.555377002283982e-26],"object_position":[0.4401666573873256,0.11969494807324611,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.150049832370185e-14,1.0677976436905663e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.9999274602020127e-13,3.234513341335086e-14,-1.5578338236261138e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.64},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26625100727515605,-1.1824948681115828,1.2609790084878496,1.686541275728001e-09,-0.07856831325715458,-0.2662510086021977],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.102741442306486,0.028020242688498894,0.4889576452481383],[0.33318998657822047,0.09086950772453821,0.4656458815339074],[0.38600111130715964,0.10527246429529721,0.46030360234939616],[0.4390625906936144,0.11974369833261071,0.4600530215078825],[0.43888677007091825,0.11969575305829627,0.4200534366555455]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43888677007091825,0.11969575305829627,0.4200534366555455],"end_effector_quaternion":[0.9999974053237378,-0.0005993176332355444,0.0021977634454818907,-6.791893751385083e-08],"end_effector_velocity":[0.00032720228588545546,8.98324655697817e-05,0.07627594450442701],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4849197995443611,0.11970521469074392,0.427851167347108],[0.3929271108623562,0.11970546952714745,0.4282555265335614]],"gripper_width":0.07999357737016688,"jaw_actuator_force":[0.0016646574972014605,0.0011721541069480423],"joint_actuator_torque":[8.454836984128633e-05,-1.2301527086047486,-0.708766680846793,-4.9208322757201994e-05,-0.09166391463219448,1.0233060159237084e-06],"joint_position":[0.26625068420007625,-1.1806376812737278,1.277923417856095,1.343602846622399e-07,-0.09272970552022897,-0.2662508072922018],"joint_velocity":[5.767439010482827e-07,-0.02945830466521611,-0.21520831941391516,8.949217582833824e-06,0.22088846906998544,-3.6969908406440247e-06],"object_angular_velocity":[9.015865847188095e-13,8.330513357854152e-12,1.2096454727122572e-25],"object_position":[0.4401666573873188,0.11969494807324682,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1809734051431924e-14,1.0959218681008032e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.681498233295903e-13,3.971527098454776e-14,-1.5578338236261138e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.66},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26625110238108474,-1.1828523645972762,1.255755051349826,1.7293148806166416e-09,-0.07298752049798918,-0.2662511037162309],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10261098501555403,0.02798467434903306,0.4890132115466629],[0.333180467575129,0.0908669464885773,0.46702381494789014],[0.3860193073283649,0.10527746718722285,0.46198457822733807],[0.43908078460089356,0.11974870622738044,0.4617338387219786],[0.43890485263149487,0.11970073066765738,0.42173425439554074]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43890485263149487,0.11970073066765738,0.42173425439554074],"end_effector_quaternion":[0.9999974020368599,-0.0005996961875811694,0.0021991552945247288,-6.050240543108062e-08],"end_effector_velocity":[0.0004389390902221303,0.0001175526524094246,0.07630991334950873],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48493884277686833,0.11971019888356353,0.4295318528072156],[0.3929452573918007,0.11971045266454469,0.42993647202379226]],"gripper_width":0.0799944752078871,"jaw_actuator_force":[0.0013522312770231082,0.0012162429408935083],"joint_actuator_torque":[0.00021775553202019182,-1.2313259570030937,-0.7080642762747971,-4.065290784437905e-05,-0.09170690924236347,8.845360959242043e-07],"joint_position":[0.2662507815338984,-1.1811597921951615,1.272910954949405,1.3671691644250336e-07,-0.08719224686494788,-0.26625089032301],"joint_velocity":[-5.098388418561118e-06,-0.027549204694060216,-0.21780301785563655,6.739499637532777e-06,0.2215393599371149,-3.453789672214537e-06],"object_angular_velocity":[-1.100779850024102e-12,-1.0197959330071851e-11,2.173171383237832e-26],"object_position":[0.4401666573873125,0.11969494807324749,0.30999147829693713],"object_quaternion":[0.9999999942514141,9.847066060321164e-15,9.130457202590765e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.628021083804169e-13,2.8369928221485952e-14,-1.557417489991879e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.68},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662511901205175,-1.1831591554926548,1.2504619291296297,1.742201634836799e-09,-0.0673882942137671,-0.26625119150750526],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23],[0.1024918277394378,0.027952186738475677,0.4890638927044192],[0.3331755177112654,0.09086562795455017,0.46840150912136636],[0.3860405299964759,0.10528329156656724,0.4636663795502501],[0.4391020052491291,0.11975453509338804,0.4634154715999689],[0.4389259550721636,0.11970652736926259,0.4234158878322143]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4389259550721636,0.11970652736926259,0.4234158878322143],"end_effector_quaternion":[0.9999973985450804,-0.0006000982454108709,0.0022006329007259744,-6.030729390883922e-08],"end_effector_velocity":[0.0005583167234895934,0.00015168916310670565,0.07634615647723286],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4849599213405101,0.11971600187320895,0.4312133504021647],[0.39296643403282416,0.1197162559438496,0.43161824105344937]],"gripper_width":0.0799943783257076,"jaw_actuator_force":[0.0009576688543670997,0.0012753345309715058],"joint_actuator_torque":[0.00013902215964378684,-1.2323325233182345,-0.7073934708391789,-4.483845402673128e-05,-0.09181911060324133,9.110739433992876e-07],"joint_position":[0.26625086931569836,-1.1816365810032472,1.2678365568443999,1.3884195843996395e-07,-0.0816379972850686,-0.2662509782927642],"joint_velocity":[-1.8318322541964167e-06,-0.025593707863837956,-0.2204742993840682,7.734619145070238e-06,0.22223113143748152,-3.653093245743428e-06],"object_angular_velocity":[-4.549639626568116e-13,-4.219721639125411e-12,1.2098088124243226e-26],"object_position":[0.44016665738730537,0.11969494807324826,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.24402523369946e-14,1.1511286889222202e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.249701116539607e-13,3.5148069855625966e-14,-1.5574174899918785e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.7},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662512778171262,-1.1834129446439245,1.2450964290334154,1.7509262663818264e-09,-0.061769721282233826,-0.26625127922782466],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10238434340060326,0.027922882633309172,0.4891095499048112],[0.333175454378289,0.09086564214709417,0.4697789493327813],[0.38606508397734196,0.10529002453566991,0.46534902003502443],[0.4391265571720838,0.11976127255477789,0.4650979360388075],[0.43895038347288934,0.1197132311436728,0.4250983528553476]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43895038347288934,0.1197132311436728,0.4250983528553476],"end_effector_quaternion":[0.9999973948932295,-0.0006005193352966461,0.002202176940823354,-5.997067183868529e-08],"end_effector_velocity":[0.000692425550260221,0.00018822057274237394,0.07638086507643294],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4849844555976528,0.11972271224520267,0.4328956729001291],[0.39299093236724414,0.1197229665951065,0.43330084779897177]],"gripper_width":0.07999441549956757,"jaw_actuator_force":[0.0009552214191472785,0.0013367787577145407],"joint_actuator_torque":[0.00014139525866596614,-1.2335098852461215,-0.7066600957030005,-4.4860431726229345e-05,-0.09191262280719226,9.18416542816658e-07],"joint_position":[0.2662509572176095,-1.1820665815039322,1.26269809231901,1.3920130325023298e-07,-0.07606633139046766,-0.26625106626412004],"joint_velocity":[-1.9293693082355825e-06,-0.023569997246136967,-0.22323672352682852,7.730076797087894e-06,0.2229436592818915,-3.6507609212114366e-06],"object_angular_velocity":[2.714702091482404e-12,2.505240224137543e-11,-2.6378620504754465e-25],"object_position":[0.4401666573872987,0.11969494807324896,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0762435065279123e-14,9.947725632730789e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-4.741951807911713e-13,5.1358102420306765e-14,-1.557001156357643e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.72},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662513660306198,-1.1836109945117297,1.239654804910001,1.7617154781885176e-09,-0.05613079695628218,-0.26625136746816647],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10228896332877514,0.02789687974553207,0.48915001848656675],[0.33318065138287123,0.09086709125491045,0.4711561070164568],[0.38609332989526823,0.10529776472580966,0.4670325023045566],[0.4391548009786629,0.11976901726693331,0.46678123281357614],[0.43897849712437265,0.11972094037221785,0.4267816502462148]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.43897849712437265,0.11972094037221785,0.4267816502462148],"end_effector_quaternion":[0.9999973910426033,-0.0006009628822804461,0.002203803892685115,-5.9193411803999996e-08],"end_effector_velocity":[0.0008423298496390867,0.00022908306047303472,0.07641534100018531],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48501253911919556,0.11973042846231823,0.4345788207362973],[0.39301911598876926,0.11973068302854925,0.43498429453845944]],"gripper_width":0.07999431671751635,"jaw_actuator_force":[0.0009579673850268478,0.0014036657394669305],"joint_actuator_torque":[0.00014222655026685516,-1.234781163767252,-0.7058665418443866,-4.495361147263617e-05,-0.0920103335579876,9.241782841229451e-07],"joint_position":[0.2662510459113385,-1.1824480932396806,1.2574931438138066,1.3986670098133983e-07,-0.07047649848228124,-0.26625115413061207],"joint_velocity":[-1.9785895792843362e-06,-0.021471693238593385,-0.2261040747704517,7.737256676501333e-06,0.2236867395535894,-3.648790901637026e-06],"object_angular_velocity":[-9.856879559522833e-13,-9.09982144680251e-12,3.189816102125304e-26],"object_position":[0.4401666573872921,0.11969494807324967,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.1189780891941774e-14,1.033945330216279e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.8918198327300223e-13,3.132791598103986e-14,-1.5576950457480336e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.74},{"goal":[0.44,0.12,0.446],"joint_targets":[0.2662514546337619,-1.1837499812911265,1.2341325318982816,1.7730804068953292e-09,-0.05047032523251879,-0.2662514561008411],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10220618956333852,0.027874314991525758,0.4891851025400498],[0.3331915513165553,0.09087009596573606,0.4725329484696335],[0.3861256967183342,0.10530662910565926,0.46871682982849644],[0.4391871656340524,0.11977788619528408,0.46846536461767824],[0.4390107244484292,0.11972977186709285,0.42846578270087016]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4390107244484292,0.11972977186709285,0.42846578270087016],"end_effector_quaternion":[0.9999973869766349,-0.0006014308021296631,0.0022055205484115157,-5.812078879928258e-08],"end_effector_velocity":[0.0010110398748986449,0.000275067791920783,0.07644936704534847],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.48504468701404535,0.11973926735300898,0.4362627956007977],[0.39305141244870706,0.11973952210117123,0.43666858459655256]],"gripper_width":0.0799941695436602,"jaw_actuator_force":[0.0009540577309792297,0.001477064643360393],"joint_actuator_torque":[0.0001433054098640696,-1.2361624094151011,-0.7050061563625718,-4.50331178669062e-05,-0.09211242578803969,9.315400397724716e-07],"joint_position":[0.26625113534065215,-1.1827791312478058,1.2522188981398712,1.407157722449019e-07,-0.06486765622055098,-0.26625124214002316],"joint_velocity":[-2.0412138004073247e-06,-0.01928620259753289,-0.22909300216420117,7.737149509875162e-06,0.22446447495629093,-3.6574044835326454e-06],"object_angular_velocity":[3.8668780970995437e-13,3.5832338802322943e-12,1.6153952495528125e-26],"object_position":[0.44016665738728483,0.11969494807325043,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.3003766971706887e-14,1.2025053298008134e-13,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-3.677378685085215e-13,3.980492295776929e-14,-1.5578338236261122e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.76},{"goal":[0.44,0.12,0.446],"joint_targets":[0.26625154341295837,-1.183825787401731,1.2285240515242,1.7838326794501627e-09,-0.044786871768454695,-0.2662515449124173],"observation":{"arm_points":[[0.0,0.0,0.08],[0.0,0.0,0.15000000000000002],[0.0,0.0,0.23000000000000004],[0.10213661502479669,0.027855350062677156,0.48921456622682724],[0.3332086852493851,0.090874801062211,0.47390943121140855],[0.3861627013425199,0.10531675858293751,0.4704020044370418],[0.4392241680320183,0.11978802023847625,0.4701503323166445],[0.4390475816627039,0.11973986633965432,0.4301507510881341]],"effective_sliding_friction":{"jaw_object":1.0,"table_object":0.8},"end_effector_position":[0.4390475816627039,0.11973986633965432,0.4301507510881341],"end_effector_quaternion":[0.9999973826747631,-0.0006019254362655531,0.0022073353595060373,-5.688159472542461e-08],"end_effector_velocity":[0.0012024235440322153,0.0003272359443834865,0.07648277364977984],"grasp_contacts":{"left":0,"right":0},"gripper_points":[[0.4850814431430735,0.11974936965319814,0.4379475974634099],[0.39308833691338824,0.11974962457460428,0.4383537196241093]],"gripper_width":0.07999400267985163,"jaw_actuator_force":[0.0009455554741908401,0.00155833905377456],"joint_actuator_torque":[0.0001443227948243475,-1.2376699299393863,-0.7040708178415684,-4.511978576827094e-05,-0.09221968630993782,9.395896114483548e-07],"joint_position":[0.26625122534955736,-1.183057345160476,1.2468720445084807,1.4167785370128873e-07,-0.0592388266447897,-0.26625133040154075],"joint_velocity":[-2.1044203890862897e-06,-0.016997405217967727,-0.23222514648296305,7.736377457350481e-06,0.22528251273324845,-3.669983433694395e-06],"object_angular_velocity":[-1.231989920129834e-12,-1.138612738905275e-11,1.1676498951020342e-27],"object_position":[0.4401666573872781,0.11969494807325115,0.30999147829693713],"object_quaternion":[0.9999999942514141,1.0218261344216744e-14,9.454320163482149e-14,-0.00010722486392400761],"object_size":[0.04,0.04,0.04],"object_velocity":[-2.763180068852719e-13,2.989589883713173e-14,-1.557695045748035e-14],"pad_normal_forces":{"left":0.0,"right":0.0},"table_contacts":4,"target_position":[0.44,0.12,0.31]},"timestamp_seconds":11.78}],"schema_version":1,"scope":"simulation-only","seed":8000,"simulation_seconds":11.789999999998905,"source_files_sha256":{"arm_distill.py":"14640f91ec9c91d10a405fa56eb21bda8b55b285854ce2b5859a71d1ffd06ea1","arm_env.py":"e4af9b75364a568284b1e6d96469deacf498dd87a60b067fa5e310fe15c54c00","arm_policy.py":"d6d53d87703fb8608390092309285afb6a2c8fd3103a7abd77668be85469eab3"}}