{ "info": { "version": "1.0.0", "datetime": "2025-06-12-15:25", "operator": "someone", "main_cam_info": { "width": 1280, "height": 720 }, "wrist_cam_info": { "width": 640, "height": 480 }, "frequency": 10, "close_width": 20, "open_width": 700, "episode_dir": "Box_push/episode_0009", "episode_id": 9, "task": "Push the box to the lined area.", "total_steps": 327 }, "data": [ { "idx": 0, "colors": { "rgb_main": "colors/000000_rgb_main.jpg", "rgb_wrist_0": "colors/000000_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000000_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000000_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3579597192076574, -0.2918586804122321, -0.1284700916350488, -1.5191471563444272, -0.10984926535311726, -0.5092535993465214, 0.35808774284926886 ], "joint_pos_r": [ -0.4804558620654106, -0.2846939342943334, 0.27779962033772554, -1.3152536087568052, -0.02999999999999998, 0.7533570687157973, -0.19766064072896 ], "eef_pose_l": [ 457.76548750798236, 348.26789076978366, 116.82043144788787, 1.6656263244780796, -0.0754936507169403, 0.8180631129867807 ], "eef_pose_r": [ 451.8198644042035, -395.37474812687867, 103.95054334691986, 1.6899619082336146, 0.01467828992638148, 2.3499154246584135 ], "joint_status_l": { "velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "torque": [ -27.4365234375, 10.458984375, -20.34912109375, -4.38232421875, -2.6898193359375, -0.7379150390625, 0.05584716796875 ] }, "joint_status_r": { "velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "torque": [ 26.923828125, 15.21240234375, 17.364501953125, -5.279541015625, 3.6767578125, 1.7010498046875, 0.35430908203125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.5, 0.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.5, 0.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -158, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3579602415595992, -0.29185868265297066, -0.12847009057949854, -1.519147147131643, -0.10984926145879786, -0.5092536146021344, 0.35808773475403355 ], "act_joint_pos_r": [ -0.480455521469033, -0.2846939284347493, 0.277799626191243, -1.3152536269136812, -0.02999999278066623, 0.7533570419891711, -0.19766064531856284 ], "act_eef_pose_l": [ 457.76548750798236, 348.26789076978366, 116.82043144788787, 1.665626323203492, -0.07549364575442374, 0.818063104963025 ], "act_eef_pose_r": [ 451.8198644042035, -395.37474812687867, 103.95054334691986, 1.689961907456498, 0.014678289631629524, 2.349915409173695 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 1, "colors": { "rgb_main": "colors/000001_rgb_main.jpg", "rgb_wrist_0": "colors/000001_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000001_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000001_depth_main.npy" }, "states": { "joint_pos_l": [ 0.35795975687014575, -0.2918586805737932, -0.12847009155894173, -1.5191471556801694, -0.10984926507233, -0.5092536004464775, 0.3580877422655882 ], "joint_pos_r": [ -0.480455832812998, -0.2846939337910781, 0.2777996208404598, -1.315253610316224, -0.02999999937996131, 0.7533570664203584, -0.19766064112314197 ], "eef_pose_l": [ 457.7654836193208, 348.2678907752136, 116.82041419144203, 1.6656263520535592, -0.07549362458873443, 0.8180631103215271 ], "eef_pose_r": [ 451.8198678757056, -395.37474812930145, 103.95055690500493, 1.6899618868476582, 0.014678310981358024, 2.349915423015577 ], "joint_status_l": { "velocity": [ 5.234491684547038e-05, -2.245443830872773e-07, 1.0577683173806918e-07, 9.232135056436164e-07, 3.902499434715878e-07, -1.5287655585893845e-06, -8.112239768820473e-07 ], "torque": [ -27.2607421875, 10.458984375, -20.361328125, -4.388427734375, -2.6898193359375, -0.7415771484375, 0.04669189453125 ] }, "joint_status_r": { "velocity": [ 3.362415679220021e-05, 5.784661638585931e-07, 5.778673095591103e-07, -1.7924719486472895e-06, 7.127028411879621e-07, -2.6384903151210892e-06, -4.53092008356748e-07 ], "torque": [ 26.93115234375, 15.21240234375, 17.3583984375, -5.279541015625, 3.6767578125, 1.6973876953125, 0.3533935546875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.6, 0.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.6, 0.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 219, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -171, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3525517473073117, -0.2977232645363129, -0.126064988751729, -1.5037237344349823, -0.08751447178696076, -0.5371221011634014, 0.33635021132541987 ], "act_joint_pos_r": [ -0.48320768381531565, -0.2831335982435039, 0.2795583049762771, -1.3220239443418533, -0.034240424248718426, 0.7436386932670891, -0.20165117026352847 ], "act_eef_pose_l": [ 457.43028750798237, 346.8894907697837, 116.51883144788764, 1.6685190672166452, -0.07355982322969666, 0.7976269106060764 ], "act_eef_pose_r": [ 451.70306440420353, -394.9747481268787, 102.99614334691978, 1.6941525326296534, 0.02161174187310231, 2.346863630088107 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 2, "colors": { "rgb_main": "colors/000002_rgb_main.jpg", "rgb_wrist_0": "colors/000002_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000002_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000002_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3576455903957066, -0.2921994706820972, -0.12833033136585908, -1.5182509023650554, -0.10855139434701938, -0.5108730357188153, 0.35682457758859926 ], "joint_pos_r": [ -0.4806541879896947, -0.2845814298703742, 0.27792642604016166, -1.3157417663345237, -0.03030574019622122, 0.7526563501645284, -0.19794836603457186 ], "eef_pose_l": [ 457.74897744552226, 348.1862406688874, 116.8085829899093, 1.6657622904213978, -0.07539195288601819, 0.8168790201734334 ], "eef_pose_r": [ 451.8117019332985, -395.34573781749486, 103.88126287487411, 1.690265499847064, 0.01517627531697123, 2.3496938007020214 ], "joint_status_l": { "velocity": [ -0.5501188286589631, -0.5965521418902497, 0.24464978676630444, 1.56888786457543, 2.2719206297692196, -2.834815459602069, -2.2111663415582683 ], "torque": [ -32.45361328125, 6.650390625, -15.972900390625, -0.98876953125, -0.509033203125, -2.647705078125, 0.05401611328125 ] }, "joint_status_r": { "velocity": [ -0.2757694157828894, 0.15636120407469534, 0.17623772724628672, -0.6784552148246803, -0.4249333449306003, -0.9738782219210762, -0.3998910625708785 ], "torque": [ 21.796875, 15.52001953125, 18.914794921875, -4.669189453125, 2.252197265625, 0.802001953125, -0.2288818359375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.7, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.7, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.6, -0.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.4, -17.6, -0.3, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -194, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.34708920824572, -0.2999228657255378, -0.12541032840295394, -1.504269588130424, -0.07661866587089498, -0.5309626426346046, 0.3237927269972595 ], "act_joint_pos_r": [ -0.4704878195332545, -0.29474143509832074, 0.26935780071006676, -1.2972121486779535, -0.04934603063620502, 0.7713604609583996, -0.18307309173771905 ], "act_eef_pose_l": [ 458.6238875079824, 346.4150907697837, 117.29403144788768, 1.6714618846433429, -0.0736803680177982, 0.7995940525433872 ], "act_eef_pose_r": [ 453.1422644042035, -394.6131481268786, 101.30414334692, 1.7005602438885623, 0.012869392063795273, 2.3623556449883525 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 3, "colors": { "rgb_main": "colors/000003_rgb_main.jpg", "rgb_wrist_0": "colors/000003_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000003_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000003_depth_main.npy" }, "states": { "joint_pos_l": [ 0.35647969850367994, -0.2934084499313438, -0.1278381966921183, -1.515165419573548, -0.10390967726029439, -0.5163713305186526, 0.35227797351360635 ], "joint_pos_r": [ -0.4807294898518965, -0.28453873372943517, 0.2779745496836563, -1.315927025968743, -0.030421772904540532, 0.7523904220395394, -0.1980575606731577 ], "eef_pose_l": [ 457.7066589111464, 347.89860505608465, 116.77406659285778, 1.6663038870632814, -0.07503308713977178, 0.8128159279005541 ], "eef_pose_r": [ 451.80858999681135, -395.3347349852805, 103.85497495049938, 1.6903806800943142, 0.015365323535354497, 2.349609758237765 ], "joint_status_l": { "velocity": [ -1.0141430373096227, -0.7035361560832065, 0.26220204199400854, 1.1767150905015455, 2.94734230284055, -1.5758152323370744, -3.0763158926783163 ], "torque": [ -29.99267578125, 4.85595703125, -8.984375, -0.128173828125, -0.498046875, -2.6348876953125, -0.54840087890625 ] }, "joint_status_r": { "velocity": [ -0.2676370545162676, 0.15175015684887327, 0.17104052703209582, -0.6584477644171471, -0.4124021820190171, -0.945158831455295, -0.3880983894097856 ], "torque": [ 20.4931640625, 16.36962890625, 19.12841796875, -4.644775390625, 1.9097900390625, 0.3076171875, -0.3643798828125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.5, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ 0.0, -16.5, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.8, 0.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.8, 0.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -194, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.35098956069174253, -0.29652650645340634, -0.12648755548339116, -1.5048865615119351, -0.08420391974541311, -0.5325048054972114, 0.3312701729599509 ], "act_joint_pos_r": [ -0.47223784019480064, -0.29639393651092993, 0.2680008321546303, -1.2939838568093756, -0.03848337840120219, 0.7752247314270868, -0.19573652600156194 ], "act_eef_pose_l": [ 457.80148750798236, 347.6494907697837, 116.95083144788765, 1.6699058066128398, -0.07313304213972857, 0.8017883051878089 ], "act_eef_pose_r": [ 453.28866440420353, -394.5227481268787, 101.30254334691995, 1.6949402113899432, 0.015270054855799506, 2.3638658253302203 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 4, "colors": { "rgb_main": "colors/000004_rgb_main.jpg", "rgb_wrist_0": "colors/000004_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000004_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000004_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3543701822087915, -0.2948718736602464, -0.12729279090635603, -1.5127177375735423, -0.09777891819996636, -0.5196491796859315, 0.3458789368244198 ], "joint_pos_r": [ -0.478634142603973, -0.2866628639014901, 0.27619432399956395, -1.3121523425933603, -0.03458369445306543, 0.7561277009322512, -0.19499076946411711 ], "eef_pose_l": [ 457.9149633364208, 347.5605614075116, 116.90226171887322, 1.667386113334887, -0.07474809303020451, 0.8098324610462116 ], "eef_pose_r": [ 452.09291680284565, -395.167137690058, 103.28621002604658, 1.6926256509522524, 0.015076494098211898, 2.3522366899622216 ], "joint_status_l": { "velocity": [ -0.7863219966841584, -0.5454910546527358, 0.20329995435586223, 0.912373230846697, 2.285239851993026, -1.2218179628620263, -2.385240312430703 ], "torque": [ -29.501953125, 3.64013671875, -8.8623046875, 0.311279296875, -0.662841796875, -2.7392578125, -0.626220703125 ] }, "joint_status_r": { "velocity": [ 0.8797769440036518, -0.8724599574270187, -0.7383227396007275, 1.6134933554212694, -1.5942852868479906, 1.6450895635005125, 1.2870712343140411 ], "torque": [ 29.23095703125, 6.5625, 11.3037109375, 0.433349609375, 1.7431640625, 1.922607421875, 0.6280517578125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.4, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ 0.1, -16.4, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.8, -0.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.1, -17.8, -0.2, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 221, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -206, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.35166865770019484, -0.29216930304647426, -0.12812622084986336, -1.5118523676794673, -0.08276075707882943, -0.522525913935661, 0.3338273488131573 ], "act_joint_pos_r": [ -0.46768619350373086, -0.30072787828214653, 0.26444370819883023, -1.2842184510333652, -0.03804303054492175, 0.7899865024802757, -0.19730791229321298 ], "act_eef_pose_l": [ 457.36308750798236, 348.54389076978373, 117.23083144788785, 1.6719872772442772, -0.07824853707556206, 0.8081490923993192 ], "act_eef_pose_r": [ 453.4374644042035, -393.9779481268787, 101.66734334692, 1.6924529969923312, 0.015765496851938704, 2.373163328506873 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 5, "colors": { "rgb_main": "colors/000005_rgb_main.jpg", "rgb_wrist_0": "colors/000005_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000005_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000005_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3534520585613152, -0.295337872062137, -0.1270724450307628, -1.510685014804222, -0.09418244713514284, -0.5229575282312358, 0.3420162488704465 ], "joint_pos_r": [ -0.47685037026611954, -0.2892319098640245, 0.2740300515672064, -1.3073605774817465, -0.03599974641196676, 0.7611485649803855, -0.19476719716746946 ], "eef_pose_l": [ 457.8969444265875, 347.56803834069143, 116.92455314703454, 1.6680218511940246, -0.0743485050122346, 0.8077263229933619 ], "eef_pose_r": [ 452.41428362208643, -394.9979718924074, 102.74994868016972, 1.693421765993751, 0.015050550440234423, 2.355317873264405 ], "joint_status_l": { "velocity": [ -0.26594192637618974, -0.12836872822363787, 0.06316620812840679, 0.6262144863597996, 1.077649174527462, -1.03107553477777, -1.1605419699778352 ], "torque": [ -29.64111328125, 3.6767578125, -8.709716796875, -0.15869140625, -0.4541015625, -2.5982666015625, -0.64910888671875 ] }, "joint_status_r": { "velocity": [ 0.49813855589109224, -0.7734760654081185, -0.651136492314075, 1.4446432251418173, -0.2682243439832699, 1.5201811408971366, -0.10468442657973753 ], "torque": [ 28.65966796875, 4.7607421875, 11.03515625, 0.146484375, 1.7889404296875, 2.032470703125, -0.443115234375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.8, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.8, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.4, -0.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.3, -17.4, -0.1, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 232, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -225, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.35038390788327545, -0.2907081879525658, -0.12873190341356539, -1.5155461960621064, -0.07736175562631238, -0.5180677253591764, 0.33127231475341284 ], "act_joint_pos_r": [ -0.4684089075489984, -0.3029361756349032, 0.26272371215405443, -1.2796846372711301, -0.027253979250588145, 0.7939591842418589, -0.20093289749263016 ], "act_eef_pose_l": [ 457.14868750798234, 348.44469076978373, 117.58443144788754, 1.6739338806497448, -0.08172867931996079, 0.8092425386989882 ], "act_eef_pose_r": [ 453.92226440420353, -394.11234812687866, 101.90174334691983, 1.6863597032950917, 0.009901387890766616, 2.372869594819518 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 6, "colors": { "rgb_main": "colors/000006_rgb_main.jpg", "rgb_wrist_0": "colors/000006_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000006_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000006_depth_main.npy" }, "states": { "joint_pos_l": [ 0.35270039637912604, -0.2941824807063164, -0.12746324847837465, -1.5112761640722812, -0.08972548251682168, -0.5226191089247834, 0.33886308132452286 ], "joint_pos_r": [ -0.4728325512971852, -0.29461607925369626, 0.2695509285164581, -1.296538986179526, -0.03587464828413626, 0.7744023316857097, -0.19625390986905109 ], "eef_pose_l": [ 457.6986662487343, 347.8837914094479, 117.05699524028962, 1.6695459334369038, -0.07591783638383962, 0.8078367034236188 ], "eef_pose_r": [ 452.93669376499184, -394.5579313432356, 102.25803489433991, 1.692431447355912, 0.014754968575822727, 2.3632343431974663 ], "joint_status_l": { "velocity": [ -0.2501733790829519, 0.3752125511025106, -0.13701069208615912, -0.46114985401324304, 1.3352431232842576, 0.4915349280381065, -0.8197786116022066 ], "torque": [ -30.5126953125, 10.23193359375, -20.068359375, -4.01611328125, -0.7177734375, -1.1151123046875, -0.6884765625 ] }, "joint_status_r": { "velocity": [ 0.47773943463313984, -0.8985439080340107, -0.7373176211189492, 1.8202159977072085, 0.9310047971045066, 2.112077783659849, -0.5053157598546854 ], "torque": [ 30.029296875, 6.23291015625, 10.211181640625, 0.396728515625, 4.222412109375, 2.2137451171875, -0.62347412109375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.3, -0.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.3, -0.1, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 286, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -198, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.34921548880767783, -0.2787768410327292, -0.13311339943436623, -1.5240123144393494, -0.06871471439062743, -0.5048265672813029, 0.33173240553926 ], "act_joint_pos_r": [ -0.48313576100704125, -0.2991430484236902, 0.266201689483669, -1.2912822376128335, 0.015411269213444267, 0.7717330352648771, -0.2265441044464993 ], "act_eef_pose_l": [ 456.20868750798235, 352.7438907697837, 119.40203144788762, 1.677896069657685, -0.09550908550389758, 0.8232128583260677 ], "act_eef_pose_r": [ 454.7806644042035, -395.2283481268787, 102.56654334691984, 1.667672785810061, -0.00042749760240309566, 2.35190365489999 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 7, "colors": { "rgb_main": "colors/000007_rgb_main.jpg", "rgb_wrist_0": "colors/000007_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000007_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000007_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3520505091808591, -0.2932077733474256, -0.12781916762188605, -1.5124741148202954, -0.08625685841469741, -0.5213422254354042, 0.336733503720996 ], "joint_pos_r": [ -0.47295303917822856, -0.2964426067495146, 0.26808352324221807, -1.293175049595222, -0.029980248973158184, 0.7775525296872705, -0.19966394516110905 ], "eef_pose_l": [ 457.5436373883558, 348.0396070783804, 117.20355227922506, 1.6707847957702895, -0.07754305053901023, 0.8082242904666324 ], "eef_pose_r": [ 453.2641274602373, -394.52463747258855, 102.22440515683623, 1.689234481607217, 0.012604319729545585, 2.3639641158651874 ], "joint_status_l": { "velocity": [ -0.17998763168769472, 0.2699472609761777, -0.09857255825906908, -0.33177498893444124, 0.9606427685017183, 0.3536355783091416, -0.5897910135428397 ], "torque": [ -30.19775390625, 10.90576171875, -20.404052734375, -4.339599609375, -0.8294677734375, -0.615234375, -0.57220458984375 ] }, "joint_status_r": { "velocity": [ -1.0997015235485463, -0.2916390993754625, -0.20323205191452587, 0.20441766512213633, 4.90213938328038, -0.6284868613892769, -2.902971584251901 ], "torque": [ 20.7275390625, 7.3095703125, 10.809326171875, 0.68359375, 4.9017333984375, 0.6060791015625, -0.83221435546875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.8, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.8, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -18.4, 0.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.0, -18.4, 0.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 274, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 664, "motor_current": 1112, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3500491352317071, -0.2697862895700522, -0.1359718977068942, -1.512738239884688, -0.05737089316772701, -0.509167390515428, 0.32603789748407735 ], "act_joint_pos_r": [ -0.4940519865024262, -0.294981919753585, 0.2702913817237955, -1.306659949282285, 0.020603154238581833, 0.7864690612535786, -0.22877768160691067 ], "act_eef_pose_l": [ 456.45828750798233, 360.4478907697837, 119.09083144788775, 1.6844827949856704, -0.10362331070952338, 0.8363590922500065 ], "act_eef_pose_r": [ 449.2782644042035, -389.49234812687865, 101.90894334691984, 1.6629314901883772, -0.009139093691325862, 2.375915883027712 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 8, "colors": { "rgb_main": "colors/000008_rgb_main.jpg", "rgb_wrist_0": "colors/000008_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000008_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000008_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3512937526644869, -0.28955340376859273, -0.12915969357452275, -1.5154314222202907, -0.08162113147105958, -0.5171462648135358, 0.3353152523345336 ], "joint_pos_r": [ -0.4763742592025751, -0.2968411521315101, 0.2678915906612355, -1.2937941630252887, -0.017863694533586577, 0.777109593478302, -0.20677854650091693 ], "eef_pose_l": [ 457.2039898664832, 349.2151828532326, 117.75022513784774, 1.6726995115385832, -0.08210386277076864, 0.8119553249578787 ], "eef_pose_r": [ 453.2545106496639, -394.26070278467347, 102.26865256826379, 1.6832818267531808, 0.008619304956526809, 2.362662702302366 ], "joint_status_l": { "velocity": [ -0.22444587685832573, 1.1638344500113362, -0.4269876395358585, -0.9267090278370915, 1.3938519352213463, 1.330488092832649, -0.38693604182116204 ], "torque": [ -29.35546875, 12.04833984375, -20.513916015625, -4.30908203125, -0.6024169921875, -0.3717041015625, -0.5841064453125 ] }, "joint_status_r": { "velocity": [ -1.9091382413609637, 0.20079117479676611, 0.2591697909519741, -1.3894639357072691, 4.154297142949376, 1.010792707992536, -2.375836519894703 ], "torque": [ 18.96240234375, 11.84326171875, 16.6259765625, -4.510498046875, 5.2532958984375, 2.017822265625, -0.61065673828125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.9, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.9, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.6, -18.8, 2.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.6, -18.8, 2.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 219, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 456, "motor_current": 1858, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3478385004719101, -0.26555370968960995, -0.1370859463926975, -1.4990667810293983, -0.046056947364291105, -0.513245246232105, 0.31805872652486816 ], "act_joint_pos_r": [ -0.5019482403408118, -0.2923671503101776, 0.27246762777899175, -1.3116607746747364, 0.00738596759117538, 0.8067955467586797, -0.22535630558538275 ], "act_eef_pose_l": [ 457.81028750798237, 366.9126907697837, 119.12443144788773, 1.689722176024817, -0.10977273279258833, 0.8478754522398377 ], "act_eef_pose_r": [ 444.1390644042035, -385.90114812687864, 98.8489433469199, 1.6707115551187306, -0.009735513540703032, 2.4005237299544637 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 9, "colors": { "rgb_main": "colors/000009_rgb_main.jpg", "rgb_wrist_0": "colors/000009_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000009_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000009_depth_main.npy" }, "states": { "joint_pos_l": [ 0.35097057883227567, -0.2852005327125201, -0.13066820702965282, -1.5151908655042339, -0.07629206472542507, -0.5151096913927452, 0.3333240452315077 ], "joint_pos_r": [ -0.4790576513466665, -0.296558929791933, 0.268255867153089, -1.2957471261626865, -0.012024615897948041, 0.7785303146985727, -0.21011790711661849 ], "eef_pose_l": [ 457.0369738818689, 351.59091597080175, 118.06471624843434, 1.6752902892892176, -0.08688559067156822, 0.8172520762651566 ], "eef_pose_r": [ 452.64893105033605, -393.51891816300014, 102.20133093490155, 1.680234398054278, 0.005912920727633812, 2.364720753207306 ], "joint_status_l": { "velocity": [ -0.09951297388344216, 1.6646891620042403, -0.5727816998487567, 0.2648757548193714, 2.0434262605953935, 0.6417495673587403, -0.7868807489153085 ], "torque": [ -29.6630859375, 10.5322265625, -20.458984375, -0.897216796875, -0.8917236328125, -0.4669189453125, -0.5712890625 ] }, "joint_status_r": { "velocity": [ -1.6193404369286846, 0.17031206105588836, 0.21982909012385754, -1.1785501374372842, 3.523695248909109, 0.8573593414782366, -2.0151962099161924 ], "torque": [ 17.87841796875, 13.7255859375, 17.78564453125, -3.69873046875, 5.1123046875, 2.354736328125, -0.72052001953125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.3, -9.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -17.3, -9.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.7, -0.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.7, -0.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 227, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 321, "motor_current": 2854, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.34566021500605276, -0.26583228457856795, -0.13691257757670028, -1.4958373060084433, -0.04230174830939515, -0.5168957007495862, 0.3142578578866995 ], "act_joint_pos_r": [ -0.5021693980916497, -0.29144151720249123, 0.2728570019308844, -1.3093424514151764, 0.006360437582864975, 0.8119948964539104, -0.22441695110757923 ], "act_eef_pose_l": [ 458.05428750798234, 367.4230907697837, 119.65723144788768, 1.6897745872922287, -0.11049209635129938, 0.8468859795116056 ], "act_eef_pose_r": [ 443.5726644042035, -386.4579481268787, 98.92014334691976, 1.6709077726716512, -0.009905569858031241, 2.4025917437485695 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 10, "colors": { "rgb_main": "colors/000010_rgb_main.jpg", "rgb_wrist_0": "colors/000010_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000010_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000010_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3501090277509453, -0.2802784280780801, -0.13228039439734676, -1.5112975284925907, -0.06863757480680481, -0.5147006859839957, 0.32942587146310187 ], "joint_pos_r": [ -0.48162543974282873, -0.29613562056129716, 0.26869929495431194, -1.297551879047727, -0.009047977717223656, 0.7812765268254105, -0.21217559611323958 ], "eef_pose_l": [ 457.2458846333018, 355.3447162011121, 118.35242632479294, 1.6788808610632369, -0.09264836796220045, 0.8247095403642715 ], "eef_pose_r": [ 451.78957519239765, -392.6884562393596, 101.88146101207313, 1.678797253377679, 0.003956934918211828, 2.3682738106003933 ], "joint_status_l": { "velocity": [ -0.48045760610904154, 1.5601374841520688, -0.5002610289598364, 1.6696547844539111, 2.844185376956576, -0.23705460313205862, -1.6380971531586574 ], "torque": [ -29.65576171875, 11.02294921875, -20.880126953125, -0.10986328125, -0.4083251953125, -1.3421630859375, -0.60150146484375 ] }, "joint_status_r": { "velocity": [ -2.1947977324829893, 0.4069827838057982, 0.4069679421874195, -1.5237157881227148, 1.7748137479736692, 2.7559728697177377, -1.4234746398509301 ], "torque": [ 16.5234375, 13.828125, 16.864013671875, -5.126953125, 4.7076416015625, 2.640380859375, -0.8221435546875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.0, -1.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.0, -17.0, -1.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 157, "motor_current": 3203, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3369610063300362, -0.2625208136212116, -0.13860323696010207, -1.5038484972636077, -0.016534428576233315, -0.5046369162636336, 0.293917719110207 ], "act_joint_pos_r": [ -0.5124614186202145, -0.28764299024050277, 0.27615615088354567, -1.3170838735000003, 0.030522787945616248, 0.7940503419178716, -0.2521687661404011 ], "act_eef_pose_l": [ 458.26468750798233, 367.65189076978373, 121.92443144788768, 1.6959094756726367, -0.11986297627256864, 0.85097727691125 ], "act_eef_pose_r": [ 444.3838644042035, -388.20514812687867, 98.95054334691986, 1.6621926890730718, -0.002290933554454878, 2.3858908194000112 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 11, "colors": { "rgb_main": "colors/000011_rgb_main.jpg", "rgb_wrist_0": "colors/000011_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000011_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000011_depth_main.npy" }, "states": { "joint_pos_l": [ 0.34991369446692, -0.27964414364916174, -0.13248377889665347, -1.5106187190657254, -0.06748125203660901, -0.5147970621335962, 0.32875989200433076 ], "joint_pos_r": [ -0.4873565782216066, -0.2949019154912012, 0.26985769926061975, -1.3013109803701666, -0.003837836590589473, 0.7876072396368269, -0.21671033985850308 ], "eef_pose_l": [ 457.28745130698866, 355.87205558147116, 118.40796863269203, 1.6793613216642251, -0.09343614004584705, 0.8256798554809289 ], "eef_pose_r": [ 449.80151826916773, -391.0411560848211, 101.06831432656102, 1.6764710027298588, 0.0007172175007005511, 2.3761470186060802 ], "joint_status_l": { "velocity": [ -0.4593622336090952, 1.491636786148831, -0.47829615085415167, 1.5963455284921935, 2.719306200889837, -0.22664628595192582, -1.5661734928862359 ], "torque": [ -29.2529296875, 10.810546875, -20.989990234375, 0.238037109375, -0.6097412109375, -1.556396484375, -0.63079833984375 ] }, "joint_status_r": { "velocity": [ -2.711242799217306, 0.7839408059773234, 0.680212713474404, -1.7034222182683578, 3.7108380045935663, 0.6958345238103902, -3.8293970964147217 ], "torque": [ 16.19384765625, 14.9853515625, 17.67578125, -3.91845703125, 4.8541259765625, 2.127685546875, -0.7342529296875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.9, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.9, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.6, 0.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.6, -17.6, 0.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 22, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3313875656989229, -0.25524977448651925, -0.14135121435436987, -1.498657660479954, 0.030811949348020277, -0.5048608758130756, 0.25626422824101486 ], "act_joint_pos_r": [ -0.5274187588038415, -0.29372900819144854, 0.2729690726295444, -1.3261867415429356, 0.024007404015984335, 0.8317781383713754, -0.23568459245155668 ], "act_eef_pose_l": [ 457.97428750798235, 372.8942907697837, 121.14043144788758, 1.7144464469989062, -0.13010275456092565, 0.8567632220897705 ], "act_eef_pose_r": [ 436.0830644042035, -376.9043481268787, 92.33454334691987, 1.665170231550227, -0.03366384042002742, 2.436751094034184 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 12, "colors": { "rgb_main": "colors/000012_rgb_main.jpg", "rgb_wrist_0": "colors/000012_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000012_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000012_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3467121102846324, -0.27513704633671837, -0.1340774938752998, -1.5085241154656488, -0.054605087440828766, -0.5124680057025809, 0.3200451311369386 ], "joint_pos_r": [ -0.49443941807305974, -0.2934589239114642, 0.27123142180971554, -1.3057438778787231, 0.004288117043956875, 0.7913943190964788, -0.22452872498963686 ], "eef_pose_l": [ 457.5625045708995, 359.00918182886556, 119.25642062621782, 1.683730114224439, -0.10025271084861037, 0.8322528694655118 ], "eef_pose_r": [ 447.9934721987075, -389.648980280523, 100.11270207982803, 1.673259941887521, -0.0018471751250587313, 2.38162608162704 ], "joint_status_l": { "velocity": [ -1.0530881679211568, 1.3625129481036335, -0.4887658377806803, 0.5049518730615432, 4.11150989487391, 0.845732715853309, -2.8216772779643406 ], "torque": [ -29.33349609375, 10.92041015625, -20.562744140625, 0.4638671875, -0.4486083984375, -0.0164794921875, -0.52825927734375 ] }, "joint_status_r": { "velocity": [ -3.5616637532669415, -0.029168241967081343, 0.18766075378340297, -2.2077641612110455, 2.129620183189098, 4.3613238513176, -1.2047981522651519 ], "torque": [ 15.263671875, 12.06298828125, 17.07763671875, -5.316162109375, 4.62890625, 3.53759765625, -0.87158203125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.7, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.7, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.8, 0.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.4, -17.8, 0.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 278, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3271095716090665, -0.2586435910029506, -0.13888121019063815, -1.472225197649993, 0.03430577548651967, -0.5254834055834724, 0.25362983503990677 ], "act_joint_pos_r": [ -0.5316748689283983, -0.2998105214679696, 0.2691799326851272, -1.3273674303767806, 0.021127569616136377, 0.85538362440416, -0.22698026010841912 ], "act_eef_pose_l": [ 460.2902875079824, 378.2302907697837, 120.88443144788772, 1.7158731032859427, -0.13165554123106607, 0.8585602069175848 ], "act_eef_pose_r": [ 432.14146440420353, -370.6219481268787, 89.55294334691985, 1.6639778901858338, -0.050173996655700125, 2.4663192484983 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 13, "colors": { "rgb_main": "colors/000013_rgb_main.jpg", "rgb_wrist_0": "colors/000013_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000013_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000013_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3432695449203916, -0.27066949215409203, -0.13571149076508413, -1.506307676601077, -0.035416671712014375, -0.5107591104246543, 0.3057171407694953 ], "joint_pos_r": [ -0.5002704427710857, -0.2935066770827598, 0.27153865308306563, -1.3093583480374051, 0.007774652760361695, 0.7985345178504447, -0.22650117614411477 ], "eef_pose_l": [ 457.6618652927245, 362.0570318912334, 119.65527298439528, 1.6907303561355378, -0.10696386430054912, 0.8374987042555158 ], "eef_pose_r": [ 445.9311370486881, -387.3490083191717, 98.66844403540165, 1.6721168810386744, -0.007443379394801541, 2.3914391467861744 ], "joint_status_l": { "velocity": [ -1.2832159094884332, 1.665280393277957, -0.609072184018955, 0.8261773742823664, 7.152480123358728, 0.6369905510186236, -5.340757035867227 ], "torque": [ -29.45068359375, 10.693359375, -21.392822265625, 0.08544921875, -0.7177734375, -0.09521484375, -0.684814453125 ] }, "joint_status_r": { "velocity": [ -2.9319316588356514, -0.024011051570127506, 0.15448075485324786, -1.8174128968695413, 1.7530854311162622, 3.5902051288205783, -0.9917797102245718 ], "torque": [ 16.54541015625, 12.2314453125, 18.243408203125, -4.50439453125, 4.9822998046875, 2.4847412109375, -0.9429931640625 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.3, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.9, 0.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.5, -17.9, 0.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -200, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3149205302496672, -0.27123710211983876, -0.1318180141885292, -1.4169913333405775, 0.05189428246571859, -0.5626607102654272, 0.2406433753466672 ], "act_joint_pos_r": [ -0.5621222597393487, -0.2866855665064879, 0.28455346144985566, -1.3982001886127442, 0.001532265352486295, 0.8586729047260516, -0.2136135900585603 ], "act_eef_pose_l": [ 466.29268750798235, 387.7542907697837, 119.62123144788785, 1.7235529740628515, -0.13647760381557383, 0.8613541832577679 ], "act_eef_pose_r": [ 415.20146440420353, -351.1899481268787, 86.04414334691978, 1.6701388396997898, -0.0693613854522577, 2.527446843613336 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 14, "colors": { "rgb_main": "colors/000014_rgb_main.jpg", "rgb_wrist_0": "colors/000014_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000014_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000014_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3422866766191828, -0.2696577862274957, -0.13604528498020668, -1.5049766112869543, -0.03053844039572453, -0.5109419899056196, 0.30207381180307014 ], "joint_pos_r": [ -0.5036703791207053, -0.29368721294958683, 0.2716891207208732, -1.3121530316589836, 0.008930808021399481, 0.8032616739338335, -0.2267102351294302 ], "eef_pose_l": [ 457.76042207401116, 362.9772403687784, 119.75367426157145, 1.6924746120294647, -0.10870166906240933, 0.8388838214040047 ], "eef_pose_r": [ 444.5291160930388, -385.60615498681676, 97.76510779983798, 1.6716857504869773, -0.01125032261779692, 2.3986066050112145 ], "joint_status_l": { "velocity": [ -1.6390789990419208, 1.1894980018827273, -0.30627088974943817, 3.5370483531274033, 7.002968773758889, -1.5704265759515224, -5.23179518687078 ], "torque": [ -28.35205078125, 11.220703125, -21.795654296875, 0.84228515625, -0.574951171875, -0.047607421875, -0.7159423828125 ] }, "joint_status_r": { "velocity": [ -6.3126169261291665, 0.756155514240131, 1.3893078232860567, -9.292818873964492, -0.7990190424356641, 5.984236429940282, 1.4143959522752159 ], "torque": [ 15.95947265625, 9.8583984375, 13.592529296875, -4.28466796875, 4.683837890625, 3.328857421875, -0.911865234375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -9.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -9.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -18.0, 0.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -18.0, 0.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -204, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30861851655081124, -0.2779549722668883, -0.12883284629350972, -1.4010755943848912, 0.057366702617592365, -0.5704839664779853, 0.2351902715396995 ], "act_joint_pos_r": [ -0.5705983098142102, -0.2844924434875192, 0.28776154843105173, -1.415534597020445, -0.004685564244910178, 0.8620636528267018, -0.2078626701026887 ], "act_eef_pose_l": [ 468.98068750798234, 389.4806907697837, 119.91483144788782, 1.7245650496415044, -0.13750525370689837, 0.8623488098778553 ], "act_eef_pose_r": [ 410.31346440420356, -345.7795481268787, 84.56254334691971, 1.6722711690349983, -0.07736607074705831, 2.545893540015143 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 15, "colors": { "rgb_main": "colors/000015_rgb_main.jpg", "rgb_wrist_0": "colors/000015_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000015_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000015_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3351578108211658, -0.270123667972267, -0.13494266710061525, -1.482364010780273, -0.009249371061610227, -0.5241360900964758, 0.2861668938720798 ], "joint_pos_r": [ -0.5201628048993292, -0.2916105129578445, 0.2754341584808329, -1.3368487020820758, 0.006401399868632488, 0.81849728193045, -0.22268415157195404 ], "eef_pose_l": [ 460.1505607627681, 369.2261168270953, 119.81157917475645, 1.6997917500522088, -0.11638073192207837, 0.8445589393730245 ], "eef_pose_r": [ 436.61919161556153, -375.5489639079913, 94.13369996735476, 1.6725630731088392, -0.027262194884297885, 2.435031861167373 ], "joint_status_l": { "velocity": [ -2.8661592483500975, -0.8457559195815811, 0.6598411861920006, 8.778890051178934, 7.1943237721163875, -5.005423022141908, -5.5053128413744545 ], "torque": [ -29.7802734375, 5.2001953125, -8.990478515625, 0.40283203125, -0.8184814453125, -2.33642578125, -0.61431884765625 ] }, "joint_status_r": { "velocity": [ -5.446873883848902, 0.7687288303501738, 1.3313188494730177, -8.49782602336191, -1.1973568101111831, 4.705029289373108, 1.600672789360269 ], "torque": [ 15.57861328125, 15.8935546875, 17.779541015625, -6.0791015625, 1.99951171875, 3.101806640625, 0.51361083984375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.5, -7.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.5, -7.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -16.8, -0.4, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -2.8, -16.8, -0.4, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -129, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2981294388294672, -0.2913770043755555, -0.12305775840894526, -1.3643783067649493, 0.06670753699301764, -0.5958098387785904, 0.22721165012093716 ], "act_joint_pos_r": [ -0.5668797895688669, -0.2987526028818121, 0.2759950034912466, -1.3954223546090505, -0.01488144636944888, 0.8979576210770984, -0.19484360873990864 ], "act_eef_pose_l": [ 473.5982875079824, 393.2726907697837, 119.77883144788785, 1.7272751731914247, -0.138889883631906, 0.8593900913590075 ], "act_eef_pose_r": [ 408.31266440420353, -342.21154812687865, 79.74494334691985, 1.6756276884480417, -0.09472049258842763, 2.5760684165933347 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 16, "colors": { "rgb_main": "colors/000016_rgb_main.jpg", "rgb_wrist_0": "colors/000016_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000016_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000016_depth_main.npy" }, "states": { "joint_pos_l": [ 0.32982118093513535, -0.2716984186841559, -0.13371407933240487, -1.4660182033935165, 0.004146061615118451, -0.5334559107266678, 0.2759163060660677 ], "joint_pos_r": [ -0.5284541666920595, -0.29044033553335213, 0.27746072389759313, -1.3497842962437658, 0.0045787546744672225, 0.82565939012599, -0.22024756914111812 ], "eef_pose_l": [ 462.02972330220996, 373.2416187033924, 119.86778507131967, 1.704370198790802, -0.12094088634324417, 0.8480543207039983 ], "eef_pose_r": [ 432.4921037772864, -370.506093737146, 92.39753365834133, 1.673022480595028, -0.03534880864203671, 2.4532905341899416 ], "joint_status_l": { "velocity": [ -2.28982021886992, -0.6756878585869597, 0.5271576205178041, 7.013594918007016, 5.747659710105459, -3.9989120795347333, -4.398282008454046 ], "torque": [ -29.33349609375, 3.662109375, -8.55712890625, 0.1220703125, -0.6097412109375, -2.691650390625, -0.677490234375 ] }, "joint_status_r": { "velocity": [ -4.551433219844636, 0.6423533957491401, 1.1124562394706494, -7.1008230562998875, -1.0005169346231357, 3.931544416971633, 1.3375296478221887 ], "torque": [ 17.16796875, 16.86767578125, 18.84765625, -4.571533203125, 2.2979736328125, 2.3895263671875, 0.74981689453125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.5, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.5, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.8, -0.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.9, -17.8, -0.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29168633440773184, -0.30703829558136536, -0.1174890037990372, -1.3347504456772308, 0.06602433276342282, -0.6142793494728093, 0.2301352679239964 ], "act_joint_pos_r": [ -0.573575942017842, -0.3098044530363177, 0.2689103837914855, -1.3951248039719457, -0.016559479675640976, 0.9122605950907221, -0.19326321464265395 ], "act_eef_pose_l": [ 478.15108750798237, 394.2302907697837, 119.03803144788782, 1.7267223091838735, -0.14023712255699652, 0.8546265134790779 ], "act_eef_pose_r": [ 405.2246644042035, -335.93074812687865, 74.35934334691979, 1.6763227057274237, -0.11037695421181352, 2.6000987067434562 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 17, "colors": { "rgb_main": "colors/000017_rgb_main.jpg", "rgb_wrist_0": "colors/000017_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000017_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000017_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3275396297044526, -0.27282508709965525, -0.13304128461548492, -1.4588292899385533, 0.009127088524861363, -0.5377480759622005, 0.2720681996187557 ], "joint_pos_r": [ -0.5325294326763936, -0.2908415594394646, 0.27769630268874024, -1.3551510249859282, 0.0030398692808515826, 0.8315786117606165, -0.21823569072340257 ], "eef_pose_l": [ 462.8775519199807, 374.7831900456031, 119.88028271271479, 1.7060294193927208, -0.12256203027030728, 0.8491266577602412 ], "eef_pose_r": [ 430.24949565616384, -367.6413796462646, 91.1688237762518, 1.673491379206708, -0.04063593533494734, 2.4646329794926634 ], "joint_status_l": { "velocity": [ -3.1762069372822666, -2.0035479743083506, 1.0781890308206865, 10.200405337876362, 6.218505029558765, -6.270485446087104, -4.84436446887182 ], "torque": [ -29.0771484375, 4.68017578125, -8.33740234375, 0.98876953125, -0.355224609375, -2.2210693359375, -0.69122314453125 ] }, "joint_status_r": { "velocity": [ -4.432892267707711, -2.047932107930972, -0.9488512560318352, -4.317040806176564, -2.1166672595373908, 8.713397211737473, 2.696947874495148 ], "torque": [ 16.5234375, 10.55419921875, 14.1357421875, -2.362060546875, 1.724853515625, 4.0264892578125, 0.7598876953125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.8, 0.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -17.8, 0.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -162, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28937301247540737, -0.32031388203166056, -0.11288465483929669, -1.3009048564719232, 0.06158873121376954, -0.6447770901191902, 0.23287345125776054 ], "act_joint_pos_r": [ -0.5789681823929502, -0.320699143170079, 0.26256903096337886, -1.3970966056817828, -0.016294922676737933, 0.9246223294452995, -0.1971201945970325 ], "act_eef_pose_l": [ 481.02868750798234, 396.0390907697837, 117.38923144788765, 1.7260616265262396, -0.13547592793416294, 0.8452204928843516 ], "act_eef_pose_r": [ 402.2454644042035, -329.27314812687865, 70.27134334691982, 1.6737271199350154, -0.12015470385391308, 2.624495824621886 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 18, "colors": { "rgb_main": "colors/000018_rgb_main.jpg", "rgb_wrist_0": "colors/000018_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000018_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000018_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31773558113699596, -0.28282381963030456, -0.1285792818750619, -1.4233985066092991, 0.024214504693275764, -0.5601607523675792, 0.2609180170042555 ], "joint_pos_r": [ -0.5428478256514072, -0.2958563261219125, 0.2753347046763092, -1.3651030398664818, -0.0018033427735835638, 0.8519126666272935, -0.21216852128410782 ], "eef_pose_l": [ 467.37826831254677, 380.11986826327467, 119.58021906325227, 1.710755849845242, -0.12750449051960425, 0.850082523042472 ], "eef_pose_r": [ 424.3365218828774, -359.2879318580841, 86.63209352950966, 1.675227959694528, -0.05776217603408671, 2.498932690487954 ], "joint_status_l": { "velocity": [ -3.063067075117498, -4.048807326157533, 1.694969729402751, 13.228924048577895, 4.036297419984292, -9.138294957570459, -3.0287237731889682 ], "torque": [ -30.95947265625, -3.544921875, -9.14306640625, 5.023193359375, -1.09130859375, -3.31787109375, -0.64361572265625 ] }, "joint_status_r": { "velocity": [ -3.900883477678363, -2.682945111965651, -1.3786520998262386, -3.4552032022805435, -1.5650444710213571, 7.85241198983222, 1.625171350337462 ], "torque": [ 15.13916015625, 7.353515625, 10.94970703125, -4.931640625, 1.988525390625, 2.5726318359375, 0.80108642578125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.6, -7.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.6, -7.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -16.9, -0.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -16.9, -0.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 274, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -169, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2895836078408377, -0.32787343878671216, -0.11072917802024387, -1.2804663503170244, 0.055239398644599515, -0.661575338816402, 0.23811112195714687 ], "act_joint_pos_r": [ -0.5815850298439011, -0.33569666752320304, 0.25421613990272396, -1.3949744613404005, -0.015144871120460035, 0.9334559756383958, -0.19826772788016594 ], "act_eef_pose_l": [ 482.81188750798236, 397.5870907697837, 116.35403144788785, 1.7241972656517535, -0.13297991245778715, 0.8419408188805183 ], "act_eef_pose_r": [ 401.05746440420353, -322.5779481268787, 65.98814334691974, 1.6705867715059324, -0.13246654151277218, 2.645001161043006 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 19, "colors": { "rgb_main": "colors/000019_rgb_main.jpg", "rgb_wrist_0": "colors/000019_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000019_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000019_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3127473801434058, -0.2904050461606114, -0.12553270298171643, -1.3991649038314087, 0.030022428356739163, -0.5772385763878166, 0.2566195622627935 ], "joint_pos_r": [ -0.543913004649838, -0.2965889336974942, 0.27495824860647766, -1.3660465209797839, -0.0022306953237639397, 0.8540568538060334, -0.21172475043036745 ], "eef_pose_l": [ 470.1765793109339, 383.15032948329235, 119.0567233208138, 1.712799999758585, -0.1287940442955537, 0.8488616668862293 ], "eef_pose_r": [ 423.73210623242625, -358.36468600676005, 86.11544071509326, 1.6753364682723986, -0.05955732630466791, 2.5026382489855576 ], "joint_status_l": { "velocity": [ -2.5016136275275436, -4.046467059452219, 1.5987335437136485, 12.81906570142155, 2.7233524701012755, -9.108101713186656, -1.9988526000036533 ], "torque": [ -30.05859375, 3.61083984375, -9.759521484375, 1.470947265625, -1.00341796875, -2.4407958984375, -0.51544189453125 ] }, "joint_status_r": { "velocity": [ -3.78584753865141, -2.6038258273013426, -1.337996043370815, -3.3533102472169674, -1.51889175680342, 7.620846604184273, 1.5772455116305206 ], "torque": [ 14.443359375, 6.474609375, 10.675048828125, -4.62646484375, 2.0599365234375, 2.8564453125, 0.7598876953125 ] }, "eef_FT_l": { "raw_value": [ -1.4, -16.5, -9.0, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -1.4, -16.5, -9.0, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.4, -0.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.8, -17.4, -0.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -152, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28982875665355307, -0.32313412816482767, -0.1125398004012652, -1.2915815374532271, 0.05920468390257701, -0.6535766282424906, 0.2340425901210203 ], "act_joint_pos_r": [ -0.586104377717116, -0.323180468423516, 0.2619981646699082, -1.4064642560425438, -0.015795760353713106, 0.9242170209604674, -0.20528120001978778 ], "act_eef_pose_l": [ 481.60148750798237, 396.8870907697837, 116.98763144788774, 1.7252153562998325, -0.1334869663610917, 0.8433571207111238 ], "act_eef_pose_r": [ 399.6238644042035, -325.2019481268787, 68.00254334691977, 1.6730272346490955, -0.12039627419613774, 2.6358680227753464 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 20, "colors": { "rgb_main": "colors/000020_rgb_main.jpg", "rgb_wrist_0": "colors/000020_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000020_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000020_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31014776022300017, -0.2943576850472735, -0.12396744630773016, -1.386416525066616, 0.03309840435419279, -0.5862905714160073, 0.2542945960923483 ], "joint_pos_r": [ -0.5534400503542612, -0.3037681244306126, 0.2712641770948772, -1.3743721853502036, -0.0057831210607420126, 0.8727842351468804, -0.20836881592805367 ], "eef_pose_l": [ 471.60739669215485, 384.7482373202837, 118.78639995234911, 1.713945100626068, -0.12939251243877642, 0.8481850502915602 ], "eef_pose_r": [ 418.32661793555314, -350.02220883071146, 81.42864084381898, 1.6758316292588762, -0.07564959063904196, 2.5358025206646007 ], "joint_status_l": { "velocity": [ -2.194387665495956, -3.1077641980901127, 1.2341493586086605, 10.241876594243138, 2.8193950376137478, -7.266679817994337, -2.187152138299231 ], "torque": [ -31.1279296875, 5.14892578125, -10.870361328125, -0.8544921875, -0.7562255859375, -1.7431640625, -0.6170654296875 ] }, "joint_status_r": { "velocity": [ -3.5276433129101115, -2.0964713191169437, -1.0006998278329071, -3.4658414152435313, -1.081333151424342, 5.5545770443741205, 0.33345268343154544 ], "torque": [ 15.9521484375, 4.6142578125, 9.844970703125, -6.121826171875, 2.0599365234375, 2.9022216796875, 0.69488525390625 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.4, -7.9, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.6, -16.4, -7.9, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.3, -1.4, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -2.3, -17.3, -1.4, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -120, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2877190440288952, -0.34065568216054404, -0.10772943767259678, -1.2626650473859964, 0.04634631087990073, -0.6654945078714996, 0.2510751250304696 ], "act_joint_pos_r": [ -0.6008715709801065, -0.3563629723694663, 0.24438991575027186, -1.3985872367248333, -0.016780272283455577, 0.9463610037422334, -0.21523779350743386 ], "act_eef_pose_l": [ 486.9374875079824, 397.5046907697837, 115.90283144788765, 1.7199943074466288, -0.1378651675056264, 0.8432983078342265 ], "act_eef_pose_r": [ 395.29426440420355, -311.2419481268787, 54.82254334691993, 1.6713051848024518, -0.14557205543020943, 2.6816078334433646 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 21, "colors": { "rgb_main": "colors/000021_rgb_main.jpg", "rgb_wrist_0": "colors/000021_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000021_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000021_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30555187995238364, -0.3010824233854657, -0.12132883655704746, -1.3646828640801645, 0.03877200699529668, -0.6015830156425309, 0.24999812825314693 ], "joint_pos_r": [ -0.5609972615801422, -0.30862192155464363, 0.26892105000432753, -1.3814644584038156, -0.008047024454512542, 0.8846672496077828, -0.20782310901143256 ], "eef_pose_l": [ 474.0283572313484, 387.4961323789167, 118.36455478669541, 1.7161297952705639, -0.13051433725935144, 0.8471233195114464 ], "eef_pose_r": [ 414.26779627091565, -344.0785707051397, 78.0487299662594, 1.675911749118453, -0.08591835944196184, 2.558963846883615 ], "joint_status_l": { "velocity": [ -1.925889478662679, -4.273785899131077, 1.4686917627726448, 11.017599256250676, 0.8180006938963702, -6.902237590112215, 0.11631222150509934 ], "torque": [ -32.51220703125, 4.13818359375, -11.077880859375, 1.0009765625, -1.2872314453125, -2.0672607421875, -0.60791015625 ] }, "joint_status_r": { "velocity": [ -4.306298407713349, -5.155881423406949, -2.649284362972626, -1.8492055192691481, -0.9431629484216164, 6.662728939834217, -0.8007623083463589 ], "torque": [ 15.64453125, 7.9833984375, 10.113525390625, -5.133056640625, 2.3931884765625, 2.523193359375, 0.831298828125 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.5, -6.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.5, -6.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.7, -0.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.7, -0.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -148, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2877092820577438, -0.34150567578809093, -0.10762434526850614, -1.2603709477299814, 0.04436417078098612, -0.6679227617018315, 0.2535899753177342 ], "act_joint_pos_r": [ -0.6106591812894488, -0.36103725115014296, 0.24244837620999102, -1.4008963943787947, -0.009128382834394433, 0.948083678570045, -0.21834709251290543 ], "act_eef_pose_l": [ 487.10788750798235, 397.5902907697837, 116.03323144788766, 1.718777702594353, -0.13855669411966404, 0.8425029136490163 ], "act_eef_pose_r": [ 393.4334644042035, -308.4331481268787, 51.60974334691991, 1.6672416006864117, -0.15849851133058085, 2.687831384668552 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 22, "colors": { "rgb_main": "colors/000022_rgb_main.jpg", "rgb_wrist_0": "colors/000022_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000022_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000022_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3047688965803781, -0.3028199599012448, -0.1207317300036377, -1.3602035847068463, 0.03910457070090172, -0.6043891669417435, 0.25004541577219125 ], "joint_pos_r": [ -0.5615896022431209, -0.30933112419956715, 0.26855663520827633, -1.381718820623885, -0.00817675855867131, 0.8855837223887679, -0.20793325559945458 ], "eef_pose_l": [ 474.61581296161324, 387.94480531106996, 118.24779491785311, 1.716272604692102, -0.13083339859992302, 0.8469644775268501 ], "eef_pose_r": [ 414.0148372548184, -343.5755816941044, 77.68188142226458, 1.6759443611714555, -0.086788716430332, 2.560783901263676 ], "joint_status_l": { "velocity": [ -1.8413297684416463, -4.086137489820896, 1.4042061569056186, 10.533851351313572, 0.7820848729715446, -6.599182187938979, 0.11120532006825279 ], "torque": [ -33.4423828125, -4.69482421875, -10.626220703125, 4.022216796875, -1.907958984375, -2.3126220703125, -0.61065673828125 ] }, "joint_status_r": { "velocity": [ -4.242327502832488, -5.079289796704245, -2.609928725731514, -1.8217352096936423, -0.9291520784009897, 6.563752798633082, -0.788866827678314 ], "torque": [ 15.9814453125, 7.1044921875, 10.198974609375, -5.04150390625, 2.435302734375, 2.4920654296875, 0.8404541015625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -17.2, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -17.2, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -18.0, 0.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -18.0, 0.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -148, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28886393986329906, -0.3441576857073453, -0.10663297008641986, -1.2460683033907618, 0.03771845547985127, -0.6829559241492925, 0.26131454608490917 ], "act_joint_pos_r": [ -0.6258091694524519, -0.36900531962788513, 0.2389428676614988, -1.4015118342932011, 0.0022947635919270404, 0.945469826191771, -0.23316214780544417 ], "act_eef_pose_l": [ 487.44868750798236, 399.4590907697837, 115.56443144788778, 1.7163077361960715, -0.13902359931399436, 0.8395901212975955 ], "act_eef_pose_r": [ 391.9022644042035, -305.1627481268787, 45.67854334691992, 1.6640495478119748, -0.16815776764336612, 2.6909892504151234 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 23, "colors": { "rgb_main": "colors/000023_rgb_main.jpg", "rgb_wrist_0": "colors/000023_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000023_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000023_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3002672004443689, -0.3134718944536721, -0.11711268486501261, -1.3320756239402982, 0.03997413815537143, -0.6227885518068937, 0.25163711930718957 ], "joint_pos_r": [ -0.5836667773601566, -0.3310498061767196, 0.25768864649103357, -1.3892597732859853, -0.00632951646194147, 0.9093386555651032, -0.21505989004533838 ], "eef_pose_l": [ 478.1160111273236, 390.7492510177129, 117.5593389828504, 1.7166731089756293, -0.13289811224593837, 0.8455533769866903 ], "eef_pose_r": [ 406.3279652419977, -328.9807883522441, 65.8384131643353, 1.674355428379747, -0.11617118541250057, 2.6108522698441132 ], "joint_status_l": { "velocity": [ -1.2315158211380073, -3.313967715143473, 1.1317758161446534, 9.28851666919428, -0.2436065441652202, -6.49788456811784, 1.0451312674946145 ], "torque": [ -30.79833984375, 2.07275390625, -10.46142578125, 1.4404296875, -3.3050537109375, -1.9775390625, 0.41107177734375 ] }, "joint_status_r": { "velocity": [ -4.551244114197495, -4.099074556983773, -2.024484404614002, -1.323183563565422, 0.9313947757972757, 3.902051342827839, -1.954986178855922 ], "torque": [ 16.611328125, 6.81884765625, 9.9853515625, -5.26123046875, 4.8211669921875, 2.5946044921875, -0.62713623046875 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.0, -5.3, 1.3, -0.2, 0.0 ], "actual_contact_FT": [ -1.5, -16.0, -5.3, 1.3, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.9, 0.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.0, -17.9, 0.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 257, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -152, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28983070456667526, -0.34788344922072945, -0.105993148177397, -1.240976581682431, 0.035023313281315506, -0.6848640195710386, 0.2629934760576068 ], "act_joint_pos_r": [ -0.6464015487134752, -0.3778123616835545, 0.23697386173080745, -1.4152226798292236, 0.008117374355396834, 0.9406362999638321, -0.2526644100157423 ], "act_eef_pose_l": [ 488.39748750798236, 399.2726907697837, 114.8388314478878, 1.7157406164697395, -0.13732277775901205, 0.8394228310452089 ], "act_eef_pose_r": [ 386.9286644042035, -297.64114812687865, 38.67694334691987, 1.661298560747814, -0.1751463300244278, 2.706642006853634 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 24, "colors": { "rgb_main": "colors/000024_rgb_main.jpg", "rgb_wrist_0": "colors/000024_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000024_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000024_depth_main.npy" }, "states": { "joint_pos_l": [ 0.297838851656666, -0.32000649948710047, -0.11488100713589784, -1.3137601806418486, 0.03949378569375755, -0.6356013227374696, 0.253697948086527 ], "joint_pos_r": [ -0.5867053175177018, -0.3337864650633116, 0.25633704305966526, -1.390143168307834, -0.005707690790152169, 0.9119437761441112, -0.21636509448237776 ], "eef_pose_l": [ 480.16562122777435, 392.6262404346281, 117.10219482387876, 1.7165916601106375, -0.1341516243880729, 0.8442936558804792 ], "eef_pose_r": [ 405.3622974751619, -327.23228350225384, 64.31950174106797, 1.6739154020743472, -0.11989345665022819, 2.6166424280600094 ], "joint_status_l": { "velocity": [ -0.9692618868326619, -2.608251185529653, 0.8907617297307935, 7.3105071312351555, -0.19173000832756193, -5.114146118799567, 0.8225683234692749 ], "torque": [ -31.8310546875, 3.15673828125, -11.2548828125, 1.800537109375, -3.834228515625, -2.193603515625, 0.472412109375 ] }, "joint_status_r": { "velocity": [ -4.223091455528127, -3.803524114026402, -1.8785155391478625, -1.2277797149931047, 0.8642395838805439, 3.620706618113978, -1.814028256987399 ], "torque": [ 15.46875, 7.58056640625, 9.808349609375, -5.62744140625, 4.8284912109375, 2.9827880859375, -0.7177734375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.4, -7.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.4, -7.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.2, -0.1, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -2.5, -17.2, -0.1, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -146, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28924919632971985, -0.35505956907033054, -0.10439571862890337, -1.232489174655323, 0.029746101440328646, -0.6886675588507233, 0.26869196950952257 ], "act_joint_pos_r": [ -0.6526962372035677, -0.39524444649720664, 0.229557925915025, -1.4094319275165268, 0.0013657458668037137, 0.9486975751991784, -0.27852710407984455 ], "act_eef_pose_l": [ 490.26068750798237, 398.36949076978374, 114.55643144788775, 1.7129065812849702, -0.13777061515579384, 0.8375596281447065 ], "act_eef_pose_r": [ 384.95346440420354, -291.1115481268787, 31.989743346920022, 1.6626792777141668, -0.16117033958178337, 2.7290070258785133 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 25, "colors": { "rgb_main": "colors/000025_rgb_main.jpg", "rgb_wrist_0": "colors/000025_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000025_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000025_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29724792331264366, -0.32196434556048475, -0.11424912932888424, -1.308583599075128, 0.039209167146783463, -0.6391265513158646, 0.2543446803802677 ], "joint_pos_r": [ -0.5990843779785896, -0.34484871959682084, 0.2514603633607402, -1.3940484763710048, -0.004007546988403735, 0.9189512796314279, -0.2267859181286458 ], "eef_pose_l": [ 480.9069447185844, 393.19559127733214, 116.90165889974952, 1.716491363372285, -0.1344274518247491, 0.8438516741140404 ], "eef_pose_r": [ 401.8699003178038, -320.4492821892555, 58.112180822002216, 1.6729476571655826, -0.12876182150837906, 2.637558433816079 ], "joint_status_l": { "velocity": [ -0.8010359992707272, -2.7991806378864226, 0.8916196674442212, 7.301342536823796, -0.45205888470645217, -4.9395008887671565, 0.9340423850447976 ], "torque": [ -31.81640625, 3.57421875, -11.1083984375, 1.885986328125, -4.0869140625, -2.1881103515625, 0.50994873046875 ] }, "joint_status_r": { "velocity": [ -5.789910032029333, -5.442577984984265, -2.3653934805858423, -1.661363724410947, 0.5802985133726186, 3.2125051735416577, -5.5878832769216125 ], "torque": [ 15.16845703125, 8.203125, 10.68115234375, -5.99365234375, 5.130615234375, 3.0926513671875, -0.86883544921875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.3, -7.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.3, -7.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.4, -18.3, 0.1, 1.2, 0.1, 0.0 ], "actual_contact_FT": [ -2.4, -18.3, 0.1, 1.2, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -179, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2889934206982933, -0.3662657785277342, -0.1015256425477341, -1.2072652506622283, 0.02227039035737787, -0.707100454114444, 0.27624109519482654 ], "act_joint_pos_r": [ -0.6582519089119301, -0.41235308834135764, 0.22359388224326338, -1.4082944511120223, -0.004923394608375985, 0.942937456910677, -0.2955428141935628 ], "act_eef_pose_l": [ 492.97028750798233, 399.6238907697837, 113.4348314478878, 1.7098794034257356, -0.13695847091133567, 0.8339739687447484 ], "act_eef_pose_r": [ 384.5294644042035, -284.3995481268787, 25.631343346919948, 1.666470834421607, -0.15360407289649752, 2.7413109617061973 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 26, "colors": { "rgb_main": "colors/000026_rgb_main.jpg", "rgb_wrist_0": "colors/000026_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000026_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000026_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29516031214983474, -0.3313336477214552, -0.11149323936157661, -1.28708024689317, 0.03622218014519854, -0.653271226048777, 0.2586004473986182 ], "joint_pos_r": [ -0.60608456846783, -0.3519508619149893, 0.24843831831784222, -1.3959371823042879, -0.0036065316474871846, 0.9224470503034865, -0.23405353716798527 ], "eef_pose_l": [ 483.4707294058272, 394.6017913885778, 116.19649713475833, 1.7154519739260807, -0.13506636680564818, 0.8420270488309691 ], "eef_pose_r": [ 399.94562200880534, -316.40897226087395, 54.375695898583245, 1.6725523103156719, -0.13245492270604708, 2.649656043637298 ], "joint_status_l": { "velocity": [ -0.666004634009898, -3.7725588614021532, 1.0764687071476153, 8.619765366553622, -1.506748857902529, -5.813385174461061, 1.9051337730733309 ], "torque": [ -32.05810546875, 4.130859375, -11.62109375, 1.666259765625, -4.3597412109375, -2.003173828125, 0.714111328125 ] }, "joint_status_r": { "velocity": [ -5.633906604769479, -6.523248061129916, -2.6831199616614843, -1.334545670914622, -0.14221700530962778, 2.2128986476195323, -6.64064606337611 ], "torque": [ 14.97802734375, 6.73095703125, 8.660888671875, -6.549072265625, 4.4091796875, 3.0633544921875, -0.73699951171875 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.2, -7.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.2, -7.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -16.7, -0.1, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -2.7, -16.7, -0.1, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 295, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -162, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2888393925567221, -0.37727845929979714, -0.09918085305802612, -1.1869040860147857, 0.01841023653073527, -0.7211846743463456, 0.27896760130803167 ], "act_joint_pos_r": [ -0.6643525957056539, -0.4269696551033412, 0.21864710106501323, -1.405173116447836, -0.004210185047913484, 0.9338032016534477, -0.2966042934648376 ], "act_eef_pose_l": [ 495.4870875079824, 399.7382907697837, 112.12683144788781, 1.708500386620426, -0.1343365940277254, 0.8298840214241187 ], "act_eef_pose_r": [ 385.37666440420355, -279.66514812687865, 20.004143346919818, 1.668674719992624, -0.16447861600832187, 2.7425970707868395 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 27, "colors": { "rgb_main": "colors/000027_rgb_main.jpg", "rgb_wrist_0": "colors/000027_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000027_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000027_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2949784522832009, -0.3323637862766067, -0.1111992977799111, -1.2847265254625266, 0.035810745851267076, -0.6548586346020083, 0.2591206650610763 ], "joint_pos_r": [ -0.6165745907439565, -0.3640967887601421, 0.24344249745288132, -1.398422032479929, -0.003871331840035465, 0.9265673451072183, -0.2464180525956482 ], "eef_pose_l": [ 483.7583410435136, 394.754757421762, 116.10856198309298, 1.7153003751253033, -0.1351013656842439, 0.8417870795645275 ], "eef_pose_r": [ 397.17501991156394, -309.92749622630924, 48.37476741204094, 1.6722803309076077, -0.13664770080008212, 2.6680989416834273 ], "joint_status_l": { "velocity": [ -0.6463643476726233, -3.661307178638662, 1.0447239525891439, 8.365570949106171, -1.4623152646567328, -5.641950106919147, 1.848951922522879 ], "torque": [ -32.548828125, 3.03955078125, -11.376953125, 1.580810546875, -4.6124267578125, -1.8548583984375, 0.6024169921875 ] }, "joint_status_r": { "velocity": [ -4.501017611723057, -5.21152664900848, -2.1435872209132345, -1.066189766680381, -0.11361942795487176, 1.767919932762041, -5.305317780590624 ], "torque": [ 16.28173828125, 6.33544921875, 9.356689453125, -6.024169921875, 3.3709716796875, 2.8802490234375, -0.7122802734375 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.5, -10.8, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.9, -16.5, -10.8, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.7, 0.2, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -2.5, -17.7, 0.2, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 295, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -188, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2864647256880627, -0.38167130959647294, -0.098186954005721, -1.1775358376494953, 0.026477327927654563, -0.7316002302937373, 0.26752254396563285 ], "act_joint_pos_r": [ -0.6633145382312859, -0.4385323313999417, 0.21472413484016933, -1.393145174282055, -0.00457848275758188, 0.9324086051861614, -0.2978115781975613 ], "act_eef_pose_l": [ 496.00308750798234, 399.5006907697837, 111.54763144788768, 1.7120637662028653, -0.12881339395915284, 0.8240720603446051 ], "act_eef_pose_r": [ 388.1086644042035, -278.2827481268787, 16.915343346919826, 1.6705607104449274, -0.1664311751057319, 2.7407391306427615 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 28, "colors": { "rgb_main": "colors/000028_rgb_main.jpg", "rgb_wrist_0": "colors/000028_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000028_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000028_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2932447066919328, -0.34279539709166407, -0.10831345222838974, -1.2613986876747498, 0.032129165898494065, -0.6708064400203078, 0.2635067156736973 ], "joint_pos_r": [ -0.6290594685190259, -0.3827491484668514, 0.2361795048552845, -1.3980737529647838, -0.0040562617773818935, 0.9285615647967816, -0.2601458872154605 ], "eef_pose_l": [ 486.57849226238005, 396.1118347647642, 115.18120891608852, 1.713947801952045, -0.1349390153102147, 0.8390039256136247 ], "eef_pose_r": [ 394.8709151287118, -301.7044400555192, 40.13653090250108, 1.6723755099514044, -0.14415928924609317, 2.6877477721948497 ], "joint_status_l": { "velocity": [ -0.732216352851367, -4.198474723126289, 1.093629553168718, 9.056920683130798, -0.6103804986401784, -6.56553570940499, 0.43369666432946374 ], "torque": [ -33.36181640625, 3.20068359375, -10.58349609375, 0.091552734375, -4.5831298828125, -2.1075439453125, 0.60882568359375 ] }, "joint_status_r": { "velocity": [ -3.6994384198196784, -6.0244060764143015, -2.3171116220781496, 0.5322707992476694, -0.056398202485530985, 0.41546810847581384, -4.067774653466305 ], "torque": [ 16.201171875, 7.001953125, 9.26513671875, -1.910400390625, 3.45703125, 2.9974365234375, -0.79010009765625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.3, -10.0, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.3, -10.0, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.1, -18.0, 1.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.1, -18.0, 1.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -175, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28621752247018173, -0.3778437672516276, -0.09931917447392391, -1.1876383926392884, 0.03214882476097846, -0.7187425860189661, 0.2631590254321169 ], "act_joint_pos_r": [ -0.678854172275829, -0.4616588145891343, 0.20821736502996444, -1.3878125717866847, 0.029957244909657454, 0.9135702485512441, -0.3529685080404264 ], "act_eef_pose_l": [ 495.74308750798235, 399.5254907697837, 111.60923144788768, 1.7154798504796955, -0.13051408334556122, 0.8296478128497342 ], "act_eef_pose_r": [ 391.4406644042035, -271.63314812687867, 10.37374334691981, 1.6539410032536013, -0.153764482275299, 2.732251548381757 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 29, "colors": { "rgb_main": "colors/000029_rgb_main.jpg", "rgb_wrist_0": "colors/000029_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000029_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000029_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2917216253603083, -0.3515286334461783, -0.10603859623854767, -1.2425594105119764, 0.030859515010411166, -0.6844633937774436, 0.2644088469774519 ], "joint_pos_r": [ -0.6305635001888437, -0.3851984114366645, 0.235237467479169, -1.3978573546772224, -0.004079190847427923, 0.9287304761617062, -0.2617996684682358 ], "eef_pose_l": [ 488.74933957562257, 396.9109823434538, 114.33190156613414, 1.713548774735305, -0.13347737074895455, 0.8356577040692255 ], "eef_pose_r": [ 394.6226865607795, -300.6841131922923, 39.09493446876283, 1.6723840928342646, -0.14514033601259346, 2.6900660063875383 ], "joint_status_l": { "velocity": [ -0.5677284203482458, -3.25531301390658, 0.8479523521275345, 7.0223387563377315, -0.47326224681387696, -5.0906282037059825, 0.33626935698882754 ], "torque": [ -32.71728515625, 2.080078125, -10.406494140625, 1.324462890625, -4.3359375, -2.0343017578125, 0.60699462890625 ] }, "joint_status_r": { "velocity": [ -3.537007790114899, -5.759893477056632, -2.21537458603116, 0.5089004734628588, -0.05392193595413555, 0.39722621907944955, -3.8891715457836096 ], "torque": [ 15.57861328125, 5.07568359375, 8.3740234375, -2.24609375, 4.259033203125, 3.1915283203125, -0.83953857421875 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.3, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.3, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.2, 0.0, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -2.9, -17.2, 0.0, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -175, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28463458063394903, -0.37865681462787865, -0.09913762591356282, -1.1818122870156986, 0.03553448067501018, -0.7236828741971706, 0.2584611874080794 ], "act_joint_pos_r": [ -0.6907313283307032, -0.4747750938051088, 0.2050318714040467, -1.3978041095116847, 0.05227331348289832, 0.898048757295546, -0.3871013583811808 ], "act_eef_pose_l": [ 496.0366875079824, 400.5974907697837, 111.73643144788758, 1.7167708691272001, -0.12911929173762093, 0.8295714713430912 ], "act_eef_pose_r": [ 390.93186440420357, -264.4443481268787, 7.276943346920007, 1.6405493612249398, -0.14926919310655443, 2.7334690510649393 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 30, "colors": { "rgb_main": "colors/000030_rgb_main.jpg", "rgb_wrist_0": "colors/000030_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000030_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000030_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2905495148498445, -0.3571324976059409, -0.10460768096828944, -1.230863862013161, 0.031134076285890596, -0.691763221254973, 0.2641426947999337 ], "joint_pos_r": [ -0.6419788727481422, -0.4033238667365637, 0.22877460401626376, -1.395555458845774, 0.003151687195707388, 0.9256291774854895, -0.2824587239430442 ], "eef_pose_l": [ 490.2602524087229, 397.4855983785761, 113.7424810747181, 1.7139422516041212, -0.13282941329199413, 0.8343863595541708 ], "eef_pose_r": [ 394.0314641443533, -293.8118529640168, 32.14414480614667, 1.6685802788316653, -0.14768973243347094, 2.7010347274798874 ], "joint_status_l": { "velocity": [ -0.4678413787595481, -2.2367511522851657, 0.5711418564628978, 4.668213010795341, 0.10958960313689481, -2.9136854599522977, -0.106233158544633 ], "torque": [ -32.14599609375, 1.5087890625, -9.979248046875, 0.93994140625, -2.4700927734375, -2.091064453125, -0.29388427734375 ] }, "joint_status_r": { "velocity": [ -3.982414893941133, -6.299988559847147, -2.2201163316892814, 0.8362071397716164, 2.894914852156996, -1.302325914849689, -7.61483209504954 ], "torque": [ 17.17529296875, 7.18505859375, 9.21630859375, -1.507568359375, 5.438232421875, 0.8441162109375, -0.81390380859375 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.5, -8.1, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -1.3, -16.5, -8.1, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.9, -18.0, -0.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -18.0, -0.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 299, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -183, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28018997733724726, -0.38255891892137756, -0.09840422876107802, -1.177099557174555, 0.04015099347535171, -0.7262353138541673, 0.25320888088424753 ], "act_joint_pos_r": [ -0.6951793722818236, -0.48135792740511124, 0.20400354797343517, -1.3989881369211281, 0.06067413541299116, 0.895930548151304, -0.40451797450127724 ], "act_eef_pose_l": [ 497.24708750798237, 400.0366907697837, 112.73083144788785, 1.7168429894252364, -0.1293421655927013, 0.827739232063359 ], "act_eef_pose_r": [ 390.7414644042035, -261.52834812687865, 6.132143346919975, 1.633841421958171, -0.1433893985129064, 2.736451653192335 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 31, "colors": { "rgb_main": "colors/000031_rgb_main.jpg", "rgb_wrist_0": "colors/000031_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000031_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000031_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28975838677831695, -0.35991626143861766, -0.10390649666028054, -1.2248574647009054, 0.03164220798529563, -0.695594681248583, 0.2635251197432242 ], "joint_pos_r": [ -0.6543680229601493, -0.42168215198519793, 0.22270420522397438, -1.395765561924448, 0.015443913831215442, 0.9190516239863439, -0.3092231435617498 ], "eef_pose_l": [ 491.01918839520084, 397.81157507111635, 113.50787014319963, 1.714214015992486, -0.1324426362508389, 0.8337336426866502 ], "eef_pose_r": [ 393.5350642673553, -286.39142461830215, 25.726390746657444, 1.6613889474766805, -0.14772107164952095, 2.7100881198522755 ], "joint_status_l": { "velocity": [ -1.033357742378005, -2.445334886840289, 0.5942274073132969, 5.157701894560773, 0.918921730778316, -3.3090907249890833, -1.1141209375289396 ], "torque": [ -32.76123046875, 0.966796875, -10.089111328125, 1.458740234375, -2.1551513671875, -2.054443359375, -0.42388916015625 ] }, "joint_status_r": { "velocity": [ -4.407495734602307, -6.444793666321669, -2.0196114178034907, -0.34802783510734514, 4.884719863720354, -2.497002545030824, -10.291538208774043 ], "torque": [ 16.16455078125, 5.830078125, 9.5458984375, -5.87158203125, 5.1690673828125, 1.0546875, -1.06292724609375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.3, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.3, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.9, -0.3, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -2.9, -17.9, -0.3, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2741635179971217, -0.38740201117238526, -0.09715217136862557, -1.1610122746628493, 0.04119348435082996, -0.7406005812079388, 0.2567066988108172 ], "act_joint_pos_r": [ -0.7101861836336107, -0.5020865598794022, 0.19945238035334212, -1.4076670027789981, 0.09768473952006129, 0.8720077515421268, -0.5114128317887628 ], "act_eef_pose_l": [ 498.69188750798236, 401.5566907697837, 114.59723144788774, 1.7141027982299406, -0.13598358538189986, 0.8243061781271573 ], "act_eef_pose_r": [ 392.0470644042035, -252.41154812687867, 1.9249433469199175, 1.614442626965829, -0.08133507607560717, 2.7321998686442446 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 32, "colors": { "rgb_main": "colors/000032_rgb_main.jpg", "rgb_wrist_0": "colors/000032_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000032_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000032_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2873209738846753, -0.36540641722096345, -0.10257014747280788, -1.2131044542791003, 0.03368240220377746, -0.7032544607364606, 0.26119196620323987 ], "joint_pos_r": [ -0.656159920112407, -0.4243023263683304, 0.22188311856475929, -1.3959070549908483, 0.017429829675593894, 0.918036450740799, -0.3134072379135321 ], "eef_pose_l": [ 492.55255356259795, 398.3960315626298, 113.37119281715992, 1.7147022081227665, -0.1319180447785931, 0.8322239976373265 ], "eef_pose_r": [ 393.45637844636485, -285.3066256520386, 24.85963419693411, 1.6601596585021405, -0.14750083841973763, 2.71134088423549 ], "joint_status_l": { "velocity": [ -1.4209633267827648, -2.375454086480211, 0.5851241619370118, 5.625789474764886, 0.8111729476144303, -4.033262056213793, -0.48439459192684 ], "torque": [ -32.7392578125, 3.076171875, -10.3271484375, 1.226806640625, -1.7724609375, -2.02880859375, -0.50628662109375 ] }, "joint_status_r": { "velocity": [ -4.21397654970157, -6.161823178711945, -1.9309366739301836, -0.332747034619274, 4.670247278058273, -2.3873670680378822, -9.839669345941271 ], "torque": [ 16.552734375, 5.5810546875, 8.740234375, -6.365966796875, 4.7991943359375, 1.3421630859375, -0.72784423828125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.6, -6.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.6, -6.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.4, -17.3, 0.1, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -3.4, -17.3, 0.1, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 311, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27217692244658614, -0.3898354534707301, -0.09657296098212241, -1.1527159791729802, 0.04059450348511561, -0.7472213639163203, 0.2588619210455616 ], "act_joint_pos_r": [ -0.7143540876522406, -0.5248013763493498, 0.1935509869338181, -1.3953702339676772, 0.11383060327100392, 0.8559206463736814, -0.5369763018250148 ], "act_eef_pose_l": [ 499.43108750798234, 402.49109076978374, 115.17243144788773, 1.712799116219832, -0.13834582851341387, 0.8235320468840931 ], "act_eef_pose_r": [ 396.83906440420355, -247.30274812687867, -3.8278566530800617, 1.6118084439524187, -0.07757606402723406, 2.7214457056174157 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 33, "colors": { "rgb_main": "colors/000033_rgb_main.jpg", "rgb_wrist_0": "colors/000033_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000033_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000033_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2845190654457126, -0.3700904261083337, -0.10141637784605445, -1.2020113129516174, 0.035281903249680786, -0.7112073971556152, 0.26023681889625006 ], "joint_pos_r": [ -0.6690133153706349, -0.44283830349456427, 0.21648858439037713, -1.398517833353813, 0.03601466873329954, 0.9074706317592681, -0.3587214472872708 ], "eef_pose_l": [ 493.88208697979917, 399.08070557952556, 113.6217445720866, 1.7145259258112848, -0.13279401115438502, 0.8305454551972168 ], "eef_pose_r": [ 393.36442563081806, -277.4994656170743, 19.350144560018123, 1.648841696311821, -0.13282530513596788, 2.7179942767470213 ], "joint_status_l": { "velocity": [ -1.1183661400018252, -1.8695960461294625, 0.4605207172297954, 4.427765545223394, 0.6384319293808449, -3.1743702546043195, -0.38124172510323184 ], "torque": [ -33.22265625, 1.8603515625, -10.3271484375, 1.409912109375, -1.7779541015625, -2.1844482421875, -0.47515869140625 ] }, "joint_status_r": { "velocity": [ -4.446538628754659, -6.398622972265677, -1.8398557723544595, -0.988081156023668, 6.660171213720368, -3.8298781072354515, -16.490183174205697 ], "torque": [ 17.05078125, 5.830078125, 9.539794921875, -6.54296875, 5.2734375, 0.99609375, -0.6500244140625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -15.9, -8.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.8, -15.9, -8.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.9, -18.2, -0.3, 1.2, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -18.2, -0.3, 1.2, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -152, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2726494038276365, -0.38952009517993996, -0.09667540417762042, -1.1531983021554097, 0.0382728238880854, -0.7453754087187368, 0.26182487645671404 ], "act_joint_pos_r": [ -0.7227178612027321, -0.5338244113571868, 0.1919723312646192, -1.3939336666803812, 0.1282026766889528, 0.8502617756305171, -0.6022575529387069 ], "act_eef_pose_l": [ 499.57828750798234, 402.7486907697837, 115.28043144788768, 1.7117123362630655, -0.13962660903036977, 0.8253485555625528 ], "act_eef_pose_r": [ 397.1478644042035, -244.47314812687867, -6.923856653080065, 1.6060431864863707, -0.03226114700482174, 2.719076585652551 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 34, "colors": { "rgb_main": "colors/000034_rgb_main.jpg", "rgb_wrist_0": "colors/000034_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000034_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000034_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2813485164431796, -0.3751710124369594, -0.10016992193666058, -1.1893519742116279, 0.036662901246272604, -0.7204497441350985, 0.2598570583073808 ], "joint_pos_r": [ -0.6806005087418184, -0.463267821309094, 0.21075582233149204, -1.3981222135000022, 0.055595004122865534, 0.8946829641701101, -0.40396345065202516 ], "eef_pose_l": [ 495.3326586595264, 399.9633852432529, 114.00459190505872, 1.714054560383767, -0.13420906153567067, 0.8287457044350724 ], "eef_pose_r": [ 394.40029336249484, -269.934322702156, 13.63810552561327, 1.638411978313713, -0.1181970886287481, 2.7202807029126443 ], "joint_status_l": { "velocity": [ -0.9905029383094899, -1.583712922531344, 0.38846032606532077, 3.9565707713578036, 0.42460051887216466, -2.891249663520945, -0.10747165456947982 ], "torque": [ -34.65087890625, 2.7099609375, -10.46142578125, 0.811767578125, -1.9573974609375, -2.069091796875, -0.413818359375 ] }, "joint_status_r": { "velocity": [ -3.645279010568103, -6.645427947926663, -1.8580674221797544, 0.2972050238980728, 6.289259216213649, -4.186206856443775, -14.364964254709012 ], "torque": [ 15.908203125, 6.54052734375, 9.228515625, -3.18603515625, 5.028076171875, 1.2103271484375, -0.65643310546875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.8, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.8, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.8, 0.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.2, -17.8, 0.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -234, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27139211130877916, -0.39019702112688615, -0.09675475988926381, -1.1577810417804415, 0.038679486061466685, -0.7389220432848188, 0.26149092534573515 ], "act_joint_pos_r": [ -0.7298169717021695, -0.5426744962587322, 0.19040563414991035, -1.3916315264283778, 0.1412968803003123, 0.8434685640966347, -0.6588290493714098 ], "act_eef_pose_l": [ 500.10468750798236, 401.62949076978373, 115.86683144788759, 1.7109574728410861, -0.14070451141634754, 0.8266241444332685 ], "act_eef_pose_r": [ 397.94146440420354, -242.01394812687866, -9.99345665308033, 1.6021167230469937, 0.006417819881166393, 2.7146211248950767 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 35, "colors": { "rgb_main": "colors/000035_rgb_main.jpg", "rgb_wrist_0": "colors/000035_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000035_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000035_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2802989436170449, -0.3768284262234008, -0.09977631338706963, -1.1854605034092722, 0.03692501014636017, -0.7230288410022501, 0.2599845774422698 ], "joint_pos_r": [ -0.691148432022479, -0.480933676468204, 0.20607025349838068, -1.397001377048779, 0.0738302997925427, 0.8834891238937956, -0.45407445816534536 ], "eef_pose_l": [ 495.83670535507906, 400.2249315337404, 114.16718147494015, 1.713779266087241, -0.13483187139682773, 0.8283701364275656 ], "eef_pose_r": [ 395.3533423701135, -263.64072918149145, 8.57408700831931, 1.6294647300748237, -0.09584562123640306, 2.7208828200994644 ], "joint_status_l": { "velocity": [ -0.9619095192880955, -1.4437656679842092, 0.32631815352357485, 2.9892936914084345, 0.18947781048223034, -1.7164152235560337, 0.1626807755612525 ], "torque": [ -35.2880859375, 3.14208984375, -9.820556640625, 0.927734375, -1.89697265625, -2.1075439453125, 0.2618408203125 ] }, "joint_status_r": { "velocity": [ -4.1760791185359025, -6.667811880777474, -1.6917289947553371, 0.5799267629793547, 7.286175800570893, -4.322092984775594, -22.112843666792337 ], "torque": [ 14.94140625, 3.0322265625, 8.38623046875, -3.216552734375, 5.299072265625, 1.3787841796875, -0.96405029296875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.3, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.3, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.4, -0.8, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -2.3, -17.4, -0.8, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27296466692592675, -0.39260711238570223, -0.09634877637076619, -1.1561227364088298, 0.03450743188843667, -0.739432390062768, 0.2633597305927772 ], "act_joint_pos_r": [ -0.7474193033752212, -0.5655529255929703, 0.18621953943427097, -1.4006955061921433, 0.1731863547473784, 0.818607294524997, -0.707176847579419 ], "act_eef_pose_l": [ 500.55828750798236, 400.9566907697837, 115.31803144788779, 1.70941298368884, -0.13803052266425772, 0.8261078146470925 ], "act_eef_pose_r": [ 397.6070644042035, -231.73794812687868, -16.430256653080278, 1.5907385275561619, 0.007919491429390187, 2.707071301831633 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 36, "colors": { "rgb_main": "colors/000036_rgb_main.jpg", "rgb_wrist_0": "colors/000036_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000036_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000036_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27834445234294447, -0.3799026723377376, -0.09908556750648698, -1.1791935784231409, 0.03719610976191345, -0.7266142018263135, 0.260378079833204 ], "joint_pos_r": [ -0.692846245186848, -0.4836445204123408, 0.20538246965226253, -1.3967656039073686, 0.07679254376373738, 0.8817319478061573, -0.46306458407375317 ], "eef_pose_l": [ 496.81477065296616, 400.5257136254156, 114.52621366804011, 1.7130930487916165, -0.13606748731476748, 0.8279628806897195 ], "eef_pose_r": [ 395.5072547822818, -262.69956097049914, 7.778466803545683, 1.6280924155675784, -0.09128363522213602, 2.72081619418121 ], "joint_status_l": { "velocity": [ -0.5809996893682001, -1.3720390590510334, 0.2955647254422322, 2.491577452396143, -0.2903686463700539, -1.3843235010977395, 0.32200878489230256 ], "torque": [ -35.41259765625, 2.18994140625, -9.942626953125, 1.3916015625, -1.98486328125, -1.688232421875, 0.40924072265625 ] }, "joint_status_r": { "velocity": [ -3.992720704651731, -6.375049369379493, -1.6174505301007613, 0.5544640146908364, 6.966262887008856, -4.132323564260076, -21.1419387039955 ], "torque": [ 16.6552734375, 6.85546875, 8.489990234375, -3.192138671875, 4.7991943359375, 1.4300537109375, -1.058349609375 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.9, -8.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.5, -16.9, -8.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.6, 0.0, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -1.9, -17.6, 0.0, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 219, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2766018306885437, -0.39465553882377685, -0.09571568409426996, -1.1451535615860005, 0.02241428186784854, -0.7494361726086933, 0.2731977158412462 ], "act_joint_pos_r": [ -0.7598629109142081, -0.5913092682474077, 0.18110945894498678, -1.3969804143422655, 0.18621423769637024, 0.7957773050301143, -0.7207417661103944 ], "act_eef_pose_l": [ 500.81668750798235, 402.6078907697837, 114.63483144788762, 1.7045050971985047, -0.13607561362098608, 0.8266079024591826 ], "act_eef_pose_r": [ 398.70866440420355, -222.84194812687866, -25.375856653080064, 1.5935692147622875, -0.00822053686598957, 2.701405789304863 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 37, "colors": { "rgb_main": "colors/000037_rgb_main.jpg", "rgb_wrist_0": "colors/000037_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000037_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000037_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27719881550489794, -0.3826081100824585, -0.0985027619668455, -1.1742805931555995, 0.03662355004461472, -0.7293438624916324, 0.2610130287546888 ], "joint_pos_r": [ -0.705951086238183, -0.5033944656443585, 0.20073518860105155, -1.397531041622689, 0.09992171837798657, 0.8666764864906713, -0.5223790738103362 ], "eef_pose_l": [ 497.6152341887758, 400.6215893118712, 114.69008464921318, 1.7123103767143717, -0.13647624080295945, 0.8275680634400291 ], "eef_pose_r": [ 396.37037252188753, -255.31552606052952, 2.0907391316104906, 1.6176754781130227, -0.06602858456316124, 2.71891306962405 ], "joint_status_l": { "velocity": [ -0.4572745599367156, -1.0798603999702117, 0.2326235835107271, 1.9609906923214737, -0.22853402061662198, -1.089528843746912, 0.25343632380869785 ], "torque": [ -36.328125, 2.73193359375, -9.814453125, 0.927734375, -4.1363525390625, -1.9921875, 0.472412109375 ] }, "joint_status_r": { "velocity": [ -4.47843536640935, -6.7129156875851415, -1.5676438748275512, -0.34175209406228646, 7.912347365682915, -5.191319622505297, -19.95757094996975 ], "torque": [ 17.60009765625, 5.80078125, 8.734130859375, -7.2509765625, 4.94384765625, 1.2908935546875, -0.999755859375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.3, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.3, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -18.3, 0.5, 1.2, 0.1, 0.0 ], "actual_contact_FT": [ -0.6, -18.3, 0.5, 1.2, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27822412391276086, -0.39462335653555886, -0.09580538228000791, -1.1474870882390986, 0.01892820214221602, -0.7471060370272227, 0.27499040267813585 ], "act_joint_pos_r": [ -0.7654498224357451, -0.6025411504672217, 0.17959724529504395, -1.4017850291433944, 0.19991265633920774, 0.7810748456179571, -0.7347361627353552 ], "act_eef_pose_l": [ 500.7590875079824, 402.0918907697837, 114.35723144788773, 1.7032144713070334, -0.1343799841879162, 0.8272422404887486 ], "act_eef_pose_r": [ 399.1462644042035, -217.76194812687868, -27.724656653080046, 1.590051643686882, -0.013487392634701046, 2.6967471781890033 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 38, "colors": { "rgb_main": "colors/000038_rgb_main.jpg", "rgb_wrist_0": "colors/000038_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000038_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000038_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27700372542028595, -0.3857017290712588, -0.09778885720537453, -1.1668684170987023, 0.03308297455253983, -0.7344296621601851, 0.2640550799173648 ], "joint_pos_r": [ -0.7194737688813144, -0.5252600765209049, 0.19583222575868697, -1.3975150758011177, 0.12180098558356163, 0.8491129780382601, -0.573231191825559 ], "eef_pose_l": [ 498.4461991279604, 401.11863966595007, 114.673563540514, 1.7103813545781155, -0.13635385473924885, 0.8272981948581 ], "eef_pose_r": [ 397.347485245941, -247.31717480731794, -4.563313930609013, 1.609914501360847, -0.049844585898725424, 2.7152044588228414 ], "joint_status_l": { "velocity": [ -0.04340335091490566, -0.9669829336345082, 0.22389609253714582, 2.3451352293051286, -1.1521848280716396, -1.620655329764631, 0.9873755586935484 ], "torque": [ -35.77880859375, 2.30712890625, -9.716796875, 1.385498046875, -4.9365234375, -2.0196533203125, 0.560302734375 ] }, "joint_status_r": { "velocity": [ -4.361898692226696, -7.133102326854601, -1.5900119209848462, 0.05774173455463938, 6.956426059363752, -5.760082800318145, -15.930672172701499 ], "torque": [ 17.1826171875, 4.7607421875, 9.09423828125, -5.133056640625, 5.0225830078125, 1.73583984375, -0.83770751953125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.2, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.2, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -18.5, -0.3, 1.2, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -18.5, -0.3, 1.2, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -156, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27939500641891346, -0.39365778383031913, -0.09605985072937892, -1.150615055659681, 0.015749974796337145, -0.742322098046433, 0.27858676887811257 ], "act_joint_pos_r": [ -0.7687363634402327, -0.6070774640990351, 0.17925626501761033, -1.4057470139383799, 0.2076755203081464, 0.7745685020692398, -0.743814878626313 ], "act_eef_pose_l": [ 500.8174875079824, 402.1246907697837, 114.33243144788759, 1.702099014933883, -0.13544823569598957, 0.8301093735666368 ], "act_eef_pose_r": [ 398.9350644042035, -215.27954812687867, -28.471856653080067, 1.587110378688861, -0.014923096267987847, 2.694993176229739 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 39, "colors": { "rgb_main": "colors/000039_rgb_main.jpg", "rgb_wrist_0": "colors/000039_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000039_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000039_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27714911627456956, -0.3866669429989369, -0.09757379120802509, -1.164755807581934, 0.031440138297420574, -0.735712865856331, 0.26539863227040295 ], "joint_pos_r": [ -0.7313679737724155, -0.5451329432618321, 0.19166410873108408, -1.3986863231201025, 0.14199224197377652, 0.8316348154662621, -0.6150616257836503 ], "eef_pose_l": [ 498.7122165249294, 401.2434325938314, 114.64197386959178, 1.709568245223122, -0.13621154704321883, 0.8273929263298538 ], "eef_pose_r": [ 398.13541831573053, -239.77922181992628, -10.399214007766375, 1.6034717785209007, -0.039723161039642414, 2.7107997085577464 ], "joint_status_l": { "velocity": [ 0.24254898198927677, -0.7549885425923719, 0.1635007494970031, 1.527156166540422, -1.6944876818742738, -0.7137760248321356, 1.424276746835318 ], "torque": [ -32.2412109375, 2.138671875, -9.722900390625, 1.4404296875, -4.852294921875, -2.0013427734375, 0.615234375 ] }, "joint_status_r": { "velocity": [ -4.035667058485792, -6.6898109449904375, -1.3400075996437, -0.7625321186903733, 7.0935848460103035, -6.162980079497338, -13.90494120268837 ], "torque": [ 16.76513671875, 5.6982421875, 9.442138671875, -8.77685546875, 4.7113037109375, 1.717529296875, -0.9100341796875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.7, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.7, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -18.2, -1.6, 1.2, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -18.2, -1.6, 1.2, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 311, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -66, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27885047045606964, -0.400673726490419, -0.09494838951458959, -1.147672307810075, 0.009581455084403695, -0.7371796147483255, 0.28539669330684136 ], "act_joint_pos_r": [ -0.7755979511888715, -0.6159286959754302, 0.17828042754185963, -1.4185694491959686, 0.22859158084140452, 0.7616170150192683, -0.7616908564393595 ], "act_eef_pose_l": [ 503.1598875079824, 400.4646907697837, 114.39243144788776, 1.6985315531003262, -0.13736395426459524, 0.8319710159107274 ], "act_eef_pose_r": [ 397.73426440420354, -209.26594812687867, -28.71105665308005, 1.5765296176492731, -0.02332195460300137, 2.6928880803761275 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 40, "colors": { "rgb_main": "colors/000040_rgb_main.jpg", "rgb_wrist_0": "colors/000040_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000040_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000040_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2776556012432175, -0.3886259615051413, -0.0971674553135337, -1.1612870931466888, 0.027463878355873474, -0.7370479249238661, 0.26881217068689367 ], "joint_pos_r": [ -0.7319230885077771, -0.5460531412312205, 0.19147978778654676, -1.3987912110628238, 0.142967979916845, 0.8307870842222602, -0.6169742805304572 ], "eef_pose_l": [ 499.31288724057555, 401.37723346108623, 114.57003562378029, 1.707654998079259, -0.13610087275262564, 0.8280987684677527 ], "eef_pose_r": [ 398.16507874387446, -239.41878174023364, -10.661715468330897, 1.603162962053452, -0.039320873986303635, 2.710578764836532 ], "joint_status_l": { "velocity": [ 0.12904206909558624, -1.3011202439194847, 0.23965203812692515, 1.4703534505979832, -1.9312447542993993, -0.014222081583525892, 1.7910756180026244 ], "torque": [ -19.10888671875, 2.23388671875, -9.429931640625, 1.15966796875, -4.9237060546875, -1.754150390625, 0.56671142578125 ] }, "joint_status_r": { "velocity": [ -3.9757164352165475, -6.590432495307219, -1.3201015247319425, -0.7512045549660229, 6.988208256075046, -6.071427805335539, -13.698380582212621 ], "torque": [ 17.0654296875, 4.41650390625, 9.149169921875, -9.063720703125, 4.427490234375, 1.7230224609375, -1.03363037109375 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.3, -7.9, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.5, -16.3, -7.9, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -18.2, -0.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -18.2, -0.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 291, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -66, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27834446647586747, -0.4119968032044897, -0.09272137200506826, -1.125751320730256, 0.009882201762656287, -0.7558786489079432, 0.28627546520043945 ], "act_joint_pos_r": [ -0.7837179775563793, -0.6357268781623509, 0.17531114228773784, -1.4373707104976123, 0.2588215765880655, 0.7460492106960228, -0.7810828310076233 ], "act_eef_pose_l": [ 505.1686875079823, 400.1918907697837, 112.89643144788766, 1.6989919490512826, -0.13598287553799515, 0.8237657812343536 ], "act_eef_pose_r": [ 395.36626440420355, -197.13074812687867, -28.253456653080093, 1.555625062893058, -0.044079513576779174, 2.6982535348070993 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 41, "colors": { "rgb_main": "colors/000041_rgb_main.jpg", "rgb_wrist_0": "colors/000041_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000041_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000041_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27788147582907635, -0.3909034358071886, -0.09674796959665388, -1.1587133938945922, 0.02408343729407678, -0.7370728191836239, 0.27194726040061323 ], "joint_pos_r": [ -0.7424958923841838, -0.5630420945053997, 0.18824655014010994, -1.403243399423345, 0.1634377935236326, 0.8141144365302299, -0.6521751882408656 ], "eef_pose_l": [ 500.0409214727106, 401.2047496279457, 114.5372518720383, 1.705925735422965, -0.13633482063345356, 0.8288150712406855 ], "eef_pose_r": [ 398.39387348683033, -232.19172258777337, -15.023892304527834, 1.5957409559162992, -0.03437301891885324, 2.706529720578042 ], "joint_status_l": { "velocity": [ 0.10464833327739065, -1.0551602734998333, 0.1943489168481083, 1.19240212910654, -1.566167886991987, -0.011533580822842282, 1.4524959147954597 ], "torque": [ -18.58154296875, 2.1240234375, -9.06982421875, 1.11083984375, -4.98779296875, -1.153564453125, 0.706787109375 ] }, "joint_status_r": { "velocity": [ -3.5749169143670656, -5.711584504582312, -1.0763094965593467, -1.655164558973965, 7.0364015027502, -5.669554308618707, -11.8273433365923 ], "torque": [ 17.71728515625, 4.9658203125, 9.063720703125, -8.441162109375, 4.478759765625, 1.9775390625, -0.81390380859375 ] }, "eef_FT_l": { "raw_value": [ -1.4, -16.2, -8.0, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -1.4, -16.2, -8.0, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.9, -1.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.9, -17.9, -1.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 204, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -101, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27827864942782937, -0.4135110094243681, -0.0924156231629081, -1.1219749089631055, 0.009108266764896768, -0.7591979279812054, 0.2870791556001392 ], "act_joint_pos_r": [ -0.7844317506109513, -0.6408923772419515, 0.17468747134600351, -1.4388463237874434, 0.2649123174814463, 0.7433378329901797, -0.7834903700150603 ], "act_eef_pose_l": [ 505.4494875079824, 400.3558907697837, 112.79723144788755, 1.6985151444577073, -0.13590811431439287, 0.8228362947498219 ], "act_eef_pose_r": [ 395.5150644042035, -194.7691481268787, -28.174256653079965, 1.5514276019998436, -0.049016895857414214, 2.6987049958284053 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 42, "colors": { "rgb_main": "colors/000042_rgb_main.jpg", "rgb_wrist_0": "colors/000042_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000042_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000042_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27803278514973173, -0.3966780327996412, -0.09564776585467279, -1.1498271504181836, 0.01993773708896635, -0.7419411250393781, 0.2760915468423324 ], "joint_pos_r": [ -0.753700264179048, -0.5825549247478801, 0.18474933791906767, -1.4119832412671032, 0.1888557609697492, 0.7957098444409555, -0.6874792831568004 ], "eef_pose_l": [ 501.4759063115983, 400.9281425680746, 114.09959820643053, 1.703920838272767, -0.1362327386269083, 0.8275931590771359 ], "eef_pose_r": [ 397.97395152641036, -222.87788013103693, -18.70024301478074, 1.584110361053787, -0.035275033742790875, 2.7042081387210932 ], "joint_status_l": { "velocity": [ 0.03366059045650793, -1.6543784104405823, 0.3160412146199221, 2.600112920065456, -1.0859657863926953, -1.505208184061857, 1.0998307449014977 ], "torque": [ -18.97705078125, 3.05419921875, -9.674072265625, 0.79345703125, -5.04638671875, -1.99951171875, 0.6097412109375 ] }, "joint_status_r": { "velocity": [ -3.241817432456884, -5.742401605679959, -1.0192950656826572, -2.7417658128339184, 7.556085231956722, -5.363190265611273, -10.108885022261482 ], "torque": [ 17.02880859375, 5.7861328125, 8.441162109375, -10.72998046875, 4.3505859375, 2.376708984375, -0.8038330078125 ] }, "eef_FT_l": { "raw_value": [ -1.1, -17.0, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.0, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.9, -1.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.9, -1.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2783879454751649, -0.4219351760107242, -0.09094799272969285, -1.107923993466841, 0.006166733731207174, -0.7675329569516823, 0.29112119152187277 ], "act_joint_pos_r": [ -0.7858019621752855, -0.6491080138234571, 0.17363136082041325, -1.4457578630269963, 0.271373651276384, 0.734235994352868, -0.7894640383550436 ], "act_eef_pose_l": [ 507.41588750798235, 400.1246907697837, 111.88043144788782, 1.697357472203492, -0.13623949376018796, 0.8203963572478049 ], "act_eef_pose_r": [ 394.93186440420357, -189.90754812687868, -28.243056653079975, 1.5473251470861433, -0.05342218199285147, 2.7013192054954844 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 43, "colors": { "rgb_main": "colors/000043_rgb_main.jpg", "rgb_wrist_0": "colors/000043_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000043_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000043_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27812456541431696, -0.4029819608945205, -0.09445035919353369, -1.1393996891355649, 0.016092936133108304, -0.7483601158872678, 0.28008313461632445 ], "joint_pos_r": [ -0.7676617068524362, -0.6095201613359742, 0.18012760781841441, -1.4247340828992205, 0.22360482350334457, 0.7712816931885507, -0.7312614206016528 ], "eef_pose_l": [ 502.97118126459515, 400.7264986909647, 113.57946787042852, 1.7020612991817623, -0.1361082539311601, 0.825796390068657 ], "eef_pose_r": [ 397.08708789842905, -209.7751526230391, -22.94837636627534, 1.567985780698963, -0.04101566334842678, 2.7020691599758453 ], "joint_status_l": { "velocity": [ 0.028444207654354514, -2.046886862848929, 0.3782444223719983, 3.399274875969027, -1.0719982425072132, -2.070605765704059, 1.1920749874265724 ], "torque": [ -18.5888671875, 1.38427734375, -9.14306640625, 0.81787109375, -5.0152587890625, -2.0306396484375, 0.63079833984375 ] }, "joint_status_r": { "velocity": [ -1.9590897946022423, -4.275361973586023, -0.7015739839655311, -2.2705012889439047, 5.158881246419167, -4.000817476449647, -6.285697330632445 ], "torque": [ 18.017578125, 3.17138671875, 8.746337890625, -9.967041015625, 3.8873291015625, 2.1990966796875, -0.8111572265625 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.3, -7.9, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.8, -16.3, -7.9, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -18.1, -1.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -18.1, -1.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -36, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27629243955325833, -0.42750563202349334, -0.09007469785207774, -1.1006769957227118, 0.01254576864504466, -0.7721658006403315, 0.2849417132818535 ], "act_joint_pos_r": [ -0.7865882299814615, -0.6557296275629851, 0.17261085173452267, -1.4433919564032054, 0.27437462112796807, 0.7331250438823399, -0.7949890376382304 ], "act_eef_pose_l": [ 508.59108750798237, 399.2782907697837, 111.31403144788788, 1.7004360490226464, -0.13479006848752284, 0.8166248014209903 ], "act_eef_pose_r": [ 395.29106440420355, -187.65474812687867, -29.10145665308005, 1.5450484624865164, -0.053051912591348616, 2.7023612524846494 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 44, "colors": { "rgb_main": "colors/000044_rgb_main.jpg", "rgb_wrist_0": "colors/000044_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000044_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000044_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2781955989299359, -0.40809363676571664, -0.09350577211236877, -1.13091070438588, 0.013415842616292192, -0.7535310248043228, 0.28306009492638495 ], "joint_pos_r": [ -0.7724110522738173, -0.6202384669565885, 0.17837353056565108, -1.4300020823529915, 0.23617838898737326, 0.7616183389550574, -0.7467160622484322 ], "eef_pose_l": [ 504.2256423268555, 400.5667800845659, 113.09546381087631, 1.7007652558716868, -0.13610950490406834, 0.8242707291652525 ], "eef_pose_r": [ 396.65905443732674, -204.4695903969848, -24.382216036054018, 1.5621268908213688, -0.04395626475435783, 2.7019361066851855 ], "joint_status_l": { "velocity": [ 0.020772814223191105, -1.4948421504481502, 0.2762320263008933, 2.482491562082245, -0.7828806697580681, -1.5121640730191288, 0.8705727561415522 ], "torque": [ -18.42041015625, 1.73583984375, -9.38720703125, 1.23291015625, -5.068359375, -2.1661376953125, 0.49713134765625 ] }, "joint_status_r": { "velocity": [ -1.5310900353391332, -3.8329322991952353, -0.6223509585017162, -1.4460637480517846, 4.125071408706438, -3.0771851111301984, -5.213327583219574 ], "torque": [ 17.33642578125, 4.21142578125, 8.660888671875, -9.58251953125, 3.878173828125, 2.48291015625, -0.81207275390625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.3, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.3, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -18.0, -1.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -18.0, -1.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2692027100817352, -0.43938477387635744, -0.08782316991964725, -1.0701247673853211, 0.01653127845654452, -0.7990220218913302, 0.282139894958752 ], "act_joint_pos_r": [ -0.796112603862642, -0.675130940996526, 0.16979384454676363, -1.4545948020128412, 0.30845939373748665, 0.7032554595661693, -0.8268674240850391 ], "act_eef_pose_l": [ 511.12708750798237, 400.6942907697837, 112.56283144788773, 1.6988174313473217, -0.13664082699256566, 0.8083582239869822 ], "act_eef_pose_r": [ 395.8782644042035, -178.8051481268787, -32.56625665308002, 1.5404767771528185, -0.06574247074769725, 2.689779331824214 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 45, "colors": { "rgb_main": "colors/000045_rgb_main.jpg", "rgb_wrist_0": "colors/000045_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000045_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000045_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2777767321203234, -0.4130780642670475, -0.09261975949410746, -1.123083202235256, 0.012893771579592787, -0.7583480813353324, 0.2838459879692175 ], "joint_pos_r": [ -0.7766067542794155, -0.6304217145404015, 0.1767441049868488, -1.4341239404242405, 0.24808986899626437, 0.7524123449025921, -0.7609625418326814 ], "eef_pose_l": [ 505.32195235426076, 400.27171004606424, 112.64990332940855, 1.7005750327938973, -0.13580548207553858, 0.8224228057448425 ], "eef_pose_r": [ 396.4676513855054, -199.67395646970073, -25.788015847213984, 1.5571691087562411, -0.0468757832628654, 2.7010774928316392 ], "joint_status_l": { "velocity": [ -0.1602988694806573, -1.5581313630677052, 0.2748585508195456, 2.41979893520039, -0.03758320847371821, -1.492269672797697, 0.11833484366485791 ], "torque": [ -26.6162109375, 1.728515625, -9.539794921875, 1.287841796875, -4.471435546875, -2.003173828125, 0.53558349609375 ] }, "joint_status_r": { "velocity": [ -2.1065696250381905, -4.828454049620845, -0.7506059895889816, -2.2107878478667686, 6.519716383295737, -5.308787042029195, -7.117517363300685 ], "torque": [ 17.08740234375, 2.0361328125, 8.197021484375, -10.491943359375, 4.193115234375, 1.9464111328125, -1.19476318359375 ] }, "eef_FT_l": { "raw_value": [ -1.4, -16.6, -7.7, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.4, -16.6, -7.7, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.5, -2.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.5, -2.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -19, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26634155064899395, -0.44932769199490574, -0.08614745474600381, -1.0486824849752467, 0.0153888412124643, -0.8162312821532055, 0.28477241920850027 ], "act_joint_pos_r": [ -0.7972955581671597, -0.6897672170031176, 0.16753744291200373, -1.4509920691688518, 0.3243704190475687, 0.6898347531527041, -0.8431325817627531 ], "act_eef_pose_l": [ 513.2094875079823, 401.0822907697837, 112.78843144788772, 1.6965455564577065, -0.13829512220162254, 0.8029282013657023 ], "act_eef_pose_r": [ 398.3886644042035, -174.31954812687866, -34.88625665308018, 1.5396184263797092, -0.06835985664999698, 2.6818224445444963 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 46, "colors": { "rgb_main": "colors/000046_rgb_main.jpg", "rgb_wrist_0": "colors/000046_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000046_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000046_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27580010001207966, -0.4194788698660363, -0.09145559230266696, -1.110423629058932, 0.013699068073364313, -0.7679556363009024, 0.28350002684267156 ], "joint_pos_r": [ -0.7817379634182146, -0.643042725860505, 0.17478347019711993, -1.439159729526641, 0.2648539126537865, 0.7387284252940707, -0.7791840458847021 ], "eef_pose_l": [ 506.76063039129957, 400.34968103856926, 112.57385563571309, 1.7001442629845447, -0.135950628677401, 0.8190753880631072 ], "eef_pose_r": [ 396.6549543256947, -193.96845989572245, -27.660084934190593, 1.5520793991267172, -0.05155483618080407, 2.69740964052575 ], "joint_status_l": { "velocity": [ -0.7124970984986323, -2.1497742289127153, 0.3922900473896096, 4.3521487009856585, 0.30586970023886717, -3.355070691245743, -0.14688991117717265 ], "torque": [ -35.91796875, 1.7724609375, -9.814453125, 0.98876953125, -2.5469970703125, -2.1148681640625, -0.31494140625 ] }, "joint_status_r": { "velocity": [ -1.6801706789006943, -5.046096216749341, -0.7825478667768948, -1.2778549930398952, 6.427593118802699, -5.280360855349109, -6.906238186221714 ], "torque": [ 17.36572265625, 3.17138671875, 8.3984375, -9.234619140625, 4.10888671875, 2.3291015625, -0.82305908203125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.1, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.1, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.4, -3.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.4, -3.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2612678823564191, -0.46017264097777855, -0.08459092714290506, -1.0313615031226904, 0.0199153791922597, -0.82806958808661, 0.2811657268891906 ], "act_joint_pos_r": [ -0.8012917414824421, -0.7100192450393183, 0.16453980274421193, -1.4452906646239139, 0.36801013600052984, 0.6586065989781495, -0.8904576635214483 ], "act_eef_pose_l": [ 515.7390875079824, 400.1870907697837, 113.34683144788761, 1.696662595722018, -0.13909019324668492, 0.7972414365427496 ], "act_eef_pose_r": [ 404.5590644042035, -169.92434812687867, -39.744656653080256, 1.5431375628369746, -0.0668792606519928, 2.6518182055548163 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 47, "colors": { "rgb_main": "colors/000047_rgb_main.jpg", "rgb_wrist_0": "colors/000047_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000047_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000047_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27345069685878315, -0.4268618907813864, -0.09013949148917429, -1.0951819464926869, 0.014175083452558426, -0.7798580717419108, 0.2837395584605717 ], "joint_pos_r": [ -0.7842955594392289, -0.6507240142960714, 0.1735922571046309, -1.4411049109815222, 0.274638148738724, 0.7306905336186841, -0.7896968869472668 ], "eef_pose_l": [ 508.39084616438583, 400.54807981518445, 112.60425734691533, 1.6992628145287614, -0.1364783379442779, 0.8150928120583615 ], "eef_pose_r": [ 397.034563824752, -190.75687016582776, -28.813518781304168, 1.549599724640891, -0.05410158236268047, 2.694724172556628 ], "joint_status_l": { "velocity": [ -0.7677651466346802, -2.4262349730843624, 0.43112725284377706, 5.021793733995139, 0.13108197201372462, -3.9281908686223943, 0.1115456709124274 ], "torque": [ -36.05712890625, 3.45703125, -10.186767578125, 1.13525390625, -2.3895263671875, -1.9427490234375, 0.46234130859375 ] }, "joint_status_r": { "velocity": [ -1.4039584550751272, -4.216541532115592, -0.6539006470349662, -1.0677815916952937, 5.370926786337105, -4.412294156665553, -5.770884836922008 ], "torque": [ 18.09814453125, 4.37255859375, 8.67919921875, -10.101318359375, 3.914794921875, 2.662353515625, -0.6390380859375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -15.9, -7.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -15.9, -7.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -18.2, -1.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -18.2, -1.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 286, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2609688231294144, -0.4713404734965098, -0.08300674734177893, -1.0110794651440747, 0.014465413287750552, -0.8441755719449614, 0.28639756100476815 ], "act_joint_pos_r": [ -0.8057561852444467, -0.7305163956141507, 0.16170138565225828, -1.4438977132270006, 0.4274106035595397, 0.6346159758602564, -0.9484110713319851 ], "act_eef_pose_l": [ 517.8206875079824, 399.6102907697837, 112.92763144788779, 1.6927429416699398, -0.13868016809578182, 0.7912901790359379 ], "act_eef_pose_r": [ 409.8990644042035, -164.6731481268787, -42.01265665308006, 1.5356831055741975, -0.06967486089292213, 2.6234430448452466 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 48, "colors": { "rgb_main": "colors/000048_rgb_main.jpg", "rgb_wrist_0": "colors/000048_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000048_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000048_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27046306306596, -0.43543909657358393, -0.088710420748844, -1.0786639608348927, 0.01534520838100691, -0.7924017242724931, 0.28335081033248855 ], "joint_pos_r": [ -0.7862770572300867, -0.657383668538889, 0.17257176412680922, -1.441861237605022, 0.2846535293710875, 0.7228597611986981, -0.8004955002136636 ], "eef_pose_l": [ 510.3056070266754, 400.4979933122735, 112.74416408933959, 1.6984164548546479, -0.13709772200370657, 0.810507787871693 ], "eef_pose_r": [ 397.847311636182, -188.33446282232558, -29.915603661897507, 1.5480094956957637, -0.05550305180128092, 2.6903226989615474 ], "joint_status_l": { "velocity": [ -1.025347672134025, -3.877234354761061, 0.6159785606465462, 7.2989102647573745, -0.09501506775205781, -5.591410638785099, 0.3290393681085746 ], "torque": [ -35.42724609375, 3.4423828125, -10.595703125, 1.5380859375, -2.08740234375, -2.032470703125, -0.38818359375 ] }, "joint_status_r": { "velocity": [ -1.6215380745450148, -5.6844746074293795, -0.8674262459509308, -0.37036719464289547, 9.002248008866953, -6.9391368609181825, -9.71562709013618 ], "torque": [ 17.578125, 1.10595703125, 8.026123046875, -9.429931640625, 4.017333984375, 2.0233154296875, -1.21673583984375 ] }, "eef_FT_l": { "raw_value": [ -1.4, -15.8, -7.7, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.4, -15.8, -7.7, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.4, -3.4, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ 0.5, -17.4, -3.4, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2614615352248275, -0.47459155880994686, -0.08260714338325648, -1.0050070640019346, 0.011967832237797136, -0.8489660442315937, 0.2885725540219808 ], "act_joint_pos_r": [ -0.8080112672567945, -0.735379233240588, 0.16110181375399896, -1.4445308736894729, 0.4443280845005426, 0.6297953904313115, -0.9695928832003285 ], "act_eef_pose_l": [ 518.3934875079824, 399.4902907697837, 112.66923144788763, 1.6912678153595406, -0.13828022621523536, 0.7897749221952223 ], "act_eef_pose_r": [ 410.7638644042035, -163.28674812687868, -42.569456653080124, 1.5328073855305888, -0.06663639483084315, 2.616463991291036 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 49, "colors": { "rgb_main": "colors/000049_rgb_main.jpg", "rgb_wrist_0": "colors/000049_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000049_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000049_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2701830806433379, -0.43649781791974024, -0.08854222104997095, -1.076670913370148, 0.015319263475120049, -0.7939285202452818, 0.28344065813916414 ], "joint_pos_r": [ -0.7902728888046522, -0.6717180085288003, 0.170413459289563, -1.4425701747067785, 0.30993974082079234, 0.7054829955087463, -0.8273431648085598 ], "eef_pose_l": [ 510.5334211415864, 400.47679625888856, 112.74561737009394, 1.6982467928945517, -0.1371365995627792, 0.8099425194648722 ], "eef_pose_r": [ 400.17477019704353, -183.55026073182916, -32.20366642753734, 1.5444375404126662, -0.05765312551247863, 2.6780928855109334 ], "joint_status_l": { "velocity": [ -0.9951104622896167, -3.7628958216111563, 0.5978135289171904, 7.083667486811329, -0.09221310055587684, -5.426521536867845, 0.31933609117063 ], "torque": [ -36.74560546875, -1.17919921875, -10.55908203125, 4.150390625, -3.427734375, -2.74658203125, -0.37261962890625 ] }, "joint_status_r": { "velocity": [ -1.9156883726223484, -6.875209495407653, -1.005628058426744, -0.21174924491873526, 14.513513064226213, -8.174020268521431, -15.362516493105716 ], "torque": [ 17.6220703125, 1.95556640625, 8.013916015625, -8.67919921875, 3.8726806640625, 1.95556640625, -1.1041259765625 ] }, "eef_FT_l": { "raw_value": [ -1.5, -17.0, -7.7, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.5, -17.0, -7.7, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.6, -16.8, -0.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.6, -16.8, -0.3, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26379112445191627, -0.4782853896853793, -0.0821904161163175, -1.0016953203803496, 0.0049332870982321374, -0.8512495271242101, 0.2934295854148368 ], "act_joint_pos_r": [ -0.8112063964571239, -0.7515779463672699, 0.15893670594368645, -1.4359233675620453, 0.4878817611194437, 0.6212566907644804, -1.0208645069079727 ], "act_eef_pose_l": [ 518.9982875079824, 398.48069076978373, 112.13963144788778, 1.6875641433260065, -0.13631937740121003, 0.7884463017891824 ], "act_eef_pose_r": [ 415.2278644042035, -160.46194812687867, -44.744656653080256, 1.5261545253193813, -0.05936254720483182, 2.595481417292259 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 50, "colors": { "rgb_main": "colors/000050_rgb_main.jpg", "rgb_wrist_0": "colors/000050_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000050_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000050_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26775459235724386, -0.4471324152595545, -0.08688415651066062, -1.0567171658290004, 0.014357044009164968, -0.8092448576680785, 0.2848806949117269 ], "joint_pos_r": [ -0.795287298030032, -0.690055375395861, 0.1677460034981804, -1.4424783583339371, 0.34932452906589817, 0.6844544181844183, -0.8694046407031846 ], "eef_pose_l": [ 512.776821190344, 400.22771498074906, 112.69216675592078, 1.6962866094929332, -0.13736364110957366, 0.804320758762357 ], "eef_pose_r": [ 403.7037712923622, -177.94475141376677, -34.740255524378824, 1.5381421008053846, -0.05851490011883931, 2.6593025259849083 ], "joint_status_l": { "velocity": [ -0.4280419093543042, -3.3644220096658017, 0.5069090121069264, 5.942184053104427, -1.0177357298698926, -4.536370508165355, 0.9232529444460624 ], "torque": [ -35.55908203125, 2.26318359375, -10.040283203125, 0.811767578125, -4.610595703125, -2.413330078125, 0.51910400390625 ] }, "joint_status_r": { "velocity": [ -1.719211924680053, -6.644241703477327, -0.9513760765478274, 0.7079181244371568, 14.963739729870529, -6.825153264218287, -16.357183120788044 ], "torque": [ 17.45361328125, 2.65869140625, 8.856201171875, -6.5673828125, 3.83056640625, 2.2393798828125, -1.65618896484375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.5, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.8, -2.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.0, -17.8, -2.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 17, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2659348602101344, -0.47641287121555115, -0.08261204839320506, -1.0076412706629163, -0.0002328488337863869, -0.8442795402723543, 0.2978103605731539 ], "act_joint_pos_r": [ -0.8145778674074636, -0.7644316301389968, 0.15734085495578445, -1.4296677374617206, 0.523894920609234, 0.6131678188359043, -1.0588640616692906 ], "act_eef_pose_l": [ 518.9070875079824, 398.2814907697837, 112.04363144788755, 1.6853619434709637, -0.13650160685178875, 0.7921044568309904 ], "act_eef_pose_r": [ 418.59346440420353, -158.22354812687865, -46.99905665308029, 1.5227382942564798, -0.058605155110603616, 2.5779348470824828 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 51, "colors": { "rgb_main": "colors/000051_rgb_main.jpg", "rgb_wrist_0": "colors/000051_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000051_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000051_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2669105633696942, -0.4537665079510663, -0.0858846144309754, -1.0450001458817217, 0.012350234771791486, -0.8181898420807796, 0.28670119947196593 ], "joint_pos_r": [ -0.7982965978979959, -0.7016854225087062, 0.16608071961988685, -1.441239222025135, 0.37551698349627605, 0.6725077043895684, -0.8980361714057237 ], "eef_pose_l": [ 514.1248726543269, 399.87562739753525, 112.5541633354997, 1.6944659483100872, -0.1370705152008347, 0.8009330873443475 ], "eef_pose_r": [ 406.0905393767902, -174.6801211526778, -36.364645865825935, 1.5342002799931571, -0.058074802388277225, 2.6468664387445116 ], "joint_status_l": { "velocity": [ -0.336889467096535, -2.6479611298668715, 0.3989616512382055, 4.676783219800917, -0.8010067243138935, -3.5703406831206763, 0.7266442506037585 ], "torque": [ -37.001953125, 0.49072265625, -10.2783203125, 0.970458984375, -5.3265380859375, -2.076416015625, 0.5694580078125 ] }, "joint_status_r": { "velocity": [ -1.3942171241492218, -5.388233659266994, -0.7715307219473555, 0.5740953499770995, 12.135038079485572, -5.534946226997128, -13.265069001945129 ], "torque": [ 18.7353515625, 4.74609375, 8.648681640625, -6.475830078125, 3.4661865234375, 2.9718017578125, -0.8953857421875 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.2, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.2, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.8, -1.9, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -2.4, -17.8, -1.9, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26507009373779866, -0.47602065853948095, -0.08280142728037691, -1.0121962014560815, 0.0026460221879375427, -0.8392889250622102, 0.29329236537079445 ], "act_joint_pos_r": [ -0.8173964225206922, -0.7735900145430811, 0.15622179128117564, -1.4259678304349168, 0.5427036501571201, 0.6052412702068933, -1.079053442948987 ], "act_eef_pose_l": [ 519.0206875079823, 397.4870907697837, 112.16363144788767, 1.6867970119079505, -0.13463665305410139, 0.7926980620777277 ], "act_eef_pose_r": [ 420.2246644042035, -156.10514812687867, -49.4454566530801, 1.5242989407489846, -0.05988631462964594, 2.5685493194305122 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 52, "colors": { "rgb_main": "colors/000052_rgb_main.jpg", "rgb_wrist_0": "colors/000052_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000052_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000052_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26673677233091303, -0.45579011680017717, -0.08558584757575692, -1.0415419416200202, 0.011486395179031812, -0.8207231714547979, 0.2874714186439957 ], "joint_pos_r": [ -0.7999939891393175, -0.7081540578455026, 0.16518394327518435, -1.4400107581164185, 0.3906122217839044, 0.6663672625576363, -0.9144033929100189 ], "eef_pose_l": [ 514.5450328029349, 399.75214606692253, 112.50876036721985, 1.693789556063217, -0.1369921673346588, 0.8000169596787237 ], "eef_pose_r": [ 407.49441452256383, -173.00689503301822, -37.31728764863533, 1.5320593589013698, -0.05783075114086948, 2.639604317605248 ], "joint_status_l": { "velocity": [ -0.08660395479709315, -2.227191789349714, 0.32116083958300123, 3.6611644830939483, -1.2656410252976646, -2.544012800648865, 1.1165727967945571 ], "torque": [ -35.88134765625, 0.8056640625, -10.418701171875, 1.483154296875, -5.5389404296875, -2.2686767578125, 0.46417236328125 ] }, "joint_status_r": { "velocity": [ -1.8794073750303397, -7.06687489700375, -0.9678838691442593, 1.5165914601293906, 16.425389823329528, -6.601412475626844, -17.781680961562074 ], "torque": [ 17.9443359375, 1.94091796875, 8.935546875, -5.2001953125, 3.673095703125, 2.5506591796875, -1.0821533203125 ] }, "eef_FT_l": { "raw_value": [ -1.4, -16.3, -8.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.4, -16.3, -8.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.5, -2.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.5, -2.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 0, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26337377479348184, -0.47512541802777136, -0.08293172281580892, -1.0136973034100265, 0.004445187265580551, -0.8376876162115928, 0.29144994187952034 ], "act_joint_pos_r": [ -0.8184123135763364, -0.7811183036021135, 0.15529043610553955, -1.4207080407992283, 0.548784018255914, 0.6000397845461516, -1.0894126791352594 ], "act_eef_pose_l": [ 519.0566875079824, 397.62069076978366, 112.87163144788775, 1.6869525305850932, -0.13536709628584723, 0.7935222912475115 ], "act_eef_pose_r": [ 421.44626440420353, -154.32834812687867, -51.651056653080104, 1.5274564813327216, -0.05757585494589816, 2.564483613555921 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 53, "colors": { "rgb_main": "colors/000053_rgb_main.jpg", "rgb_wrist_0": "colors/000053_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000053_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000053_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2661886969340384, -0.46119426500684435, -0.08484246178522148, -1.0337146338802405, 0.00920669859274788, -0.8256372973713607, 0.28893426322466387 ], "joint_pos_r": [ -0.8037298329731404, -0.7223107922026476, 0.16324796839650252, -1.4368651768673057, 0.4231797258359907, 0.6531969611153975, -0.949771464966876 ], "eef_pose_l": [ 515.761476078425, 399.1585617755627, 112.448622879938, 1.6919282855072753, -0.13636814517907042, 0.79808757206949 ], "eef_pose_r": [ 410.50509945197444, -169.4172991598522, -39.627444759675654, 1.5284214296905316, -0.05757606307681713, 2.6238514422309875 ], "joint_status_l": { "velocity": [ -0.3040026251019956, -1.504520152809885, 0.2063537226189016, 2.1618079316665373, -0.514228056988239, -1.3013960521197632, 0.2716852817954418 ], "torque": [ -35.83740234375, 1.35498046875, -10.3759765625, 0.96435546875, -5.3448486328125, -2.0562744140625, 0.5126953125 ] }, "joint_status_r": { "velocity": [ -1.5856611385691721, -6.351023917704701, -0.8593881411256277, 1.7449192317116058, 13.564863507088187, -5.740805753463363, -15.08080634557718 ], "torque": [ 17.4462890625, 3.96240234375, 8.551025390625, -4.62646484375, 3.1439208984375, 2.7850341796875, -0.8880615234375 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.6, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.6, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.3, -2.0, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.3, -2.0, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2620280965887638, -0.474775658645509, -0.08293608336994908, -1.0117775286499329, 0.0036292754657327587, -0.8404206351873139, 0.29281714216247506 ], "act_joint_pos_r": [ -0.8203037161500131, -0.7844789556134792, 0.15499568600358501, -1.420978895991743, 0.559984618324354, 0.593576523421887, -1.1071217082680342 ], "act_eef_pose_l": [ 519.0150875079823, 398.1334907697837, 113.72203144788779, 1.6853280052260964, -0.1371168885575164, 0.793282688394271 ], "act_eef_pose_r": [ 422.07666440420354, -153.50514812687868, -52.990256653079996, 1.529886253912203, -0.05259360001319715, 2.5582791550368023 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 54, "colors": { "rgb_main": "colors/000054_rgb_main.jpg", "rgb_wrist_0": "colors/000054_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000054_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000054_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2661468807152233, -0.46140121500900494, -0.08481407738421358, -1.0334172725220072, 0.009135965410938399, -0.8258163072139971, 0.2889716341229862 ], "joint_pos_r": [ -0.8043744942161092, -0.724892843861305, 0.16289857834476007, -1.4361557681711892, 0.42869461269073855, 0.6508629977718745, -0.9559026686189264 ], "eef_pose_l": [ 515.8106872699855, 399.13607879872814, 112.45458080489635, 1.6918546878805583, -0.13635226966200809, 0.7980197634195221 ], "eef_pose_r": [ 411.0359448359607, -168.7699759789019, -40.09812656407831, 1.5280196682927418, -0.057478500836288776, 2.6211394290662136 ], "joint_status_l": { "velocity": [ -0.29948660666279103, -1.4821702117528979, 0.20328829771987245, 2.1296938521313535, -0.5065890986518523, -1.282063559296276, 0.2676493438102945 ], "torque": [ -35.6103515625, 0.7470703125, -10.5712890625, 1.11083984375, -5.4180908203125, -2.1771240234375, 0.439453125 ] }, "joint_status_r": { "velocity": [ -1.5160397777007617, -6.072170562910095, -0.8216551284132567, 1.6683053521369118, 12.969273292769756, -5.488745146492668, -14.418655880239939 ], "torque": [ 17.49755859375, 3.15673828125, 8.587646484375, -5.029296875, 3.2574462890625, 2.74658203125, -0.89447021484375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.5, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.5, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.0, -2.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.0, -2.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 290, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2624657127232696, -0.4749289512948698, -0.08284016813966251, -1.0086669916762852, 0.001944265677295615, -0.8441046449727575, 0.2948247323384115 ], "act_joint_pos_r": [ -0.822971562177369, -0.7935057187193615, 0.15387155604445177, -1.415477544845374, 0.5786859835780636, 0.5825077478992036, -1.1285789784026101 ], "act_eef_pose_l": [ 518.8910875079823, 398.69429076978366, 113.70363144788763, 1.6843819277733219, -0.13760473894685504, 0.7927832184118042 ], "act_eef_pose_r": [ 424.19986440420354, -151.98434812687867, -56.505456653080046, 1.536232360217927, -0.05199569008908281, 2.5464605357866463 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 55, "colors": { "rgb_main": "colors/000055_rgb_main.jpg", "rgb_wrist_0": "colors/000055_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000055_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000055_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26515876785730147, -0.4648839737444454, -0.08432120003086094, -1.0276604256169732, 0.007617738801216915, -0.8297668439629479, 0.29006462488589707 ], "joint_pos_r": [ -0.8087995231744703, -0.7415013353956897, 0.16069600439245457, -1.431656829845662, 0.46507624260142005, 0.6348315394266987, -0.997639580188993 ], "eef_pose_l": [ 516.6364524665772, 398.90385471809543, 112.74631139662071, 1.690161517019939, -0.1365068660704747, 0.7967641615154063 ], "eef_pose_r": [ 414.43927473937987, -164.66141350046843, -43.46625044897553, 1.5269290600488559, -0.0558021339443283, 2.6028383843796665 ], "joint_status_l": { "velocity": [ -0.2908413765676521, -1.0848255802256013, 0.1599467268729171, 2.051230367789536, -0.6127170262607908, -1.5484368403555493, 0.5140764429971689 ], "torque": [ -37.17041015625, 0.556640625, -10.3271484375, 1.434326171875, -5.4254150390625, -2.1405029296875, 0.52825927734375 ] }, "joint_status_r": { "velocity": [ -1.5305350715939525, -5.6163077548134765, -0.7370186843802529, 1.7473112458414874, 12.269490156208374, -5.650802823449652, -14.141037939450207 ], "torque": [ 19.3212890625, 1.92626953125, 8.612060546875, -5.023193359375, 3.2061767578125, 2.838134765625, -1.094970703125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.6, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.6, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.4, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.4, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2632577283617613, -0.47547974781128505, -0.0827771544498587, -1.0078515487156612, 0.00033796212826264294, -0.8447458298699697, 0.29690467895633904 ], "act_joint_pos_r": [ -0.8253437738013618, -0.802682833392596, 0.15285939121301975, -1.4113642076326076, 0.5960310741985523, 0.5720573809868547, -1.1459338181538046 ], "act_eef_pose_l": [ 518.9462875079823, 398.6254907697837, 113.47403144788774, 1.6837582322449003, -0.1379925419148711, 0.7925735851278113 ], "act_eef_pose_r": [ 425.8750644042035, -149.89474812687868, -59.539056653080024, 1.5414849142057627, -0.05451066482624851, 2.53711237884775 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 56, "colors": { "rgb_main": "colors/000056_rgb_main.jpg", "rgb_wrist_0": "colors/000056_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000056_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000056_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2646172373114399, -0.46690385893257474, -0.08402338807805546, -1.0238411482023708, 0.006476893610599735, -0.8326499476577724, 0.2910218067699749 ], "joint_pos_r": [ -0.8116492947666761, -0.7519585895872479, 0.15932371639418974, -1.4284034330149988, 0.4879213541881799, 0.6243100573265516, -1.0239694101628882 ], "eef_pose_l": [ 517.0924339435859, 398.8634688701278, 112.9353417088534, 1.6890063615390045, -0.13671513547895844, 0.7959608938167478 ], "eef_pose_r": [ 416.5866233926089, -162.17310151614987, -45.904095603331484, 1.5276646556856721, -0.054803618196448405, 2.59100694832546 ], "joint_status_l": { "velocity": [ -0.23235780249541982, -0.8666844136375751, 0.12778398455925988, 1.6387605721588372, -0.489509379489432, -1.23707082456459, 0.4107038483285308 ], "torque": [ -36.416015625, 0.98876953125, -10.284423828125, 1.28173828125, -5.3192138671875, -2.1002197265625, 0.531005859375 ] }, "joint_status_r": { "velocity": [ -1.2227688167163464, -4.486957610526865, -0.5888159515736735, 1.3959547508370918, 9.802290870991825, -4.514516269614077, -11.297500167933627 ], "torque": [ 18.62548828125, 2.138671875, 8.233642578125, -5.31005859375, 2.816162109375, 3.043212890625, -0.8404541015625 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.7, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.7, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.6, -2.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.6, -2.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 200, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26420693761560804, -0.4766799942290534, -0.08271157874473281, -1.009475227673181, -0.0023975873557163475, -0.8406975746874595, 0.299884354992557 ], "act_joint_pos_r": [ -0.8248225391339523, -0.8117060646615927, 0.15178449875678887, -1.4037332595314351, 0.6063790495311365, 0.5643479810741729, -1.1571815343028293 ], "act_eef_pose_l": [ 519.4822875079824, 397.9886907697837, 113.23963144788769, 1.682659875134449, -0.13856259697602036, 0.7941300484371049 ], "act_eef_pose_r": [ 428.2870644042035, -148.27394812687868, -61.964656653080056, 1.5464056852878572, -0.05370575459272656, 2.529814624415185 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 57, "colors": { "rgb_main": "colors/000057_rgb_main.jpg", "rgb_wrist_0": "colors/000057_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000057_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000057_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26446336002963117, -0.46775191293451446, -0.08390106301500325, -1.0223085824990208, 0.005892075777194223, -0.833766412943768, 0.2915651944543395 ], "joint_pos_r": [ -0.8127518230885264, -0.7561942224686355, 0.158780668503269, -1.4269408976444673, 0.496878392992726, 0.6199980368739776, -1.0341294657721283 ], "eef_pose_l": [ 517.2834098173723, 398.8337994780317, 112.99362906344618, 1.6884971199616292, -0.13682938816155718, 0.79565386210718 ], "eef_pose_r": [ 417.45782788101593, -161.1823351951371, -46.950254656311984, 1.5283022728912872, -0.05461112970675572, 2.5862922443100365 ], "joint_status_l": { "velocity": [ -0.027692803959089574, -0.9642043421229651, 0.12846051244885803, 1.3859614444440282, -0.8952572141542187, -0.7485433912108874, 0.8984428399720912 ], "torque": [ -35.58837890625, 0.59326171875, -9.97314453125, 0.994873046875, -5.185546875, -2.1240234375, 0.53375244140625 ] }, "joint_status_r": { "velocity": [ -1.3035988853111746, -5.995102140753161, -0.755564048449564, 2.5063509953380247, 11.825722125117455, -6.01002877005552, -13.289231456384165 ], "torque": [ 18.88916015625, 0.95947265625, 8.67919921875, -4.766845703125, 3.643798828125, 2.8216552734375, -0.71502685546875 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -18.0, -2.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -18.0, -2.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 282, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2650808175413867, -0.4778966331748625, -0.08250249550302716, -1.0057389161331334, -0.005003485605855374, -0.8435970510697977, 0.30233497211823723 ], "act_joint_pos_r": [ -0.8255072321424208, -0.812009238364734, 0.15180145153211422, -1.4063040659725108, 0.615946166364323, 0.5597082571996843, -1.1669886423626175 ], "act_eef_pose_l": [ 519.6854875079823, 398.3454907697837, 112.99483144788775, 1.6814671760780273, -0.1385345643671227, 0.7941486307854445 ], "act_eef_pose_r": [ 428.5966644042035, -148.17074812687866, -62.171056653080086, 1.5476445635599565, -0.05357174163939776, 2.5254334922491726 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 58, "colors": { "rgb_main": "colors/000058_rgb_main.jpg", "rgb_wrist_0": "colors/000058_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000058_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000058_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26444780777588844, -0.47013219303644016, -0.08358120872784534, -1.018771639997697, 0.003596216802404136, -0.8357279045893736, 0.29385966068123215 ], "joint_pos_r": [ -0.8159141517057695, -0.7705720498312881, 0.1569718331832518, -1.4210867648143812, 0.5257607681040012, 0.6053324594039032, -1.0665313652503434 ], "eef_pose_l": [ 517.8652856856, 398.63699823012126, 113.04082304674807, 1.6869254297067304, -0.13726474710381137, 0.7952524960971366 ], "eef_pose_r": [ 420.53251958877553, -157.9346998498826, -50.63604401190952, 1.531734487425409, -0.05416842870080375, 2.5706677899561 ], "joint_status_l": { "velocity": [ 0.06836303841373237, -0.8385348036870077, 0.1164975923675371, 1.4074926655958109, -0.9287404683561117, -0.8498427551133503, 0.9153066396700993 ], "torque": [ -29.30419921875, 0.908203125, -9.77783203125, 1.666259765625, -5.386962890625, -2.2869873046875, 0.4815673828125 ] }, "joint_status_r": { "velocity": [ -1.0360221313181484, -4.47508437605304, -0.5583847496450911, 1.5964843891325131, 9.739735753963696, -4.927268516039085, -10.84906595202817 ], "torque": [ 18.544921875, 2.9443359375, 8.074951171875, -5.37109375, 3.193359375, 3.131103515625, -0.79925537109375 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.6, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.6, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 68, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2665294480983074, -0.4781847697473287, -0.08246674895011591, -1.0052154241252798, -0.008366243129276111, -0.8442963611159077, 0.30473567705279025 ], "act_joint_pos_r": [ -0.8272987120555748, -0.8137866837911764, 0.1517016837958521, -1.408085465059184, 0.6333547318049554, 0.5542307162209146, -1.1850075228208956 ], "act_eef_pose_l": [ 519.6382875079823, 398.3102907697837, 112.72043144788773, 1.679961514554935, -0.1376876279455953, 0.7942919527481517 ], "act_eef_pose_r": [ 429.33186440420354, -148.02834812687868, -62.88625665308018, 1.5487196866514787, -0.05333508123063164, 2.517388010895592 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 59, "colors": { "rgb_main": "colors/000059_rgb_main.jpg", "rgb_wrist_0": "colors/000059_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000059_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000059_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2645750959696999, -0.4716934984302035, -0.08336429665869315, -1.0161509665553843, 0.0018669534536741442, -0.8373102647628269, 0.29556391098447626 ], "joint_pos_r": [ -0.8176102889758525, -0.7778984931258247, 0.15605766624000939, -1.418473059381211, 0.5417063047037187, 0.5972657168922119, -1.084293056386617 ], "eef_pose_l": [ 518.2321609185019, 398.5788230850531, 113.03000353329658, 1.6858343428993594, -0.13751114565090217, 0.7950241813136019 ], "eef_pose_r": [ 422.0805540196373, -156.25348491248803, -52.57323748173917, 1.5339145436580677, -0.0539662335630602, 2.562284612717732 ], "joint_status_l": { "velocity": [ 0.05461631891989782, -0.669918794224067, 0.09307177980655279, 1.1244682811843987, -0.741985534735614, -0.6789528965072122, 0.7312530352909796 ], "torque": [ -30.1171875, 2.24853515625, -9.613037109375, 1.446533203125, -5.5810546875, -2.186279296875, 0.5255126953125 ] }, "joint_status_r": { "velocity": [ -0.852844708678191, -3.683851836400187, -0.45965763157562733, 1.314212527512737, 8.017668590849958, -4.056086018930927, -8.930859883775177 ], "torque": [ 19.48974609375, 2.21923828125, 8.203125, -5.04150390625, 2.677001953125, 3.3013916015625, -0.76080322265625 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.5, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.5, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.8, -2.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.8, -2.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 34, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.267059062598137, -0.47737961175605, -0.0825909219386108, -1.0070461435521785, -0.007712469423114279, -0.8429976647646892, 0.30315537014621685 ], "act_joint_pos_r": [ -0.8282682161297505, -0.8164094707590499, 0.15142132164976765, -1.407575349305637, 0.6439739863195957, 0.5538181414973479, -1.1966199627236724 ], "act_eef_pose_l": [ 519.4046875079823, 398.2318907697837, 112.45723144788764, 1.6807638850161517, -0.13628471370708944, 0.7944957876283744 ], "act_eef_pose_r": [ 429.85106440420356, -147.48274812687868, -63.07745665308016, 1.5468472299428488, -0.05271730860897132, 2.5135509612096305 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 60, "colors": { "rgb_main": "colors/000060_rgb_main.jpg", "rgb_wrist_0": "colors/000060_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000060_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000060_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26476620087617025, -0.47221565490154305, -0.08329266204602485, -1.0152921392001037, 0.0010167717137017094, -0.837853250000197, 0.296282249713753 ], "joint_pos_r": [ -0.8185284529406401, -0.7814719575294188, 0.15562025569955862, -1.4173511415342672, 0.5504153543808048, 0.5931995911060565, -1.093907910425574 ], "eef_pose_l": [ 518.3428575811033, 398.55211785330204, 112.99135800665884, 1.6853681093138104, -0.1374609861452621, 0.7949669004494647 ], "eef_pose_r": [ 422.84999551083695, -155.44665153766184, -53.51668839030327, 1.534936502724149, -0.05383778802552824, 2.5578362588903394 ], "joint_status_l": { "velocity": [ 0.24762176275872072, -0.5576908920730261, 0.07578569642108235, 0.8905412648658739, -0.9427302384339993, -0.5555804085961569, 0.7422751144718909 ], "torque": [ -24.54345703125, 1.318359375, -9.490966796875, 1.007080078125, -5.4620361328125, -2.1826171875, 0.6170654296875 ] }, "joint_status_r": { "velocity": [ -1.0518634013712003, -3.7731401459799585, -0.4534715029502756, 1.0557544228806393, 10.104034246828597, -4.253071120113638, -11.092574490197293 ], "torque": [ 18.544921875, 1.50146484375, 8.209228515625, -5.853271484375, 3.3837890625, 3.2061767578125, -0.63262939453125 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.5, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.5, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.5, -2.1, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.5, -2.1, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2674165644343254, -0.47453366333095265, -0.0829452833790097, -1.0104252902189612, -0.008441730477712562, -0.8393387479036087, 0.3047740128832968 ], "act_joint_pos_r": [ -0.8298501642334681, -0.8207255402499436, 0.1509575125526987, -1.4083496585205197, 0.6577758967949286, 0.5544919381438626, -1.2125595078637421 ], "act_eef_pose_l": [ 519.0486875079823, 399.0070907697837, 112.64923144788764, 1.6807560009304516, -0.13783198704961852, 0.7975244847669495 ], "act_eef_pose_r": [ 429.98946440420355, -145.89154812687866, -62.8974566530801, 1.5422283520297408, -0.052190293642797196, 2.51072693719074 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 61, "colors": { "rgb_main": "colors/000061_rgb_main.jpg", "rgb_wrist_0": "colors/000061_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000061_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000061_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2652969750348914, -0.4732507496900822, -0.0831505793050069, -1.0135880942634574, -0.0009762185482219911, -0.8388482599071333, 0.29789732372771804 ], "joint_pos_r": [ -0.8208752657050277, -0.7898501487950432, 0.1546149496057696, -1.415065305436273, 0.5729173586913195, 0.5839190608405012, -1.1186346426663154 ], "eef_pose_l": [ 518.5659894370601, 398.5136943218569, 112.87922148573908, 1.684337194880607, -0.1372594900063837, 0.7949886249752479 ], "eef_pose_r": [ 424.63594337518106, -153.56026481424237, -55.63969312900764, 1.536844090721942, -0.0534237832695963, 2.5468897821236407 ], "joint_status_l": { "velocity": [ 0.2289089038316483, -0.1385505868829462, 0.022171306099938448, 0.34157276265567305, -0.806251509267805, -0.05297114131863623, 0.7426605252009999 ], "torque": [ -23.10791015625, 1.5087890625, -10.53466796875, 1.409912109375, -5.4638671875, -2.021484375, 0.61798095703125 ] }, "joint_status_r": { "velocity": [ -0.9692604542621552, -3.3344439329621167, -0.39499155207867176, 0.7252684762519834, 9.16445182413117, -3.1780355200892174, -10.143586272235439 ], "torque": [ 18.7353515625, 2.60009765625, 8.270263671875, -5.963134765625, 2.603759765625, 3.3416748046875, -0.69854736328125 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.6, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.6, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.7, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.7, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 209, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 40, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2672723253287916, -0.4749902674487924, -0.08299849901396945, -1.0140253287708907, -0.009053656534323174, -0.8359086107805925, 0.3052788366826303 ], "act_joint_pos_r": [ -0.8292402621608365, -0.8235733757881154, 0.1506365604190864, -1.4053389283817677, 0.6562162212568077, 0.5565741500901272, -1.2126157516176697 ], "act_eef_pose_l": [ 519.2126875079823, 397.9134907697837, 112.83323144788761, 1.6800567142224858, -0.13793052467025294, 0.7970838531461294 ], "act_eef_pose_r": [ 430.3398644042035, -145.0875481268787, -62.913456653080175, 1.5404932942240728, -0.05068983525293424, 2.5120472671380267 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 62, "colors": { "rgb_main": "colors/000062_rgb_main.jpg", "rgb_wrist_0": "colors/000062_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000062_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000062_depth_main.npy" }, "states": { "joint_pos_l": [ 0.265390039495438, -0.4733070783667341, -0.08314156541080152, -1.01344922555035, -0.0013040055434806082, -0.8388697956823208, 0.29819925737901 ], "joint_pos_r": [ -0.8212693250875821, -0.791205789491625, 0.1544543631231149, -1.4147704426399201, 0.5766432284628409, 0.5826270090403113, -1.1227585861592617 ], "eef_pose_l": [ 518.5871826825393, 398.53518719431054, 112.86914645651886, 1.6841798437347149, -0.13728435595610383, 0.7950990766646034 ], "eef_pose_r": [ 424.8908487453616, -153.22985689252434, -55.93647190448911, 1.5369480705657295, -0.05334343946499043, 2.545245009191995 ], "joint_status_l": { "velocity": [ 0.2188582385209692, -0.13246726922222507, 0.02119783423681909, 0.3265753839638563, -0.770851557845632, -0.050645346194144736, 0.710052652579396 ], "torque": [ -23.28369140625, 1.47216796875, -13.7451171875, 1.06201171875, -5.423583984375, -1.2103271484375, 0.6243896484375 ] }, "joint_status_r": { "velocity": [ -0.926703296102005, -3.1880390557121885, -0.37764872345125156, 0.6934242334413199, 8.762069756431679, -3.0384980411071183, -9.698213510565878 ], "torque": [ 19.2333984375, 2.109375, 8.416748046875, -6.024169921875, 2.611083984375, 3.350830078125, -1.07208251953125 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.5, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.5, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.7, -2.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -17.7, -2.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 280, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 40, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26757261590135345, -0.47438071853985775, -0.08298120344753832, -1.011203856175905, -0.009374630612333162, -0.8385817349927029, 0.30615751869453034 ], "act_joint_pos_r": [ -0.8298198929428567, -0.8227207981457716, 0.15075355189945372, -1.4071172564063925, 0.6586181551386905, 0.5550605279586158, -1.213788750331621 ], "act_eef_pose_l": [ 519.0494875079823, 398.91189076978367, 112.73083144788785, 1.6801848750015251, -0.1385338889878168, 0.7977655582871815 ], "act_eef_pose_r": [ 430.1454644042035, -145.24114812687867, -62.98065665308013, 1.5412454082932414, -0.05220911912132096, 2.5110528871588653 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 63, "colors": { "rgb_main": "colors/000063_rgb_main.jpg", "rgb_wrist_0": "colors/000063_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000063_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000063_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2658993231988196, -0.4736915329216296, -0.08310173926269616, -1.0133117433173555, -0.0033065617053184768, -0.8383758829931088, 0.3000645289047048 ], "joint_pos_r": [ -0.8233662271383033, -0.7987193460434386, 0.15356643287822738, -1.4130007428846698, 0.5966957951160605, 0.5757757021299955, -1.1450414488376095 ], "eef_pose_l": [ 518.7340206393076, 398.4688129097459, 112.84820738580453, 1.683141795441169, -0.13748489887913318, 0.7956629888768374 ], "eef_pose_r": [ 426.25540000486785, -151.37843664738082, -57.576997839462365, 1.5376079620839092, -0.05289336472498845, 2.536539932151672 ], "joint_status_l": { "velocity": [ 0.18071028210875362, -0.07442985157712911, 0.013017484106869759, 0.22764509724382265, -0.6553321139700432, -0.022231360277125134, 0.6580234899353776 ], "torque": [ -22.00927734375, 1.46484375, -12.90283203125, -0.01220703125, -5.504150390625, -1.197509765625, 0.5419921875 ] }, "joint_status_r": { "velocity": [ -0.6969753507028997, -2.5920803777266244, -0.3037821861309187, 0.635397799598536, 6.687417647603944, -2.2371728286243453, -7.424489587736005 ], "torque": [ 18.2080078125, 1.7431640625, 8.355712890625, -5.029296875, 2.4481201171875, 3.61083984375, -0.85601806640625 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.5, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.7, -2.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.7, -2.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2688661075449672, -0.4734176053092784, -0.08315888602962862, -1.0144958614387807, -0.009595435178875233, -0.836944660238494, 0.3039056018821993 ], "act_joint_pos_r": [ -0.8235560188882305, -0.8278219764201564, 0.15004526540288626, -1.3915935811937226, 0.6457308419179606, 0.5624737207912621, -1.2102604587262298 ], "act_eef_pose_l": [ 518.6142875079823, 398.4190907697837, 112.27323144788767, 1.6806713020348387, -0.1352923020408845, 0.7973131532649518 ], "act_eef_pose_r": [ 433.33666440420353, -145.77154812687866, -62.76545665308004, 1.5394327023254297, -0.03723208604905819, 2.5119723363117172 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 64, "colors": { "rgb_main": "colors/000064_rgb_main.jpg", "rgb_wrist_0": "colors/000064_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000064_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000064_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2662944332580325, -0.4738320470269964, -0.08307730113735427, -1.0128871227243954, -0.004672996426574946, -0.838397807322234, 0.3013998291905209 ], "joint_pos_r": [ -0.8248160037529935, -0.8041111256971057, 0.15293453634276424, -1.4116790535739139, 0.61060627517592, 0.5711221647463712, -1.1604851103235723 ], "eef_pose_l": [ 518.7984079026847, 398.5605415771369, 112.81508450698033, 1.6824843157140352, -0.13767185867939055, 0.7961259824802752 ], "eef_pose_r": [ 427.1739651623944, -150.01572930133787, -58.74495728765356, 1.5381385360324313, -0.0526854668731794, 2.530687998568845 ], "joint_status_l": { "velocity": [ 0.27773263170272067, 0.044758385435716974, -0.008810908501799553, -0.173738657005984, -0.5316077063172303, 0.1569352564860793, 0.2706154693248308 ], "torque": [ -21.09375, 1.142578125, -12.48779296875, 1.2939453125, -5.2972412109375, -1.5435791015625, 0.5841064453125 ] }, "joint_status_r": { "velocity": [ -0.5404040941385801, -2.0097853490046447, -0.23553937301512562, 0.492659563876785, 5.185130108741554, -1.734605613620488, -5.75662333833904 ], "torque": [ 18.11279296875, 2.08740234375, 8.1298828125, -5.828857421875, 2.27783203125, 3.6822509765625, -0.90545654296875 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.5, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.5, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.7, -2.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.7, -2.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2693545553417043, -0.47244622369695577, -0.08327553145192927, -1.0154297510073973, -0.010886894975912812, -0.8362168626652597, 0.3054104654771101 ], "act_joint_pos_r": [ -0.8213641028778359, -0.8307016167596245, 0.1496948990987209, -1.387171249035585, 0.658297281200182, 0.5616118786136721, -1.2249697776719168 ], "act_eef_pose_l": [ 518.4374875079824, 398.69669076978374, 112.31083144788778, 1.6801225889506781, -0.1358106984689194, 0.7982258000817474 ], "act_eef_pose_r": [ 435.74146440420355, -146.29154812687867, -62.507856653080125, 1.5380671663203418, -0.0316138269289192, 2.504108592899745 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 65, "colors": { "rgb_main": "colors/000065_rgb_main.jpg", "rgb_wrist_0": "colors/000065_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000065_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000065_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26640734733482446, -0.4738138502031691, -0.08308088327170081, -1.012957757348561, -0.004889125129227917, -0.8383340042340136, 0.3015098497368898 ], "joint_pos_r": [ -0.8247251566411092, -0.8058207194936268, 0.15272621485599083, -1.410230855895035, 0.6131388178547585, 0.5704985968150507, -1.1640739999776295 ], "eef_pose_l": [ 518.7903326607567, 398.55425757479173, 112.79131641806964, 1.6824043961618038, -0.1375675601911012, 0.7961779066752979 ], "eef_pose_r": [ 427.62484974800407, -149.7139509947807, -59.03199031889585, 1.5382009728535169, -0.05156966922839407, 2.5293251219675805 ], "joint_status_l": { "velocity": [ 0.26553827106279293, 0.04279318642286256, -0.008424049402155909, -0.1661103425805166, -0.5082664948429447, 0.150044726183296, 0.2587336007540131 ], "torque": [ -20.9765625, 4.8779296875, -12.335205078125, -1.30615234375, -5.306396484375, -0.6536865234375, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ 0.12626315337804783, -2.376065669754013, -0.2895340015864889, 2.012766304371638, 3.5198347868483637, -0.8666610497680693, -4.987990431933653 ], "torque": [ 24.16259765625, 3.34716796875, 8.251953125, -5.450439453125, 2.1734619140625, 3.6859130859375, -0.68939208984375 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.6, -2.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.8, -17.6, -2.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 303, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2679731247022655, -0.4730555273917669, -0.08311785449014744, -1.0116569504531154, -0.0074018813205058865, -0.8394666371914028, 0.3023520866641706 ], "act_joint_pos_r": [ -0.8203158210888337, -0.832383648157639, 0.14948865114061505, -1.3843110464601063, 0.6651214125301842, 0.5616049185297347, -1.2318223992158286 ], "act_eef_pose_l": [ 518.5670875079824, 399.29749076978374, 112.3908314478877, 1.6817912489859324, -0.13588344541217548, 0.7975579538814715 ], "act_eef_pose_r": [ 437.0670644042035, -146.62594812687865, -62.4454566530801, 1.537205095617555, -0.029729141369352684, 2.499759929719193 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 66, "colors": { "rgb_main": "colors/000066_rgb_main.jpg", "rgb_wrist_0": "colors/000066_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000066_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000066_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2671165547698035, -0.4734911054811386, -0.08312293270778012, -1.0133949322799702, -0.006289986284917819, -0.8379598703081013, 0.3023675507040175 ], "joint_pos_r": [ -0.8239257367000757, -0.8117130757002714, 0.1520082867337601, -1.404751644096658, 0.623860029677825, 0.568409613529328, -1.1784879251436609 ], "eef_pose_l": [ 518.7047175097273, 398.6241380213945, 112.66603552364225, 1.6818899493449169, -0.13709315192330923, 0.7966800613050788 ], "eef_pose_r": [ 429.5737980958995, -148.91879695585098, -59.84169447310222, 1.5380430105150285, -0.04685497575491071, 2.523297643856414 ], "joint_status_l": { "velocity": [ 0.09250682436290347, 0.047041046250750895, 0.0005484313292392073, 0.18769650148797723, -0.12008112224012185, -0.16272602404843184, -0.0016700670477654 ], "torque": [ -22.84423828125, 6.10107421875, -12.744140625, -0.9765625, -5.0665283203125, -1.4117431640625, 0.56396484375 ] }, "joint_status_r": { "velocity": [ 0.38985938772650996, -2.2323559855745856, -0.2721126185269984, 2.2075194374426843, 4.456097922471258, -0.7348853856710136, -5.759953319049771 ], "torque": [ 28.27880859375, 2.34375, 7.965087890625, -5.621337890625, 2.2833251953125, 3.453369140625, -0.73974609375 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.7, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.7, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.5, -2.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.5, -2.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 38, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2642528315646756, -0.47708482172256883, -0.0825393784310781, -1.0039760651926013, 0.00012238114092400542, -0.8465925225234775, 0.29581402887114566 ], "act_joint_pos_r": [ -0.8186868841806287, -0.8335929136014342, 0.14930238422105238, -1.377363163814556, 0.6644232723585395, 0.5640948892405023, -1.2328423998561822 ], "act_eef_pose_l": [ 519.2878875079823, 398.9694907697837, 112.74363144788782, 1.6845522602663305, -0.13592244724397545, 0.7930409932660688 ], "act_eef_pose_r": [ 438.7046644042035, -147.76434812687864, -62.83745665308015, 1.5375155141031174, -0.025238898297142626, 2.496541274503881 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 67, "colors": { "rgb_main": "colors/000067_rgb_main.jpg", "rgb_wrist_0": "colors/000067_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000067_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000067_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26726800353503327, -0.473414091613039, -0.08312203483621011, -1.0130876424817947, -0.006486578674894705, -0.8382262793604345, 0.3023648165317661 ], "joint_pos_r": [ -0.8231569974315177, -0.8161149184198258, 0.1514717249324604, -1.4003987750082294, 0.6326467296147519, 0.5669605391408683, -1.18984561573883 ], "eef_pose_l": [ 518.6804597448573, 398.74318453313555, 112.61726616412844, 1.6818726434305755, -0.1368789413139638, 0.7968352058613702 ], "eef_pose_r": [ 431.18301439444275, -148.4347557258813, -60.38734180497232, 1.5377832314102764, -0.04319982138907683, 2.5182674253444293 ], "joint_status_l": { "velocity": [ 0.07615084011214357, 0.03872379380043256, 0.0004514640595809638, 0.1545101820630279, -0.09884977030787112, -0.1339546949612469, -0.0013747851532741606 ], "torque": [ -22.09716796875, 5.98388671875, -12.51220703125, 0.982666015625, -5.1361083984375, -1.8109130859375, 0.047607421875 ] }, "joint_status_r": { "velocity": [ 0.30683799530706324, -1.7569709925941979, -0.2141656530412206, 1.737423440632213, 3.50716231664272, -0.5783899673028614, -4.533358911240626 ], "torque": [ 28.828125, 2.49755859375, 7.71484375, -5.7373046875, 2.156982421875, 3.4698486328125, -0.80291748046875 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.5, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.5, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.5, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.5, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26156526145357933, -0.4796198745981234, -0.08216685506211344, -0.9986235104745292, 0.00516401221773306, -0.8519275241193339, 0.2916869170738573 ], "act_joint_pos_r": [ -0.8189222060941193, -0.8332344064926193, 0.14931191802409816, -1.373906740369055, 0.6679308190144995, 0.5648433646401733, -1.2376133720467022 ], "act_eef_pose_l": [ 519.7078875079824, 398.8350907697837, 113.09963144788759, 1.6862792404513125, -0.13629987772751906, 0.7898352169513874 ], "act_eef_pose_r": [ 439.6366644042035, -149.08914812687868, -63.47505665308017, 1.5386062398291225, -0.022453164896527118, 2.4920634405990243 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 68, "colors": { "rgb_main": "colors/000068_rgb_main.jpg", "rgb_wrist_0": "colors/000068_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000068_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000068_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26703940737850307, -0.4737018080867658, -0.08307432007132252, -1.012292880649408, -0.005972457114201077, -0.8389592861242341, 0.3018306656058828 ], "joint_pos_r": [ -0.8222465357504354, -0.8199437656026896, 0.15099247534451052, -1.3949466894903213, 0.6403424227992406, 0.5663417433519671, -1.2001924719001649 ], "eef_pose_l": [ 518.7263624796542, 398.7799462457377, 112.62283301429221, 1.6820840625133042, -0.1367780025769931, 0.7965425815620354 ], "eef_pose_r": [ 432.9659050608268, -148.44232923264153, -61.01889756890358, 1.5378366422367211, -0.03891061607790206, 2.512818220884186 ], "joint_status_l": { "velocity": [ -0.5911903236652805, -0.6391323330259269, 0.09800333054088561, 1.4762484392667474, 1.2027032160136508, -1.400528397092593, -1.0954925316339903 ], "torque": [ -29.9267578125, 2.77587890625, -9.1552734375, 0.836181640625, -2.98095703125, -1.95556640625, -0.36712646484375 ] }, "joint_status_r": { "velocity": [ 0.3590170142420135, -1.4353468828183225, -0.1814948377003578, 2.27224748874022, 2.9794589168039565, -0.16182012824383918, -4.041338022931384 ], "torque": [ 30.17578125, 2.86376953125, 8.09326171875, -5.950927734375, 2.2320556640625, 3.46435546875, -0.8441162109375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -15.9, -9.0, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -15.9, -9.0, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.6, -2.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.6, -2.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 190, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2597291633674567, -0.4809247274689765, -0.08196317176505359, -0.9953353991999809, 0.009130415963363609, -0.8559883515761938, 0.2873478450679049 ], "act_joint_pos_r": [ -0.8185213951019836, -0.8315861196870988, 0.1494024812159204, -1.3652730384916894, 0.6639778193972612, 0.5691041699127615, -1.2343512062623327 ], "act_eef_pose_l": [ 519.8110875079824, 398.7686907697837, 113.3260314478876, 1.6877669493078074, -0.13536672577127143, 0.7873374191261747 ], "act_eef_pose_r": [ 441.1174644042035, -151.91634812687866, -64.60465665308016, 1.5409197495938762, -0.018544279694822443, 2.4877097570516913 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 69, "colors": { "rgb_main": "colors/000069_rgb_main.jpg", "rgb_wrist_0": "colors/000069_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000069_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000069_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2655166199430246, -0.475308561606227, -0.08282773438223974, -1.0085657163943293, -0.002861106774737723, -0.8425499787421269, 0.2989544638827868 ], "joint_pos_r": [ -0.8218595892047639, -0.8213949115375079, 0.15080550719437866, -1.392317876827893, 0.6433390024898292, 0.5662983119976382, -1.2043189515869364 ], "eef_pose_l": [ 518.989039134664, 398.7891773161726, 112.7621055198065, 1.6832288382454874, -0.13661896363890383, 0.7946565582717675 ], "eef_pose_r": [ 433.76651030071923, -148.59577367821836, -61.33025043273875, 1.5379822830342, -0.03694607940440162, 2.510347772679081 ], "joint_status_l": { "velocity": [ -0.6250268759793176, -0.606528024588826, 0.09337000885489832, 1.4288321158399953, 1.2950462603671906, -1.451301462230603, -1.2534778626540621 ], "torque": [ -33.45703125, 1.09130859375, -10.211181640625, 1.214599609375, -1.959228515625, -2.30712890625, -0.53009033203125 ] }, "joint_status_r": { "velocity": [ 0.3605143302989333, -1.1006180191621695, -0.15152233676118954, 2.9207563972057926, 2.228926487329197, 0.3030237176258055, -3.2433878463322685 ], "torque": [ 30.1611328125, 2.74658203125, 8.1298828125, -5.38330078125, 2.0123291015625, 3.519287109375, -0.8074951171875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.5, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.5, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.6, -2.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.0, -17.6, -2.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 41, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2589097251421356, -0.4803066855645009, -0.0820529197824093, -0.9965437264384469, 0.011928521742502246, -0.8554659644153983, 0.2836464252748479 ], "act_joint_pos_r": [ -0.8171489272301118, -0.8306335538759354, 0.1494729152087455, -1.3622220127208975, 0.6701084320924364, 0.568192245970672, -1.2418593216688312 ], "act_eef_pose_l": [ 519.6558875079824, 398.7054907697837, 113.41963144788775, 1.6891726071142197, -0.134093041365822, 0.7869874369767635 ], "act_eef_pose_r": [ 442.7566644042035, -153.67954812687867, -64.67185665308011, 1.5421995400404174, -0.013826649174441865, 2.481224655764904 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 70, "colors": { "rgb_main": "colors/000070_rgb_main.jpg", "rgb_wrist_0": "colors/000070_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000070_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000070_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2644933489654031, -0.47630154694578264, -0.08267487244315616, -1.0062264850872886, -0.0007409047420892652, -0.8449259960353886, 0.296902316099645 ], "joint_pos_r": [ -0.8211883314752697, -0.8234442013728677, 0.15052338098969337, -1.3868795900725015, 0.6474891402440016, 0.5668625253882903, -1.2103579602437948 ], "eef_pose_l": [ 519.1362567717455, 398.78451059983314, 112.86394725353605, 1.6840119535126166, -0.13641101143889162, 0.793357719867164 ], "eef_pose_r": [ 435.25169131563473, -149.25469267973762, -61.99442378016772, 1.538577003407111, -0.033267505702419, 2.505797262651708 ], "joint_status_l": { "velocity": [ -0.5145168697144875, -0.4992887707695459, 0.07686140632912064, 1.1762025855892588, 1.0660711940997467, -1.1946991626379244, -1.0318524385670713 ], "torque": [ -36.064453125, 2.79052734375, -9.881591796875, 1.45263671875, -2.16796875, -2.1240234375, -0.4486083984375 ] }, "joint_status_r": { "velocity": [ 0.2880206336008939, -0.8793012443328863, -0.12105360528225084, 2.3334387496323217, 1.7807248288805866, 0.24209046856604743, -2.591194146814857 ], "torque": [ 29.9853515625, 1.025390625, 7.9345703125, -5.145263671875, 2.091064453125, 5.6890869140625, -0.70587158203125 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.6, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.6, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.6, -2.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.6, -2.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 187, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2592080727983372, -0.4787413099999164, -0.08234166976580252, -1.0020919636406715, 0.011749408869122475, -0.8509322233928793, 0.28370941451543585 ], "act_joint_pos_r": [ -0.8154630763282928, -0.8318256125337775, 0.14929869161634768, -1.3576739948551206, 0.6692558556791082, 0.5695191283953065, -1.2429177740491935 ], "act_eef_pose_l": [ 519.3774875079823, 398.1078907697837, 113.53643144788776, 1.68906564219597, -0.13414172747514783, 0.7875797686544778 ], "act_eef_pose_r": [ 443.9438644042035, -154.21874812687867, -64.70145665308019, 1.5421519754282351, -0.009843121193917743, 2.479520614913942 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 71, "colors": { "rgb_main": "colors/000071_rgb_main.jpg", "rgb_wrist_0": "colors/000071_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000071_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000071_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2638356794635628, -0.4767623563465898, -0.08260556888515831, -1.0052013555013593, 0.0007355494765460276, -0.846076165185174, 0.2953831113001228 ], "joint_pos_r": [ -0.8200053750720003, -0.8253714358148738, 0.1502441887113174, -1.3804157588245962, 0.6524757481343006, 0.5674266764380587, -1.2177080194585814 ], "eef_pose_l": [ 519.1964143443787, 398.74984173693525, 112.93656027292123, 1.684591286864384, -0.13617850693171688, 0.7925901943968382 ], "eef_pose_r": [ 437.1705011234975, -150.31275014479857, -62.63966001248252, 1.5393957436113475, -0.028211618307469908, 2.499941746170609 ], "joint_status_l": { "velocity": [ -0.4997667800112904, -0.21372069120451087, 0.028500264320108215, 0.3358044169328167, 1.1894617330996748, -0.5244388189353799, -1.2607220697367083 ], "torque": [ -35.2734375, 2.20458984375, -10.05859375, 1.20849609375, -2.0892333984375, -2.149658203125, -0.54473876953125 ] }, "joint_status_r": { "velocity": [ 0.4905537962098805, -0.6970305278244382, -0.1021106746632583, 2.456038071732891, 1.8121981669114717, 0.22597814651348358, -2.7225731977811307 ], "torque": [ 31.48681640625, 2.01416015625, 8.001708984375, -5.181884765625, 2.1588134765625, 5.760498046875, -0.78643798828125 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.7, -2.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.7, -2.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2592453588050074, -0.47852992321603743, -0.08233960775287594, -1.0012639779009769, 0.011641718251980184, -0.8516745205213897, 0.2830799800082127 ], "act_joint_pos_r": [ -0.8095564377549085, -0.8314842765882972, 0.14923699788953548, -1.348731326686411, 0.6417624387487053, 0.5727149215342351, -1.2320438258431707 ], "act_eef_pose_l": [ 519.3342875079824, 398.42389076978367, 113.53403144788768, 1.68906016385635, -0.13346264807459834, 0.7879624021298952 ], "act_eef_pose_r": [ 445.06946440420353, -155.00514812687868, -64.4590566530801, 1.5458324891209203, 0.010393573692261628, 2.487341315064206 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 72, "colors": { "rgb_main": "colors/000072_rgb_main.jpg", "rgb_wrist_0": "colors/000072_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000072_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000072_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26274498148418995, -0.4772174262799436, -0.08254312612870099, -1.0044189213509236, 0.003330346221711544, -0.8472661161371864, 0.2925896518803434 ], "joint_pos_r": [ -0.8193793893225744, -0.8260033359117445, 0.15014832532062958, -1.3778900279301505, 0.6533340119258704, 0.567729045622797, -1.2198948431866827 ], "eef_pose_l": [ 519.2369241733948, 398.61493499660804, 113.0793312282223, 1.6856382150830775, -0.1356626724783953, 0.791421052213656 ], "eef_pose_r": [ 437.8803633158676, -150.71951685687262, -62.842750740850875, 1.5397846188106692, -0.025792700571663756, 2.4981361236399735 ], "joint_status_l": { "velocity": [ -0.37794810236824183, -0.1417454885381808, 0.021979336343291855, 0.3407238434824933, 0.8976017059218016, -0.47609363186218445, -1.02701427202323 ], "torque": [ -36.27685546875, 2.70263671875, -13.165283203125, 1.507568359375, -2.1917724609375, -2.05810546875, -0.58868408203125 ] }, "joint_status_r": { "velocity": [ 1.0608474812840996, -0.591924135198596, -0.09842045980201775, 3.1490468581516495, -1.2496930454073407, 0.5384587174441791, -1.3120514300126729 ], "torque": [ 31.77978515625, 2.666015625, 8.123779296875, -5.50537109375, 2.2265625, 5.6964111328125, -0.84228515625 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.6, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.6, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.6, -2.6, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.6, -2.6, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 288, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.25978351117849197, -0.47650673317567055, -0.08260492103827721, -1.0042749362281223, 0.011082129987543385, -0.8484026377559355, 0.28374017018348024 ], "act_joint_pos_r": [ -0.806501626903144, -0.830669020609025, 0.14925470084228404, -1.342682735124407, 0.6356756388771814, 0.5767187867551898, -1.2278912501168486 ], "act_eef_pose_l": [ 519.0782875079824, 398.8422907697837, 113.5412314478877, 1.6891652059150464, -0.13389310754513498, 0.7902196674242223 ], "act_eef_pose_r": [ 446.50706440420356, -156.57794812687868, -63.926256653080145, 1.5453240545861668, 0.016095659367506933, 2.4866561260598177 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 73, "colors": { "rgb_main": "colors/000073_rgb_main.jpg", "rgb_wrist_0": "colors/000073_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000073_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000073_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2620412630360164, -0.477481348534361, -0.08250220182092843, -1.0037845124125302, 0.0050016309182376855, -0.8481525761291796, 0.2906774081483823 ], "joint_pos_r": [ -0.8171727232352175, -0.827234595766223, 0.14994360117811292, -1.3713397037488004, 0.6507345286716253, 0.5688490922008281, -1.2226240379545974 ], "eef_pose_l": [ 519.2566714754047, 398.5756756296179, 113.17149282025937, 1.6863211132332276, -0.1352232905058885, 0.7907211488671156 ], "eef_pose_r": [ 439.50029837567945, -151.67335650472629, -63.21952136498328, 1.5411519982009592, -0.017658400831083297, 2.4956816714739727 ], "joint_status_l": { "velocity": [ -0.3019487514466235, -0.1132427257055646, 0.017559641455777708, 0.2722096988527767, 0.7171082820659619, -0.38035877627518033, -0.820498039842299 ], "torque": [ -35.31005859375, 2.8271484375, -12.353515625, 1.171875, -1.9097900390625, -2.0379638671875, -0.48431396484375 ] }, "joint_status_r": { "velocity": [ 0.822534572513689, -0.45895199271850373, -0.07631090449655709, 2.4416327106315805, -0.9689571338125091, 0.4174972545838429, -1.0173070880981072 ], "torque": [ 31.58203125, 1.552734375, 8.3740234375, -5.4931640625, -0.24169921875, 5.8062744140625, -0.79193115234375 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.8, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.8, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.5, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -0.9, -17.5, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 83, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2606355283675513, -0.47535235394959535, -0.08274003264752702, -1.0053386527557027, 0.00919015794275586, -0.8476083194803609, 0.28481363098983564 ], "act_joint_pos_r": [ -0.8051402076018475, -0.831297292846133, 0.14915836760795656, -1.3399993337737965, 0.6366627719671359, 0.577518046698501, -1.2294666994956658 ], "act_eef_pose_l": [ 518.8454875079824, 399.1766907697837, 113.5004314478877, 1.6883934127902407, -0.1333955252851312, 0.7914202287995638 ], "act_eef_pose_r": [ 447.4318644042035, -157.03234812687867, -63.7126566530801, 1.5448259898570673, 0.018438116186893443, 2.484859631937901 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 74, "colors": { "rgb_main": "colors/000074_rgb_main.jpg", "rgb_wrist_0": "colors/000074_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000074_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000074_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2618044184872743, -0.47736439334069863, -0.08251422808972428, -1.0038309424590914, 0.005639463844878686, -0.8482011395761379, 0.28991741490921247 ], "joint_pos_r": [ -0.814377569025643, -0.8282065724406152, 0.14975685068447867, -1.3639440108491743, 0.6473087740050555, 0.5708367579383005, -1.2242816652666528 ], "eef_pose_l": [ 519.2331014195322, 398.6097990287584, 113.21198652198947, 1.6866175473427383, -0.13505284747109877, 0.7906681027063734 ], "eef_pose_r": [ 441.3616949228318, -152.91639627057694, -63.3879313261549, 1.542117777871601, -0.009038109593595247, 2.4931429737122137 ], "joint_status_l": { "velocity": [ -0.12623640978648432, 0.21729384550006614, -0.02438617301092627, -0.16282790968169536, 0.3834636529148408, 0.06402268209626527, -0.5511924067418406 ], "torque": [ -35.859375, 8.701171875, -12.127685546875, -1.123046875, -1.9976806640625, -1.1077880859375, -0.5328369140625 ] }, "joint_status_r": { "velocity": [ 0.997605610965735, -0.3337879592457682, -0.06463426597869137, 2.5859488556569943, -1.1497343104940327, 0.7215579048880372, -0.5599671813829588 ], "torque": [ 31.35498046875, 0.73974609375, 8.416748046875, -5.145263671875, -0.5767822265625, 6.0662841796875, -0.6427001953125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.6, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.6, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.4, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.6, -17.4, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 291, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -11, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2616957404359902, -0.4760695002572898, -0.082687885344028, -1.0058826447256586, 0.00967198480402842, -0.8488453600321806, 0.28221405323643634 ], "act_joint_pos_r": [ -0.7948818884238347, -0.8378171245366646, 0.14823939349206994, -1.3189381811210785, 0.5954989975573421, 0.5831947675743386, -1.2091453152015785 ], "act_eef_pose_l": [ 518.6038875079823, 398.4070907697837, 112.88443144788772, 1.6891207036211235, -0.1300285329854047, 0.7890887629355839 ], "act_eef_pose_r": [ 450.4870644042035, -156.68674812687868, -64.28625665308027, 1.5509421275159812, 0.04451635632240179, 2.4967925194662257 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 75, "colors": { "rgb_main": "colors/000075_rgb_main.jpg", "rgb_wrist_0": "colors/000075_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000075_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000075_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2615575841171089, -0.4769230543263196, -0.08256417904640417, -1.0041777214777106, 0.006444263224446043, -0.8480863426408675, 0.2887322637813475 ], "joint_pos_r": [ -0.813711539115084, -0.8284294187861034, 0.1497136990081893, -1.3622175577637943, 0.6465411786431527, 0.5713184905404163, -1.2246555153008076 ], "eef_pose_l": [ 519.1344855649911, 398.7208806896541, 113.26191188072914, 1.6870586890554524, -0.13456185100956294, 0.7907751923146121 ], "eef_pose_r": [ 441.80123813535937, -153.21098173701424, -63.4152219244686, 1.5423141604618504, -0.00705453177320994, 2.492540570493727 ], "joint_status_l": { "velocity": [ 0.01492044238404766, 0.09218112071840423, -0.013359886114616693, -0.18412628026354128, 0.34858364966970645, -0.08197146064325977, -0.7039459770736833 ], "torque": [ -35.888671875, 9.052734375, -12.249755859375, -3.03955078125, -2.003173828125, -1.4630126953125, -0.5364990234375 ] }, "joint_status_r": { "velocity": [ 0.9256765020602131, -0.3097212637426239, -0.059974022385889114, 2.3994974215284515, -1.0668364563501953, 0.6695323182723811, -0.5195925684802205 ], "torque": [ 31.38427734375, 1.3330078125, 8.49609375, -4.8095703125, -0.457763671875, 6.192626953125, -0.68206787109375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.5, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.5, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.7, -17.6, -2.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.7, -17.6, -2.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 32, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2626177043536211, -0.4757168643543361, -0.08283201425206695, -1.010102213436378, 0.008036125367418582, -0.8460825118331905, 0.2830078860491513 ], "act_joint_pos_r": [ -0.789362469052706, -0.8446671088336958, 0.14747195236605393, -1.3126738957752608, 0.5912847411032983, 0.5852914259568531, -1.205056907049113 ], "act_eef_pose_l": [ 518.3966875079824, 397.4134907697837, 112.79243144788762, 1.6882334730969322, -0.12910679259281338, 0.7883496251040085 ], "act_eef_pose_r": [ 452.36626440420355, -154.47954812687868, -62.85025665308012, 1.5469552633963388, 0.0471687273490055, 2.500015690308935 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 76, "colors": { "rgb_main": "colors/000076_rgb_main.jpg", "rgb_wrist_0": "colors/000076_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000076_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000076_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2615675454292721, -0.4768615115854683, -0.08257309848676836, -1.0043006494250153, 0.0066769875941367395, -0.848141069121954, 0.2882622894037025 ], "joint_pos_r": [ -0.8097017246322976, -0.830428550851586, 0.14939974248783083, -1.3530011217229196, 0.6356716367537744, 0.5738475691958339, -1.22135258493802 ], "eef_pose_l": [ 519.103673193729, 398.70260138673234, 113.23997404797713, 1.6871784387197204, -0.13429844545127578, 0.7906765818272569 ], "eef_pose_r": [ 443.6616772774062, -153.93958138309563, -63.599291320591135, 1.5439880632549072, 0.00399789460867126, 2.4933697777035473 ], "joint_status_l": { "velocity": [ 0.013844652399175317, 0.08553470073202618, -0.012396614965437536, -0.17085045350384576, 0.32345015901578955, -0.07606117500014165, -0.6531902412483248 ], "torque": [ -32.65869140625, 8.56201171875, -12.286376953125, -2.935791015625, -1.9537353515625, -1.6937255859375, -0.5474853515625 ] }, "joint_status_r": { "velocity": [ 1.6004951064338968, -0.7979424239339394, -0.1253139956034488, 3.678689087863063, -4.338517075494153, 1.0094676522216517, 1.3183462489916309 ], "torque": [ 32.18994140625, 2.0654296875, 8.465576171875, -5.377197265625, -0.633544921875, 6.20361328125, 0.677490234375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -7.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -7.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.4, -2.6, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.5, -17.4, -2.6, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2623960562588312, -0.4761551372737141, -0.08272370887003813, -1.0075372029408527, 0.00907332605135194, -0.8492462833241035, 0.281208209336067 ], "act_joint_pos_r": [ -0.7891714998828943, -0.8460703633322719, 0.14731950399716334, -1.3114715372208503, 0.5945224959346307, 0.5874863450754724, -1.207764146156657 ], "act_eef_pose_l": [ 518.3182875079824, 397.6806907697837, 112.69403144788777, 1.6887759753859095, -0.12793311376410293, 0.7872680580882285 ], "act_eef_pose_r": [ 452.6838644042035, -154.1803481268787, -62.44785665308018, 1.544125652036773, 0.04703058396917365, 2.499266821968111 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 77, "colors": { "rgb_main": "colors/000077_rgb_main.jpg", "rgb_wrist_0": "colors/000077_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000077_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000077_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26167953125760585, -0.47664702123663283, -0.08261083460048435, -1.0049805396072837, 0.007349315831305395, -0.848232299079445, 0.28667206727858296 ], "joint_pos_r": [ -0.8043629419303774, -0.834321124615244, 0.14887490140355727, -1.3420931967827023, 0.6244929031252971, 0.5773050197894721, -1.2176391445465615 ], "eef_pose_l": [ 518.9494560806485, 398.5427067718297, 113.13301387743445, 1.6876241270339256, -0.1330340320785094, 0.7901276611873324 ], "eef_pose_r": [ 446.02348923427076, -154.09934473772796, -63.37108511438299, 1.5442067520830347, 0.015572387727800258, 2.4948545622526535 ], "joint_status_l": { "velocity": [ 0.07738241785970601, 0.05312190124895366, -0.012190061585148904, -0.276111496551934, 0.18618761245492443, -0.1095070686849553, -0.5900792543349631 ], "torque": [ -29.23828125, 6.84814453125, -12.579345703125, -3.03955078125, -2.05810546875, -1.53076171875, -0.56396484375 ] }, "joint_status_r": { "velocity": [ 1.6406273534110838, -1.2688803578129182, -0.16797796564516077, 3.3070416967007077, -3.236708514976705, 1.0995507013724648, 1.0664683723078383 ], "torque": [ 31.06201171875, 1.376953125, 8.404541015625, -4.962158203125, -0.5511474609375, 6.0443115234375, 0.56854248046875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -17.0, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -17.0, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.3, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.3, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 278, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 17, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26437011630791885, -0.4712819510758467, -0.0833785030595712, -1.0149635158097385, 0.009191803771053948, -0.8467038566964451, 0.27983343240247893 ], "act_joint_pos_r": [ -0.7908965063766233, -0.8487377785791562, 0.14702923606113757, -1.308704195127947, 0.6010808491762645, 0.5887342114463904, -1.2194312752781378 ], "act_eef_pose_l": [ 516.8342875079824, 397.8254907697837, 112.32043144788787, 1.689736322719145, -0.12585380481937866, 0.7872748322548311 ], "act_eef_pose_r": [ 453.0310644042035, -153.90594812687868, -63.25985665308008, 1.5428746297526048, 0.05138857299033796, 2.4961036283387767 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 78, "colors": { "rgb_main": "colors/000078_rgb_main.jpg", "rgb_wrist_0": "colors/000078_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000078_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000078_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26186144184077187, -0.47646988135834956, -0.08264459851389319, -1.0056353058750627, 0.007718207513389019, -0.8484104609534937, 0.28548810443582556 ], "joint_pos_r": [ -0.8034801704957037, -0.8350038703536754, 0.14878451759432856, -1.3403137787222568, 0.6227513292002707, 0.5778966544151714, -1.2170653105110032 ], "eef_pose_l": [ 518.7932821329975, 398.3612173171217, 113.0337855049952, 1.687883788932719, -0.13191697335817165, 0.7895177129663193 ], "eef_pose_r": [ 446.41276971705395, -154.10446098050053, -63.31872647479429, 1.544179867738431, 0.01740732236754409, 2.495103778807526 ], "joint_status_l": { "velocity": [ 0.2709288518323305, 0.5602799459367702, -0.07925935330355127, -1.0074169607694472, 0.15914370213521156, 0.18430782389344813, -0.6106865683639384 ], "torque": [ -26.53564453125, 7.00927734375, -12.957763671875, -3.106689453125, -2.10205078125, -1.9061279296875, -0.53466796875 ] }, "joint_status_r": { "velocity": [ 1.5452908502666673, -1.1951459927415087, -0.1582168021385666, 3.114870213966725, -3.048624078328288, 1.0356560462696507, 1.004496124242138 ], "torque": [ 31.48681640625, 2.10205078125, 8.447265625, -5.6640625, -0.6500244140625, 6.434326171875, 0.47607421875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.4, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.4, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.4, -1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.4, -17.4, -1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 0, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26432095390864047, -0.47029598364370684, -0.08347365042074852, -1.014998975477016, 0.011035921429676406, -0.8471663690188416, 0.27636690385280177 ], "act_joint_pos_r": [ -0.7911663420687174, -0.8526562337891218, 0.1466119683564696, -1.3060876688947174, 0.6079956835179972, 0.5881085862280007, -1.2264748324859371 ], "act_eef_pose_l": [ 516.5622875079823, 398.25669076978375, 112.16683144788755, 1.6910591293883988, -0.12376989078585275, 0.7876419937825985 ], "act_eef_pose_r": [ 453.8190644042035, -153.03234812687867, -63.696656653080254, 1.5417364284001869, 0.0513627255185626, 2.4932096337859777 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 79, "colors": { "rgb_main": "colors/000079_rgb_main.jpg", "rgb_wrist_0": "colors/000079_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000079_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000079_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26239566944679066, -0.475365100482508, -0.08280088506028191, -1.007621768179003, 0.0080320129956389, -0.8480470359182386, 0.28428392990351453 ], "joint_pos_r": [ -0.8006533271915315, -0.8380891089725624, 0.14839020431624989, -1.3332128787867803, 0.6178831881902813, 0.5803312454243842, -1.217596810048543 ], "eef_pose_l": [ 518.3768547441563, 398.24773258217215, 112.88090957764663, 1.6882787159780699, -0.13062516905793753, 0.7890384666569165 ], "eef_pose_r": [ 447.90696954290246, -154.06332930868595, -63.313113810832476, 1.5438466976443026, 0.02505440256188713, 2.4953086214511018 ], "joint_status_l": { "velocity": [ 0.21323397200179173, 0.4409671302894047, -0.06238090409682595, -0.7928853592158447, 0.12525370958412635, 0.14505907766526605, -0.480639554405915 ], "torque": [ -23.7451171875, 9.7998046875, -16.58935546875, -3.7841796875, -2.1551513671875, -0.5181884765625, -0.55389404296875 ] }, "joint_status_r": { "velocity": [ 1.0537055706256737, -1.1500223994138636, -0.146980236601868, 2.6468597701985175, -1.8145990947742163, 0.9074935652844118, -0.19811640166444988 ], "torque": [ 32.1240234375, 1.80908203125, 8.319091796875, -4.9560546875, -0.2801513671875, 5.841064453125, -0.53009033203125 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.7, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.7, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.2, -2.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.2, -2.3, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26445275732592993, -0.4698403174796496, -0.08349780377567252, -1.014221206640585, 0.010433885540706931, -0.8475079774399531, 0.2767249666591076 ], "act_joint_pos_r": [ -0.7916050956236883, -0.8536995051615397, 0.1465169214568319, -1.3063182253833185, 0.6121834202129319, 0.5860121263010536, -1.2292646507421086 ], "act_eef_pose_l": [ 516.5342875079824, 398.7430907697837, 112.20043144788775, 1.6908378981521186, -0.1237876486955632, 0.7886125060267916 ], "act_eef_pose_r": [ 454.05266440420354, -152.7707481268787, -64.03665665308017, 1.54240438234616, 0.04969779554727351, 2.491278862104626 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 80, "colors": { "rgb_main": "colors/000080_rgb_main.jpg", "rgb_wrist_0": "colors/000080_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000080_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000080_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2626453897524441, -0.4747324586755881, -0.08288420182104733, -1.0085163654541813, 0.008335163867019863, -0.8479387689932388, 0.283393993007547 ], "joint_pos_r": [ -0.7984195380683902, -0.8414691288728633, 0.14797713442713697, -1.3268744641855015, 0.6155111388282788, 0.582120654116188, -1.2196122525040562 ], "eef_pose_l": [ 518.1544723832855, 398.25911944909666, 112.79602003429189, 1.6885843110982555, -0.12981685593701245, 0.7888936731328806 ], "eef_pose_r": [ 449.2964480804315, -153.83642661810828, -63.41257940100542, 1.5433844657444584, 0.0312210824832128, 2.4948182133322483 ], "joint_status_l": { "velocity": [ 0.19518994111678012, 0.5283356667340477, -0.06626705665713217, -0.616104677095386, 0.22665525591875763, 0.04652411559913361, -0.7202336034772827 ], "torque": [ -23.232421875, 9.71923828125, -16.80908203125, -3.50341796875, -2.1368408203125, -0.6243896484375, -0.56121826171875 ] }, "joint_status_r": { "velocity": [ 0.7359380786944314, -1.3208416830341463, -0.15769834972867436, 2.2200083149908068, -0.3593830110224516, 0.4202666008641387, -1.0424282649310612 ], "torque": [ 32.2119140625, 2.021484375, 8.48388671875, -5.731201171875, -0.3607177734375, 5.9600830078125, -0.75347900390625 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.7, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.7, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.7, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.7, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26425513998462735, -0.4685688039773993, -0.08377811688956165, -1.0200983368018164, 0.01159163485537529, -0.8419768747897332, 0.2752972926807557 ], "act_joint_pos_r": [ -0.788732832218507, -0.8519630319164186, 0.14665211489046542, -1.3025058942674774, 0.6086339077356341, 0.5887739149156648, -1.2235618677618025 ], "act_eef_pose_l": [ 516.4086875079823, 398.0022907697837, 112.3428314478877, 1.691423536792844, -0.12357835054535313, 0.7894111063030298 ], "act_eef_pose_r": [ 455.3070644042035, -154.4235481268787, -63.2262566530801, 1.541929781095873, 0.051221728316255585, 2.4900007640096624 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 81, "colors": { "rgb_main": "colors/000081_rgb_main.jpg", "rgb_wrist_0": "colors/000081_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000081_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000081_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26306073772018596, -0.4735032336445253, -0.08304540019629422, -1.0102051507029592, 0.008898078655468017, -0.8475156212284912, 0.28173606084404684 ], "joint_pos_r": [ -0.7979282048527965, -0.8423509603885884, 0.14787185051873605, -1.3253923234244418, 0.6152712044974602, 0.5824012360651144, -1.2203082072946312 ], "eef_pose_l": [ 517.8650776759335, 398.35362775786314, 112.56988923771652, 1.6893404501759282, -0.1286484179590989, 0.7889908462500508 ], "eef_pose_r": [ 449.6402329002596, -153.7605584320557, -63.45997832173873, 1.5433138582047343, 0.03255291623742013, 2.494562689868015 ], "joint_status_l": { "velocity": [ 0.12899164015456321, 0.5329026869249631, -0.07913106902668332, -1.068432586941448, 0.29089549008610993, 0.5981669733943207, -0.6953664528985826 ], "torque": [ -23.78173828125, 10.546875, -16.644287109375, -4.364013671875, -1.99951171875, -0.37353515625, -0.6683349609375 ] }, "joint_status_r": { "velocity": [ 0.6828756564027927, -1.225606688141312, -0.1463280229712094, 2.059941833705281, -0.33347086753199306, 0.3899646440883586, -0.9672673643006391 ], "torque": [ 32.20458984375, 2.0947265625, 8.154296875, -5.06591796875, -0.3131103515625, 5.9893798828125, -0.780029296875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.6, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.6, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.5, -1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.1, -17.5, -1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2646818366818827, -0.4679599605477697, -0.08387635186957493, -1.021514996282979, 0.010929548278727136, -0.8402182628415117, 0.27494887471182017 ], "act_joint_pos_r": [ -0.7823920455252709, -0.8545772034989115, 0.14630614515354123, -1.2943283514830979, 0.6059002312257822, 0.5913690873702886, -1.2212021298153264 ], "act_eef_pose_l": [ 516.3638875079823, 398.0494907697837, 112.28523144788761, 1.6912879973835924, -0.1227064578424175, 0.7905308049878864 ], "act_eef_pose_r": [ 458.1950644042035, -155.06114812687866, -61.68785665308019, 1.5397571903267646, 0.05747090924515286, 2.488056748921779 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 82, "colors": { "rgb_main": "colors/000082_rgb_main.jpg", "rgb_wrist_0": "colors/000082_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000082_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000082_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2630959603016479, -0.47335771872372123, -0.08306700780219502, -1.0104968979339035, 0.008977510858083411, -0.8473522851787832, 0.28154618341087584 ], "joint_pos_r": [ -0.7960041187082999, -0.8444184801821758, 0.14761050071905185, -1.3205638542142728, 0.6138999037213816, 0.5837255346374729, -1.2210687621916387 ], "eef_pose_l": [ 517.7251887637929, 398.32142457576606, 112.65327942593548, 1.6892181536350788, -0.12823722627912276, 0.7888866390634693 ], "eef_pose_r": [ 450.8350014563437, -153.88259602056866, -63.42765635295939, 1.5430243726983284, 0.03651259846311849, 2.4936046794943985 ], "joint_status_l": { "velocity": [ 0.12518771354752545, 0.5171875389717862, -0.07679751641387345, -1.0369248152715116, 0.2823170652107715, 0.5805272002836759, -0.6748602949127047 ], "torque": [ -23.44482421875, 9.67529296875, -16.943359375, -3.759765625, -2.08740234375, -0.3863525390625, -0.65826416015625 ] }, "joint_status_r": { "velocity": [ 0.7852757804265309, -0.8147875564237239, -0.10350261684077822, 1.9502021561166316, -0.5687107932326185, 0.5452089899655732, -0.2692474605474615 ], "torque": [ 32.14599609375, 0.29296875, 8.477783203125, -5.889892578125, -0.1959228515625, 6.170654296875, -0.70587158203125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.6, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.1, -17.6, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 0, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26639852719196955, -0.467335281816636, -0.08400303706595429, -1.0239671398318015, 0.008327351319171648, -0.8376477050907896, 0.27715452375740984 ], "act_joint_pos_r": [ -0.7789043513405507, -0.8564901196197534, 0.14608265569989662, -1.2907670126979118, 0.6048943927611741, 0.5921369744311447, -1.2204657494026145 ], "act_eef_pose_l": [ 516.2254875079824, 397.84149076978366, 111.87483144788763, 1.6905984398171772, -0.12221610641217714, 0.791585673771364 ], "act_eef_pose_r": [ 459.63826440420354, -154.95474812687868, -60.72065665308014, 1.538284340338924, 0.06055108619758399, 2.48752046794728 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 83, "colors": { "rgb_main": "colors/000083_rgb_main.jpg", "rgb_wrist_0": "colors/000083_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000083_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000083_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2635192713463222, -0.4720838286017911, -0.08325881229216314, -1.0131375042844382, 0.009416452894498753, -0.8457214086833812, 0.28009777280811715 ], "joint_pos_r": [ -0.7918442827055615, -0.8474552681849326, 0.14722537931182916, -1.3130462752581642, 0.6116318178219582, 0.5858543720211735, -1.2210357972167727 ], "eef_pose_l": [ 517.388450795522, 398.23509462160746, 112.54671426980781, 1.6897127411020123, -0.12697844103642206, 0.7891719734466695 ], "eef_pose_r": [ 453.0200964165207, -154.1579011788193, -62.83650300119609, 1.541923015170705, 0.04258267912846755, 2.4920722357422878 ], "joint_status_l": { "velocity": [ 0.3109504603362456, 0.5128279277459846, -0.08037390506776543, -1.16956614460495, -0.11761950113357844, 0.8719342716734246, -0.31786152265222967 ], "torque": [ -22.55126953125, 10.80322265625, -17.3583984375, -3.50341796875, -3.5321044921875, 0.1593017578125, -0.69580078125 ] }, "joint_status_r": { "velocity": [ 1.3974713712068265, -0.9757351771897405, -0.12341051029030048, 2.4060893926947102, -0.7276204465469505, 0.6785010489576138, 0.06156334821483256 ], "torque": [ 32.96630859375, 2.11669921875, 8.282470703125, -4.94384765625, -0.4010009765625, 5.8685302734375, 0.27191162109375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.5, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.5, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.4, -2.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.1, -17.4, -2.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2687566740955383, -0.4688524822785069, -0.08374608392661327, -1.019817210393301, 0.002528183781281056, -0.8402406604174759, 0.28277022701109633 ], "act_joint_pos_r": [ -0.7722539611938509, -0.8589870726702626, 0.14575439908147514, -1.2825221838113172, 0.6031374521181188, 0.5951365728961864, -1.2222041453140486 ], "act_eef_pose_l": [ 516.4990875079824, 398.25669076978375, 111.2772314478878, 1.688247653937147, -0.122224551079968, 0.7923691760248547 ], "act_eef_pose_r": [ 462.6718644042035, -155.72114812687866, -58.89185665308014, 1.5353966509055186, 0.07037456967383825, 2.4849118082744783 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 84, "colors": { "rgb_main": "colors/000084_rgb_main.jpg", "rgb_wrist_0": "colors/000084_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000084_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000084_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26416607859032054, -0.471017096562765, -0.08342599784310284, -1.0155703157806735, 0.00917179287603025, -0.8439077004721156, 0.2794365898813663 ], "joint_pos_r": [ -0.7912761312832545, -0.8478519599098133, 0.14717520593554845, -1.312068063368587, 0.6113359988162002, 0.5861302212041657, -1.2210107682218527 ], "eef_pose_l": [ 517.1283037587128, 398.147262342217, 112.39514191330967, 1.6899098803856585, -0.12590855434602052, 0.7897138561990256 ], "eef_pose_r": [ 453.31160390955483, -154.19292525296382, -62.74649391493517, 1.5417637206220747, 0.043372705280768385, 2.491873416920428 ], "joint_status_l": { "velocity": [ 0.24109733819210888, 0.39762426528122674, -0.06231839808501505, -0.9068302519930072, -0.09119699842904949, 0.676059561872222, -0.246455872559892 ], "torque": [ -22.17041015625, 10.58349609375, -17.449951171875, -3.80859375, -4.3505859375, 0.157470703125, -0.6207275390625 ] }, "joint_status_r": { "velocity": [ 1.3361128272713074, -0.9328937344434962, -0.11799194546391334, 2.3004456244173355, -0.6956729361666802, 0.648710215828352, 0.05886029648571878 ], "torque": [ 32.1826171875, 2.1533203125, 8.49609375, -4.766845703125, -0.3369140625, 5.86669921875, 0.26092529296875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.5, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.4, -1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.3, -17.4, -1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2695729838007074, -0.4699973107333152, -0.08362770972882218, -1.0194756543806007, 0.0006924269431507654, -0.8407226173875366, 0.2852813421278374 ], "act_joint_pos_r": [ -0.768477023376446, -0.8590927987910876, 0.1457048415601517, -1.2789182511767796, 0.6009359832512295, 0.5966268699610074, -1.2209491828272703 ], "act_eef_pose_l": [ 516.6190875079824, 397.72069076978374, 111.03323144788789, 1.6873669008414027, -0.12270420380538354, 0.7912892239299185 ], "act_eef_pose_r": [ 464.1750644042035, -156.48434812687867, -57.72865665308018, 1.534231038710989, 0.07499017457672869, 2.4838468245487584 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 85, "colors": { "rgb_main": "colors/000085_rgb_main.jpg", "rgb_wrist_0": "colors/000085_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000085_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000085_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2645603458263271, -0.47083118680663294, -0.08345348871118007, -1.0159350639704512, 0.008601200805367795, -0.8435927535888565, 0.27972290216819135 ], "joint_pos_r": [ -0.7870170998175751, -0.8503940621761442, 0.14685117994625108, -1.3053796615584223, 0.609461443689645, 0.5881519593540209, -1.2212316192722221 ], "eef_pose_l": [ 517.074416769108, 398.1564527947489, 112.2991973574941, 1.6897651347084461, -0.12559303365328126, 0.7899412028733901 ], "eef_pose_r": [ 455.42385986595275, -154.52653782879304, -61.92370760045367, 1.5403693828979934, 0.049414280064306954, 2.4903350137993745 ], "joint_status_l": { "velocity": [ 0.4531900869475525, 0.21369378647628778, -0.03159935129370961, -0.4192594482708145, -0.6558664948531079, 0.36201538543689793, 0.3291013767072748 ], "torque": [ -21.4892578125, 10.810546875, -12.51220703125, -3.631591796875, -4.6142578125, 0.1922607421875, 0.13458251953125 ] }, "joint_status_r": { "velocity": [ 1.5943719478759277, -0.9280177629440445, -0.11844883993417099, 2.468534791146837, -0.6829709465741018, 0.7543160151914918, -0.10502971482928558 ], "torque": [ 33.8671875, 1.45751953125, 8.453369140625, -4.69970703125, -0.413818359375, 5.994873046875, -0.66741943359375 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.4, -7.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.4, -7.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.7, -2.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.1, -17.7, -2.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -53, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26991131873424995, -0.4691128687209676, -0.08368388868060725, -1.0183918629040798, 0.00027236122913864186, -0.8419100588355455, 0.28551130600893615 ], "act_joint_pos_r": [ -0.7639241271682096, -0.8604489500052941, 0.145547558954946, -1.2761560918443327, 0.5999607728424533, 0.5965192474160388, -1.2198714513564526 ], "act_eef_pose_l": [ 516.4158875079823, 398.4246907697837, 110.98123144788752, 1.6873946897873728, -0.12260083640159966, 0.7920992478655565 ], "act_eef_pose_r": [ 465.8398644042035, -156.49074812687866, -56.23585665307996, 1.5326930544512865, 0.07853981730717313, 2.483100210799522 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 86, "colors": { "rgb_main": "colors/000086_rgb_main.jpg", "rgb_wrist_0": "colors/000086_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000086_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000086_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2657467377449313, -0.47038179688288373, -0.08352066981821613, -1.0168423742187047, 0.006823184417574691, -0.8428425494860042, 0.2807743382085914 ], "joint_pos_r": [ -0.7815446066243066, -0.8528804947441928, 0.14652851495599492, -1.2981687473159211, 0.6071585352851236, 0.5902745479171946, -1.2210107277892601 ], "eef_pose_l": [ 516.9260148081529, 398.16937155363183, 112.00762535571232, 1.689282686694709, -0.12476502357840293, 0.7905065466952969 ], "eef_pose_r": [ 457.94218746901413, -155.0066632873563, -60.64416053120311, 1.53856099388025, 0.05651492204669118, 2.488584079132942 ], "joint_status_l": { "velocity": [ 0.4497614818403939, 0.13704019970228742, -0.0176271172542819, -0.1673398425952044, -0.7074680386966459, 0.10070602008482865, 0.5115774342669965 ], "torque": [ -21.97265625, 10.60546875, -13.580322265625, -3.546142578125, -5.1361083984375, -0.0238037109375, 0.2874755859375 ] }, "joint_status_r": { "velocity": [ 1.9029556565817174, -0.817369061186568, -0.10594012357634242, 2.3772966763146997, -0.7773354175260039, 0.6744076552847034, 0.12303822592407698 ], "torque": [ 32.75390625, 1.787109375, 8.33740234375, -4.742431640625, -0.1336669921875, 6.0626220703125, 0.33233642578125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.9, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.9, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.4, -2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.3, -17.4, -2.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27021976277649284, -0.4699816087509522, -0.0835613590134707, -1.0169304389913618, 0.00017239896936133522, -0.844057709819353, 0.285689801315783 ], "act_joint_pos_r": [ -0.7582343780984475, -0.8604365287779336, 0.14554770930388988, -1.2758080126299132, 0.5909688389850509, 0.5952428905474534, -1.2130337822989397 ], "act_eef_pose_l": [ 516.3966875079824, 398.20309076978367, 110.76523144788763, 1.6873828575687209, -0.12221768236083035, 0.7905748644567182 ], "act_eef_pose_r": [ 466.8430644042035, -156.08114812687867, -54.31985665308025, 1.532706738226547, 0.083921535738936, 2.4868286622526847 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 87, "colors": { "rgb_main": "colors/000087_rgb_main.jpg", "rgb_wrist_0": "colors/000087_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000087_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000087_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2666381761914332, -0.4701244812134176, -0.08355360742271599, -1.017150631418154, 0.005426687616651757, -0.8426758773781684, 0.28178573723974293 ], "joint_pos_r": [ -0.7810249837204349, -0.8531036863270548, 0.14649958684384534, -1.297519600396476, 0.6069462753275466, 0.5904587023209086, -1.22097713085282 ], "eef_pose_l": [ 516.8171861104911, 398.21994608597356, 111.78569541286544, 1.6888790230415813, -0.124298509316345, 0.790820773756705 ], "eef_pose_r": [ 458.17620582162385, -155.05028099997847, -60.51709847542554, 1.5383891479258753, 0.05716581839902247, 2.4884247606613785 ], "joint_status_l": { "velocity": [ 0.38679994313195465, 0.015429770869879178, -0.0008371471111878748, 0.02378008073744553, -0.5674464379692851, -0.14923350224105292, 0.4216264850036566 ], "torque": [ -21.01318359375, 10.95703125, -14.654541015625, -3.680419921875, -5.0225830078125, 0.0274658203125, 0.40557861328125 ] }, "joint_status_r": { "velocity": [ 1.8468380380642913, -0.7932650811461883, -0.10281597960593025, 2.3071908766745253, -0.7544120181970371, 0.6545195662512882, 0.11940986380309937 ], "torque": [ 33.0908203125, 2.1533203125, 8.197021484375, -4.351806640625, -0.201416015625, 5.950927734375, 0.33782958984375 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.7, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.7, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.1, -2.2, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.3, -17.1, -2.2, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27055443421863046, -0.47412763009563363, -0.08309867358390242, -1.0143356248761595, -0.0009203827562066611, -0.8452384266421288, 0.28766477805802043 ], "act_joint_pos_r": [ -0.751680401831828, -0.8607778339295603, 0.14552466377331763, -1.2766624658771148, 0.5811990948515211, 0.5931904864187231, -1.2048340342469765 ], "act_eef_pose_l": [ 517.1822875079823, 396.8262907697837, 110.32843144788768, 1.686714865608555, -0.12247627044356536, 0.7879787935140334 ], "act_eef_pose_r": [ 467.79426440420355, -155.13474812687866, -51.9278566530802, 1.5323128596637927, 0.08880944123277099, 2.49176431527681 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 88, "colors": { "rgb_main": "colors/000088_rgb_main.jpg", "rgb_wrist_0": "colors/000088_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000088_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000088_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2674008827331322, -0.4700940562162368, -0.08355525814058555, -1.0171037409688062, 0.004307775584766025, -0.8429701415589704, 0.28261711605449175 ], "joint_pos_r": [ -0.7755807248590478, -0.8549190595070852, 0.14626398346289576, -1.2921578171741108, 0.6033024495338535, 0.5916869383827272, -1.2192473690259702 ], "eef_pose_l": [ 516.7277025903294, 398.2159910620814, 111.56803450901282, 1.6885612179287044, -0.12385463441037839, 0.7907664880951527 ], "eef_pose_r": [ 460.2962344211801, -155.31820327403332, -59.07086371903381, 1.5369714533191539, 0.06361328249904104, 2.487924727355381 ], "joint_status_l": { "velocity": [ 0.30443006599800704, 0.01214396808402185, -0.0006588748391322952, 0.01871606156456096, -0.44660750247951797, -0.11745390800399491, 0.33184022111498734 ], "torque": [ -21.56982421875, 8.12255859375, -15.85693359375, -1.3916015625, -5.0830078125, -1.5966796875, 0.472412109375 ] }, "joint_status_r": { "velocity": [ 1.873350198634327, -0.5958691070313549, -0.07735532769914677, 1.7657268134438908, -1.3319906543065585, 0.38403150738641756, 0.6710475750306699 ], "torque": [ 33.34716796875, 0.46142578125, 8.209228515625, -4.766845703125, -0.2581787109375, 6.016845703125, 0.41656494140625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.7, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.7, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.5, -2.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.3, -17.5, -2.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 0, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27011890848144227, -0.47593358919531514, -0.08281442587624592, -1.0099657805174367, -0.0011016700813455964, -0.8493922335207772, 0.2879912407920536 ], "act_joint_pos_r": [ -0.7487738937062578, -0.8625717320803646, 0.14532789403108964, -1.2742073403647205, 0.5765477712182059, 0.5941226996882979, -1.2015729208185237 ], "act_eef_pose_l": [ 517.4502875079824, 396.9126907697837, 110.36123144788763, 1.686231293988384, -0.1225891142895803, 0.7864731457950438 ], "act_eef_pose_r": [ 468.5278644042035, -154.53794812687866, -51.11185665308017, 1.5314041046900044, 0.09173566570013947, 2.4938813338523134 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 89, "colors": { "rgb_main": "colors/000089_rgb_main.jpg", "rgb_wrist_0": "colors/000089_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000089_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000089_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2677331387223057, -0.4705730461276552, -0.0834974450632137, -1.0166342253399658, 0.0037244745034965753, -0.8433926865806053, 0.2831746219419298 ], "joint_pos_r": [ -0.7693777708744949, -0.8566745403257459, 0.14604700107694388, -1.2878589654692867, 0.5973468897818802, 0.5922948275595066, -1.2153867046660336 ], "eef_pose_l": [ 516.7805900380745, 398.0813729180074, 111.43524681687063, 1.6883425508485113, -0.12369953466467712, 0.7904189309266646 ], "eef_pose_r": [ 462.26005732289815, -155.19746167286758, -57.257066450125535, 1.5356200625704721, 0.0701996443535715, 2.4891140918148196 ], "joint_status_l": { "velocity": [ 0.2576555348430265, -0.5789215769280709, 0.07376389664270899, 0.7201708005313279, -0.5212082429475393, -0.6479319598069466, 0.5201794939391213 ], "torque": [ -21.15966796875, 4.130859375, -15.1611328125, -0.146484375, -5.126953125, -1.651611328125, 0.5035400390625 ] }, "joint_status_r": { "velocity": [ 2.225153106786948, -0.6368779257881485, -0.077661270455609, 1.4743320281933592, -2.2462385556121234, 0.19740436777837544, 1.491844655925334 ], "torque": [ 32.5341796875, 1.904296875, 8.099365234375, -4.754638671875, -0.52734375, 5.8447265625, 0.60699462890625 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.5, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.5, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.5, -2.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.5, -17.5, -2.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2687332508755274, -0.47904383170191855, -0.08234234733594482, -1.0028894813110916, 0.0014652669435325694, -0.8572608742981525, 0.2862105098527972 ], "act_joint_pos_r": [ -0.7423885363852594, -0.8680340602279354, 0.1447611956278198, -1.2695192984672954, 0.5642879679485038, 0.5914543854987167, -1.1947343682995017 ], "act_eef_pose_l": [ 517.7414875079824, 396.7694907697837, 110.36283144788769, 1.6868911384482679, -0.1225908974559858, 0.7822579821102129 ], "act_eef_pose_r": [ 470.0774644042035, -152.31554812687864, -50.10385665308013, 1.5331152113818105, 0.09933150556874348, 2.499418377144169 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 90, "colors": { "rgb_main": "colors/000090_rgb_main.jpg", "rgb_wrist_0": "colors/000090_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000090_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000090_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26822822468353685, -0.4718689795572117, -0.08333008751236058, -1.014927521888953, 0.0027160088319371826, -0.8449724921333727, 0.284204132708148 ], "joint_pos_r": [ -0.7681804839973974, -0.8570172248720512, 0.14600521392095375, -1.287065672466456, 0.5961382574692263, 0.5924010448163333, -1.2145839886534777 ], "eef_pose_l": [ 516.9405190646763, 397.8148490521345, 111.1933489891282, 1.6878924084678504, -0.12344692282939028, 0.7894056815020137 ], "eef_pose_r": [ 462.62643873600115, -155.15864942237687, -56.90277767076515, 1.5353641607843398, 0.07145113824834255, 2.4893979327336964 ], "joint_status_l": { "velocity": [ 0.054541220127601875, -0.7748611783191528, 0.10667279290710319, 1.3000700388925424, -0.13507614008989935, -1.3271061328925526, 0.2166823409179841 ], "torque": [ -21.4453125, 2.48291015625, -11.126708984375, 0.13427734375, -5.4473876953125, -1.8951416015625, 0.51177978515625 ] }, "joint_status_r": { "velocity": [ 2.095849937653327, -0.5998690863044942, -0.07314839070904355, 1.3886589106810732, -2.115710115575986, 0.18593324236348963, 1.4051538833754762 ], "torque": [ 32.255859375, 1.46484375, 8.0078125, -4.65087890625, -0.5126953125, 5.85205078125, 0.59967041015625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.6, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.6, -17.6, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 55, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26909020196752886, -0.4789740944778258, -0.08231530709784526, -1.0015534595053681, 0.0007832026642145654, -0.8596730152919433, 0.28754691571136853 ], "act_joint_pos_r": [ -0.7388444017117485, -0.871623213116064, 0.14439948399860805, -1.2671323681184643, 0.5536237257042371, 0.5911200281795743, -1.1897503073688933 ], "act_eef_pose_l": [ 517.5318875079823, 396.96149076978367, 110.30283144788774, 1.686506515006271, -0.1231234643185775, 0.7812951618439182 ], "act_eef_pose_r": [ 470.45346440420354, -150.43314812687868, -49.48305665308021, 1.5337000838046824, 0.10537875640635277, 2.5053874048004103 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 91, "colors": { "rgb_main": "colors/000091_rgb_main.jpg", "rgb_wrist_0": "colors/000091_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000091_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000091_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26825757164708763, -0.47228590867437864, -0.08327269014284856, -1.0142279939364152, 0.002643328489427108, -0.8456865673817597, 0.28432072285310855 ], "joint_pos_r": [ -0.7624611364610042, -0.8594282254881449, 0.14573237850374704, -1.2831787981046467, 0.5891266229696279, 0.5922195808431475, -1.2102048472946034 ], "eef_pose_l": [ 516.9876210706302, 397.7543111250954, 111.14481157607494, 1.6878352144058284, -0.12339639301989293, 0.7889901344676115 ], "eef_pose_r": [ 464.2882556611608, -154.5417412718906, -55.39871991085511, 1.5347670612399062, 0.07761681549633197, 2.491627571483682 ], "joint_status_l": { "velocity": [ 0.05137184154002661, -0.7298341616661652, 0.1004740598217202, 1.2245232481520318, -0.12722689459993344, -1.2499882805361295, 0.20409097662454911 ], "torque": [ -23.349609375, 2.255859375, -10.760498046875, 0.457763671875, -5.401611328125, -1.8145751953125, 0.509033203125 ] }, "joint_status_r": { "velocity": [ 2.167776873019278, -0.9294027406285821, -0.1048846571924944, 1.4751824526548774, -2.6824956263018507, -0.08263865990176811, 1.6707624549656686 ], "torque": [ 32.548828125, 1.09130859375, 8.26416015625, -5.57861328125, -0.31494140625, 4.0283203125, 0.7928466796875 ] }, "eef_FT_l": { "raw_value": [ -1.4, -16.9, -8.3, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.4, -16.9, -8.3, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.6, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.6, -17.6, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 190, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26993752614372424, -0.47630990285392294, -0.08264531790127241, -1.0047627411996292, 0.0011515466420337801, -0.8590940666566727, 0.287880188223014 ], "act_joint_pos_r": [ -0.7357731411045246, -0.8741087058566325, 0.14412516735759004, -1.262759183044237, 0.5430428700761198, 0.592956270417169, -1.1839191517032162 ], "act_eef_pose_l": [ 516.7230875079823, 397.24389076978366, 110.15883144788774, 1.6871509020188376, -0.12339799679189652, 0.7811351090454773 ], "act_eef_pose_r": [ 471.04066440420354, -149.60994812687866, -49.12865665308027, 1.5343187853032316, 0.1111452346797196, 2.5099186420599535 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 92, "colors": { "rgb_main": "colors/000092_rgb_main.jpg", "rgb_wrist_0": "colors/000092_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000092_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000092_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26846536587326153, -0.47387234567973086, -0.08304850954425076, -1.0113484674175977, 0.002292141626125141, -0.8488869753975886, 0.28496187907212117 ], "joint_pos_r": [ -0.7565031818577269, -0.8625909212535958, 0.14538519122111077, -1.2787540389420955, 0.5793768247242932, 0.5922735065329923, -1.204590478486893 ], "eef_pose_l": [ 517.1166139649785, 397.53544253128473, 110.92717244327908, 1.6875942014755696, -0.12325434152938261, 0.7871425892226156 ], "eef_pose_r": [ 465.83313254615365, -153.49533764954134, -53.96766057308889, 1.534465995147824, 0.08489520733933405, 2.4954570042547197 ], "joint_status_l": { "velocity": [ 0.15898862009100512, -0.26324841071545535, 0.04354341319734445, 0.7112374547135758, -0.1231806252635255, -1.1023333443969108, 0.3151680929103229 ], "torque": [ -21.45263671875, 2.6220703125, -14.019775390625, 0.54931640625, -5.4290771484375, -2.1112060546875, 0.501708984375 ] }, "joint_status_r": { "velocity": [ 2.2387783721082855, -1.2438840507282833, -0.13607856383757166, 1.7273934902224397, -3.9239513712434615, 0.07373632475449199, 2.2324374504147926 ], "torque": [ 34.27734375, 1.97021484375, 8.1298828125, -5.108642578125, -0.25634765625, 5.540771484375, 0.64727783203125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.2, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.2, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.5, -2.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.5, -2.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 234, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.271092245652947, -0.4713317601442326, -0.08332672389979576, -1.0127841564087146, 0.00053073818845732, -0.8525966129554563, 0.28813798769990073 ], "act_joint_pos_r": [ -0.7322610562451394, -0.8770726974708007, 0.14378152188351653, -1.2556311629795416, 0.5330345205643621, 0.5954051205710692, -1.1774085738208213 ], "act_eef_pose_l": [ 515.8094875079823, 397.8014907697837, 110.23403144788773, 1.6875525413500854, -0.12343903024268643, 0.7845653816715413 ], "act_eef_pose_r": [ 472.29426440420355, -149.31874812687866, -48.991856653080276, 1.535384369261435, 0.11661353459384888, 2.512761033329683 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 93, "colors": { "rgb_main": "colors/000093_rgb_main.jpg", "rgb_wrist_0": "colors/000093_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000093_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000093_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2688129179073082, -0.4742446246998116, -0.08298274348766861, -1.010182572142912, 0.002030942015098352, -0.8508689893108434, 0.28559094169514615 ], "joint_pos_r": [ -0.7550085096720991, -0.8634213736627904, 0.14529434129734778, -1.2776007818642012, 0.5767570830627584, 0.5923227350028817, -1.203100039681132 ], "eef_pose_l": [ 517.0066547784079, 397.48957721946, 110.76513395401409, 1.6875143469875178, -0.12328532408699724, 0.7859636521269968 ], "eef_pose_r": [ 466.2099481102049, -153.2133708607348, -53.61882794735851, 1.5344197888001383, 0.08678460369393395, 2.496510329203502 ], "joint_status_l": { "velocity": [ 0.24616013642386747, 0.3145800939585719, -0.03714878886473816, -0.2809628141511311, -0.16201723483431735, -0.18657785079856382, 0.2750728556732973 ], "torque": [ -22.33154296875, 2.48291015625, -12.762451171875, 1.031494140625, -5.4327392578125, -1.95556640625, 0.49530029296875 ] }, "joint_status_r": { "velocity": [ 2.0773585368836223, -1.1541978356888194, -0.12626706144591715, 1.602845399158781, -3.6410276161875643, 0.06841980680860615, 2.0714748067316435 ], "torque": [ 34.27001953125, 1.611328125, 7.977294921875, -5.426025390625, -0.3753662109375, 5.56640625, 0.64727783203125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.8, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.8, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.3, -2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -17.3, -2.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2725941635924978, -0.4662302182341619, -0.08402053001612104, -1.0203326719746406, 0.0001931498709166221, -0.8467325300839098, 0.2873158723238159 ], "act_joint_pos_r": [ -0.7278763901024239, -0.8813437294246275, 0.14324520882966219, -1.2415040184705268, 0.5155703949330919, 0.601452075254403, -1.1663255136564943 ], "act_eef_pose_l": [ 514.7910875079824, 398.5022907697837, 110.10523144788777, 1.6883948430227582, -0.12235539948917185, 0.7879719659062235 ], "act_eef_pose_r": [ 474.2798644042035, -149.68674812687868, -49.64625665308017, 1.5382975256511702, 0.12577071469004228, 2.5167155609948177 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 94, "colors": { "rgb_main": "colors/000094_rgb_main.jpg", "rgb_wrist_0": "colors/000094_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000094_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000094_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2692983056372954, -0.47362432394793486, -0.08305599485387588, -1.0107365850897387, 0.001711470393992171, -0.8512368904697417, 0.2861333406023619 ], "joint_pos_r": [ -0.7496768789078574, -0.8666111576002383, 0.14494102903055672, -1.2724944946126047, 0.5665467538329825, 0.5930224712017437, -1.1971076820119502 ], "eef_pose_l": [ 516.7518294238088, 397.5561595866839, 110.65150083293626, 1.6875230135810988, -0.12331776934650177, 0.7856656058998499 ], "eef_pose_r": [ 467.6365268714249, -152.29143733436817, -52.52559649214294, 1.534498103770527, 0.09376746314199207, 2.500337910610374 ], "joint_status_l": { "velocity": [ 0.19373980764014753, 0.24758958853521307, -0.02923787463426919, -0.22113118053290748, -0.12751531733451277, -0.14684569747469567, 0.21649550134084095 ], "torque": [ -21.884765625, 8.642578125, -13.201904296875, -2.5146484375, -5.48583984375, -1.864013671875, 0.51544189453125 ] }, "joint_status_r": { "velocity": [ 1.8808533747689538, -1.1298129839669713, -0.12522307862306015, 1.82118610335813, -3.619214449986252, 0.2573185426824054, 2.1274409391249804 ], "torque": [ 34.0869140625, 2.01416015625, 8.2763671875, -4.7607421875, -0.245361328125, 5.753173828125, 0.74249267578125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.7, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.7, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.3, -17.5, -2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.3, -17.5, -2.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2726984603821012, -0.46499062450995227, -0.08419298536817585, -1.0222094525359497, 0.00033269853166587856, -0.8449973548722809, 0.2871086218382107 ], "act_joint_pos_r": [ -0.7264647752577797, -0.8820715721271289, 0.1431453413888639, -1.2378103642232356, 0.511732901951695, 0.6031227633424626, -1.163494230676209 ], "act_eef_pose_l": [ 514.6022875079824, 398.69989076978374, 110.1684314478876, 1.6886216825121576, -0.12244128561362502, 0.7890166371400764 ], "act_eef_pose_r": [ 474.9470644042035, -150.03314812687864, -49.643056653080066, 1.5388392333554317, 0.12797483094126705, 2.5171341295980176 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 95, "colors": { "rgb_main": "colors/000095_rgb_main.jpg", "rgb_wrist_0": "colors/000095_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000095_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000095_depth_main.npy" }, "states": { "joint_pos_l": [ 0.26965470680785114, -0.4728037720386805, -0.0831631262184138, -1.0118008569431676, 0.0015507820877915897, -0.8507308671513021, 0.28626867905524794 ], "joint_pos_r": [ -0.7441246583038893, -0.8703088438894637, 0.1445162149116992, -1.2647964110356078, 0.5537858624795262, 0.5950705984651498, -1.1893977179328803 ], "eef_pose_l": [ 516.5363994138756, 397.66301773848886, 110.59369446429619, 1.6876189596038356, -0.12322682683939735, 0.7859264128489483 ], "eef_pose_r": [ 469.32307930856035, -151.61491390925687, -51.74894581162965, 1.5352059927145743, 0.10186794581536104, 2.504442541140891 ], "joint_status_l": { "velocity": [ 0.32871569106784904, 0.8437950466979594, -0.11122150787123974, -1.1240951706055213, -0.13154914422696012, 0.6192010637748879, 0.09071114517755774 ], "torque": [ -21.4306640625, 9.42626953125, -17.0166015625, -2.947998046875, -5.3338623046875, -0.4559326171875, 0.4705810546875 ] }, "joint_status_r": { "velocity": [ 1.9072111187945495, -1.270337183075121, -0.14804997396566932, 2.9144070998938787, -4.54158579009345, 0.8696081590278126, 2.7974941160415767 ], "torque": [ 34.51904296875, 0.66650390625, 8.16650390625, -4.21142578125, -0.18310546875, 5.8245849609375, 0.68023681640625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.4, -7.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.4, -7.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.1, -17.4, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.1, -17.4, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2726527872546966, -0.4626539421326003, -0.08458488646815701, -1.0280761271489776, 0.0012622519777418194, -0.8407804258404724, 0.28589950085523597 ], "act_joint_pos_r": [ -0.7239805935117949, -0.8839948721526186, 0.1429008837784293, -1.230494172008241, 0.5071426956900154, 0.6061682366008218, -1.159309695248749 ], "act_eef_pose_l": [ 514.1158875079824, 398.3270907697837, 110.39643144788789, 1.6890699064392058, -0.12225414290146439, 0.7896001060136211 ], "act_eef_pose_r": [ 476.40546440420354, -150.65154812687865, -49.64465665308012, 1.539255487483828, 0.1307703036913515, 2.5167068760763907 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 96, "colors": { "rgb_main": "colors/000096_rgb_main.jpg", "rgb_wrist_0": "colors/000096_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000096_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000096_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2704060576164743, -0.4707673519774627, -0.0834352326847557, -1.0146346643453186, 0.0012901092870129518, -0.8491266196940506, 0.28642348371474885 ], "joint_pos_r": [ -0.7436038733994081, -0.8706557233838347, 0.14447578824325633, -1.264000600226736, 0.5525457326907589, 0.5953080545063673, -1.1886338314959506 ], "eef_pose_l": [ 516.0375596909344, 397.9050674933144, 110.49710712326844, 1.6878845997012335, -0.1230225574376901, 0.7867175122738859 ], "eef_pose_r": [ 469.4896824203373, -151.56771890611148, -51.68577057012175, 1.5352915770666604, 0.10264269643742793, 2.5048139556479714 ], "joint_status_l": { "velocity": [ 0.24263964465420784, 0.876222420446382, -0.12415894673489802, -1.4516351691042928, -0.003008500670297412, 0.9013623519251723, -0.056588479839358996 ], "torque": [ -21.4306640625, 10.0927734375, -17.083740234375, -3.546142578125, -5.29541015625, -0.2984619140625, 0.4815673828125 ] }, "joint_status_r": { "velocity": [ 1.8509680079130675, -1.2328753025618866, -0.1436840225406133, 2.8284620673488803, -4.4076557229626445, 0.8439636629198333, 2.714996813981685 ], "torque": [ 34.24072265625, 0.9814453125, 8.36181640625, -4.4677734375, -0.1922607421875, 5.753173828125, 0.66650390625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.4, -2.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.4, -2.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27141184900851584, -0.4559941682767577, -0.08563249915410945, -1.0415082058220486, 0.006702491651766553, -0.8311949437419767, 0.28011014075889584 ], "act_joint_pos_r": [ -0.7205399486777515, -0.8833694570490418, 0.14284129930433642, -1.2197127425982432, 0.5040053687562192, 0.607766285966987, -1.1662924892434625 ], "act_eef_pose_l": [ 512.8014875079823, 398.1278907697837, 111.14123144788783, 1.6917809675294195, -0.12207739942930378, 0.7916558416331531 ], "act_eef_pose_r": [ 479.2806644042035, -153.83554812687868, -50.08785665308005, 1.5430002358845905, 0.14616008120590313, 2.510210697958296 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 97, "colors": { "rgb_main": "colors/000097_rgb_main.jpg", "rgb_wrist_0": "colors/000097_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000097_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000097_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2708578392053523, -0.4691358743272042, -0.08366640977170403, -1.0173375286859911, 0.0012845076252774785, -0.8474483328828084, 0.28631811909731186 ], "joint_pos_r": [ -0.7386121496755624, -0.8740409163726998, 0.1440767025950102, -1.255581980208539, 0.5409568088436234, 0.598013767607408, -1.181190505058118 ], "eef_pose_l": [ 515.6523986846746, 397.99144950728936, 110.47579746812211, 1.6881219567111234, -0.12286628552137395, 0.7872975625853826 ], "eef_pose_r": [ 471.23705817420205, -151.30617410160113, -51.151585181751784, 1.536131816017113, 0.1098702325572929, 2.5078718818693027 ], "joint_status_l": { "velocity": [ 0.19384867206806433, 0.7000280307942752, -0.09919255768875423, -1.1597344294633771, -0.0024035390452561284, 0.7201127219831349, -0.04520943676311617 ], "torque": [ -21.181640625, 10.18798828125, -17.54150390625, -3.680419921875, -4.4146728515625, -0.135498046875, 0.0640869140625 ] }, "joint_status_r": { "velocity": [ 1.5801614613160098, -1.074995518932198, -0.12698468697780463, 2.7094033760519665, -3.6518165160188687, 0.8806566777082026, 2.363057764748433 ], "torque": [ 33.83056640625, 1.61865234375, 8.41064453125, -3.729248046875, -0.164794921875, 5.7550048828125, 0.73516845703125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.7, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.3, -17.6, -2.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.3, -17.6, -2.5, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 55, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.271098778011488, -0.4531251247668265, -0.08606938739373993, -1.0463814657359598, 0.007403390697278107, -0.8274234631313406, 0.27995130365447324 ], "act_joint_pos_r": [ -0.7174037957826891, -0.8818458389516214, 0.1428473135476542, -1.2076147339638967, 0.495623897626563, 0.61040908578511, -1.1640891143372003 ], "act_eef_pose_l": [ 512.3118875079824, 398.3398907697837, 111.56523144788781, 1.6920085383269703, -0.12318073208155923, 0.7932463202958034 ], "act_eef_pose_r": [ 481.88626440420353, -157.55394812687868, -51.063856653080165, 1.5487752393101821, 0.15719090847934333, 2.505552398920767 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 98, "colors": { "rgb_main": "colors/000098_rgb_main.jpg", "rgb_wrist_0": "colors/000098_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000098_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000098_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27092321008021447, -0.46761604842254634, -0.08389343666310854, -1.020099296300021, 0.001853885035977218, -0.8455768917312809, 0.2856880671223971 ], "joint_pos_r": [ -0.7338719905167412, -0.8763868457695269, 0.1437594973679182, -1.2459670872312274, 0.5310176995142836, 0.6006357899458556, -1.176970821272468 ], "eef_pose_l": [ 515.3294948697069, 398.0212854506508, 110.55737422608166, 1.6885138377876379, -0.12281910023280711, 0.7878298231783731 ], "eef_pose_r": [ 473.3807874811528, -152.0559609883251, -50.926194951272805, 1.537998712131279, 0.1194332753686892, 2.5083790533339303 ], "joint_status_l": { "velocity": [ 0.01896077735930035, 1.564973598388697, -0.23499574807905876, -2.83839058522517, 0.5993289351584209, 1.960512466569142, -0.6195521818210814 ], "torque": [ -23.4375, 11.00830078125, -18.206787109375, -3.106689453125, -3.03955078125, 0.1373291015625, -0.31219482421875 ] }, "joint_status_r": { "velocity": [ 1.7785125768536858, -0.5895538757041408, -0.09851294710472303, 4.141931993117964, -3.822417867685335, 1.0554848207791068, 1.3911833182493893 ], "torque": [ 36.20361328125, 0.439453125, 8.3251953125, -2.752685546875, -0.5401611328125, 5.731201171875, 0.86151123046875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.8, -6.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.8, -6.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.4, -17.3, -1.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.4, -17.3, -1.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 280, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 34, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2715528390807921, -0.45168329894564957, -0.08628624607582072, -1.0484803555445983, 0.006942883459664483, -0.8252991669420383, 0.2802863080861876 ], "act_joint_pos_r": [ -0.7142422011499363, -0.883654488860542, 0.14256893365762616, -1.196919055995762, 0.4943474210815642, 0.612470837807088, -1.1620363279415027 ], "act_eef_pose_l": [ 512.0942875079824, 398.6158907697837, 111.56363144788776, 1.692060850046618, -0.12325820943984064, 0.7947289723558894 ], "act_eef_pose_r": [ 484.56306440420354, -159.51234812687866, -51.33825665308018, 1.5505516151792182, 0.16075956244140302, 2.500462126131494 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 99, "colors": { "rgb_main": "colors/000099_rgb_main.jpg", "rgb_wrist_0": "colors/000099_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000099_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000099_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2709780626781963, -0.4641513244550882, -0.08441370855357266, -1.0263680406136604, 0.003150886944391332, -0.8412270975607286, 0.2843431410014209 ], "joint_pos_r": [ -0.7331489242193202, -0.8766265328786221, 0.14371944626407004, -1.2442831568112738, 0.5294636697195246, 0.6010649044268424, -1.1764052263005502 ], "eef_pose_l": [ 514.6159748044786, 398.109659839763, 110.79113076880222, 1.6893514483943146, -0.12288916679283075, 0.7891494032972961 ], "eef_pose_r": [ 473.75660415677095, -152.29354778498143, -50.93484171212788, 1.5384517156467135, 0.12110405364940806, 2.5082428729821253 ], "joint_status_l": { "velocity": [ 0.06207402070490531, 1.3465070419171887, -0.202228088004075, -2.3880595804888216, 0.4095235453981556, 1.720165773241078, -0.4381250330385278 ], "torque": [ -23.12255859375, 10.89111328125, -18.4814453125, -3.546142578125, -2.655029296875, 0.1885986328125, -0.443115234375 ] }, "joint_status_r": { "velocity": [ 1.7004237198401384, -0.5636684313721219, -0.09418755545942403, 3.960072871411313, -3.6545875997404664, 1.009141823645976, 1.3301008628143762 ], "torque": [ 34.78271484375, 2.490234375, 8.53271484375, -4.4189453125, -0.208740234375, 5.4840087890625, 0.845947265625 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.7, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.7, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -17.5, -2.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 1.6, -17.5, -2.3, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2722896430111351, -0.45071801252397525, -0.08645654130697653, -1.050479981378732, 0.005347448381565773, -0.8229034633667465, 0.2817373646601235 ], "act_joint_pos_r": [ -0.7088289643049314, -0.8805603671295417, 0.14272395611614627, -1.1870252276122335, 0.4931836996629256, 0.612264709947429, -1.1641485372207896 ], "act_eef_pose_l": [ 512.0022875079824, 398.7254907697837, 111.5308314478878, 1.6915092282612323, -0.12344344328616728, 0.7962725243638755 ], "act_eef_pose_r": [ 488.20306440420353, -164.11634812687868, -50.76945665308017, 1.5545866948405953, 0.17196462566388762, 2.491100698171124 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 100, "colors": { "rgb_main": "colors/000100_rgb_main.jpg", "rgb_wrist_0": "colors/000100_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000100_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000100_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27110718268725686, -0.4613504586584439, -0.08483436267358754, -1.0313354371374959, 0.004002735806312691, -0.8376489852086612, 0.28343179825943005 ], "joint_pos_r": [ -0.7283656261221282, -0.8783830033666717, 0.14343130024155704, -1.2323947818216725, 0.5204229969118668, 0.6039452857156251, -1.1727580583044452 ], "eef_pose_l": [ 514.0533040898429, 398.2268552432338, 110.96182186182054, 1.689966299225136, -0.12296124198498574, 0.7904012933947124 ], "eef_pose_r": [ 476.47803492080965, -154.06999454382915, -51.05462463292088, 1.541438966667401, 0.13130713613954, 2.5063442393980906 ], "joint_status_l": { "velocity": [ 0.04812947099885889, 1.0440224571857115, -0.15679878290819627, -1.8515965780450117, 0.3175265816160594, 1.3337410362064261, -0.33970291970852884 ], "torque": [ -23.3203125, 10.58349609375, -18.51806640625, -3.631591796875, -2.18994140625, 0.234375, -0.5072021484375 ] }, "joint_status_r": { "velocity": [ 1.525284911123137, -0.569303642623531, -0.09313284425815915, 3.831265392067351, -2.8160791338582847, 0.9207324703250919, 1.1579127283880553 ], "torque": [ 34.35791015625, 1.70654296875, 8.538818359375, -4.058837890625, -0.4705810546875, 5.8795166015625, 0.79925537109375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.4, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.4, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.7, -17.1, -2.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.7, -17.1, -2.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 207, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 45, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2718887855939477, -0.45295770107424066, -0.0861307693551531, -1.0470710584842884, 0.0047153531095620906, -0.8250220809663004, 0.28250775473621775 ], "act_joint_pos_r": [ -0.7073537777686053, -0.8795911617324808, 0.14278630227793884, -1.1851728184238104, 0.49548165306491665, 0.6126170802198084, -1.1656497323927453 ], "act_eef_pose_l": [ 512.5254875079823, 398.5342907697837, 111.53643144788776, 1.6908650779240957, -0.12367670669866537, 0.7954529664497055 ], "act_eef_pose_r": [ 489.1886644042035, -165.32514812687867, -50.207056653080144, 1.5540872163961093, 0.17361608312366925, 2.4878379076357002 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 101, "colors": { "rgb_main": "colors/000101_rgb_main.jpg", "rgb_wrist_0": "colors/000101_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000101_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000101_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27147577573364196, -0.45788161438922664, -0.0853645203681745, -1.0376237443752994, 0.004433330308753098, -0.8327775301545822, 0.2828928836608336 ], "joint_pos_r": [ -0.719575144247378, -0.8793586536698424, 0.14311411555500245, -1.212048408822768, 0.5083796354704853, 0.6077282819122357, -1.1689554779910212 ], "eef_pose_l": [ 513.3934834401601, 398.38570742550354, 111.1551276328463, 1.6904555307864462, -0.12313508435432444, 0.7923369858471522 ], "eef_pose_r": [ 481.78159797625824, -158.53702804780266, -50.94879306482068, 1.5472050703325066, 0.1495467008530487, 2.4993912103385374 ], "joint_status_l": { "velocity": [ 0.044603749395744074, 0.5317669543907222, -0.08275244994060404, -1.0202798322254125, 0.030457564189532993, 0.837563809710673, -0.04159269714776315 ], "torque": [ -23.5107421875, 9.638671875, -19.0185546875, -3.338623046875, -3.0340576171875, 0.1373291015625, -0.14556884765625 ] }, "joint_status_r": { "velocity": [ 1.3198686522626346, -0.025110130180472368, -0.03540278977332001, 2.902478159072075, -1.3929410172019985, 0.5279746454380785, 0.35700999516841136 ], "torque": [ 34.365234375, 4.43115234375, 9.979248046875, -3.936767578125, -0.12451171875, 5.625, 0.574951171875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.8, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.8, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.2, -17.6, -2.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.2, -17.6, -2.8, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 211, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 17, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2703696803343791, -0.4598519479905988, -0.08512231418898153, -1.0361203374528023, 0.004759494314355271, -0.8325343189805898, 0.2827984592466794 ], "act_joint_pos_r": [ -0.7062901732478636, -0.8786685156724753, 0.14285305318393093, -1.1843708359046297, 0.5007034340049348, 0.6122637219215531, -1.1720896512369217 ], "act_eef_pose_l": [ 514.0214875079823, 397.9542907697837, 111.42603144788774, 1.690043678603925, -0.12376790973735077, 0.7921207318599597 ], "act_eef_pose_r": [ 490.13026440420356, -166.4163481268787, -49.576656653080136, 1.552909291568623, 0.17716140445521086, 2.4835013740812935 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 102, "colors": { "rgb_main": "colors/000102_rgb_main.jpg", "rgb_wrist_0": "colors/000102_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000102_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000102_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27153472028869946, -0.4562155319635895, -0.08562932475868584, -1.0410159510840424, 0.004566462459845534, -0.8298659279636312, 0.28274122358275633 ], "joint_pos_r": [ -0.7138788434461372, -0.8793860440615677, 0.14296950708059317, -1.1996538705240467, 0.5029128514016074, 0.6099400297587746, -1.1679924978464493 ], "eef_pose_l": [ 513.1249855977757, 398.4048889948292, 111.31983984822875, 1.69057305680806, -0.12338994703466584, 0.7934799926275885 ], "eef_pose_r": [ 485.27298034498085, -161.72546341514496, -50.58058215444299, 1.550278026882224, 0.16090909949154206, 2.4937143488355233 ], "joint_status_l": { "velocity": [ -0.12582060418653285, -0.39272134821954907, 0.0547555266001698, 0.5287106786866502, 0.020846825442795425, -0.2881777304830635, 0.006181269396776656 ], "torque": [ -25.45166015625, 4.09423828125, -14.56298828125, -0.48828125, -2.5469970703125, -1.2030029296875, -0.14739990234375 ] }, "joint_status_r": { "velocity": [ 0.8195522100136188, 0.07749078055319103, -0.012576649911055782, 1.6505190594404695, -0.23861004141378928, 0.2509513521653517, -0.4424795159341244 ], "torque": [ 37.05322265625, 7.3828125, 8.489990234375, -3.851318359375, 0.1080322265625, 5.650634765625, -0.39276123046875 ] }, "eef_FT_l": { "raw_value": [ -1.1, -15.8, -10.1, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -15.8, -10.1, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.4, -17.5, -1.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.4, -17.5, -1.8, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 34, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27048566861743134, -0.4611801923416697, -0.08492149965104981, -1.0336842988496993, 0.0038400510979867916, -0.8349408540513458, 0.2833327562718175 ], "act_joint_pos_r": [ -0.7059435152395318, -0.8782363861567609, 0.14289688780036186, -1.1849272196401575, 0.5029889066848532, 0.6116064785788602, -1.1758531556361218 ], "act_eef_pose_l": [ 514.1982875079824, 397.82789076978366, 111.34843144788766, 1.6893988969297686, -0.1233040043047591, 0.7910416417095457 ], "act_eef_pose_r": [ 490.37106440420354, -166.66994812687867, -49.27105665308022, 1.5524156627959629, 0.17933272531833955, 2.4820220905662698 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 103, "colors": { "rgb_main": "colors/000103_rgb_main.jpg", "rgb_wrist_0": "colors/000103_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000103_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000103_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27123047115020027, -0.45731034957416056, -0.08547533704612131, -1.0394863844341704, 0.004539555917414324, -0.8307922794721605, 0.282802548581155 ], "joint_pos_r": [ -0.7117977011852459, -0.879149545041552, 0.1429424595220521, -1.1955873819444964, 0.502544297261433, 0.6105013559269695, -1.1694718364940937 ], "eef_pose_l": [ 513.3822599122258, 398.2729566899737, 111.34141826407031, 1.6903748221506782, -0.12345123665137667, 0.7930208207150975 ], "eef_pose_r": [ 486.61180891283396, -163.0100487394063, -50.28885442899298, 1.5509547223358364, 0.16551070738361578, 2.490815238503057 ], "joint_status_l": { "velocity": [ -0.08043630119725087, -0.417930692683921, 0.059812674587211845, 0.6266067623448279, -0.07554429243836897, -0.44803284052896686, 0.05726074177614393 ], "torque": [ -28.5791015625, 4.31396484375, -11.60888671875, 0.897216796875, -3.61083984375, -1.4886474609375, 0.15289306640625 ] }, "joint_status_r": { "velocity": [ 0.6322334354091907, 0.09861825096812993, -0.004921600787577418, 1.1512635741652844, 0.04801640156104625, 0.11934972637206442, -0.6891621415867633 ], "torque": [ 36.35009765625, 7.705078125, 8.21533203125, -4.571533203125, 1.263427734375, 5.5645751953125, -0.6829833984375 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.0, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.0, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.4, -2.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.4, -2.3, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2710898196980936, -0.4596125849466489, -0.08510500549131159, -1.034558187968985, 0.002886993804749034, -0.8351385006785504, 0.28410559166150523 ], "act_joint_pos_r": [ -0.704063031867524, -0.8752322165216924, 0.1431778284087843, -1.1864735181609918, 0.5037046616147252, 0.6092410788370093, -1.181911439315734 ], "act_eef_pose_l": [ 513.7854875079823, 398.2966907697837, 111.36123144788763, 1.6890799785864, -0.12327395565201975, 0.7916582929252028 ], "act_eef_pose_r": [ 491.0110644042035, -168.07074812687867, -48.43345665308016, 1.553520217206402, 0.18709215611341776, 2.479324854502934 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 104, "colors": { "rgb_main": "colors/000104_rgb_main.jpg", "rgb_wrist_0": "colors/000104_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000104_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000104_depth_main.npy" }, "states": { "joint_pos_l": [ 0.270932450825014, -0.4589721061846846, -0.08523456772502282, -1.0368884460425196, 0.00415003254259241, -0.8327091457196224, 0.2831014347431353 ], "joint_pos_r": [ -0.708999143888035, -0.8784801918939913, 0.1429460603138498, -1.190918258177206, 0.5028060472566335, 0.6107960101371345, -1.1728666578148919 ], "eef_pose_l": [ 513.7271053226392, 398.10305942576724, 111.34505816532723, 1.6899047688811173, -0.12338018915668986, 0.7921575603378449 ], "eef_pose_r": [ 488.36429075738243, -164.77446519102335, -49.766012270264355, 1.5517230220685598, 0.1724051171125772, 2.4866250809656387 ], "joint_status_l": { "velocity": [ 0.016995337041914027, -0.06916966624137544, 0.01399230855969602, 0.2516604496136665, -0.13640416066141442, -0.2623625975921584, 0.10844574874768753 ], "torque": [ -29.37744140625, 2.255859375, -16.455078125, 1.416015625, -3.907470703125, -1.86767578125, 0.1611328125 ] }, "joint_status_r": { "velocity": [ 0.5330843757320736, 0.3507709947703219, 0.025030216026067365, 0.48001776438511, 0.09704748841077304, -0.16792762765316382, -0.976807592689255 ], "torque": [ 36.37939453125, 8.96484375, 8.6669921875, -4.3212890625, 2.0562744140625, 3.8525390625, -0.7049560546875 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.4, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.4, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.4, -17.5, -1.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.4, -17.5, -1.8, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 234, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 11, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2716968409358902, -0.45658760801192566, -0.08556252168000793, -1.039922345049177, 0.002819054019970749, -0.8296111089015245, 0.28425794963537754 ], "act_joint_pos_r": [ -0.7032997964478542, -0.8748999815534265, 0.14318468935164066, -1.1846597939713204, 0.5034501495969441, 0.6079844477148753, -1.1844469592415756 ], "act_eef_pose_l": [ 513.3774875079823, 398.6702907697837, 111.40123144788782, 1.6896250513638724, -0.12371258804508165, 0.7947153612403433 ], "act_eef_pose_r": [ 491.6982644042035, -168.87154812687868, -48.63505665308003, 1.5553091944395099, 0.1910450428205491, 2.47732073685437 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 105, "colors": { "rgb_main": "colors/000105_rgb_main.jpg", "rgb_wrist_0": "colors/000105_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000105_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000105_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27097828230904447, -0.4591586366692488, -0.08519683453592942, -1.0362097909591157, 0.003782190169377716, -0.8334166613853706, 0.28339388140598576 ], "joint_pos_r": [ -0.7075592948284022, -0.8775450227978027, 0.1430115771737476, -1.1895405206821632, 0.5030398013376701, 0.6102691713092452, -1.175586972436507 ], "eef_pose_l": [ 513.7441508509775, 398.1594344403119, 111.34958841697063, 1.6896650930285952, -0.12334868071788069, 0.7920119656706993 ], "eef_pose_r": [ 489.15868647374856, -165.75464858857754, -49.41044143838127, 1.5523646119431782, 0.1768117192647009, 2.4844314932362974 ], "joint_status_l": { "velocity": [ 0.01204568274881801, -0.04902496804470857, 0.009917244325197139, 0.1783678622553353, -0.0966783560042081, -0.1859531592671715, 0.0768624406597418 ], "torque": [ -30.95947265625, 3.9404296875, -16.78466796875, 1.202392578125, -4.3707275390625, -1.8914794921875, 0.28656005859375 ] }, "joint_status_r": { "velocity": [ 0.4600122577631538, 0.2856560294191013, 0.018695563816173433, 0.5271029387010628, 0.04431630496171124, -0.2467428708996522, -0.9568503541554918 ], "torque": [ 35.98388671875, 8.47412109375, 9.70458984375, -4.254150390625, 1.1956787109375, 3.5797119140625, -0.72601318359375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.4, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.4, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.4, -17.1, -2.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.4, -17.1, -2.1, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27397975437735256, -0.46278044317233175, -0.08466686382500584, -1.0301635155521447, 1.9226580994692788e-05, -0.8415496159191195, 0.28598253714406513 ], "act_joint_pos_r": [ -0.7013895872355084, -0.8841940964171322, 0.14213127375463097, -1.1639987465508381, 0.518161350871595, 0.6099762109113637, -1.2076911419673841 ], "act_eef_pose_l": [ 513.6862875079823, 397.3670907697837, 110.03003144788778, 1.688511284551734, -0.12029106863035616, 0.7869934970427839 ], "act_eef_pose_r": [ 496.77266440420357, -170.73634812687868, -50.26545665308004, 1.554675834861482, 0.20528323752016756, 2.4618301638578406 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 106, "colors": { "rgb_main": "colors/000106_rgb_main.jpg", "rgb_wrist_0": "colors/000106_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000106_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000106_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2711434992323279, -0.45859652473831747, -0.08527585774399125, -1.0369875673310878, 0.003535351958011703, -0.8326203845769259, 0.2836122181171691 ], "joint_pos_r": [ -0.7063940291218154, -0.8774304305049679, 0.14299321022847325, -1.187131888239087, 0.5039962309401562, 0.6098194227631047, -1.179130612700288 ], "eef_pose_l": [ 513.6633824745348, 398.27894885865163, 111.36148421693034, 1.689635788908774, -0.12342787550477827, 0.7926073026216106 ], "eef_pose_r": [ 490.0859672136715, -166.6301166130524, -49.318261791938596, 1.5530657142064916, 0.18115879689440548, 2.4817696375012797 ], "joint_status_l": { "velocity": [ 0.05975914148281802, 0.21695660765752578, -0.03095879200898377, -0.3169466457109138, -0.07735789575924468, 0.3249921878110129, 0.0697369471853726 ], "torque": [ -26.982421875, 8.349609375, -17.431640625, -2.349853515625, -4.698486328125, -0.281982421875, 0.29937744140625 ] }, "joint_status_r": { "velocity": [ 0.5404637835946247, -0.7304543749135917, -0.09308639373872829, 2.4983056187455333, 1.5297878339146642, 0.016932620610532467, -3.0844461899679487 ], "torque": [ 36.064453125, 3.8818359375, 7.06787109375, -1.25732421875, 2.8912353515625, 4.3707275390625, -0.65185546875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.5, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.5, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.3, -17.6, -2.0, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.3, -17.6, -2.0, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 274, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 24, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2748393585886578, -0.46448450581179374, -0.08449004948361755, -1.0298821396601796, -0.0005690818685841265, -0.8397624788206092, 0.2849051126955463 ], "act_joint_pos_r": [ -0.7070830194570782, -0.8871311070198564, 0.14204397139815872, -1.1777758149430513, 0.5394142436733116, 0.6007902379189356, -1.2244642251004632 ], "act_eef_pose_l": [ 514.1534875079824, 396.8430907697837, 109.45883144788769, 1.6888546409477407, -0.11808903344743302, 0.7875601984644469 ], "act_eef_pose_r": [ 494.6822644042035, -166.80834812687868, -50.75425665308012, 1.5511349890306405, 0.19490383978229855, 2.459498777849666 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 107, "colors": { "rgb_main": "colors/000107_rgb_main.jpg", "rgb_wrist_0": "colors/000107_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000107_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000107_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2718318726207969, -0.4595172326500411, -0.08514165059834189, -1.0354744116110346, 0.002680953903881694, -0.8346282051383546, 0.2841936536614744 ], "joint_pos_r": [ -0.7054548392125618, -0.8794663525725893, 0.14275445159295777, -1.1818862382696615, 0.5093489298503929, 0.6091993837602201, -1.1880427466543988 ], "eef_pose_l": [ 513.6602291034176, 398.0765293196886, 111.04737478277451, 1.6893762360377695, -0.12269397141911607, 0.7913500948486719 ], "eef_pose_r": [ 491.74783976918854, -167.44677009139164, -49.61090620278566, 1.5532285201481835, 0.1869148868047447, 2.476216320205512 ], "joint_status_l": { "velocity": [ 0.23196438828398946, -0.35241634244265185, 0.05127545923155896, 0.573559858116468, -0.2874580727491305, -0.7474903182735915, 0.19319371817561048 ], "torque": [ -21.05712890625, 1.259765625, -16.253662109375, 0.616455078125, -5.086669921875, -2.2119140625, 0.38360595703125 ] }, "joint_status_r": { "velocity": [ -0.1758382803345171, -0.8277690665607906, -0.07672959801996448, 0.4439126267712368, 3.246958128964028, -0.9081609660830381, -3.9334036626339497 ], "torque": [ 29.0478515625, 1.201171875, 9.613037109375, -4.827880859375, 3.1109619140625, 3.6456298828125, -1.00250244140625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.3, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.3, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.7, -17.6, -1.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.7, -17.6, -1.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 280, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2742854022643358, -0.4652420561774191, -0.08438256768639396, -1.028638914674237, 7.442723505250579e-05, -0.8407177014217363, 0.2838166310371394 ], "act_joint_pos_r": [ -0.7071802414096369, -0.8880141945293117, 0.14198159502040433, -1.1787822608588885, 0.5395860213343742, 0.6001695985111442, -1.2241903455533245 ], "act_eef_pose_l": [ 514.3270875079824, 396.7702907697837, 109.55563144788772, 1.6889292228974693, -0.11766158738188306, 0.7870900951029904 ], "act_eef_pose_r": [ 494.4630644042035, -166.05874812687867, -50.69985665308013, 1.5507606790525625, 0.1937601291029085, 2.460550550763595 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 108, "colors": { "rgb_main": "colors/000108_rgb_main.jpg", "rgb_wrist_0": "colors/000108_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000108_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000108_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2725806072454398, -0.4607441911197455, -0.08497910901554628, -1.0340373407363157, 0.0018602388800869338, -0.836017216947281, 0.2844143783224127 ], "joint_pos_r": [ -0.705881678352623, -0.8815004434285277, 0.14256703469345813, -1.1808814082076466, 0.5171364274438119, 0.6069879790880768, -1.197448606431497 ], "eef_pose_l": [ 513.7728345722403, 397.77550403904314, 110.6555391635406, 1.6892334763288008, -0.12157641610875737, 0.7903487862867932 ], "eef_pose_r": [ 492.5008703681801, -167.23686247071953, -49.89064367260045, 1.552596302216025, 0.18893298393600605, 2.4719311392444543 ], "joint_status_l": { "velocity": [ 0.24393795050214884, -0.40394207310612273, 0.05281687169800264, 0.4487484810944409, -0.2623589029942513, -0.4044763529265083, 0.05299774921319056 ], "torque": [ -20.89599609375, 1.88232421875, -15.264892578125, 0.933837890625, -5.2752685546875, -2.1038818359375, 0.03387451171875 ] }, "joint_status_r": { "velocity": [ -0.1402406739794415, -0.7034643713117461, -0.06322561994975828, 0.22670122747214805, 2.4244846338286052, -0.7363633844317263, -2.8880226474825577 ], "torque": [ 26.05224609375, 1.22314453125, 10.97412109375, -4.01611328125, 2.7813720703125, 3.36181640625, -0.68939208984375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.3, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.3, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.5, -17.4, -2.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.5, -17.4, -2.4, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27597758740592476, -0.45945099882623813, -0.08513085400285073, -1.034795798074658, -0.002678192595451156, -0.8371671226964591, 0.28571768947957604 ], "act_joint_pos_r": [ -0.7075375942954563, -0.8939617622400136, 0.14142597964680287, -1.1742454989374176, 0.5455749517504755, 0.6013313354076374, -1.225497098197963 ], "act_eef_pose_l": [ 513.0878875079824, 398.0246907697837, 109.77003144788756, 1.6880841566854299, -0.11765914276651428, 0.790629310337999 ], "act_eef_pose_r": [ 495.2710644042035, -164.40674812687865, -51.12865665308004, 1.548036280892425, 0.1885501085148472, 2.458922094112876 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 109, "colors": { "rgb_main": "colors/000109_rgb_main.jpg", "rgb_wrist_0": "colors/000109_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000109_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000109_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27305896832694915, -0.46193185733896147, -0.08482182670902359, -1.0326230819256608, 0.0013570242460409926, -0.8372529000822762, 0.2842896712590162 ], "joint_pos_r": [ -0.7060951560631075, -0.8825712737314167, 0.1424707911415139, -1.1805363181732702, 0.5208270359816001, 0.6058670691200037, -1.2018448236280954 ], "eef_pose_l": [ 513.9171286788073, 397.5071560849548, 110.35542049699055, 1.6891509763640538, -0.12053410937430696, 0.789485028049264 ], "eef_pose_r": [ 492.82629182866447, -167.04309710346138, -50.01846742472753, 1.5522657494133623, 0.18973482822714677, 2.4700503239594243 ], "joint_status_l": { "velocity": [ 0.13245095880543012, -0.3574909309214114, 0.04743857531808171, 0.43027737280176837, -0.1385163918641557, -0.3741875085907509, -0.05108683723697993 ], "torque": [ -20.654296875, 2.13134765625, -15.045166015625, 0.87890625, -5.2569580078125, -2.1990966796875, 0.1629638671875 ] }, "joint_status_r": { "velocity": [ -0.1171857612156657, -0.5878181094036705, -0.05283162289448917, 0.18943260293724506, 2.0259106670583726, -0.6153086781974793, -2.413245193062963 ], "torque": [ 26.2353515625, 2.138671875, 14.27001953125, -3.86962890625, 2.801513671875, 3.2501220703125, -0.75714111328125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.4, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.4, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.3, -17.4, -1.9, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.3, -17.4, -1.9, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 297, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 17, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28109596892964367, -0.4493982944766071, -0.08674481343497023, -1.0551110191826651, -0.004451636503237562, -0.8208325490269933, 0.28389469506429077 ], "act_joint_pos_r": [ -0.7087817450778086, -0.8965327030381363, 0.1413559608538452, -1.1876279088494517, 0.5613419184168711, 0.5922599851900083, -1.237168170777858 ], "act_eef_pose_l": [ 510.8622875079824, 398.0214907697837, 108.74443144788785, 1.6902221540056708, -0.1131129870385049, 0.7969152009565956 ], "act_eef_pose_r": [ 493.9830644042035, -160.47474812687867, -49.83665665308013, 1.5440116209338888, 0.18114922007849107, 2.45882595166698 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 110, "colors": { "rgb_main": "colors/000110_rgb_main.jpg", "rgb_wrist_0": "colors/000110_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000110_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000110_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2740400887807847, -0.4608660749281144, -0.08497499096878743, -1.0342005843728532, 0.0003181563592832294, -0.8363636549352219, 0.2844937169394833 ], "joint_pos_r": [ -0.7062625919405718, -0.8837680119127751, 0.14236142230319582, -1.1799256251669652, 0.5237054399485955, 0.6052488408640452, -1.2047730762331976 ], "eef_pose_l": [ 513.6124131251524, 397.607407093472, 110.14487468757748, 1.6890250607917436, -0.11955876860282016, 0.7900523159673821 ], "eef_pose_r": [ 493.1042327742742, -166.7773077793952, -50.13763456473464, 1.5518196167252487, 0.18980070280212344, 2.4687084699177415 ], "joint_status_l": { "velocity": [ 0.762012581716931, 1.2384837616372657, -0.1911351891166202, -2.2582603556298153, -0.5151224364280949, 1.6773099684757042, -0.06469245451912187 ], "torque": [ -19.94384765625, 10.6787109375, -17.2607421875, -5.46875, -5.57373046875, -0.135498046875, 0.38177490234375 ] }, "joint_status_r": { "velocity": [ -0.13769619319514703, -1.1008925662512326, -0.10102482732232687, 0.6134355404778802, 2.36183761592601, -0.42307811127084705, -2.238128362126446 ], "torque": [ 25.12939453125, 1.494140625, 9.24072265625, -3.460693359375, 2.8125, 3.18603515625, -0.76080322265625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.4, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.4, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.9, -17.5, -2.7, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 2.9, -17.5, -2.7, 1.0, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28000939621426574, -0.4511603754888911, -0.08646214902807091, -1.0516372482491916, -0.0043603686389922965, -0.8226426309940231, 0.28203703536116964 ], "act_joint_pos_r": [ -0.716349155303472, -0.9068954239380465, 0.1408099943639629, -1.2209040252504961, 0.5996734624067681, 0.5762248110685454, -1.2518382430244905 ], "act_eef_pose_l": [ 511.4150875079824, 398.1478907697837, 109.01883144788786, 1.6896796087377002, -0.11184571398282146, 0.7970787472888882 ], "act_eef_pose_r": [ 488.44626440420353, -148.15634812687867, -47.70065665308016, 1.5307312711236107, 0.14353628612931715, 2.4660201350950772 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 111, "colors": { "rgb_main": "colors/000111_rgb_main.jpg", "rgb_wrist_0": "colors/000111_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000111_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000111_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2742481646700619, -0.4605278933596717, -0.08502718252756458, -1.0348172271199567, 0.00017749653079988223, -0.8359056470602103, 0.28447605195556236 ], "joint_pos_r": [ -0.7070341771378638, -0.8870017695017398, 0.14209895580451512, -1.181311876282688, 0.5323696205634688, 0.6026728858827272, -1.2117074386362439 ], "eef_pose_l": [ 513.5319822884961, 397.6200957023083, 110.10319423508574, 1.6890580062462621, -0.11936899090420787, 0.7902547983718123 ], "eef_pose_r": [ 493.2934035133742, -165.25244099641262, -50.147041387289676, 1.5497479724534904, 0.18717085095511343, 2.466500528890396 ], "joint_status_l": { "velocity": [ 0.739541048437431, 1.2019612294200677, -0.18549866700900974, -2.1916649030711, -0.4999316229809874, 1.6278465768193584, -0.06278469252185559 ], "torque": [ -20.80810546875, 9.5361328125, -17.9443359375, -3.74755859375, -5.4583740234375, -0.703125, -0.15838623046875 ] }, "joint_status_r": { "velocity": [ -1.0059879718564702, -2.1484513139364836, -0.13920372998521557, -4.27582597977505, 7.268600543162584, -2.8563078376349083, -4.333999049460857 ], "torque": [ 25.01953125, -2.8271484375, 8.197021484375, -9.27734375, 2.779541015625, 3.3160400390625, -0.6536865234375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -17.3, -7.0, 1.5, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -17.3, -7.0, 1.5, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.3, -17.1, -1.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.3, -17.1, -1.8, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 30, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2804175281534915, -0.45361078077721056, -0.08605290738829688, -1.0461920522422588, -0.007541093230571315, -0.8262287988340702, 0.2854708807276661 ], "act_joint_pos_r": [ -0.7165208717244691, -0.9063947053721068, 0.1408784257600096, -1.2236968568665372, 0.5995966070359793, 0.5749858542991773, -1.2508203962594215 ], "act_eef_pose_l": [ 511.99508750798236, 398.4182907697837, 108.91083144788769, 1.6878844934111648, -0.11251915957674781, 0.79694047167401 ], "act_eef_pose_r": [ 487.93266440420354, -147.67554812687865, -47.46625665308011, 1.5307006472106073, 0.14187031099606498, 2.4673698579661774 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 112, "colors": { "rgb_main": "colors/000112_rgb_main.jpg", "rgb_wrist_0": "colors/000112_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000112_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000112_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2757629976987829, -0.4580649436939735, -0.08540475729319283, -1.0392466013647867, -0.0009984475165509055, -0.8324339001448602, 0.283886953739137 ], "joint_pos_r": [ -0.7093496957619282, -0.8918965298506829, 0.1417839028794469, -1.1912735773046281, 0.5490234559674496, 0.5960547558407157, -1.2215810239792284 ], "eef_pose_l": [ 512.9750613720935, 397.7558224153181, 109.8150439862755, 1.6892182186608953, -0.11745352420683988, 0.7920168459852113 ], "eef_pose_r": [ 492.13941246492294, -160.96737594050904, -49.502338399712755, 1.5446318650358888, 0.17646982711471954, 2.4661566396960386 ], "joint_status_l": { "velocity": [ 0.4585975140614096, 0.7456713737474807, -0.1141949393670405, -1.338150396878568, -0.3630767728466603, 1.0574258811812953, -0.19978529246822418 ], "torque": [ -20.31005859375, 9.7705078125, -18.49365234375, -3.924560546875, -5.38330078125, 0.0439453125, -0.38543701171875 ] }, "joint_status_r": { "velocity": [ -0.7744641623546045, -1.5657567767854985, -0.09778864477727467, -3.501610918192455, 5.461739230013141, -2.2753742579100233, -3.1577590731348693 ], "torque": [ 23.81103515625, 0.65185546875, 7.977294921875, -10.504150390625, 2.9095458984375, 3.1988525390625, -0.853271484375 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.1, -17.2, -2.9, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.1, -17.2, -2.9, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 232, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 30, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2818379209956309, -0.45771436724643283, -0.0854746509372639, -1.040483327092681, -0.010275322908603406, -0.830311733868219, 0.28842800504897304 ], "act_joint_pos_r": [ -0.7152972452008459, -0.9101412793683541, 0.1405253326301854, -1.220901788050623, 0.5985690468493085, 0.5760431891675677, -1.2474811483430792 ], "act_eef_pose_l": [ 512.6710875079824, 397.8446907697837, 108.08523144788757, 1.686921988557883, -0.11191237295073966, 0.794844517209842 ], "act_eef_pose_r": [ 488.4078644042035, -146.30434812687866, -47.20545665308009, 1.5290866167486108, 0.13959333568399693, 2.4689781638808617 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 113, "colors": { "rgb_main": "colors/000113_rgb_main.jpg", "rgb_wrist_0": "colors/000113_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000113_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000113_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27691503552178787, -0.45696249862462174, -0.08556518022560437, -1.0409656624358279, -0.002617810715141464, -0.8308980821982009, 0.2842789898032296 ], "joint_pos_r": [ -0.7106176199600744, -0.8944599291688148, 0.14162380691239762, -1.1970062857131996, 0.5579652142440891, 0.5923295969222313, -1.2267507908133317 ], "eef_pose_l": [ 512.7332203430542, 397.9196332115531, 109.59137299070306, 1.6888801771693502, -0.11623497296067699, 0.7932350625409321 ], "eef_pose_r": [ 491.43162398492666, -158.60526851579016, -49.13221274016894, 1.5419880173844622, 0.17043829213620587, 2.466228356544512 ], "joint_status_l": { "velocity": [ 0.37825804809910046, 0.36197485164324306, -0.052672980064172314, -0.5644334520189531, -0.5316988300476735, 0.5042677307445231, 0.12872042343303747 ], "torque": [ -19.9365234375, 11.8359375, -13.818359375, -3.9794921875, -5.51513671875, 0.1025390625, 0.3863525390625 ] }, "joint_status_r": { "velocity": [ -0.6375323875422723, -1.2889178153567826, -0.08049879027316464, -2.8824966698657306, 4.49605781738649, -1.873068960073887, -2.599440721771984 ], "torque": [ 23.09326171875, 1.5380859375, 7.9345703125, -10.272216796875, 2.6898193359375, 3.087158203125, -0.57037353515625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -7.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -7.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.2, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.9, -17.2, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28206598102734826, -0.45959635159000406, -0.08524625921184029, -1.0391859133840409, -0.010330401052845698, -0.8316884557114559, 0.2883252322442309 ], "act_joint_pos_r": [ -0.7150162476850803, -0.9111153065870353, 0.14043405171210963, -1.2202411518170921, 0.5988707855928079, 0.5769824562904589, -1.2478453866274515 ], "act_eef_pose_l": [ 512.9054875079823, 397.1454907697837, 107.79643144788753, 1.686867049704613, -0.11116895259337038, 0.7929606466928694 ], "act_eef_pose_r": [ 488.4998644042035, -145.93074812687865, -46.9934566530801, 1.5279108576298737, 0.13970621938431407, 2.4693334059755605 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 114, "colors": { "rgb_main": "colors/000114_rgb_main.jpg", "rgb_wrist_0": "colors/000114_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000114_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000114_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27696706573469343, -0.4569127082006187, -0.08557242550797411, -1.041043301478347, -0.0026909470395845908, -0.8308287190808161, 0.2842966955759691 ], "joint_pos_r": [ -0.7111295091465715, -0.8958792060795002, 0.1415277932630733, -1.1994888340572496, 0.5620508602579648, 0.5906798925435106, -1.2289562468524464 ], "eef_pose_l": [ 512.7222866658852, 397.9270339777131, 109.58126818587698, 1.688865034457842, -0.11617989439453012, 0.7932900879786108 ], "eef_pose_r": [ 491.12832030791304, -157.42770656047264, -48.94519062806842, 1.5406818068204169, 0.1675001680740202, 2.466379938044989 ], "joint_status_l": { "velocity": [ 0.3726389508318384, 0.3565976444428465, -0.05189051264586908, -0.5560486827222988, -0.5238003399613312, 0.4967767350025909, 0.12680825637367832 ], "torque": [ -19.76806640625, 11.42578125, -13.739013671875, -3.582763671875, -5.526123046875, 0.076904296875, 0.40008544921875 ] }, "joint_status_r": { "velocity": [ -0.41975538213545605, -1.645450324850195, -0.11812060372307087, -2.2411842178673425, 3.9764346574910903, -1.479279486313878, -2.0399669300914525 ], "torque": [ 23.26171875, -0.41015625, 8.26416015625, -9.19189453125, 2.713623046875, 3.3416748046875, -0.73699951171875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.7, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.1, -17.7, -2.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.1, -17.7, -2.4, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28102808845017996, -0.4611392150730223, -0.08502609426793728, -1.0368534549750101, -0.008803731911016204, -0.8336307240764654, 0.28664425589049464 ], "act_joint_pos_r": [ -0.7132986808895607, -0.9131747611683535, 0.14022493820737134, -1.2165127826969533, 0.5956676503348385, 0.5780385347362246, -1.2458061611966713 ], "act_eef_pose_l": [ 513.2222875079824, 396.92069076978373, 107.92283144788763, 1.6871919171019296, -0.1108940657279937, 0.7916771482027902 ], "act_eef_pose_r": [ 489.2678644042035, -145.62434812687866, -46.8182566530802, 1.5277593731231647, 0.14194971358236833, 2.469984861290843 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 115, "colors": { "rgb_main": "colors/000115_rgb_main.jpg", "rgb_wrist_0": "colors/000115_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000115_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000115_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27838431875252, -0.4577226811518704, -0.08547207424901426, -1.0404090536279367, -0.004825324072344446, -0.8311471596553389, 0.2853756145011521 ], "joint_pos_r": [ -0.7121697126515623, -0.9018291773553838, 0.1410876192749696, -1.2062016757331513, 0.5746877414735363, 0.5859499669136349, -1.2353548216438157 ], "eef_pose_l": [ 512.78702216653, 397.7084784167563, 109.07838639403829, 1.6883045201809792, -0.11472814492320242, 0.7931769697631817 ], "eef_pose_r": [ 490.37489417831176, -153.19304440711733, -48.20049315490752, 1.5358982923634603, 0.15798398769341568, 2.4674662316097082 ], "joint_status_l": { "velocity": [ 0.28551870642323784, -0.3689747811548294, 0.048164417422835726, 0.38399332923866325, -0.42965537456864794, -0.26821704684198977, 0.13700922917747604 ], "torque": [ -20.35400390625, 3.05419921875, -13.8916015625, 0.13427734375, -5.181884765625, -1.534423828125, 0.4925537109375 ] }, "joint_status_r": { "velocity": [ -0.1219249737189898, -1.2252869138942302, -0.0931668074926062, -1.1135667091952683, 2.2657633319029813, -0.8544094757008125, -1.128711382145653 ], "torque": [ 23.62060546875, -0.087890625, 8.074951171875, -9.405517578125, 2.5067138671875, 3.1439208984375, -0.71319580078125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.5, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.5, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.2, -2.7, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.2, -2.7, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 211, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 64, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27862091673909095, -0.46026318572837877, -0.08517421887318347, -1.0390159535844414, -0.005130845442515495, -0.8312991108966896, 0.2844777967265695 ], "act_joint_pos_r": [ -0.7126397365363683, -0.9146910438466463, 0.1400669219243398, -1.213263151483799, 0.5901079090232408, 0.5793650953910972, -1.2441689597044172 ], "act_eef_pose_l": [ 513.3086875079823, 396.8814907697837, 108.71883144788768, 1.6882321387432118, -0.11302467645150076, 0.7920876697281463 ], "act_eef_pose_r": [ 489.49106440420354, -145.31634812687867, -47.147856653080225, 1.5285992342300947, 0.14588337275767702, 2.471900480940807 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 116, "colors": { "rgb_main": "colors/000116_rgb_main.jpg", "rgb_wrist_0": "colors/000116_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000116_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000116_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27885175946119856, -0.4583267530718795, -0.08539322123901273, -1.0397803938942345, -0.005528740024636752, -0.8315862747242826, 0.285599920964237 ], "joint_pos_r": [ -0.712203005602283, -0.9021637553798753, 0.1410621790568088, -1.2065057473309766, 0.5753064329905653, 0.5857166610395209, -1.2356630286606187 ], "eef_pose_l": [ 512.8642670684314, 397.56920328399406, 108.87401608823531, 1.6881090586679173, -0.11404952816991175, 0.7929108718475794 ], "eef_pose_r": [ 490.34393766428104, -152.96940440040797, -48.159772149034666, 1.5356523751320632, 0.15751371720820928, 2.4675347590060044 ], "joint_status_l": { "velocity": [ 0.23503659877599503, -0.303736937881105, 0.03964854350491098, 0.3161000804023928, -0.35368869223860455, -0.22079401806429644, 0.11278484562460278 ], "torque": [ -20.57373046875, 2.7099609375, -13.22021484375, 0.18310546875, -5.17822265625, -1.6387939453125, 0.45684814453125 ] }, "joint_status_r": { "velocity": [ -0.11832944108558507, -1.1891535529464647, -0.09041934496334392, -1.080727945158344, 2.1989466187175566, -0.8292131844207518, -1.09542600603163 ], "torque": [ 23.69384765625, -0.087890625, 8.02001953125, -9.259033203125, 2.45361328125, 3.134765625, -0.6939697265625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.3, -1.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.3, -1.8, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2769263962851182, -0.4604027833030425, -0.08500794439750542, -1.0334160984166285, -0.0027989503658208286, -0.8368751144417015, 0.2822148230725082 ], "act_joint_pos_r": [ -0.7106189621721829, -0.9179347294910106, 0.1397126920331502, -1.2040997370421862, 0.5833170248500642, 0.5768694156847514, -1.2450787387141273 ], "act_eef_pose_l": [ 513.3358875079823, 398.0902907697837, 109.14683144788779, 1.6888397169505631, -0.11340360455462843, 0.791681157227656 ], "act_eef_pose_r": [ 491.4062644042035, -145.90194812687866, -48.69745665308005, 1.5347496001090444, 0.15533118687371825, 2.4699778524386975 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 117, "colors": { "rgb_main": "colors/000117_rgb_main.jpg", "rgb_wrist_0": "colors/000117_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000117_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000117_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27890317580166446, -0.45855766304743567, -0.0853628423295241, -1.0395317407072613, -0.005606416355657615, -0.8317369693756035, 0.2855442865566436 ], "joint_pos_r": [ -0.7119970533178537, -0.9056022832086582, 0.14077444631376257, -1.2067091566788595, 0.5778806127712106, 0.5837598518207493, -1.23787879897423 ], "eef_pose_l": [ 512.9054067507949, 397.5203998869859, 108.83198995612912, 1.6880873872057873, -0.11386506009150157, 0.7928057753863607 ], "eef_pose_r": [ 490.45853186794835, -151.27131620632454, -48.1673228887135, 1.534951885000239, 0.1561852957898512, 2.4681632311034947 ], "joint_status_l": { "velocity": [ -0.21348589135739005, -0.1992671105357502, 0.038327846238694896, 0.6604698878707183, 0.3031973845735239, -0.5549033011398308, -0.3595714512938386 ], "torque": [ -24.66064453125, 2.65869140625, -13.238525390625, 0.177001953125, -3.80859375, -0.9576416015625, 0.43853759765625 ] }, "joint_status_r": { "velocity": [ 0.14882945424243843, -1.3318649172378016, -0.11466608041099668, 0.28180900924823504, 0.5871151884786485, -0.744145155300302, -0.7775705586912096 ], "torque": [ 31.76513671875, 0.4248046875, 8.23974609375, -5.078125, 2.442626953125, 3.468017578125, -0.732421875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.5, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.5, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.0, -17.7, -2.7, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.0, -17.7, -2.7, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 280, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2763155829273063, -0.4608118063524405, -0.08493290254502062, -1.0321759894442821, -0.0014114664138437333, -0.8376201381611845, 0.28160994046034504 ], "act_joint_pos_r": [ -0.7096038813730936, -0.9196648681069751, 0.1395886372185021, -1.2059774254266806, 0.6072608719950391, 0.563579085809146, -1.2637309237664909 ], "act_eef_pose_l": [ 513.4670875079823, 398.2262907697837, 109.18443144788768, 1.689502491463488, -0.11407450793256425, 0.7914798756069893 ], "act_eef_pose_r": [ 493.95826440420353, -146.57634812687866, -48.998256653080034, 1.5383976819851635, 0.15281565571156025, 2.455942023658805 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 118, "colors": { "rgb_main": "colors/000118_rgb_main.jpg", "rgb_wrist_0": "colors/000118_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000118_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000118_depth_main.npy" }, "states": { "joint_pos_l": [ 0.278364989114058, -0.45905293117928414, -0.08526773988239618, -1.0378952522987415, -0.0048192404586622165, -0.8330988540150247, 0.2846564380711547 ], "joint_pos_r": [ -0.7118116111794975, -0.907044932558921, 0.14065097662203713, -1.2064700748937267, 0.5792001700689242, 0.582590387523146, -1.2392413081092633 ], "eef_pose_l": [ 513.0230456107731, 397.67380168154506, 108.91517457038981, 1.6883087546742903, -0.11377699316478967, 0.7925056065284123 ], "eef_pose_r": [ 490.6455994151991, -150.68768053826957, -48.23511582166992, 1.5350205163287178, 0.1560182145149784, 2.467937956376033 ], "joint_status_l": { "velocity": [ -0.22132934040919316, -0.1899529163389424, 0.03616136591411134, 0.617662171309874, 0.3680287424128528, -0.4882842866091863, -0.3290120382759554 ], "torque": [ -31.44287109375, 2.6806640625, -12.04833984375, 1.07421875, -2.486572265625, -1.8621826171875, -0.40374755859375 ] }, "joint_status_r": { "velocity": [ 0.23842778703997425, -1.3629128422243397, -0.11472927182287762, 0.05320457325552752, 3.0304664291902483, -2.053160030394352, -2.644800486757859 ], "torque": [ 32.0361328125, -0.1904296875, 8.0810546875, -4.949951171875, 2.3785400390625, 3.37646484375, -0.662841796875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.5, -2.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.5, -2.4, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 43, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27429341904050697, -0.4662635468797688, -0.08431275130652009, -1.0293226307673475, 0.0015045352356836085, -0.8390190267635825, 0.2796356711523963 ], "act_joint_pos_r": [ -0.7065934447111304, -0.9187448025795928, 0.1397390846433129, -1.2141624438065877, 0.6262873227391119, 0.5496540036532873, -1.2760994359043603 ], "act_eef_pose_l": [ 514.5974875079824, 396.2158907697837, 109.23563144788778, 1.6899858877636034, -0.11431457862686503, 0.7871760037060759 ], "act_eef_pose_r": [ 495.5102644042035, -146.57714812687868, -47.56305665308014, 1.5407605317542181, 0.1490007495801486, 2.4471260560202484 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 119, "colors": { "rgb_main": "colors/000119_rgb_main.jpg", "rgb_wrist_0": "colors/000119_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000119_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000119_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27833454478442216, -0.45907905961390394, -0.08526276580827688, -1.0378102915307197, -0.004768617308885699, -0.8331660185750874, 0.28461118175344774 ], "joint_pos_r": [ -0.7114486706954795, -0.9091195911076251, 0.14047633297851153, -1.2063890856189068, 0.5838132185993202, 0.5794650181840747, -1.2432672867114718 ], "eef_pose_l": [ 513.0296730662996, 397.6820059017263, 108.91918336249928, 1.6883263174607277, -0.11378155490293541, 0.7924903322913947 ], "eef_pose_r": [ 491.20263023569333, -150.01737357137677, -48.35175554899416, 1.5355145725498456, 0.1555090304093204, 2.4659088481681404 ], "joint_status_l": { "velocity": [ -0.2180414497796601, -0.18713112862434045, 0.03562418175262483, 0.6084866789803911, 0.362561603481637, -0.48103072805538716, -0.3241245001137649 ], "torque": [ -31.728515625, 2.2119140625, -12.04833984375, 1.03759765625, -2.3876953125, -1.871337890625, -0.3643798828125 ] }, "joint_status_r": { "velocity": [ 0.1992313708027993, -1.1388563271577112, -0.09586831459640344, 0.044457989542223686, 2.532271881370285, -1.7156300966867377, -2.2100076212492326 ], "torque": [ 33.0615234375, 1.42822265625, 8.349609375, -5.2001953125, 2.5579833984375, 3.01025390625, -0.6884765625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.2, -2.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.2, -2.3, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2742478065139754, -0.46712537930345766, -0.0841554776406848, -1.0266123761092, 0.001150389739452687, -0.8418366686906769, 0.2804461022536288 ], "act_joint_pos_r": [ -0.7052010518084311, -0.9203280544440547, 0.1395983133438896, -1.2130195302088005, 0.629983948224766, 0.5473607330808592, -1.2763141749474998 ], "act_eef_pose_l": [ 514.6758875079823, 396.37429076978367, 109.20043144788775, 1.6896664343038836, -0.11469448641587258, 0.7862336341234397 ], "act_eef_pose_r": [ 496.43426440420353, -146.37794812687866, -47.31425665308029, 1.5410521340197532, 0.14671435766010893, 2.444886433475253 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 120, "colors": { "rgb_main": "colors/000120_rgb_main.jpg", "rgb_wrist_0": "colors/000120_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000120_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000120_depth_main.npy" }, "states": { "joint_pos_l": [ 0.277264335865937, -0.4609766730364537, -0.08500539051755922, -1.035327951121482, -0.0031305719937578537, -0.8349650091302473, 0.2833389724646653 ], "joint_pos_r": [ -0.7098558430941246, -0.9121771995454678, 0.14023623262344198, -1.2081475696154285, 0.5961005268051295, 0.5709176457334764, -1.2522536343181307 ], "eef_pose_l": [ 513.4389150960722, 397.3492958680467, 109.00326716764661, 1.6887452178423101, -0.11395265040953298, 0.7910730505632053 ], "eef_pose_r": [ 492.61580648267307, -149.0248247177349, -48.07398265717916, 1.536790663851499, 0.1533496426775705, 2.4601500609320537 ], "joint_status_l": { "velocity": [ -0.3257755617753766, -0.6640406920026543, 0.09178788356356549, 0.9412543405140639, 0.4623302314854458, -0.7421173449451146, -0.31242076843396305 ], "torque": [ -32.30712890625, 2.4755859375, -11.358642578125, 0.958251953125, -2.2137451171875, -2.20458984375, -0.4632568359375 ] }, "joint_status_r": { "velocity": [ 0.5027026324340156, -0.8802663669777999, -0.06889325029391102, -0.5261562259342156, 3.6593015879891055, -2.5440715331033203, -2.59846175043954 ], "torque": [ 34.70947265625, 0.0146484375, 8.31298828125, -9.930419921875, 2.7227783203125, 3.4844970703125, -0.7708740234375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.2, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.2, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.0, -17.4, -2.6, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.0, -17.4, -2.6, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2744087630683379, -0.4710567643978418, -0.0835408734653109, -1.0177302096202148, -0.001680322502393109, -0.8501081770096589, 0.2832679545539739 ], "act_joint_pos_r": [ -0.7027205073315921, -0.9211461127368065, 0.13956622397144824, -1.217100720476302, 0.6486215814764655, 0.5352097064702944, -1.2896196590857505 ], "act_eef_pose_l": [ 515.2486875079824, 396.4598907697837, 109.05723144788755, 1.6876144873130532, -0.11470865970951646, 0.7834448486675237 ], "act_eef_pose_r": [ 498.3414644042035, -146.48034812687865, -46.6782566530801, 1.544023582734837, 0.14407111673193246, 2.435522252890847 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 121, "colors": { "rgb_main": "colors/000121_rgb_main.jpg", "rgb_wrist_0": "colors/000121_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000121_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000121_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2766940999683358, -0.46213900650918044, -0.08484472546985723, -1.0336803842788098, -0.0023213114921336866, -0.8362640075818618, 0.282792112729864 ], "joint_pos_r": [ -0.7097185746292786, -0.9124175659272107, 0.14021742056618194, -1.2082912423410987, 0.5970997392201517, 0.5702229591110549, -1.2529631727856683 ], "eef_pose_l": [ 513.6734578256489, 397.16548185041756, 109.04034768733135, 1.6889150893035378, -0.11409424421139962, 0.7901583316775169 ], "eef_pose_r": [ 492.7318658552448, -148.9480210319272, -48.04872164138885, 1.5368995076328675, 0.15315968962079876, 2.459683048054553 ], "joint_status_l": { "velocity": [ -0.26419190114745916, -0.5385123792081004, 0.07443657016137362, 0.763322369328634, 0.37493267496317706, -0.6018296497352082, -0.2533616589306398 ], "torque": [ -32.38037109375, 1.95556640625, -12.34130859375, 0.738525390625, -2.2393798828125, -2.11669921875, -0.5621337890625 ] }, "joint_status_r": { "velocity": [ 0.48787807545735973, -0.8543075633635766, -0.06686160802993335, -0.5106400291889912, 3.5513898298535906, -2.469047590595075, -2.5218338559636067 ], "torque": [ 34.95849609375, 0.44677734375, 8.465576171875, -9.70458984375, 2.7410888671875, 3.446044921875, -0.7818603515625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.5, -2.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.5, -2.8, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 227, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -22, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27525576512622935, -0.4748299526112557, -0.08293199774649976, -1.0081806187806857, -0.00342544298580492, -0.8585500907347272, 0.2846186289830467 ], "act_joint_pos_r": [ -0.7030180908224845, -0.9229527159723594, 0.13946605069751516, -1.2230294779786386, 0.6810541752817544, 0.5206962045266348, -1.3134756991986376 ], "act_eef_pose_l": [ 515.7326875079824, 396.8462907697837, 108.39563144788764, 1.6869316580101608, -0.11357980576657106, 0.7810966374915158 ], "act_eef_pose_r": [ 500.0846644042035, -146.41954812687868, -47.003056653079966, 1.547255817981729, 0.13668961706371932, 2.421549868664897 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 122, "colors": { "rgb_main": "colors/000122_rgb_main.jpg", "rgb_wrist_0": "colors/000122_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000122_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000122_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27648736199140167, -0.4630297070721504, -0.08471389968807921, -1.0320553289730876, -0.002231560431631257, -0.8376636332855101, 0.28280205780995327 ], "joint_pos_r": [ -0.7081980812629186, -0.9147244544049065, 0.1400495525178821, -1.2111285027686836, 0.6135365784164835, 0.5601773145633839, -1.2647745420954584 ], "eef_pose_l": [ 513.8302931334817, 397.1052662152847, 109.02568849378758, 1.688821213764855, -0.11412014650744765, 0.7894978227588452 ], "eef_pose_r": [ 494.33722307530377, -148.3800519878785, -47.71374357309679, 1.5385225636987185, 0.15012662752282077, 2.4517631160825997 ], "joint_status_l": { "velocity": [ -0.13300853856157424, -1.2743889321309432, 0.1924397339839734, 2.578392655153472, -0.12893551310106874, -2.255670877058691, 0.1961839005590882 ], "torque": [ -32.7685546875, 1.95556640625, -12.46337890625, 0.714111328125, -3.1549072265625, -2.29248046875, 0.00457763671875 ] }, "joint_status_r": { "velocity": [ 0.5594224682834437, -0.888626040660867, -0.06301633803218465, -1.2852674157386446, 7.291685404683612, -4.263834128903632, -5.259569844422884 ], "torque": [ 36.298828125, 1.00341796875, 8.319091796875, -9.77783203125, 2.625732421875, 3.0084228515625, -0.7818603515625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.8, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.8, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -17.6, -2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.6, -17.6, -2.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27644374539980726, -0.47456020320521836, -0.08298081076826935, -1.0089806837265838, -0.006047174409262842, -0.857033606928276, 0.2876255758410934 ], "act_joint_pos_r": [ -0.7040590439043695, -0.9226481714584509, 0.1395394849321608, -1.228830576920952, 0.6986866063378668, 0.5142115118423556, -1.3294239897294773 ], "act_eef_pose_l": [ 515.7558875079824, 396.9254907697837, 108.18763144788778, 1.6859590952646506, -0.11422963608237212, 0.782361541980036 ], "act_eef_pose_r": [ 500.21346440420353, -146.25634812687866, -46.9454566530801, 1.5478303028419904, 0.13470503292627184, 2.4155225132018088 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 123, "colors": { "rgb_main": "colors/000123_rgb_main.jpg", "rgb_wrist_0": "colors/000123_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000123_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000123_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27625156405546686, -0.4659346980644524, -0.08427569957065582, -1.0261926167527544, -0.002679405267536736, -0.84274509533962, 0.2834264084218751 ], "joint_pos_r": [ -0.7076983160247454, -0.9155383560422403, 0.13999260527088986, -1.2123984121407696, 0.6205141630935032, 0.5561539865683287, -1.2698555275384364 ], "eef_pose_l": [ 514.3079901546188, 397.0487680800507, 108.85474466019042, 1.6883011485635018, -0.11401552269989017, 0.7874914027104023 ], "eef_pose_r": [ 494.94696652754817, -148.19494763857347, -47.604607225327356, 1.5392000626805862, 0.14882163869334822, 2.448482258740976 ], "joint_status_l": { "velocity": [ 0.02075497305353835, -0.9315270812799703, 0.13984386618337563, 1.8588339434506551, -0.3637083403023253, -1.5431137398680406, 0.45349670610494996 ], "torque": [ -29.12841796875, 2.6220703125, -10.38818359375, 0.40283203125, -4.5501708984375, -2.1002197265625, 0.311279296875 ] }, "joint_status_r": { "velocity": [ 0.39302979720723386, -0.7678374187962689, -0.04893555330576227, -1.7746214565974583, 8.44237487585442, -4.52965367541136, -6.433204179415952 ], "torque": [ 35.9033203125, 1.171875, 8.380126953125, -9.246826171875, 2.4920654296875, 2.8472900390625, -0.78460693359375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.5, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.5, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.7, -17.3, -1.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.7, -17.3, -1.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 51, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27624282818431173, -0.4762784482259647, -0.08283328176148508, -1.0091637525408306, -0.005696329485036487, -0.8568999264348487, 0.28784801146671346 ], "act_joint_pos_r": [ -0.7034369813651193, -0.9263286919164674, 0.13922270508988743, -1.2277623200979189, 0.7103834695898903, 0.5089086870981853, -1.3368321590321088 ], "act_eef_pose_l": [ 516.0350875079823, 395.9670907697837, 108.10443144788775, 1.6858818716719506, -0.11442893860471333, 0.7805536800880929 ], "act_eef_pose_r": [ 501.4318644042035, -145.47234812687867, -47.34305665308011, 1.5493390399015117, 0.13095122520851038, 2.4106331372160916 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 124, "colors": { "rgb_main": "colors/000124_rgb_main.jpg", "rgb_wrist_0": "colors/000124_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000124_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000124_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2762902086665591, -0.4675652383617008, -0.08403091757374208, -1.0229389232084682, -0.0033160385090452316, -0.8454461538344887, 0.28422020676529847 ], "joint_pos_r": [ -0.7069233252246299, -0.9170524064775519, 0.13989611232333196, -1.2158976768589247, 0.6371611524729558, 0.5472222466567505, -1.282540759268301 ], "eef_pose_l": [ 514.6014624236198, 397.0253195893549, 108.7188782703375, 1.687835453188184, -0.11405160142434037, 0.7864581469213211 ], "eef_pose_r": [ 496.1453903006657, -147.80914834883941, -47.379445460770285, 1.5405905438157077, 0.14594747046617537, 2.4410573569307443 ], "joint_status_l": { "velocity": [ 0.016581478146093787, -0.7554339227673346, 0.11340819019522996, 1.5074454043180197, -0.2949539780209287, -1.2514080258219096, 0.3677690134185063 ], "torque": [ -29.52392578125, 2.7685546875, -10.406494140625, 1.080322265625, -4.8321533203125, -2.2265625, 0.4156494140625 ] }, "joint_status_r": { "velocity": [ 0.309333259291833, -0.6043247943301466, -0.03851462231851954, -1.3967120128786092, 6.6445530467937886, -3.565054214301089, -5.063239557538068 ], "torque": [ 36.81884765625, -0.32958984375, 10.687255859375, -10.3759765625, 2.6055908203125, 2.6531982421875, -0.780029296875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -17.4, -2.2, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.6, -17.4, -2.2, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 30, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2755820149430464, -0.47703489716725556, -0.08273761797394245, -1.0081120758127942, -0.004701613450411293, -0.857786340495015, 0.28701679843824157 ], "act_joint_pos_r": [ -0.703707656219914, -0.9282735805149064, 0.1390617006656276, -1.2279984026724278, 0.7176028376137077, 0.5062886874293961, -1.342320803506039 ], "act_eef_pose_l": [ 516.1950875079824, 395.82789076978366, 108.21403144788775, 1.6861248103256454, -0.11454133400165545, 0.7798407857786618 ], "act_eef_pose_r": [ 501.7982644042035, -144.87074812687868, -47.633456653079975, 1.549819048440375, 0.12892657003114028, 2.4082624025530084 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 125, "colors": { "rgb_main": "colors/000125_rgb_main.jpg", "rgb_wrist_0": "colors/000125_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000125_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000125_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2762491501979074, -0.4686616185141502, -0.0838783483067255, -1.0211369781755493, -0.003567521346904231, -0.8469446373381888, 0.2846231802160963 ], "joint_pos_r": [ -0.7061297780765223, -0.9195650556219482, 0.13971191797928026, -1.2189129388363875, 0.6561565684026387, 0.537459309347978, -1.296692801198622 ], "eef_pose_l": [ 514.7698904090156, 396.91149029131566, 108.65629813399234, 1.6876316646124419, -0.11409547508836412, 0.7857741911092534 ], "eef_pose_r": [ 497.5573465074454, -147.18215104643835, -47.32019015173165, 1.542319988972403, 0.1421375146093206, 2.4328563075596965 ], "joint_status_l": { "velocity": [ -0.07204848256869845, -0.9042874240030585, 0.12319524249115865, 1.4066479683139121, -0.1224783348733674, -1.1708694079892723, 0.2585031438488983 ], "torque": [ -32.7392578125, 2.48291015625, -10.25390625, 1.4404296875, -4.918212890625, -2.16796875, 0.413818359375 ] }, "joint_status_r": { "velocity": [ 0.26158144558152685, -0.9404929500824721, -0.07022139880508149, -0.9812011553105293, 6.636001356397081, -3.3663278826736587, -4.92767891507917 ], "torque": [ 36.8701171875, 1.142578125, 9.063720703125, -9.527587890625, 2.5286865234375, 3.1292724609375, -0.90545654296875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.4, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.4, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.7, -2.2, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.7, -2.2, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2720558191705979, -0.478284582981842, -0.08239310498441588, -0.9993045178670379, 0.000567838775104285, -0.8665170741986129, 0.28248922095434836 ], "act_joint_pos_r": [ -0.7054808802267432, -0.9316999355380702, 0.1388034573178316, -1.231360468065004, 0.733497166734153, 0.5001941869472992, -1.3535897450793868 ], "act_eef_pose_l": [ 516.4206875079824, 397.1782907697837, 109.00763144788772, 1.6876668117396063, -0.11550149790183785, 0.777952798317222 ], "act_eef_pose_r": [ 501.7502644042035, -143.1835481268787, -48.40945665308027, 1.5510131926554225, 0.12225540892141876, 2.4046443269448528 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 126, "colors": { "rgb_main": "colors/000126_rgb_main.jpg", "rgb_wrist_0": "colors/000126_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000126_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000126_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27605469998744575, -0.47046329048157687, -0.08363030952897227, -1.0182324592983931, -0.0037307499485028143, -0.8493830980248342, 0.28506564829925235 ], "joint_pos_r": [ -0.7060234303735079, -0.9199474193814273, 0.13968336899543018, -1.2193118527915823, 0.6588544795632899, 0.5360907060163466, -1.298696182335409 ], "eef_pose_l": [ 515.078566794312, 396.7021249647958, 108.57294423185408, 1.6873340101693042, -0.11420219686089009, 0.7844824481062906 ], "eef_pose_r": [ 497.7550654510411, -147.08517308800342, -47.321543506697196, 1.5425829557432065, 0.14157543350832086, 2.43171675798983 ], "joint_status_l": { "velocity": [ -0.43186639100123436, -0.844674677680235, 0.1336141500735133, 2.044157385387102, 0.4642338903028571, -1.8504148516989005, -0.27824594682446246 ], "torque": [ -33.4130859375, 2.70263671875, -10.0341796875, 2.032470703125, -5.0225830078125, -2.0654296875, 0.42388916015625 ] }, "joint_status_r": { "velocity": [ 0.2500962323939149, -0.8991988819619934, -0.0671381994834519, -0.9381197187696699, 6.344635544421884, -3.2185230821268895, -4.7113201334667565 ], "torque": [ 36.05712890625, 1.04736328125, 9.063720703125, -9.991455078125, 2.457275390625, 2.9736328125, -0.79559326171875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.5, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.5, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.3, -17.2, -2.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.3, -17.2, -2.4, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2707682327557823, -0.47938427574515446, -0.08222233193988308, -0.9965031407967255, 0.0027433764752806695, -0.8683709777538883, 0.2807767836546819 ], "act_joint_pos_r": [ -0.7085135674242223, -0.9339127239664519, 0.13867324365472591, -1.2383920964669763, 0.7495570488084735, 0.4942968579075379, -1.365416738779298 ], "act_eef_pose_l": [ 516.7310875079824, 397.3686907697837, 109.1820314478876, 1.6885101857438654, -0.11590190785640235, 0.7774680876251131 ], "act_eef_pose_r": [ 500.6494644042035, -141.07634812687866, -49.107856653080034, 1.5516576945131362, 0.11441856350221459, 2.4030316118783164 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 127, "colors": { "rgb_main": "colors/000127_rgb_main.jpg", "rgb_wrist_0": "colors/000127_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000127_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000127_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27515637583048225, -0.4722202960822591, -0.08335237908283391, -1.0139804128363576, -0.002765098240405461, -0.8532321411463223, 0.2844868696287707 ], "joint_pos_r": [ -0.7058227128959115, -0.9228710014721899, 0.1394645384865355, -1.22231422061069, 0.6776224991797213, 0.5270122092082037, -1.3125128178349403 ], "eef_pose_l": [ 515.3838554140268, 396.8102675514858, 108.67040321818973, 1.6873978898306579, -0.11449979074425742, 0.7830167668298933 ], "eef_pose_r": [ 498.8615184784153, -146.1628386014925, -47.49857426494293, 1.544299688842969, 0.1369136882775769, 2.424469866291918 ], "joint_status_l": { "velocity": [ -0.33485024338753, -0.6549236692134919, 0.1035985471533607, 1.5849499110878185, 0.35994658161809734, -1.4347304545339057, -0.21573969393573478 ], "torque": [ -33.57421875, 2.5341796875, -9.70458984375, 1.922607421875, -2.5836181640625, -2.010498046875, -0.32501220703125 ] }, "joint_status_r": { "velocity": [ 0.03691683946627222, -0.9534967572308872, -0.07139466054717492, -0.9769659109952755, 6.034286124122268, -2.8962609835261333, -4.436177304343758 ], "torque": [ 34.85595703125, 0.0732421875, 9.808349609375, -10.04638671875, 2.5213623046875, 3.0230712890625, -0.72967529296875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.8, -17.6, -2.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.8, -17.6, -2.5, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 24, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27053100432199306, -0.4826556804437801, -0.08184396358101832, -0.9932034704753536, 0.0020324000502503813, -0.8699547097127164, 0.2801530964840651 ], "act_joint_pos_r": [ -0.7133935169047891, -0.9369846488916672, 0.13847483605823305, -1.2462047965693908, 0.7566549794071246, 0.49036665778632765, -1.3699938318790603 ], "act_eef_pose_l": [ 517.4494875079823, 396.6526907697837, 109.04683144788788, 1.687809375598434, -0.11446662509600687, 0.7762448658295523 ], "act_eef_pose_r": [ 498.08226440420356, -137.62114812687867, -50.4454566530801, 1.5523601110754732, 0.10527894468298764, 2.4074534329391395 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 128, "colors": { "rgb_main": "colors/000128_rgb_main.jpg", "rgb_wrist_0": "colors/000128_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000128_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000128_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27403561199217175, -0.4740612340150485, -0.08306195917921798, -1.0094905789904312, -0.001364444682437953, -0.8571276426238156, 0.28354625972253056 ], "joint_pos_r": [ -0.7064155597771559, -0.9256520242232275, 0.13926427346261802, -1.226233982555603, 0.6956843219469033, 0.5187499277901921, -1.325795760208475 ], "eef_pose_l": [ 515.7323707278681, 396.9535786268752, 108.80093879945889, 1.6876632517804167, -0.11486613305996762, 0.7815874155199506 ], "eef_pose_r": [ 499.42566131604275, -144.94607946189558, -47.82176912341333, 1.5457913040263986, 0.13145863896124496, 2.4186538710363674 ], "joint_status_l": { "velocity": [ -0.35286655028743397, -0.5748715519211522, 0.09067706747101223, 1.402601957387617, 0.4436316008189483, -1.2142443818241588, -0.2990945940046785 ], "torque": [ -34.44580078125, 1.47216796875, -9.930419921875, 1.904296875, -2.3382568359375, -2.26318359375, -0.42022705078125 ] }, "joint_status_r": { "velocity": [ -0.22657814331772386, -0.8921292603218944, -0.06382933670678881, -1.3130375764554003, 5.818082905866717, -2.6408536595114995, -4.278939485073963 ], "torque": [ 26.4697265625, 0.93017578125, 9.149169921875, -9.97314453125, 2.4627685546875, 3.2135009765625, -0.7159423828125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.7, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.7, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.3, -17.4, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.3, -17.4, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2709867494030333, -0.4839387540313536, -0.08164951740166143, -0.9900315756444709, 0.0010198527231739456, -0.8729857857388146, 0.2808361861004728 ], "act_joint_pos_r": [ -0.712458262003977, -0.937554509717339, 0.13839501671863752, -1.241768145782402, 0.7381086660059458, 0.492746520354348, -1.3502860415152278 ], "act_eef_pose_l": [ 517.5710875079824, 396.7310907697837, 108.81403144788766, 1.6873264895942495, -0.11390779759496476, 0.7753002252742809 ], "act_eef_pose_r": [ 497.8686644042035, -137.38514812687868, -50.94865665308021, 1.5542610701261712, 0.10389181495667608, 2.4136810314981707 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 129, "colors": { "rgb_main": "colors/000129_rgb_main.jpg", "rgb_wrist_0": "colors/000129_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000129_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000129_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2737002870511578, -0.47484562574832156, -0.08294827592928479, -1.0079137496987118, -0.0010221636497984353, -0.8584051803033682, 0.2832359717180213 ], "joint_pos_r": [ -0.7078512455031467, -0.9282456232860092, 0.13908129347876486, -1.2304814769833972, 0.7090199817440944, 0.5122892343825424, -1.335207802097038 ], "eef_pose_l": [ 515.886544919076, 396.94511506435435, 108.82534800461013, 1.687686326199806, -0.11485875719276933, 0.7810758699740703 ], "eef_pose_r": [ 499.2367416026562, -143.34530101189418, -48.377914128538066, 1.547149544106446, 0.12559937257216336, 2.415916666416374 ], "joint_status_l": { "velocity": [ -0.2930534228489101, -0.982028891173492, 0.14026178418313773, 1.9312178396324597, 0.22053126405906145, -1.5746589449445736, -0.2591692029083603 ], "torque": [ -34.0283203125, 2.65869140625, -9.710693359375, 1.983642578125, -2.186279296875, -2.2705078125, -0.472412109375 ] }, "joint_status_r": { "velocity": [ -0.49754310783978184, -1.0053300839576451, -0.0741157041679319, -1.2189242800424438, 3.1414852471254306, -2.110550867674643, -1.6284018300201097 ], "torque": [ 25.1513671875, -0.27099609375, 8.709716796875, -9.65576171875, 2.435302734375, 3.61083984375, -0.7012939453125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.4, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.4, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.8, -17.5, -1.9, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.8, -17.5, -1.9, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 227, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 0, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2718276875833886, -0.4802094074445517, -0.08224871682870122, -1.0001073576264907, 0.0006679665738195114, -0.8634263845386372, 0.28082143265841214 ], "act_joint_pos_r": [ -0.7099617813616588, -0.9412916490644079, 0.13801343247036718, -1.2315840381928855, 0.7332700172898159, 0.49437557578219377, -1.3435496889625074 ], "act_eef_pose_l": [ 517.0822875079823, 396.3078907697837, 108.89403144788781, 1.6877095185967137, -0.11391707370476013, 0.778490311948808 ], "act_eef_pose_r": [ 500.00306440420354, -137.93554812687864, -51.4758566530802, 1.5555114193673296, 0.10480319456830157, 2.4113948000982988 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 130, "colors": { "rgb_main": "colors/000130_rgb_main.jpg", "rgb_wrist_0": "colors/000130_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000130_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000130_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2730655852018911, -0.476932512339754, -0.08265313055396975, -1.003930147735713, -0.0005321965820726909, -0.8615942872165492, 0.2826413555858619 ], "joint_pos_r": [ -0.7080535250132696, -0.9286543470200743, 0.13905116123877345, -1.2309770388801624, 0.7102971737840071, 0.511431175675919, -1.3358698398567197 ], "eef_pose_l": [ 516.2847470018509, 396.87531392057036, 108.82510657580757, 1.687609444733118, -0.11462446868618933, 0.7797874831663039 ], "eef_pose_r": [ 499.1817098464644, -143.0854448980783, -48.48865300335717, 1.5474442991227306, 0.12465050628498972, 2.4158021005470522 ], "joint_status_l": { "velocity": [ -0.13368899985199967, -0.35389423376530615, 0.04367539419214417, 0.4128491554613589, 0.12961379808172505, -0.19786067519600437, -0.19654587935402645 ], "torque": [ -33.75, 2.7978515625, -10.58349609375, 2.081298828125, -2.354736328125, -2.281494140625, -0.55389404296875 ] }, "joint_status_r": { "velocity": [ -0.4756975650463957, -0.9611892225436236, -0.07086151822599529, -1.1654051736531557, 3.003552574921464, -2.0178832604442754, -1.5569038606937369 ], "torque": [ 24.31640625, 0.12451171875, 8.48388671875, -9.490966796875, 2.40234375, 3.369140625, -0.40191650390625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.4, -17.3, -2.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.4, -17.3, -2.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 198, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 0, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2726038170434058, -0.4784724208107309, -0.08255334871035686, -1.0055309903488077, -0.00037424285628561663, -0.8593490071267131, 0.2814388287518477 ], "act_joint_pos_r": [ -0.7095208713373391, -0.943881631059267, 0.1377837246151271, -1.2289768141224926, 0.735801584348764, 0.49432841213645623, -1.3464476681114048 ], "act_eef_pose_l": [ 516.6998875079823, 395.78549076978373, 108.91643144788765, 1.6872927120532635, -0.11360488423505488, 0.7790669111517422 ], "act_eef_pose_r": [ 500.6374644042035, -137.4043481268787, -51.63105665308012, 1.5551343242949707, 0.10545041639439444, 2.41018332903265 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 131, "colors": { "rgb_main": "colors/000131_rgb_main.jpg", "rgb_wrist_0": "colors/000131_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000131_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000131_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27280197225015496, -0.477630334177516, -0.08256700978416835, -1.0031160763864366, -0.0002766192650468666, -0.8619844362690421, 0.2822537990968062 ], "joint_pos_r": [ -0.708632155514062, -0.9317962318409537, 0.13879570439627018, -1.231480763884169, 0.716404681444154, 0.5069636495126731, -1.338085848044623 ], "eef_pose_l": [ 516.454711111872, 396.75471266048925, 108.83957549914908, 1.6876303540291167, -0.11447369000679652, 0.7795112772559457 ], "eef_pose_r": [ 499.33938764482406, -141.74308750064685, -49.23643261633288, 1.5494334772748526, 0.11949476473403009, 2.4146927464772387 ], "joint_status_l": { "velocity": [ -0.1052196407234085, -0.27853169798630617, 0.034374625365152234, 0.3249320427158864, 0.10201226190673053, -0.15572582022826964, -0.15469101297904686 ], "torque": [ -34.09423828125, 3.30322265625, -12.01171875, 2.52685546875, -2.413330078125, -2.105712890625, -0.6134033203125 ] }, "joint_status_r": { "velocity": [ -0.1435953564214998, -1.0254748153695203, -0.08448287630835605, -0.011153296391341883, 1.8214025519345256, -1.3594718674125872, -0.5900774157279187 ], "torque": [ 24.63134765625, 1.201171875, 8.31298828125, -8.544921875, 2.16064453125, 3.519287109375, -0.52001953125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.8, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.8, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.5, -17.3, -2.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.5, -17.3, -2.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 257, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27361728438001215, -0.4776537596400637, -0.08253783776280445, -1.0020898629195556, -0.002469598204811548, -0.8636024767621151, 0.2836458053864013 ], "act_joint_pos_r": [ -0.7095669214990381, -0.9460399412723933, 0.13762232175651798, -1.2307331876840681, 0.7436304256592736, 0.4924481749989666, -1.3561120964680689 ], "act_eef_pose_l": [ 516.3286875079824, 396.9062907697837, 108.75403144788771, 1.6864761559701134, -0.11383638112422431, 0.7793173577267647 ], "act_eef_pose_r": [ 500.6926644042035, -136.22034812687866, -51.35825665308016, 1.55394440941766, 0.10663746993155743, 2.4090332121317353 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 132, "colors": { "rgb_main": "colors/000132_rgb_main.jpg", "rgb_wrist_0": "colors/000132_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000132_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000132_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27274203612247044, -0.4778675880517009, -0.0825600705398585, -1.0036801564739646, -0.00029022301473483053, -0.8613482627161638, 0.28203607509593626 ], "joint_pos_r": [ -0.7088770651241971, -0.9348343995691117, 0.1385417380967511, -1.2309217826721017, 0.7213362311529723, 0.5036966793580812, -1.3401502877596898 ], "eef_pose_l": [ 516.5226392452269, 396.50986911599426, 108.85907406901349, 1.6875476878086375, -0.11425236233918287, 0.7793899340175214 ], "eef_pose_r": [ 499.6646501043278, -140.64500336121057, -49.84653541849127, 1.5508865698263876, 0.11584449830892712, 2.41353803729392 ], "joint_status_l": { "velocity": [ -0.014927220284288722, -0.0653200114641983, 0.000725936175838271, -0.1998841632140369, -0.009073875267839177, 0.21591323564074116, -0.06450070281527331 ], "torque": [ -31.58203125, 2.89306640625, -10.72998046875, -3.839111328125, -3.489990234375, -0.44677734375, -0.6005859375 ] }, "joint_status_r": { "velocity": [ -0.06952902036960751, -0.9770721837325524, -0.08186304159407687, 0.21005040825272658, 1.5622120701630493, -1.0117430201703748, -0.6800970195968148 ], "torque": [ 24.68994140625, 1.23779296875, 8.31298828125, -4.84619140625, 2.0892333984375, 3.394775390625, -0.64544677734375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.7, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.4, -17.2, -1.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.4, -17.2, -1.9, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 64, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.273630168187641, -0.4769444508075189, -0.0825677581899718, -1.000748456433824, -0.0031699711832383396, -0.8653030662212566, 0.2846593116385186 ], "act_joint_pos_r": [ -0.708749562422835, -0.9489268323290911, 0.1373879547603284, -1.230417458134211, 0.7493968308978363, 0.4901676156360016, -1.364146620714467 ], "act_eef_pose_l": [ 516.1542875079824, 397.5422907697837, 108.9044314478877, 1.6860093198036619, -0.11450716080443613, 0.7797307113810805 ], "act_eef_pose_r": [ 501.23906440420353, -135.12754812687865, -51.189456653080015, 1.5536661333401791, 0.10897717394600867, 2.4077168805952796 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 133, "colors": { "rgb_main": "colors/000133_rgb_main.jpg", "rgb_wrist_0": "colors/000133_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000133_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000133_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2729669296374265, -0.4778189339785725, -0.08255424517911483, -1.003289149707895, -0.0008549250099022732, -0.8619093828276073, 0.2824459148373119 ], "joint_pos_r": [ -0.7090615747441836, -0.937784145691382, 0.1382991848950697, -1.2308120139183842, 0.7270864066532998, 0.5007260202874502, -1.3441310595105418 ], "eef_pose_l": [ 516.4744480129779, 396.60437474778496, 108.8322933986936, 1.6872683672230429, -0.11413683163176593, 0.779367202701084 ], "eef_pose_r": [ 499.95028578473796, -139.4969513491677, -50.258499426102446, 1.551710945760854, 0.11332959730467072, 2.412325135922312 ], "joint_status_l": { "velocity": [ 0.07023624069191214, 0.017838302446282484, 0.0017719487007683554, 0.12951915317849227, -0.1743795619999367, -0.1828487520914024, 0.12958435741516894 ], "torque": [ -25.30517578125, 6.9140625, -10.333251953125, 2.081298828125, -4.676513671875, -2.0306396484375, 0.2764892578125 ] }, "joint_status_r": { "velocity": [ -0.05457583989620929, -0.8915996264233783, -0.07309906302199742, 0.008512982230257649, 1.7867013567052226, -0.8939809245984698, -1.2939138294640884 ], "torque": [ 27.91259765625, -0.7763671875, 8.16650390625, -6.390380859375, 1.9610595703125, 3.46435546875, -0.84869384765625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.1, -17.5, -2.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.1, -17.5, -2.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27342288065574405, -0.477181228400853, -0.0825195694224702, -0.9997493006212284, -0.0027094762130590736, -0.8666608615763992, 0.28449823258003304 ], "act_joint_pos_r": [ -0.7076542305842445, -0.950756390296597, 0.13722087664782287, -1.2273547260204025, 0.7504759998986996, 0.4898025276771613, -1.3664082099079666 ], "act_eef_pose_l": [ 516.1262875079824, 397.5926907697837, 108.92043144788778, 1.686148775050599, -0.11468176233768707, 0.7790553569956054 ], "act_eef_pose_r": [ 502.12706440420357, -135.08194812687867, -51.23425665308014, 1.5539355920524862, 0.1112341111342958, 2.4061430724257167 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 134, "colors": { "rgb_main": "colors/000134_rgb_main.jpg", "rgb_wrist_0": "colors/000134_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000134_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000134_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2731694720534404, -0.47755571254302104, -0.08255429727427313, -1.0023722569768658, -0.0015778972774198948, -0.8631370146958585, 0.28315766002687576 ], "joint_pos_r": [ -0.7088685161531517, -0.9426742105960366, 0.13789798005906745, -1.230428254299885, 0.736691575641047, 0.4961792158894836, -1.3527670903259834 ], "eef_pose_l": [ 516.3676218122663, 396.91404812481943, 108.85570200654851, 1.6868676918041297, -0.11426669459127811, 0.779425233966177 ], "eef_pose_r": [ 500.5714906456281, -137.63385838864534, -50.664121580953974, 1.5525348607178227, 0.11155457326941577, 2.4101978913761326 ], "joint_status_l": { "velocity": [ 0.02736732189267954, 0.04044309454886985, 0.0037504973796620433, 0.2832709317797111, -0.12220692074856737, -0.38056423895582725, 0.14477756575459466 ], "torque": [ -24.66064453125, 6.36474609375, -9.9853515625, 2.337646484375, -4.9749755859375, -2.14599609375, 0.355224609375 ] }, "joint_status_r": { "velocity": [ 0.13113897370509164, -0.8728496643355399, -0.07312501170753105, 0.3319312643945693, 1.4886739137356386, -0.6886620159307633, -1.4731974652164581 ], "torque": [ 31.95556640625, 0.18310546875, 8.160400390625, -4.364013671875, 1.944580078125, 3.2244873046875, -0.72509765625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -7.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -7.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.3, -2.2, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.3, -2.2, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2722913882316032, -0.4766410530748556, -0.0826110834002143, -1.0013317195461822, 0.0006043867171723795, -0.8671964757805918, 0.2813792565474592 ], "act_joint_pos_r": [ -0.6993370647820432, -0.9629068635130249, 0.1361079237627286, -1.204098974088496, 0.7716007620260852, 0.4902263873012602, -1.3889041328671219 ], "act_eef_pose_l": [ 515.8118875079824, 397.1854907697837, 109.13883144788775, 1.6875016349893528, -0.11433197867947584, 0.7770515186528276 ], "act_eef_pose_r": [ 509.6918644042035, -136.40754812687868, -50.56065665308006, 1.5516999239671454, 0.12295338855014103, 2.3875786659933174 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 135, "colors": { "rgb_main": "colors/000135_rgb_main.jpg", "rgb_wrist_0": "colors/000135_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000135_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000135_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2731562336877348, -0.4774157667077583, -0.08255152950189704, -1.0017789416835041, -0.001644148431778966, -0.8641260137589937, 0.2832943283770983 ], "joint_pos_r": [ -0.7078135233244639, -0.9459852072023027, 0.13761243284969718, -1.2275686405631026, 0.7423730924824357, 0.4944266496046346, -1.358526166591548 ], "eef_pose_l": [ 516.280044214209, 397.06767653088974, 108.88880835142164, 1.6867713894296636, -0.11435313658484317, 0.7791807457835755 ], "eef_pose_r": [ 501.66609016135124, -137.03420851609042, -50.76851383984712, 1.5527146464019739, 0.11247621404617737, 2.4074482287399515 ], "joint_status_l": { "velocity": [ -0.09340055456030782, 0.08366660473901888, -0.006431631327408205, 0.0482985663410318, 0.24283463406205366, -0.33160011830979386, -0.2068216577222337 ], "torque": [ -27.73681640625, 9.3896484375, -9.814453125, 0.482177734375, -3.218994140625, -2.1514892578125, -0.01739501953125 ] }, "joint_status_r": { "velocity": [ 0.9154305234018167, -1.8274849827690787, -0.1624821892366457, 2.5346492237741103, 3.1564952148634973, -0.4536149501066511, -3.280723597990587 ], "torque": [ 35.390625, 0.18310546875, 8.917236328125, -3.47900390625, 2.5030517578125, 3.0267333984375, -0.93658447265625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.3, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.3, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.4, -17.2, -1.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.4, -17.2, -1.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27003042706468006, -0.47695295362851586, -0.0825730917743346, -1.0009818877349221, 0.004313089238377262, -0.8673852416700057, 0.27801070258065613 ], "act_joint_pos_r": [ -0.6930863736681646, -0.9691714240665692, 0.13549440828581558, -1.1833970085237437, 0.7756677342649145, 0.49383054424750633, -1.3909773670512706 ], "act_eef_pose_l": [ 516.0110875079823, 397.1046907697837, 109.70523144788768, 1.6887017631198586, -0.11483480722236439, 0.7764209766250915 ], "act_eef_pose_r": [ 515.3142644042035, -139.18594812687866, -50.3838566530801, 1.5512303612359295, 0.1297387052333622, 2.375176125736653 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 136, "colors": { "rgb_main": "colors/000136_rgb_main.jpg", "rgb_wrist_0": "colors/000136_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000136_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000136_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27259657978109325, -0.47708295680644874, -0.08257610279506683, -1.001548613579756, -0.000345523307030979, -0.8655477966684101, 0.282173161208508 ], "joint_pos_r": [ -0.703443771327091, -0.9540905419244338, 0.13688616238888665, -1.2151319604444941, 0.7557011790837911, 0.4929279127469495, -1.372164570990561 ], "eef_pose_l": [ 516.0798691758556, 397.1156358792969, 109.0446078592927, 1.6871909667838723, -0.11438064102887642, 0.778158021449837 ], "eef_pose_r": [ 505.793117242395, -137.03048626265254, -50.67817200168008, 1.5522116813534799, 0.11778845934822828, 2.397422884293698 ], "joint_status_l": { "velocity": [ -0.2771363196738541, 0.01403992913129315, 0.000325180648408363, 0.061204586110363834, 0.5031153163110179, -0.1984382075495006, -0.44953227356225867 ], "torque": [ -32.64404296875, 6.73095703125, -9.979248046875, 1.06201171875, -2.490234375, -1.9189453125, -0.582275390625 ] }, "joint_status_r": { "velocity": [ 1.118565956825357, -1.6286872357875737, -0.15030501012236464, 3.427273725407076, 2.1563243621729455, 0.09748132700204692, -2.031722052116436 ], "torque": [ 38.3056640625, -0.25634765625, 9.1064453125, -4.74853515625, 2.171630859375, 4.8577880859375, -0.582275390625 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.6, -6.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.6, -6.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.0, -17.2, -1.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.0, -17.2, -1.8, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 24, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26977186875324505, -0.48021318790876194, -0.08207862494254912, -0.9934952553905073, 0.0028478565850981463, -0.8737737729192285, 0.2798619767350437 ], "act_joint_pos_r": [ -0.6933024104462482, -0.9713707866244697, 0.1353340872544336, -1.1830178130817475, 0.7892768227060003, 0.4912090673945295, -1.409046468009892 ], "act_eef_pose_l": [ 516.5614875079824, 397.27669076978367, 109.65243144788775, 1.6874594453964862, -0.11529108904773183, 0.774511596831034 ], "act_eef_pose_r": [ 516.1718644042035, -139.00594812687865, -50.61905665308018, 1.5512584840385455, 0.13467724577642196, 2.3696082392022007 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 137, "colors": { "rgb_main": "colors/000137_rgb_main.jpg", "rgb_wrist_0": "colors/000137_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000137_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000137_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2718766496790526, -0.4770464846196777, -0.08257525805794365, -1.0013896195367684, 0.0009614431037091984, -0.8660632889690149, 0.2810053899977294 ], "joint_pos_r": [ -0.7017410634555964, -0.956569768616126, 0.13665736450504357, -1.2099148823505197, 0.7589835876378555, 0.4930763011560526, -1.3752573069259981 ], "eef_pose_l": [ 516.0606639399833, 397.11221774216074, 109.2302012076101, 1.6876130634789932, -0.11450870554961057, 0.7776692406840636 ], "eef_pose_r": [ 507.36666125917867, -137.37979774490327, -50.64399657590468, 1.552067452656215, 0.11975112357002927, 2.393774463316085 ], "joint_status_l": { "velocity": [ -0.19938616177195279, 0.010101049131350237, 0.00023395172976670153, 0.04403373589489945, 0.3619671068949889, -0.1427666810283057, -0.32341670237823195 ], "torque": [ -34.48974609375, 7.7490234375, -9.991455078125, 0.81787109375, -2.2265625, -2.13134765625, -0.70953369140625 ] }, "joint_status_r": { "velocity": [ 0.9346789301618585, -1.3609386499071618, -0.12559556743341194, 2.863845908672502, 1.801834693448079, 0.0814558514652397, -1.6977164220612906 ], "torque": [ 37.6025390625, 0.40283203125, 8.8623046875, -3.662109375, 2.1112060546875, 5.15625, -0.7745361328125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.8, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.8, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.5, -1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.5, -1.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27227929800348494, -0.47466417092178986, -0.08296110904953886, -1.0076231425336208, 0.0019431334367826136, -0.8615605111562191, 0.2795232356001202 ], "act_joint_pos_r": [ -0.6934166266283301, -0.9737443286458317, 0.1351270741305598, -1.178301620269838, 0.8030052011535651, 0.4895639931147648, -1.4226239949997386 ], "act_eef_pose_l": [ 515.5238875079824, 396.6742907697837, 109.21803144788765, 1.688426347847367, -0.1137459319814653, 0.7781994739683733 ], "act_eef_pose_r": [ 517.8958644042035, -140.01874812687868, -51.46065665308015, 1.5524668548633291, 0.13640587802465118, 2.36119147143805 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 138, "colors": { "rgb_main": "colors/000138_rgb_main.jpg", "rgb_wrist_0": "colors/000138_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000138_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000138_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2718492236811141, -0.47704509519851535, -0.08257522587737703, -1.0013835626011258, 0.0010112324624054329, -0.8660829268348766, 0.28096090333058116 ], "joint_pos_r": [ -0.7008944735350657, -0.9579862587480487, 0.13652929938769623, -1.207185181719968, 0.7616378386186183, 0.49297455074111596, -1.3780725942889323 ], "eef_pose_l": [ 516.0599306445578, 397.11209288034087, 109.23726632431033, 1.6876291721125716, -0.11451357260623113, 0.7776506426183002 ], "eef_pose_r": [ 508.2381450580928, -137.56110693063363, -50.64931097622281, 1.5520030398722044, 0.12105656298099249, 2.3914773999142076 ], "joint_status_l": { "velocity": [ -0.19642424135168923, 0.009950996071150797, 0.0002304763311311575, 0.043379606137428084, 0.3565900147446512, -0.14064585406536878, -0.3186122840248551 ], "torque": [ -34.5556640625, 7.77099609375, -9.9853515625, 0.860595703125, -2.2283935546875, -2.0855712890625, -0.70953369140625 ] }, "joint_status_r": { "velocity": [ 0.8075836475205378, -1.7018213564217177, -0.1514358614087552, 3.1193326368157415, 4.4675433906249395, -0.3683293603522486, -4.8114093718325535 ], "torque": [ 36.64306640625, -0.5859375, 8.709716796875, -4.681396484375, 2.490234375, 3.7115478515625, -0.72967529296875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.5, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.2, -2.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.2, -2.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2736053789429128, -0.4743789119104485, -0.08305944158114226, -1.0103276753823713, 0.0008522524125436652, -0.861081885113061, 0.27977832364730965 ], "act_joint_pos_r": [ -0.6945085705187353, -0.973566828347088, 0.13515358550505407, -1.1800860518185157, 0.8112686556478041, 0.4870440119082798, -1.4280654971577442 ], "act_eef_pose_l": [ 515.1222875079824, 395.8838907697837, 108.83803144788777, 1.6881230685253106, -0.11221438360680937, 0.7765284663013736 ], "act_eef_pose_r": [ 517.8870644042036, -140.20274812687867, -51.96145665308018, 1.5537901151878275, 0.1331974537971243, 2.358275632748216 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 139, "colors": { "rgb_main": "colors/000139_rgb_main.jpg", "rgb_wrist_0": "colors/000139_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000139_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000139_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27192614189147757, -0.47655205518900284, -0.08265722775715231, -1.0027470444811988, 0.001270397644404946, -0.8652035757695588, 0.2805762822252911 ], "joint_pos_r": [ -0.6989564317522973, -0.9622234069248246, 0.13615303121437833, -1.1995239553496626, 0.7733904121805474, 0.49187302942189076, -1.390480434199914 ], "eef_pose_l": [ 515.9325898709851, 396.9860862019216, 109.23464961997888, 1.687811968509019, -0.11430350821511914, 0.7776333430271015 ], "eef_pose_r": [ 510.86207388926744, -138.22725602493762, -50.90554409937346, 1.552176362263099, 0.12496158510192562, 2.3830828214590865 ], "joint_status_l": { "velocity": [ 0.18135225285620393, 0.2346925521972132, -0.043437811861113396, -0.8186839915325095, -0.04515835316658626, 0.44512946251007435, -0.0861769847677607 ], "torque": [ -31.4208984375, 10.1806640625, -10.711669921875, -4.1748046875, -2.28515625, -0.0604248046875, -0.673828125 ] }, "joint_status_r": { "velocity": [ 0.480354845915798, -1.225053382586161, -0.10793695317679042, 2.0992316678345446, 4.090729644842028, -0.5215185101037356, -4.059067083659329 ], "torque": [ 37.0458984375, 0.087890625, 8.880615234375, -4.144287109375, 2.1405029296875, 3.306884765625, -0.772705078125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.3, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.3, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.3, -17.2, -1.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.3, -17.2, -1.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.273294465093695, -0.4764734331032908, -0.08265518796057857, -1.0023949863368582, -0.0005623947472246715, -0.8675161525634122, 0.281190821686342 ], "act_joint_pos_r": [ -0.6947220521292845, -0.9757997965761849, 0.13498822206996458, -1.179609284865342, 0.8130669619478508, 0.4861226140640073, -1.4274370226857778 ], "act_eef_pose_l": [ 515.5454875079823, 396.8350907697837, 108.87483144788763, 1.6870721579001204, -0.11260090245948494, 0.7761679636208408 ], "act_eef_pose_r": [ 517.9030644042035, -139.2043481268787, -52.230256653080005, 1.5539640861609432, 0.12996902935630317, 2.3586938252908007 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 140, "colors": { "rgb_main": "colors/000140_rgb_main.jpg", "rgb_wrist_0": "colors/000140_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000140_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000140_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2722837390216254, -0.47608927966892506, -0.08274288005326003, -1.004361356083393, 0.0011813527208363644, -0.8643258529079402, 0.2804063552354001 ], "joint_pos_r": [ -0.6982252241089207, -0.9640882125045075, 0.1359887270008646, -1.1963284546613893, 0.7796174187543924, 0.4910791614636664, -1.3966592432653089 ], "eef_pose_l": [ 515.7606660244503, 396.75151860369425, 109.14983408922599, 1.6878782130607233, -0.11385878892490246, 0.777397948487084 ], "eef_pose_r": [ 512.026179215674, -138.54830536482726, -51.075866371548614, 1.552408438187883, 0.12631499792447543, 2.3789891671908308 ], "joint_status_l": { "velocity": [ 0.14273290181709974, 0.18471427005950503, -0.03418763670082203, -0.644343480393772, -0.03554178504669436, 0.350338189174515, -0.06782541111061136 ], "torque": [ -25.1806640625, 10.400390625, -11.590576171875, -4.4921875, -3.544921875, 0.0732421875, -0.655517578125 ] }, "joint_status_r": { "velocity": [ 0.4013867494707668, -1.0236603197517624, -0.09019262145848472, 1.7541277717967318, 3.4182327691016923, -0.43578329924054415, -3.3917753853138777 ], "torque": [ 38.291015625, -0.5859375, 8.685302734375, -4.5166015625, 1.9757080078125, 3.5284423828125, -0.77728271484375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.3, -17.3, -2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.3, -17.3, -2.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2727517542177974, -0.477021664790882, -0.08258737274539682, -1.0017351928567568, 0.00043064052253892596, -0.8680464572333801, 0.280664506855288 ], "act_joint_pos_r": [ -0.6962696326954613, -0.9774194775425756, 0.13490078717173684, -1.1849283032838922, 0.8218372279201516, 0.48246923638645994, -1.434939718325273 ], "act_eef_pose_l": [ 515.6630875079824, 396.7110907697837, 108.94523144788769, 1.6874218472630693, -0.11296730345118756, 0.7755805730289207 ], "act_eef_pose_r": [ 516.9606644042035, -137.33554812687868, -52.44945665308023, 1.5542406316493185, 0.126068596702617, 2.359423506727493 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 141, "colors": { "rgb_main": "colors/000141_rgb_main.jpg", "rgb_wrist_0": "colors/000141_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000141_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000141_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2723631776752517, -0.4760802626381046, -0.08274457726946632, -1.004393354560596, 0.0011001671420304685, -0.8644367743817309, 0.2804189752870057 ], "joint_pos_r": [ -0.6976665785328102, -0.967088589585158, 0.13574082462505968, -1.1933315355957537, 0.7890258468400052, 0.4892840511012979, -1.405268910425831 ], "eef_pose_l": [ 515.7339865962937, 396.7286189725793, 109.12717342088781, 1.6878487024769773, -0.11375067258442421, 0.7772849341012308 ], "eef_pose_r": [ 513.259703528025, -138.39811157278743, -51.36957357442134, 1.5527468487303255, 0.12657128579273635, 2.374272946099046 ], "joint_status_l": { "velocity": [ 0.04196502890252418, -0.10166843394943115, 0.016977587872335498, 0.28707299725017066, -0.07230674233171808, -0.3898342504307095, 0.026516627308126317 ], "torque": [ -24.39697265625, 8.06396484375, -11.773681640625, -0.567626953125, -4.1455078125, -1.109619140625, -0.6353759765625 ] }, "joint_status_r": { "velocity": [ 0.15086570088751472, -1.1157029935002782, -0.09072136927523733, 0.907522323741361, 3.543524645982288, -0.7359782826834582, -3.204352745806105 ], "torque": [ 37.20703125, 0.24169921875, 8.636474609375, -4.083251953125, 2.021484375, 3.775634765625, -0.65460205078125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.5, -17.5, -1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.5, -17.5, -1.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 230, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2732250647606307, -0.47687964171279257, -0.08258265535852471, -1.0010604761792112, -0.0005333147243704802, -0.8684237655463021, 0.28081415874759225 ], "act_joint_pos_r": [ -0.6989756355538034, -0.9759689078211674, 0.135077601753582, -1.1956278360862262, 0.8286127336733448, 0.47813161454500086, -1.441281030307533 ], "act_eef_pose_l": [ 515.6422875079824, 396.9902907697837, 108.83963144788783, 1.6871021723107908, -0.11224210977659385, 0.7762201659097662 ], "act_eef_pose_r": [ 514.7190644042036, -135.50114812687866, -52.498256653080034, 1.5548168877066935, 0.12155971893084305, 2.3627989863589094 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 142, "colors": { "rgb_main": "colors/000142_rgb_main.jpg", "rgb_wrist_0": "colors/000142_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000142_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000142_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27248013540463506, -0.47630703228791643, -0.08270546062139511, -1.003705811144992, 0.0008921291057764584, -0.8653467695126846, 0.28048631728203466 ], "joint_pos_r": [ -0.6976464430508924, -0.9680524635267216, 0.13566503349793807, -1.1929654890033845, 0.7925869285222542, 0.48841576293007444, -1.4084985502857448 ], "eef_pose_l": [ 515.7156303832081, 396.7365101159613, 109.07732345626466, 1.6877296119258647, -0.11352446831525385, 0.7768910566151754 ], "eef_pose_r": [ 513.5345570502002, -138.2138422039622, -51.47325508668649, 1.55288593309548, 0.12632919643145374, 2.372921135894988 ], "joint_status_l": { "velocity": [ 0.08044999770162597, -0.06183999401354612, 0.013262577231221151, 0.2856877503942812, -0.1539433933381816, -0.3323057707955712, 0.03540583404060271 ], "torque": [ -23.85498046875, 5.3173828125, -11.4013671875, 0.537109375, -3.658447265625, -1.842041015625, -0.20599365234375 ] }, "joint_status_r": { "velocity": [ -0.1435485565757233, -0.8549507683746072, -0.06344075730535526, -0.28752500485040855, 3.890672207074175, -1.1106552685617999, -3.540403423734517 ], "torque": [ 35.6982421875, -0.0732421875, 8.331298828125, -4.96826171875, 2.0050048828125, 3.7115478515625, -0.86517333984375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.5, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.5, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.5, -17.2, -2.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.5, -17.2, -2.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 217, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2746858511156466, -0.47927434038382816, -0.08234153626713785, -1.0002366130450415, -0.002227726548598976, -0.8677112161333815, 0.28184653974819485 ], "act_joint_pos_r": [ -0.7024433270799353, -0.9769920483727527, 0.13505723984579096, -1.2053866495933585, 0.8308291896744474, 0.4775938864125628, -1.4360197104528338 ], "act_eef_pose_l": [ 516.1006875079823, 396.1494907697837, 108.08603144788782, 1.686874281602846, -0.11082073226513911, 0.7756372471188505 ], "act_eef_pose_r": [ 511.7998644042035, -132.12434812687866, -52.38145665308002, 1.5522382896523534, 0.10818759693976865, 2.370167686240156 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 143, "colors": { "rgb_main": "colors/000143_rgb_main.jpg", "rgb_wrist_0": "colors/000143_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000143_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000143_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27251284289443445, -0.47633217375505355, -0.08270006863106699, -1.0035896628609793, 0.0008295423797211317, -0.8654818706676766, 0.2805007117629397 ], "joint_pos_r": [ -0.6979137225182006, -0.9696443345381525, 0.135546910319115, -1.1935008446486597, 0.799831144833324, 0.4863477842918685, -1.4150905855086955 ], "eef_pose_l": [ 515.7124280711291, 396.7476463911106, 109.06684475559766, 1.6877022067378935, -0.11346802529636157, 0.776861565158787 ], "eef_pose_r": [ 513.7824289984726, -137.6728663433184, -51.66757690781907, 1.5532060541245256, 0.1253838703456011, 2.3708367991802266 ], "joint_status_l": { "velocity": [ 0.07691769298290296, -0.059124795642961914, 0.012680259450337239, 0.27314410567669256, -0.14718422627518246, -0.3177152763802482, 0.03385127595212367 ], "torque": [ -23.73046875, 5.52978515625, -11.676025390625, 1.03759765625, -4.51171875, -1.6644287109375, -0.208740234375 ] }, "joint_status_r": { "velocity": [ -0.11468322544416765, -0.6830337695609145, -0.05068383023798528, -0.22970830037216672, 3.1083199197263767, -0.8873201625525517, -2.828484616578919 ], "torque": [ 26.279296875, -1.5380859375, 11.773681640625, -8.36181640625, 1.92626953125, 3.4515380859375, -0.6170654296875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.2, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.2, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.7, -17.3, -2.5, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.7, -17.3, -2.5, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 217, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 32, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2753680470724044, -0.48221778052766123, -0.08196798849928674, -0.9961390258158928, -0.005318825870978605, -0.8712438631775795, 0.2846913925669535 ], "act_joint_pos_r": [ -0.7085954003987788, -0.975470015782645, 0.13528282303277908, -1.2248271370001076, 0.8465584042328347, 0.4707506973464783, -1.4482771730740667 ], "act_eef_pose_l": [ 516.5590875079823, 395.64149076978373, 107.89003144788768, 1.684891955167384, -0.11064972306240431, 0.7738335395785926 ], "act_eef_pose_r": [ 507.3910644042035, -128.38114812687866, -52.714256653080156, 1.5523593761606744, 0.09622090835460521, 2.375994067937603 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 144, "colors": { "rgb_main": "colors/000144_rgb_main.jpg", "rgb_wrist_0": "colors/000144_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000144_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000144_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27305519546375967, -0.47714098834923424, -0.0825991280741159, -1.0025704064161676, -3.937113531067297e-05, -0.8662379390603124, 0.28093862309419615 ], "joint_pos_r": [ -0.7003225578851017, -0.9712390384392283, 0.13546559996416252, -1.200484724498909, 0.8110128409810813, 0.48270720540111633, -1.4229694656098724 ], "eef_pose_l": [ 515.817735362027, 396.59929298782436, 108.82998844453785, 1.6874106272325167, -0.11282264515268571, 0.7764842688872632 ], "eef_pose_r": [ 512.4120451620648, -135.48193565535195, -51.91539778644068, 1.5528640009209012, 0.11857204141135376, 2.3717370572956473 ], "joint_status_l": { "velocity": [ 0.24978060684821557, -0.5482773846927635, 0.06816106377849351, 0.6945686196244694, -0.5701642953551331, -0.5406238598162361, 0.40528714975218705 ], "torque": [ -22.68310546875, 3.6328125, -9.80224609375, 1.422119140625, -4.954833984375, -2.080078125, 0.1922607421875 ] }, "joint_status_r": { "velocity": [ -0.8934406408540596, -0.4569320765979157, -0.019739326409196067, -2.628903014779027, 3.838807611610484, -1.2912647860821025, -2.7331517961286522 ], "torque": [ 24.27978515625, 0.63720703125, 9.600830078125, -9.368896484375, 2.2247314453125, 3.7060546875, -0.8184814453125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -17.3, -1.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.6, -17.3, -1.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2755502239672285, -0.4885412015721131, -0.08092884221822015, -0.9775169850109685, -0.009342371524335995, -0.8865560416930419, 0.28887358448759315 ], "act_joint_pos_r": [ -0.7109589566458702, -0.9725550298856324, 0.13555246121931722, -1.233212018027925, 0.8436226768092498, 0.47062414905369937, -1.4433754119710613 ], "act_eef_pose_l": [ 517.6350875079823, 397.0942907697837, 107.55003144788753, 1.682214716856475, -0.11115574594227955, 0.7715101005593623 ], "act_eef_pose_r": [ 505.02546440420355, -127.37954812687872, -52.41265665308015, 1.5513349592276102, 0.09082902901391, 2.381574027306577 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 145, "colors": { "rgb_main": "colors/000145_rgb_main.jpg", "rgb_wrist_0": "colors/000145_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000145_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000145_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27349241017616255, -0.4781006903136508, -0.08247981929240941, -1.0013546370131514, -0.0010373838375836593, -0.8671842443334483, 0.2816480356737205 ], "joint_pos_r": [ -0.7006857922105458, -0.9714248072603762, 0.1354575748077222, -1.2015535227710803, 0.8125735341369038, 0.4821822329831454, -1.424080646928035 ], "eef_pose_l": [ 515.9583011427599, 396.41831491512227, 108.65191620003654, 1.6869376476564577, -0.112409198407961, 0.7759812101476496 ], "eef_pose_r": [ 512.1959180929914, -135.16963800595633, -51.95015164609799, 1.552825442280573, 0.11759692556867976, 2.3719095893417386 ], "joint_status_l": { "velocity": [ 0.20256281052333236, -0.44463262937455283, 0.055276095376033396, 0.5632693965615942, -0.46238210237550903, -0.43842590448495145, 0.3286728507814196 ], "torque": [ -22.85888671875, 3.40576171875, -11.248779296875, 1.47705078125, -5.244140625, -2.0269775390625, 0.29296875 ] }, "joint_status_r": { "velocity": [ -0.8542124906778525, -0.4368696356236157, -0.01887263507538428, -2.513476205717069, 3.6702577218949983, -1.2345694370812232, -2.613147753097067 ], "torque": [ 24.01611328125, 0.1318359375, 9.649658203125, -10.2294921875, 1.9976806640625, 3.6712646484375, -0.85052490234375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -17.0, -7.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -17.0, -7.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.2, -2.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.2, -2.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 282, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2766121961719876, -0.4907445065151269, -0.08070302591568629, -0.9760544766254051, -0.012439952245987857, -0.8861045822744393, 0.29226425393916916 ], "act_joint_pos_r": [ -0.7112426308667685, -0.9726172928164347, 0.13555916785585503, -1.235424088131016, 0.8422956842344563, 0.47014862686710246, -1.4397774754069441 ], "act_eef_pose_l": [ 518.1878875079824, 396.5630907697837, 107.21723144788763, 1.6807179870454825, -0.11161992657134638, 0.7716660272353583 ], "act_eef_pose_r": [ 504.39666440420353, -126.62274812687872, -52.2262566530801, 1.5509757280015806, 0.08747489232492346, 2.3838873517284926 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 146, "colors": { "rgb_main": "colors/000146_rgb_main.jpg", "rgb_wrist_0": "colors/000146_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000146_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000146_depth_main.npy" }, "states": { "joint_pos_l": [ 0.273725934456315, -0.4791182648050285, -0.08233300271007195, -0.9991933662716294, -0.0019001507807559588, -0.8688898213332501, 0.28240992480107713 ], "joint_pos_r": [ -0.7030125964801391, -0.9717230218928353, 0.13547684045823377, -1.2089310304903518, 0.8193647068413957, 0.4795090859472153, -1.427880924247369 ], "eef_pose_l": [ 516.1288957393424, 396.45093960513805, 108.53507771791472, 1.6864691622124492, -0.11228008838220166, 0.7755683736007155 ], "eef_pose_r": [ 510.53067820670327, -133.29731389055755, -52.03810304970119, 1.5524074865693527, 0.11111854877751791, 2.374344400917203 ], "joint_status_l": { "velocity": [ 0.31170707198402425, -1.2555970728342913, 0.17603230199847442, 2.4989263798991246, -1.138264986913778, -1.8591393492641828, 1.0642361589461302 ], "torque": [ -22.63916015625, 2.51220703125, -10.14404296875, 2.203369140625, -5.3192138671875, -1.988525390625, 0.362548828125 ] }, "joint_status_r": { "velocity": [ -0.8888174994856612, -0.09657841132071354, 0.00889109671409205, -2.861165839615154, 2.476472518798012, -1.0108997657574115, -1.28478963238976 ], "torque": [ 24.17724609375, 0.3662109375, 9.423828125, -9.82666015625, 2.0269775390625, 3.7957763671875, -0.728759765625 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.2, -7.2, 1.3, -0.2, 0.0 ], "actual_contact_FT": [ -1.5, -16.2, -7.2, 1.3, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.4, -17.6, -2.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.4, -17.6, -2.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 22, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2771897020009845, -0.4917588458493291, -0.08056902732908812, -0.9740829784402618, -0.013842798049260379, -0.886344332671359, 0.2932394884664992 ], "act_joint_pos_r": [ -0.7109181114288391, -0.9728590854927688, 0.13553957407295958, -1.2357215429275836, 0.8415356911018494, 0.4696251924126219, -1.4390890902116846 ], "act_eef_pose_l": [ 518.5142875079823, 396.7398907697837, 106.96923144788758, 1.68027589757579, -0.11129517195266436, 0.7726004740623685 ], "act_eef_pose_r": [ 504.3670644042035, -126.3651481268787, -52.112656653080194, 1.5510904802989127, 0.08750155484590365, 2.3845514948552267 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 147, "colors": { "rgb_main": "colors/000147_rgb_main.jpg", "rgb_wrist_0": "colors/000147_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000147_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000147_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2744738687266636, -0.48205480641780735, -0.0819217822790086, -0.9933517212644015, -0.0045903647653806065, -0.8731645601290061, 0.2849056298684042 ], "joint_pos_r": [ -0.7037098700634573, -0.9718069575157724, 0.13548333340239832, -1.2112151813471452, 0.8213117415408148, 0.47868971895065093, -1.4288823694742434 ], "eef_pose_l": [ 516.6618753851873, 396.4907976047259, 108.19003169505187, 1.6850417003822815, -0.11206989189549596, 0.7746442246527877 ], "eef_pose_r": [ 510.0091575326639, -132.71347226941208, -52.054570330788124, 1.5522797690290806, 0.10909467456933833, 2.375169396687455 ], "joint_status_l": { "velocity": [ 0.29330134316585266, -1.0480053493386876, 0.14609322580205752, 2.0809628502895805, -0.999233323847458, -1.4233734544175647, 0.9000301836228353 ], "torque": [ -21.92138671875, 2.1533203125, -9.912109375, 1.300048828125, -5.4766845703125, -2.4298095703125, 0.5731201171875 ] }, "joint_status_r": { "velocity": [ -0.7784671078008287, -0.11362647028168027, 0.006073813282991836, -2.6466089931282966, 2.184122135353128, -0.9789399938155974, -1.1022933292377246 ], "torque": [ 24.6533203125, -0.02197265625, 9.417724609375, -9.814453125, 2.0654296875, 3.790283203125, -0.62255859375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.3, -1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.3, -1.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 215, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 24, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2775585083572445, -0.49087955377346026, -0.08072458688801458, -0.9769478148714655, -0.014146919356077675, -0.8826534485823493, 0.2934637865164675 ], "act_joint_pos_r": [ -0.7085127197323389, -0.9760014649989349, 0.13526791066536822, -1.230880694259826, 0.8424172857943009, 0.4696995768506725, -1.4392287761351688 ], "act_eef_pose_l": [ 518.5358875079824, 396.6678907697837, 106.9004314478878, 1.6805049831323557, -0.11134220390642179, 0.7742862442363783 ], "act_eef_pose_r": [ 505.8326644042035, -126.05874812687864, -51.7254566530803, 1.5504588212851196, 0.0887576891047867, 2.382787530141556 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 148, "colors": { "rgb_main": "colors/000148_rgb_main.jpg", "rgb_wrist_0": "colors/000148_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000148_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000148_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2750199795941781, -0.4840061343739284, -0.08164976477844205, -0.9894770836129988, -0.00645088190944082, -0.8758148027211441, 0.2865814362559998 ], "joint_pos_r": [ -0.7053291574701889, -0.9720433116411493, 0.13549596752561482, -1.216720385831919, 0.8258549283153105, 0.47665342841499836, -1.4311752469621593 ], "eef_pose_l": [ 517.0368535195813, 396.5419415636369, 107.94221661095496, 1.6840950164718875, -0.11189818380447916, 0.774225912265628 ], "eef_pose_r": [ 508.7536434775773, -131.28166540306538, -52.07469904554068, 1.551998935300319, 0.10425432313585667, 2.3772498590172 ], "joint_status_l": { "velocity": [ 0.23432310894433428, -0.8372681454389408, 0.11671620216990863, 1.662514325417419, -0.7983033984003338, -1.1371556960080298, 0.7190484315340306 ], "torque": [ -21.52587890625, 1.7724609375, -9.66796875, 1.043701171875, -5.313720703125, -2.340087890625, 0.50262451171875 ] }, "joint_status_r": { "velocity": [ -0.6035892256210929, -0.0881009775755004, 0.004709368217725718, -2.0520644439265823, 1.6934724346464591, -0.7590271019490835, -0.8546698638074446 ], "torque": [ 24.93896484375, 0.2783203125, 9.332275390625, -10.467529296875, 1.9354248046875, 3.856201171875, -0.65826416015625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.8, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.8, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.4, -2.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.4, -2.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 234, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27734396208327683, -0.4911969206098275, -0.08070161751827383, -0.9769920987401036, -0.013307692953906276, -0.8825056316386524, 0.29235299578953744 ], "act_joint_pos_r": [ -0.708411606205471, -0.9763081756330287, 0.13524384323470132, -1.2310621503533665, 0.8463295862045737, 0.46954497266179096, -1.444798560358455 ], "act_eef_pose_l": [ 518.5990875079824, 396.4974907697837, 106.85563144788767, 1.680966618016217, -0.11084305957900908, 0.7739750772696214 ], "act_eef_pose_r": [ 506.0518644042035, -126.07714812687868, -51.579056653080215, 1.5499345255835026, 0.09067987881640446, 2.381327594953678 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 149, "colors": { "rgb_main": "colors/000149_rgb_main.jpg", "rgb_wrist_0": "colors/000149_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000149_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000149_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2752951736870889, -0.4848028723178146, -0.08154260671632296, -0.988026226778188, -0.007290507537053782, -0.8766315109949959, 0.2873223026151328 ], "joint_pos_r": [ -0.7061542391708198, -0.9730053683353458, 0.13544147768549097, -1.2203679576425424, 0.83062582950236, 0.4749032519762367, -1.4341501580524016 ], "eef_pose_l": [ 517.2082658039633, 396.5523820786627, 107.8237925584992, 1.6837033251387474, -0.11181548043832773, 0.7741983675653312 ], "eef_pose_r": [ 508.0437072483321, -129.99726976298123, -51.97198273065197, 1.5515192777509368, 0.10073767254750737, 2.378378280885837 ], "joint_status_l": { "velocity": [ 0.2212626209958657, -0.6905368492411412, 0.09082415467398519, 1.1916506822551298, -0.649836859106398, -0.6343863192901367, 0.5432988390929872 ], "torque": [ -21.3427734375, 1.025390625, -9.466552734375, 1.0986328125, -5.2734375, -2.1807861328125, 0.48797607421875 ] }, "joint_status_r": { "velocity": [ -0.24378844958583556, -0.35669266806159783, -0.021343891180913843, -1.154938749669654, 1.6959557042994788, -0.578677098791669, -1.1499935318077803 ], "torque": [ 24.22119140625, 0.205078125, 8.8134765625, -9.722900390625, 1.91162109375, 3.6785888671875, -0.6298828125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.5, -1.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.5, -1.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2758409196556883, -0.49335156043334355, -0.08047988129529222, -0.975435158334064, -0.009409357646830098, -0.8851659563000426, 0.2874493398850313 ], "act_joint_pos_r": [ -0.7068234343303117, -0.9773225931191151, 0.13518853802514338, -1.2357790778119562, 0.8713237230323898, 0.4647861673520654, -1.4701001469528796 ], "act_eef_pose_l": [ 518.7886875079823, 395.5238907697837, 106.88763144788783, 1.6824385639729098, -0.10882359811925256, 0.7703670964998107 ], "act_eef_pose_r": [ 507.13826440420354, -125.78194812687866, -50.26385665308021, 1.548396985674445, 0.0925728521706057, 2.3737192088029704 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 150, "colors": { "rgb_main": "colors/000150_rgb_main.jpg", "rgb_wrist_0": "colors/000150_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000150_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000150_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27570913957920684, -0.4861965062054122, -0.08136022232868789, -0.9856533569027127, -0.008513969538310089, -0.8779219372223704, 0.2883207547444105 ], "joint_pos_r": [ -0.7063012803417903, -0.9733189476573594, 0.13542287274618936, -1.2214255384073385, 0.8327116300810974, 0.47430271574852395, -1.4358108417845459 ], "eef_pose_l": [ 517.5081651898106, 396.5268140969069, 107.6176046699998, 1.6831453938570367, -0.11157335941355878, 0.7740946718331402 ], "eef_pose_r": [ 507.9079600699249, -129.65204058271024, -51.89727192330736, 1.5513202435689804, 0.0999350436239748, 2.378393030676316 ], "joint_status_l": { "velocity": [ 0.014231828514343903, -0.7727230663676643, 0.09507402754815875, 1.1035328984512205, -0.0966990637337184, -0.78233098676872, -0.09411002918646716 ], "torque": [ -21.6064453125, 2.07275390625, -9.332275390625, 1.5869140625, -5.4986572265625, -2.1038818359375, 0.5035400390625 ] }, "joint_status_r": { "velocity": [ -0.056390967596797736, -0.43238095747533123, -0.025307403471064305, -1.5501365368653097, 4.169983051663273, -1.0277569147478793, -3.7031357400287845 ], "torque": [ 24.23583984375, 0.1318359375, 8.77685546875, -10.369873046875, 1.88232421875, 3.61083984375, -0.7342529296875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.7, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.7, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.4, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.4, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 24, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27457210883637434, -0.4939574083068594, -0.08034815365063115, -0.9722027059827455, -0.0065549029084401075, -0.8878311658895216, 0.28475362968973433 ], "act_joint_pos_r": [ -0.7052177819797101, -0.9830385216416849, 0.1347359987534973, -1.2340021220642936, 0.8861861200977277, 0.46062693884138434, -1.4828852607276453 ], "act_eef_pose_l": [ 518.9278875079824, 396.0078907697837, 106.99883144788765, 1.683818289997233, -0.1087029389176126, 0.7698862639334071 ], "act_eef_pose_r": [ 508.5022644042035, -124.06834812687867, -50.16545665308013, 1.5487439751032956, 0.0910772853507516, 2.369641604953602 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 151, "colors": { "rgb_main": "colors/000151_rgb_main.jpg", "rgb_wrist_0": "colors/000151_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000151_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000151_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2757186411531439, -0.4867123981261499, -0.08129674820086788, -0.9849166069189759, -0.008578528586557, -0.8784442436643328, 0.28825792420934454 ], "joint_pos_r": [ -0.7063999868066, -0.9740757851010514, 0.1353785747949998, -1.2241388895705951, 0.840010747349097, 0.4725037352369005, -1.4422927918766464 ], "eef_pose_l": [ 517.6008945849908, 396.4549225614945, 107.56478769892128, 1.683094729378771, -0.11137448690623386, 0.7738259855730061 ], "eef_pose_r": [ 507.772564793525, -128.92258507511355, -51.57771711725684, 1.5506989445364243, 0.09856319169493778, 2.3774595409848844 ], "joint_status_l": { "velocity": [ 0.01320568879359385, -0.7170083821450568, 0.08821902392108782, 1.0239662469011535, -0.08972689215626384, -0.7259235546852594, -0.08732453152671127 ], "torque": [ -24.61669921875, 2.23388671875, -9.5947265625, 1.40380859375, -5.4583740234375, -2.2503662109375, -0.13275146484375 ] }, "joint_status_r": { "velocity": [ -0.04573098379712093, -0.3506449242314247, -0.020523365840241503, -1.2571032537884719, 3.3817016358375085, -0.8334727495977745, -3.0031057763615365 ], "torque": [ 25.1513671875, -0.3076171875, 8.453369140625, -9.820556640625, 1.8548583984375, 3.515625, -0.8056640625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.9, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.9, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.5, -1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.5, -1.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2731363741339894, -0.4966128468841185, -0.07996516352292138, -0.9658282174885288, -0.004106263117450152, -0.8942530109798065, 0.28288332024015805 ], "act_joint_pos_r": [ -0.7047761628320566, -0.9887919446126966, 0.13427783839938845, -1.230747288323315, 0.8978094566213349, 0.45846826971227433, -1.4900891825023497 ], "act_eef_pose_l": [ 519.2462875079824, 396.0422907697837, 107.08043144788763, 1.6845089388075796, -0.10874727834788989, 0.7668692047561902 ], "act_eef_pose_r": [ 509.5854644042035, -122.51154812687867, -50.61825665308015, 1.5490156146802356, 0.0865542045920294, 2.3663037203897535 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 152, "colors": { "rgb_main": "colors/000152_rgb_main.jpg", "rgb_wrist_0": "colors/000152_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000152_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000152_depth_main.npy" }, "states": { "joint_pos_l": [ 0.275539273413017, -0.4885702177898566, -0.08105920856133407, -0.9818779270988964, -0.008357957341174447, -0.8807461951753004, 0.28768097973180756 ], "joint_pos_r": [ -0.7060653449244723, -0.9772873518966594, 0.1351411452121152, -1.22613559221664, 0.8536470056208164, 0.46916488444546994, -1.453720108266543 ], "eef_pose_l": [ 517.9290190775315, 396.2759227904838, 107.41263816904696, 1.683106926169644, -0.11073481601074088, 0.7727469785323846 ], "eef_pose_r": [ 508.1449960788951, -127.4418888434878, -51.27629955772136, 1.5500712832986223, 0.09586306931852666, 2.374823410572694 ], "joint_status_l": { "velocity": [ -0.2595054684304543, -0.8685783248316703, 0.11815337940090931, 1.7333175164520043, 0.45916943368368157, -1.4586930850333246, -0.5181319436133869 ], "torque": [ -29.46533203125, 0.75439453125, -9.637451171875, 1.69677734375, -3.2080078125, -2.4224853515625, -0.2801513671875 ] }, "joint_status_r": { "velocity": [ 0.13922755968387435, -1.2424593689512875, -0.09323438597330647, -0.49804849036405585, 4.769404042002101, -1.1552003203729733, -3.9277441748453157 ], "torque": [ 30.95947265625, 0.6884765625, 8.7646484375, -9.87548828125, 1.9500732421875, 3.47900390625, -0.6719970703125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.9, -9.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.9, -9.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.5, -17.2, -2.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.5, -17.2, -2.5, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27148530045286423, -0.49870369151220345, -0.07978606601984499, -0.9654616884523357, -0.002424343350133202, -0.8938882584050691, 0.2819847348952314 ], "act_joint_pos_r": [ -0.7046729409158807, -0.9924645661095609, 0.1340164457067553, -1.2348951026067931, 0.9156160251886671, 0.4543251429004499, -1.5037555646540746 ], "act_eef_pose_l": [ 519.7990875079823, 395.1094907697837, 107.48683144788771, 1.6845451755617757, -0.10968240043077063, 0.7653037657588968 ], "act_eef_pose_r": [ 509.5942644042035, -120.37474812687867, -50.155856653080264, 1.5482623105682252, 0.0811097135745464, 2.364160537453194 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 153, "colors": { "rgb_main": "colors/000153_rgb_main.jpg", "rgb_wrist_0": "colors/000153_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000153_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000153_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27497494974053577, -0.49040800521060784, -0.08081077749564171, -0.9782670129794712, -0.00737785494910333, -0.8837750003976996, 0.2865898661621633 ], "joint_pos_r": [ -0.7059723926414215, -0.9781168531477346, 0.1350788992813904, -1.2264681035696692, 0.8568311955577999, 0.46839363981973936, -1.4563423821117538 ], "eef_pose_l": [ 518.2356868214378, 396.2108476575791, 107.34399646879628, 1.6834145356652401, -0.11030733357875812, 0.7714035785893273 ], "eef_pose_r": [ 508.25483465898816, -127.08915327353716, -51.223055620526566, 1.549957536763008, 0.09520103284878965, 2.374180659394832 ], "joint_status_l": { "velocity": [ -0.37687100785244176, -0.8959076971870594, 0.11066557547945166, 1.3829342614659623, 0.534963474784482, -1.0921996520885102, -0.4973395085841048 ], "torque": [ -31.95556640625, 1.3916015625, -9.75341796875, 0.634765625, -2.6531982421875, -2.347412109375, -0.37994384765625 ] }, "joint_status_r": { "velocity": [ 0.12918900918545972, -1.1528758759586921, -0.08651202372045308, -0.4621383233516241, 4.42552167107646, -1.0719083573591526, -3.6445469520174356 ], "torque": [ 31.91162109375, -0.31494140625, 8.9111328125, -10.70556640625, 1.76513671875, 3.5687255859375, -0.8001708984375 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.6, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.6, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.5, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -17.5, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27168407525893123, -0.49823518146847384, -0.07976093706257183, -0.9628374120059345, -0.003564325250306901, -0.8958139878865116, 0.2831373288747577 ], "act_joint_pos_r": [ -0.7064860607963609, -0.989946018246648, 0.13428686302801826, -1.2531035951994294, 0.9432973145612973, 0.4478245525596629, -1.5299922310296121 ], "act_eef_pose_l": [ 519.7630875079824, 396.0702907697837, 107.53963144788787, 1.6840395880404528, -0.11016546493259123, 0.7665929900962062 ], "act_eef_pose_r": [ 507.2454644042035, -118.28194812687866, -48.47025665308024, 1.5462604935932331, 0.07594241521657823, 2.3636935012303604 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 154, "colors": { "rgb_main": "colors/000154_rgb_main.jpg", "rgb_wrist_0": "colors/000154_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000154_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000154_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2741910213370588, -0.4922715804819476, -0.08058058231984454, -0.975390375018164, -0.0062650788162399666, -0.8860468820540236, 0.28555535154356204 ], "joint_pos_r": [ -0.7056804787461772, -0.9813399792525384, 0.13484022557355532, -1.2283611774452035, 0.8700368485739872, 0.4652332378939006, -1.466993464048688 ], "eef_pose_l": [ 518.6066269721387, 395.95192843489, 107.37737577292975, 1.6836736064895002, -0.11016315485197761, 0.7699631609592505 ], "eef_pose_r": [ 508.58321723008174, -125.59269094210376, -50.95687526675886, 1.5494046788411333, 0.09207755263633952, 2.371797779755 ], "joint_status_l": { "velocity": [ -0.2922092372423801, -0.6946475037343802, 0.08580522971002313, 1.072266524299259, 0.41478719684508863, -0.8468436695938664, -0.3856152249066547 ], "torque": [ -33.01025390625, 1.51611328125, -9.5458984375, 1.01318359375, -2.3858642578125, -2.3382568359375, -0.52734375 ] }, "joint_status_r": { "velocity": [ 0.10881087646730236, -1.2014199465708586, -0.08896560171434142, -0.7056431056202683, 4.9224058957832995, -1.178039514874829, -3.970189770893029 ], "torque": [ 34.0283203125, -0.41748046875, 9.796142578125, -10.906982421875, 1.7376708984375, 3.6016845703125, -0.64910888671875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.9, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.9, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.4, -1.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.4, -1.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -22, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2719133566998528, -0.49829335986732815, -0.0798227141953703, -0.9653710689617616, -0.003873115853915983, -0.8927990116359713, 0.2840197555265002 ], "act_joint_pos_r": [ -0.7071118354527792, -0.992055364006787, 0.13416338734284977, -1.2632402548749504, 0.9651409159207276, 0.4425283801384897, -1.5479372443815644 ], "act_eef_pose_l": [ 519.8950875079823, 395.5270907697837, 107.48043144788772, 1.683989591779287, -0.11074602476637611, 0.7669850092844214 ], "act_eef_pose_r": [ 506.0862644042035, -115.53154812687865, -47.49025665308022, 1.545067588353203, 0.0691656348504823, 2.363540271658077 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 155, "colors": { "rgb_main": "colors/000155_rgb_main.jpg", "rgb_wrist_0": "colors/000155_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000155_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000155_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27397637620777027, -0.4927910917178982, -0.0805114504749532, -0.9743860642977066, -0.006021995786553047, -0.8868144057948719, 0.28534489872907287 ], "joint_pos_r": [ -0.7058356658236615, -0.9836192876086004, 0.13469027739101588, -1.2341548469604047, 0.8878570529979902, 0.46099288978219205, -1.4822087596692044 ], "eef_pose_l": [ 518.6924650989687, 395.95269388104447, 107.38806256893385, 1.683697914819469, -0.11017259619796609, 0.7697261208677956 ], "eef_pose_r": [ 508.3438392213321, -123.78744894281253, -50.32661903573046, 1.548377856587511, 0.0881357214654174, 2.3695802222851223 ], "joint_status_l": { "velocity": [ -0.2227995357342305, -0.5942274343366805, 0.07438132443504664, 0.9735907817569611, 0.2320721881214835, -0.6463183686973295, -0.1431112450376304 ], "torque": [ -33.69140625, 2.45361328125, -9.710693359375, 1.513671875, -2.3309326171875, -2.3565673828125, -0.47698974609375 ] }, "joint_status_r": { "velocity": [ -0.1378222550938446, -0.9110693804483816, -0.056902446954110175, -3.141131412050413, 8.346411031420864, -1.9941082284415934, -7.098466990841601 ], "torque": [ 27.22412109375, 0.47607421875, 14.019775390625, -10.16845703125, 2.017822265625, 3.4716796875, -0.67840576171875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.7, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.1, -17.3, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.1, -17.3, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 11, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27199801099694876, -0.49803505820761346, -0.07983841478455114, -0.9651287800479248, -0.0038413876483987396, -0.893131371847396, 0.2837951503053664 ], "act_joint_pos_r": [ -0.7069781137947739, -0.9894991565226945, 0.13434520345365514, -1.2594374952472698, 0.9538808506984635, 0.44540561412765844, -1.5382407852040416 ], "act_eef_pose_l": [ 519.8246875079824, 395.7070907697837, 107.45163144788768, 1.684089838936203, -0.11052500124827962, 0.767155356110214 ], "act_eef_pose_r": [ 506.4670644042035, -117.36834812687869, -47.83105665308017, 1.5455110263778415, 0.07227601759720186, 2.3635652735406767 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 156, "colors": { "rgb_main": "colors/000156_rgb_main.jpg", "rgb_wrist_0": "colors/000156_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000156_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000156_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27344641611050974, -0.4942031175428134, -0.08033397249181431, -0.9720433611234861, -0.005464714698377394, -0.8883771403602534, 0.2849922392735468 ], "joint_pos_r": [ -0.7058916983921067, -0.9839896890171641, 0.13466714331697627, -1.235431895146279, 0.8912503427614629, 0.4601821716168208, -1.4850946893563108 ], "eef_pose_l": [ 519.001225527401, 395.85123423172985, 107.41028002030404, 1.6837754940221739, -0.11031193430413094, 0.7690247703875404 ], "eef_pose_r": [ 508.2562858948718, -123.42790622084081, -50.19152141934302, 1.548162975701452, 0.08732072183323566, 2.3692580283778732 ], "joint_status_l": { "velocity": [ -0.1564231388107018, -0.41383738631717293, 0.05351865393610211, 0.746752731866529, 0.17531415078320817, -0.5134418574535005, -0.12928179560089958 ], "torque": [ -33.99169921875, 1.845703125, -10.577392578125, 1.15966796875, -2.1807861328125, -1.92626953125, -0.46966552734375 ] }, "joint_status_r": { "velocity": [ -0.1317709161767766, -0.8710672081244653, -0.054404040644384644, -3.0032142756262203, 7.97994654525791, -1.9065532488777848, -6.786795776884347 ], "torque": [ 26.806640625, -1.31103515625, 12.46337890625, -10.94970703125, 2.0269775390625, 3.438720703125, -1.15997314453125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.6, -1.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.6, -1.9, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 278, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 41, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27305879194009053, -0.4984472598575793, -0.07981358517794376, -0.9654331973126018, -0.005477061156119864, -0.89453765533124, 0.2855064829642842 ], "act_joint_pos_r": [ -0.7095465306982006, -0.9966038283631543, 0.13382702395510915, -1.2689364364012377, 0.9867652213675592, 0.43804003350649307, -1.5642610870102194 ], "act_eef_pose_l": [ 519.5918875079824, 395.1838907697837, 107.18683144788776, 1.6832208053251831, -0.11021363459492015, 0.7653180047339112 ], "act_eef_pose_r": [ 505.1086644042035, -112.65234812687868, -48.10065665308025, 1.5458590556675835, 0.06000227836212558, 2.3623292389977566 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 157, "colors": { "rgb_main": "colors/000157_rgb_main.jpg", "rgb_wrist_0": "colors/000157_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000157_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000157_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2731551648836545, -0.4949736598513216, -0.08023432372030236, -0.9706529488675559, -0.005138289452797504, -0.8893331406811711, 0.2847515237255461 ], "joint_pos_r": [ -0.7061757524164909, -0.9854724979403425, 0.13457976608033156, -1.2417274981898057, 0.907705698454378, 0.45629485272900294, -1.4990613270519408 ], "eef_pose_l": [ 519.167171094004, 395.82255694759067, 107.41841363280301, 1.683837667025282, -0.11035519838925532, 0.7686489615680805 ], "eef_pose_r": [ 507.81972556071065, -121.82834837323655, -49.53989770965501, 1.5472525174034815, 0.08341361104206088, 2.367609991875087 ], "joint_status_l": { "velocity": [ -0.12496893400260056, -0.3306212713263257, 0.04275690401367438, 0.596592636961546, 0.14006126398889707, -0.4101968678424939, -0.10328528314307306 ], "torque": [ -33.88916015625, 0.97412109375, -11.627197265625, 1.171875, -2.156982421875, -1.9976806640625, -0.4705810546875 ] }, "joint_status_r": { "velocity": [ -0.08665247317640734, -0.4348663011981557, -0.025332016553192283, -1.9126232723980507, 4.986769365459942, -1.1760030845886504, -4.231256686180629 ], "torque": [ 25.107421875, -1.47216796875, 13.031005859375, -10.33935546875, 1.6754150390625, 3.7225341796875, -0.64453125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.5, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.5, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -17.4, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.4, -17.4, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2731518075415427, -0.4974495431418178, -0.07994719107750091, -0.9674510351484792, -0.005122524933891096, -0.8924127122544103, 0.28558320671141635 ], "act_joint_pos_r": [ -0.7096234971912248, -0.9973287160665486, 0.13377307942762182, -1.2702126799041165, 0.9949258972645669, 0.43597168302372824, -1.57168735514579 ], "act_eef_pose_l": [ 519.4846875079824, 395.2622907697837, 107.18203144788782, 1.6836572233481226, -0.11066638048337858, 0.7662714538060572 ], "act_eef_pose_r": [ 505.2534644042035, -112.37714812687864, -48.21745665308026, 1.5468357674485622, 0.05913897478964248, 2.3604107425800067 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 158, "colors": { "rgb_main": "colors/000158_rgb_main.jpg", "rgb_wrist_0": "colors/000158_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000158_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000158_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2731174914471048, -0.4959059493216874, -0.08012112410626145, -0.9692418312453858, -0.0052116434690170875, -0.8907213100887413, 0.284936290198266 ], "joint_pos_r": [ -0.7069602923094356, -0.9881101646260743, 0.13440268184155135, -1.2484427290939273, 0.9270378981716408, 0.4518233120060832, -1.515041858217152 ], "eef_pose_l": [ 519.2846592750757, 395.6562537631457, 107.35862026929746, 1.683681298292333, -0.11031982801891106, 0.7677707729346382 ], "eef_pose_r": [ 507.2153686636837, -119.62920988160454, -49.11556034803624, 1.5465839898896228, 0.07784600203619026, 2.366043274316127 ], "joint_status_l": { "velocity": [ -0.006339359788221088, -0.2744534433043455, 0.03321322468663457, 0.41132033349633446, -0.028664264799797834, -0.41215313038289736, 0.061579002554434936 ], "torque": [ -31.51611328125, 1.42822265625, -9.539794921875, 1.055908203125, -3.34716796875, -2.0269775390625, 0.2288818359375 ] }, "joint_status_r": { "velocity": [ -0.27930550831101186, -0.9172886296227034, -0.06216921815282994, -2.2132551127196365, 6.45036066194038, -1.488550175515524, -5.315519936770485 ], "torque": [ 24.3310546875, -0.02197265625, 8.856201171875, -10.29052734375, 1.6900634765625, 3.99169921875, -0.6939697265625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -17.5, -2.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.8, -17.5, -2.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27372807926814485, -0.49706223840824904, -0.07999543571404598, -0.9680718863457675, -0.0056537754957156575, -0.892763956371025, 0.28491442515029947 ], "act_joint_pos_r": [ -0.7091515506021425, -1.0004051984460745, 0.1335675553179834, -1.2815972078518032, 1.0400976013084895, 0.42733607575095467, -1.611085847704125 ], "act_eef_pose_l": [ 519.2574875079823, 395.18949076978373, 107.03723144788779, 1.6834985847841426, -0.109249050144376, 0.76589992493491 ], "act_eef_pose_r": [ 505.31106440420353, -110.08274812687864, -47.09105665308016, 1.5475585966499654, 0.05215440331143161, 2.3528483584082966 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 159, "colors": { "rgb_main": "colors/000159_rgb_main.jpg", "rgb_wrist_0": "colors/000159_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000159_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000159_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2731257221665978, -0.49633324326673217, -0.08007274311149705, -0.9687366330023127, -0.005191512504558912, -0.8912008813011455, 0.2851099184603321 ], "joint_pos_r": [ -0.7076759765085078, -0.9905720938380282, 0.13423468745391906, -1.2542712753687926, 0.9450735787722657, 0.4476175006322973, -1.5300700700435101 ], "eef_pose_l": [ 519.3398468671712, 395.54918069589706, 107.31095368382275, 1.6836701329038952, -0.11040817799393167, 0.7673558979083677 ], "eef_pose_r": [ 506.7216145446921, -117.6961732926167, -48.83471319911632, 1.5463869219732698, 0.07288226412496854, 2.364392852589786 ], "joint_status_l": { "velocity": [ 0.0028171374069074773, -0.12055683087552893, 0.013559219763759067, 0.13884047333334593, 0.007450437893206929, -0.1308738830330114, 0.05111362360121774 ], "torque": [ -32.4609375, 1.669921875, -9.112548828125, 1.177978515625, -3.4130859375, -2.1075439453125, -0.10894775390625 ] }, "joint_status_r": { "velocity": [ -0.21032603049864207, -0.7296936795153641, -0.04985219652831052, -1.7216209133206206, 5.383891607773528, -1.2577112075162766, -4.494534231845648 ], "torque": [ 24.111328125, -2.04345703125, 13.409423828125, -10.504150390625, 1.688232421875, 3.837890625, -0.6243896484375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.3, -1.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -17.3, -1.5, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2734082130860341, -0.4991425013878834, -0.07969078148816292, -0.962794678390307, -0.006172994793554815, -0.8977168190529113, 0.28580333252201606 ], "act_joint_pos_r": [ -0.7087780922740516, -1.0041012763435648, 0.1332805051450188, -1.2822343081958385, 1.0528671276825907, 0.4259866619912604, -1.6218931377221704 ], "act_eef_pose_l": [ 519.5342875079823, 395.3494907697837, 107.04683144788766, 1.6827998506383561, -0.10962776876301282, 0.7642593146534854 ], "act_eef_pose_r": [ 505.6446644042035, -108.56594812687865, -46.857456653080135, 1.5468423904402022, 0.04957514708638169, 2.3510131289124674 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 160, "colors": { "rgb_main": "colors/000160_rgb_main.jpg", "rgb_wrist_0": "colors/000160_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000160_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000160_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2733003718703397, -0.49680062650965334, -0.08001474866582652, -0.9679716057629323, -0.005400733486036119, -0.8922404597702775, 0.28513603267561644 ], "joint_pos_r": [ -0.7083204926482741, -0.9952412702451121, 0.13391470732739555, -1.2663478010071012, 0.9878344053840782, 0.43858366063507237, -1.566497974629225 ], "eef_pose_l": [ 519.3408140557843, 395.4391699215672, 107.21670363250466, 1.6835424892759627, -0.110050992986646, 0.7666835481934597 ], "eef_pose_r": [ 506.2049156966257, -114.23282772393544, -47.96428223692334, 1.5462699153593777, 0.06361743007271949, 2.358754991961656 ], "joint_status_l": { "velocity": [ 0.011646507799500938, -0.25291502751834116, 0.03498742328877924, 0.55909166671686, -0.0834017614085511, -0.5914293592477193, 0.07206625793054755 ], "torque": [ -28.7255859375, 1.6552734375, -9.9853515625, 0.74462890625, -4.1876220703125, -2.186279296875, 0.29022216796875 ] }, "joint_status_r": { "velocity": [ -0.049419302039055424, -0.9568524377785437, -0.06849181563861606, -1.7156921747467635, 7.023326866286261, -1.3604357296248537, -5.982501169597754 ], "torque": [ 26.81396484375, -1.98486328125, 8.5693359375, -10.7421875, 1.7633056640625, 3.74267578125, -0.849609375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.3, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.3, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.3, -3.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.5, -17.3, -3.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 19, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2727600392117943, -0.49943386905165715, -0.0797008479477974, -0.9641306107931167, -0.005684206307270348, -0.8958697165474085, 0.2853850160513782 ], "act_joint_pos_r": [ -0.7093797903921023, -1.0043651290165998, 0.13326249823487946, -1.2843419513359995, 1.0640123841401312, 0.42488128693881, -1.6325519195476257 ], "act_eef_pose_l": [ 519.7462875079824, 394.9566907697837, 107.28363144788779, 1.6827532356615347, -0.10996772072427802, 0.7644319512863541 ], "act_eef_pose_r": [ 505.6430644042035, -108.47074812687868, -46.94305665308025, 1.5472587430830738, 0.048711086029223374, 2.3483248119301345 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 161, "colors": { "rgb_main": "colors/000161_rgb_main.jpg", "rgb_wrist_0": "colors/000161_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000161_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000161_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2732941609430216, -0.4978996794432885, -0.07986703569376058, -0.9657121056416094, -0.005712927260578584, -0.8945933828044718, 0.2854061416678714 ], "joint_pos_r": [ -0.7085902046065946, -0.9993308825135974, 0.1336220590261718, -1.2738432939427138, 1.0187682197802828, 0.4326964899783162, -1.5929634329049018 ], "eef_pose_l": [ 519.4481252122572, 395.364400237232, 107.15876516223734, 1.683198755120487, -0.1098850334894753, 0.7655864303257444 ], "eef_pose_r": [ 505.9906884542541, -111.64297493301676, -47.42075361329245, 1.5463047362377065, 0.057143348003156264, 2.354720004846829 ], "joint_status_l": { "velocity": [ -0.05768344569045958, -0.16568759100943353, 0.017947747223634458, 0.1707964062669376, 0.003101771475430559, -0.1378399788638518, -0.0022814992921560417 ], "torque": [ -29.62646484375, 1.6845703125, -9.1796875, 0.799560546875, -3.768310546875, -2.2247314453125, -0.1171875 ] }, "joint_status_r": { "velocity": [ -0.08527274984881927, -0.5436825872626727, -0.03883142018812347, -1.1338215581950806, 4.8862256393418235, -0.8440170353147813, -4.275430460333851 ], "torque": [ 24.111328125, -0.7763671875, 12.493896484375, -10.186767578125, 1.435546875, 3.62548828125, -0.69305419921875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.6, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.6, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -16.6, -1.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ 0.1, -16.6, -1.8, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27349985782917735, -0.49798647868923623, -0.07991676857082303, -0.9679626461538943, -0.006996719657842339, -0.8913001422928162, 0.28625784643688823 ], "act_joint_pos_r": [ -0.7110087910009963, -1.0069762957197104, 0.13306443401572465, -1.286186362896038, 1.102005087730471, 0.422548418113597, -1.6700938731868087 ], "act_eef_pose_l": [ 519.6870875079824, 394.9582907697837, 107.23563144788778, 1.6824813281817237, -0.10991505089302402, 0.7667760747747534 ], "act_eef_pose_r": [ 506.7334644042035, -108.71074812687868, -47.829456653080115, 1.549321666985835, 0.048295853774485836, 2.3363873014770355 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 162, "colors": { "rgb_main": "colors/000162_rgb_main.jpg", "rgb_wrist_0": "colors/000162_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000162_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000162_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2731171028184712, -0.4984664532556795, -0.07981072003448084, -0.965328830205635, -0.005812716084561254, -0.8947758525751922, 0.2854715893043175 ], "joint_pos_r": [ -0.7091079067573385, -1.0018583068605107, 0.13344039238559488, -1.2787559268773323, 1.0429276552861555, 0.4289440493663477, -1.614530403234191 ], "eef_pose_l": [ 519.5774555717167, 395.18092260332816, 107.21075379513537, 1.6829745362325215, -0.10991771901483866, 0.7652677338180374 ], "eef_pose_r": [ 505.9661971337004, -110.24805067783676, -47.260526840946966, 1.5467530952929476, 0.053330508140717645, 2.3505307544321066 ], "joint_status_l": { "velocity": [ 0.04133632200642445, 0.05183572436351369, -0.01145290413950839, -0.2844437331921412, -0.12786861463115473, 0.3753656396794369, 0.08491326593462745 ], "torque": [ -27.23876953125, 6.8701171875, -8.36181640625, -2.24609375, -4.6234130859375, -0.59326171875, 0.22796630859375 ] }, "joint_status_r": { "velocity": [ -0.20528944362663282, -0.5527264949964916, -0.040602306444981195, -0.8024634226266869, 6.380174530796978, -0.6907078039595227, -6.000677774352425 ], "torque": [ 24.580078125, -1.66259765625, 9.5458984375, -11.04736328125, 1.5142822265625, 3.7646484375, -0.81207275390625 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.9, -8.8, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.2, -16.9, -8.8, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -17.4, -2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.4, -17.4, -2.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.270590793346019, -0.5005613266072172, -0.07950261587910662, -0.959894783774163, -0.0035494852325932942, -0.9007431768907666, 0.2821996557106597 ], "act_joint_pos_r": [ -0.7182053203385373, -1.0188855045171814, 0.13216947553362607, -1.2980065857121332, 1.2531720622960085, 0.4274590558980439, -1.8055732850801278 ], "act_eef_pose_l": [ 519.8894875079824, 395.2270907697837, 107.96123144788777, 1.6827177665772084, -0.10931239543104448, 0.7626207373043218 ], "act_eef_pose_r": [ 509.5382644042035, -107.84434812687869, -49.051856653079994, 1.547393831727811, 0.029810443229470296, 2.2928691831770127 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 163, "colors": { "rgb_main": "colors/000163_rgb_main.jpg", "rgb_wrist_0": "colors/000163_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000163_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000163_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27322033171872934, -0.4983370042732748, -0.07983932128978602, -0.966039169498959, -0.006132041458111036, -0.8938384546573832, 0.2856836425938767 ], "joint_pos_r": [ -0.7099965813446825, -1.0038170963398227, 0.13329533348894376, -1.2812818967078563, 1.0663341274287421, 0.42764642966581207, -1.6361555374050387 ], "eef_pose_l": [ 519.6071552349326, 395.120854115752, 107.21746871450848, 1.6828410630386172, -0.10991744997541733, 0.7656745368873774 ], "eef_pose_r": [ 506.351705211693, -109.81259199472665, -47.359511792637534, 1.546681461653278, 0.051044334887019344, 2.344386903058109 ], "joint_status_l": { "velocity": [ 0.030187929582981, 0.03785564658365104, -0.008364059667198553, -0.2077293520823531, -0.09338249140161681, 0.2741296503518953, 0.06201218609369619 ], "torque": [ -26.4990234375, 7.9833984375, -11.65771484375, -2.99072265625, -4.7222900390625, -0.2655029296875, 0.3314208984375 ] }, "joint_status_r": { "velocity": [ -0.8865176648953366, -1.6273400873245691, -0.12158907309633982, -1.8062131410534477, 20.177901850260582, -0.020235770096910244, -18.296577120212376 ], "torque": [ 22.05322265625, -4.07958984375, 7.977294921875, -11.883544921875, 7.7325439453125, 5.2789306640625, -0.81024169921875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.6, -2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.6, -2.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 299, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 45, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2710500331908179, -0.4987376088324141, -0.07967966720937349, -0.9610241333512597, -0.0041959324821298875, -0.9000500731423791, 0.28360169895256643 ], "act_joint_pos_r": [ -0.7192230495233054, -1.0219756549267778, 0.13193230364195369, -1.2983767154414125, 1.277541118542235, 0.4280769224493865, -1.8272326571954416 ], "act_eef_pose_l": [ 519.5430875079824, 395.87829076978375, 107.99163144788764, 1.682661910290029, -0.1103335148236315, 0.7639548071804645 ], "act_eef_pose_r": [ 510.20386440420356, -107.49954812687866, -49.65425665307998, 1.5484113442486993, 0.026760926927291144, 2.28566011723929 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 164, "colors": { "rgb_main": "colors/000164_rgb_main.jpg", "rgb_wrist_0": "colors/000164_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000164_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000164_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27260870944783966, -0.49885054877036017, -0.07976240168445206, -0.964652608324525, -0.005551139244418005, -0.8953839582102364, 0.2848801149042445 ], "joint_pos_r": [ -0.7113460597523041, -1.0062942723698807, 0.13311024769173568, -1.284031357581489, 1.0970494125677646, 0.42761562629224287, -1.6640070250119228 ], "eef_pose_l": [ 519.6771680072372, 395.1404578618856, 107.39386803360597, 1.6827969075531295, -0.10977585948437017, 0.7649903338540677 ], "eef_pose_r": [ 506.92344974795907, -109.47055789914054, -47.43513013964849, 1.5457337918567997, 0.047596344353549945, 2.3357883599727383 ], "joint_status_l": { "velocity": [ -0.2179285115389007, -0.18475855721789003, 0.028056039508728148, 0.5138298968363486, 0.21617225761714348, -0.5787785473359008, -0.28948105512016653 ], "torque": [ -33.8232421875, 2.35107421875, -10.052490234375, 0.933837890625, -2.3236083984375, -2.20458984375, -0.44219970703125 ] }, "joint_status_r": { "velocity": [ -0.7407782952251196, -1.3598129663687786, -0.10160039653228647, -1.5092801242726495, 16.860748889442334, -0.016909103866424857, -15.288705171110806 ], "torque": [ 23.583984375, -0.95947265625, 9.197998046875, -10.284423828125, 1.776123046875, 4.412841796875, -0.63995361328125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.2, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.2, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.7, -2.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.7, -2.5, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27266143222428557, -0.5047042350766955, -0.0790375320427715, -0.9546032277895514, -0.007736756346478427, -0.9024364020497309, 0.2874548509085415 ], "act_joint_pos_r": [ -0.7143879220954967, -1.0248578745779813, 0.13169058914095402, -1.2854558589985159, 1.2818014468364192, 0.4313118072474712, -1.830219227491973 ], "act_eef_pose_l": [ 520.7926875079824, 394.7830907697837, 107.03403144788768, 1.68118550022386, -0.11005481343495221, 0.7625326067128992 ], "act_eef_pose_r": [ 514.3414644042035, -109.97554812687866, -49.148656653080025, 1.5471133917699564, 0.03249635995513218, 2.2752516957228615 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 165, "colors": { "rgb_main": "colors/000165_rgb_main.jpg", "rgb_wrist_0": "colors/000165_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000165_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000165_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27257873290957285, -0.4988759627096444, -0.07975854251551631, -0.964581929910506, -0.0055214042826779676, -0.895463570451653, 0.28484029615879886 ], "joint_pos_r": [ -0.7120508716103306, -1.0080229036360708, 0.13297985970566226, -1.2852540164167052, 1.1165494205761994, 0.427737903533914, -1.681631513190648 ], "eef_pose_l": [ 519.6803523636519, 395.14174333136015, 107.40230213597275, 1.6827955943069524, -0.10976903703183509, 0.7649551349304164 ], "eef_pose_r": [ 507.41945569068383, -109.32262503474989, -47.51948260161487, 1.5452957774539264, 0.045553117081648845, 2.330047060880849 ], "joint_status_l": { "velocity": [ -0.21469114088734642, -0.18201393272354593, 0.027639261555800765, 0.5061968532471539, 0.21296097646088946, -0.5701806788440678, -0.28518075744221605 ], "torque": [ -33.91845703125, 2.197265625, -10.076904296875, 1.043701171875, -2.3931884765625, -2.20458984375, -0.49163818359375 ] }, "joint_status_r": { "velocity": [ -0.2523940084335763, -1.8181232390475088, -0.13923711440932962, -0.02179835592741597, 17.84669247604498, 0.38597021748065785, -16.046999863579714 ], "torque": [ 23.75244140625, -1.142578125, 8.94775390625, -10.82763671875, 1.6864013671875, 4.5574951171875, -1.27716064453125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.3, -3.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.3, -3.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27084604122034334, -0.5099333289086382, -0.07842304467754273, -0.9463716473737112, -0.006696674638179297, -0.9094052557746096, 0.2874309241578544 ], "act_joint_pos_r": [ -0.713468715571496, -1.0293308014279396, 0.13133469824882685, -1.274060868553426, 1.2932710001950936, 0.43765468748234526, -1.8441915190625684 ], "act_eef_pose_l": [ 521.7190875079824, 394.0622907697837, 107.28363144788779, 1.6804906419396297, -0.11097978646613292, 0.7585191133452412 ], "act_eef_pose_r": [ 517.3798644042035, -111.69794812687871, -49.75985665308008, 1.5451048573787782, 0.038704635908992716, 2.2634793185032103 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 166, "colors": { "rgb_main": "colors/000166_rgb_main.jpg", "rgb_wrist_0": "colors/000166_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000166_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000166_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27254526862057826, -0.5001805384666436, -0.07959388672942412, -0.9622191558068808, -0.005973945986886217, -0.8971861147845142, 0.28538547381808615 ], "joint_pos_r": [ -0.7125891605528095, -1.012700403094945, 0.13262068139550853, -1.284484631798717, 1.1601250001749535, 0.42911975988375, -1.7210766982946517 ], "eef_pose_l": [ 519.9263903754132, 395.0869639585613, 107.3390558883966, 1.6824308221497328, -0.10984990832588015, 0.7643761772625426 ], "eef_pose_r": [ 509.48246074611063, -109.57430799872516, -47.757468934443295, 1.5444576147703284, 0.04260392039756042, 2.314994331203594 ], "joint_status_l": { "velocity": [ 0.012545299196586868, -0.4885448250262492, 0.0600845340599232, 0.8224959676503829, -0.19037790393981735, -0.5670143014508966, 0.22348613439771015 ], "torque": [ -32.20458984375, 1.85302734375, -9.9365234375, 1.5380859375, -4.456787109375, -2.2998046875, 0.2655029296875 ] }, "joint_status_r": { "velocity": [ -0.09498914046357498, -1.7960300488883973, -0.13888208373358246, 1.125733228764858, 14.379343906096409, 0.9217449952325651, -13.296008498125289 ], "torque": [ 24.39697265625, -1.8603515625, 9.3994140625, -5.841064453125, 1.7193603515625, 5.947265625, -1.0345458984375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.4, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.4, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.0, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.0, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2722872546017288, -0.5084950480740126, -0.07854792675816447, -0.9468469217714756, -0.007423969898864739, -0.9099304082511271, 0.28692662594166496 ], "act_joint_pos_r": [ -0.7138087044779962, -1.029908053600643, 0.13128972808498918, -1.2709186582430763, 1.2955477400922044, 0.4381126749765906, -1.8460625484899837 ], "act_eef_pose_l": [ 521.2286875079824, 394.58309076978367, 106.79563144788773, 1.680897219539721, -0.10920419685737424, 0.759100558365335 ], "act_eef_pose_r": [ 518.0390644042035, -112.44994812687867, -50.503056653079966, 1.546413900827372, 0.03920856653469744, 2.26045799761474 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 167, "colors": { "rgb_main": "colors/000167_rgb_main.jpg", "rgb_wrist_0": "colors/000167_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000167_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000167_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27212469467568595, -0.5025944411316595, -0.07930409287338248, -0.9582967560518336, -0.006152827777468731, -0.9002104612190686, 0.28589174103009013 ], "joint_pos_r": [ -0.7127337552959144, -1.0154343630219602, 0.1324092717636134, -1.2827710137343333, 1.1820135816273458, 0.4305228621767503, -1.7413162006602303 ], "eef_pose_l": [ 520.3725356418684, 394.83549874759234, 107.3237586904893, 1.6819506042452055, -0.11012541689891372, 0.7629264945988161 ], "eef_pose_r": [ 510.8021918686883, -109.89362123435816, -47.984659378539845, 1.5440432359987915, 0.04193197982708769, 2.3065709085078234 ], "joint_status_l": { "velocity": [ -0.13809050041557747, -0.7925765041192356, 0.09515039883978282, 1.2878737534318674, -0.05873372869800997, -0.9930085247775722, 0.16622687519918244 ], "torque": [ -35.0537109375, 1.669921875, -11.346435546875, 0.9033203125, -4.8431396484375, -2.2906494140625, 0.32684326171875 ] }, "joint_status_r": { "velocity": [ -0.07937336877006373, -1.5007710849683775, -0.11605051687002543, 0.9406679360193237, 12.01544682865574, 0.770214416744075, -11.110206709419757 ], "torque": [ 24.3896484375, -1.17919921875, 8.868408203125, -5.908203125, 1.51611328125, 6.1065673828125, -1.0015869140625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -17.0, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -17.0, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.6, -1.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.6, -1.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2727739273355659, -0.5084297783160024, -0.07854674610848372, -0.9464332691184032, -0.008061718611523596, -0.910402520130176, 0.2867853778756348 ], "act_joint_pos_r": [ -0.7137802414425609, -1.0296659551589435, 0.13131115510239302, -1.27156765542126, 1.2992600750035308, 0.437374469329203, -1.8493614484153877 ], "act_eef_pose_l": [ 521.1638875079824, 394.70949076978366, 106.64603144788776, 1.6807314204695107, -0.1083460629771794, 0.7592704137578756 ], "act_eef_pose_r": [ 518.1118644042035, -112.6083481268787, -50.58785665308028, 1.5472610172721313, 0.03899747287343642, 2.259457478482569 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 168, "colors": { "rgb_main": "colors/000168_rgb_main.jpg", "rgb_wrist_0": "colors/000168_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000168_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000168_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2721057000285847, -0.5027034617445995, -0.07929100473015707, -0.9581196062306382, -0.006160906728925945, -0.9003470516900998, 0.285914605896418 ], "joint_pos_r": [ -0.7128403647162975, -1.0170369578428595, 0.13228540330351998, -1.2815807162442974, 1.1948418154765732, 0.4313388897051826, -1.7531571301476219 ], "eef_pose_l": [ 520.3926472096983, 394.82410822343934, 107.32309125338283, 1.68192891721484, -0.11013792274301624, 0.7628610215845788 ], "eef_pose_r": [ 511.6071383955189, -110.14019912918477, -48.186983419684225, 1.5440069495218363, 0.041575317423297446, 2.3014814882699817 ], "joint_status_l": { "velocity": [ -0.13603913903015297, -0.78080262517366, 0.09373692105973941, 1.2687421369994567, -0.05786122767367091, -0.978257188974041, 0.16375754246444885 ], "torque": [ -35.1123046875, 1.93359375, -11.4990234375, 0.604248046875, -4.808349609375, -2.3876953125, 0.3497314453125 ] }, "joint_status_r": { "velocity": [ -0.10150369274519733, -1.363891484307267, -0.10521570255039858, 1.081378675328537, 11.276839436311192, 0.651823374891336, -10.389759943327803 ], "torque": [ 23.935546875, -1.494140625, 8.3251953125, -4.803466796875, 1.3934326171875, 6.251220703125, -0.7965087890625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.2, -2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.3, -17.2, -2.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2736595146404644, -0.5099024856546783, -0.07839358152080099, -0.944856165017504, -0.009299183008189623, -0.9123385717058121, 0.2878208985619648 ], "act_joint_pos_r": [ -0.7150559809055483, -1.0279983535739046, 0.1314460384796369, -1.276687345904656, 1.3035943902975573, 0.4359089511249007, -1.8532154875785098 ], "act_eef_pose_l": [ 521.2366875079823, 394.2454907697837, 106.2644314478876, 1.6801626514378374, -0.10766269394785978, 0.7576848074771488 ], "act_eef_pose_r": [ 517.0294644042035, -112.28674812687865, -50.66225665308002, 1.548300396846593, 0.036903566963906634, 2.260797459581913 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 169, "colors": { "rgb_main": "colors/000169_rgb_main.jpg", "rgb_wrist_0": "colors/000169_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000169_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000169_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2722695988239451, -0.5042500364351483, -0.07909031802143383, -0.9549816779252808, -0.006652166435754638, -0.9030431746634109, 0.28615418994897873 ], "joint_pos_r": [ -0.7131395125943539, -1.020230700278878, 0.1320392999438566, -1.2792152537192245, 1.2220438018556008, 0.4328358713924585, -1.7782131866240098 ], "eef_pose_l": [ 520.6042581342498, 394.7896768978831, 107.14467460757967, 1.681614140122038, -0.10968024063980629, 0.7618865171668969 ], "eef_pose_r": [ 513.2667020191005, -110.74167423811572, -48.722745849844046, 1.54444497810985, 0.04077489121165383, 2.2906807970308147 ], "joint_status_l": { "velocity": [ 0.05446587286983551, -0.4513988098358013, 0.058704035215684236, 0.9232009227879701, -0.15222714528338732, -0.7947858694539178, 0.06816628562189564 ], "torque": [ -31.44287109375, 1.0107421875, -12.664794921875, 1.1962890625, -5.009765625, -1.9171142578125, 0.38360595703125 ] }, "joint_status_r": { "velocity": [ -0.2069724732818301, -0.8388818143663102, -0.06407034848188164, 0.2730059920921235, 8.807203797140062, 0.3318828227429904, -8.100009606071268 ], "torque": [ 24.01611328125, -0.94482421875, 8.343505859375, -5.181884765625, 1.497802734375, 6.45263671875, -0.76263427734375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.3, -2.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.3, -17.3, -2.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2725508037919478, -0.5128925869348114, -0.07800787225817427, -0.9384439071055648, -0.00873977270688511, -0.9170767619975322, 0.28774986917652023 ], "act_joint_pos_r": [ -0.7176797577060877, -1.0270400783481044, 0.13153821886867062, -1.287671460293858, 1.3156626032013783, 0.4338551046201466, -1.8661014555069804 ], "act_eef_pose_l": [ 521.8542875079823, 394.3582907697837, 106.4004314478878, 1.6798809806083745, -0.1082710154028084, 0.7563160325404801 ], "act_eef_pose_r": [ 514.6374644042035, -110.30994812687868, -50.470256653080014, 1.5487523307031625, 0.03326019914767977, 2.264292851680677 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 170, "colors": { "rgb_main": "colors/000170_rgb_main.jpg", "rgb_wrist_0": "colors/000170_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000170_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000170_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2725818349248221, -0.5055198246365167, -0.0789338004210792, -0.9527070432804112, -0.007246802545158675, -0.9051313288480949, 0.28652860586138956 ], "joint_pos_r": [ -0.7134783603034933, -1.0216040866839837, 0.1319344063294422, -1.2787682983655253, 1.2364626314867149, 0.43337921772448945, -1.7914742239759842 ], "eef_pose_l": [ 520.7474041239342, 394.66786718545546, 106.94620620923196, 1.6812916177351396, -0.10922377484556342, 0.760941708746127 ], "eef_pose_r": [ 513.9437239668815, -111.00803857633034, -49.024399973024344, 1.5449182814787312, 0.040074112937559955, 2.285385220696412 ], "joint_status_l": { "velocity": [ 0.11638597666840944, -0.47331343032785966, 0.05834192052711629, 0.8478698458098677, -0.22165055277372642, -0.7783592721537502, 0.13956349545640734 ], "torque": [ -26.0009765625, -0.263671875, -13.018798828125, 1.15966796875, -5.16357421875, -2.1148681640625, 0.3753662109375 ] }, "joint_status_r": { "velocity": [ -0.17037799999108927, -0.6905604571194601, -0.05274217223183442, 0.22473623753249683, 7.250016123775183, 0.2732031495482623, -6.667859811058108 ], "torque": [ 24.0087890625, -2.16064453125, 12.8662109375, -5.7373046875, 1.0821533203125, 6.5020751953125, -0.76171875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.8, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.8, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.8, -2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.1, -17.8, -2.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 40, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27205983201827993, -0.5146603131320918, -0.07776883244254469, -0.9341092395901693, -0.008801814909324305, -0.9205451655272915, 0.2881543149869582 ], "act_joint_pos_r": [ -0.7199112773637245, -1.0279458761049243, 0.13147749218606347, -1.292893972768329, 1.3135359575115784, 0.43039596540460645, -1.8626793696211597 ], "act_eef_pose_l": [ 522.1774875079824, 394.5342907697837, 106.45723144788764, 1.6795093991652812, -0.10871529428584409, 0.755439387687708 ], "act_eef_pose_r": [ 512.5910644042035, -107.99234812687871, -51.120656653080005, 1.5507696517121803, 0.027897034209436247, 2.2709911064377244 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 171, "colors": { "rgb_main": "colors/000171_rgb_main.jpg", "rgb_wrist_0": "colors/000171_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000171_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000171_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27261361539167495, -0.5056490680575381, -0.07891786952008478, -0.9524755231239319, -0.0073073266585181665, -0.9053438683804024, 0.2865667152038394 ], "joint_pos_r": [ -0.7139113692384665, -1.0222832522105167, 0.13188415307716744, -1.279479462068757, 1.244845393763524, 0.4334145850324295, -1.7992694669603813 ], "eef_pose_l": [ 520.7619386760548, 394.655454703461, 106.92602705047818, 1.6812586773520641, -0.10917741624900036, 0.7608455725784301 ], "eef_pose_r": [ 514.0671655459167, -110.94111900411795, -49.191618162148586, 1.5452691507941434, 0.039292589141601914, 2.2830350904088093 ], "joint_status_l": { "velocity": [ 0.11295378747533391, -0.4593555525231885, 0.05662143396278907, 0.8228664063478774, -0.21511414131204776, -0.7554056796443831, 0.1354478078576804 ], "torque": [ -26.00830078125, -0.21240234375, -13.104248046875, 0.897216796875, -5.1580810546875, -2.2576904296875, 0.3790283203125 ] }, "joint_status_r": { "velocity": [ -0.6479709666455946, -0.6115453440296292, -0.043918080944727045, -1.4487244277088251, 7.418362091895503, -0.3260013049106725, -6.848067514408029 ], "torque": [ 24.27978515625, -3.06884765625, 11.895751953125, -9.625244140625, 1.1077880859375, 5.423583984375, -0.9063720703125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.9, -0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.3, -17.9, -0.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27304230993309414, -0.5147001518711893, -0.07775445757571224, -0.9336426691373896, -0.01135805268849077, -0.9193190168803529, 0.2897690216424464 ], "act_joint_pos_r": [ -0.7240100435145229, -1.0228170961377099, 0.13188280313341688, -1.3024071655329075, 1.2886781241416774, 0.42260815237275806, -1.8379772038537945 ], "act_eef_pose_l": [ 522.3798875079824, 394.8798907697837, 106.27963144788765, 1.6784870617936354, -0.10829712509226846, 0.7575198745393743 ], "act_eef_pose_r": [ 508.3806644042035, -106.33154812687872, -52.50065665308034, 1.5561575017192038, 0.022213517780791003, 2.2865017116862423 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 172, "colors": { "rgb_main": "colors/000172_rgb_main.jpg", "rgb_wrist_0": "colors/000172_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000172_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000172_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2725082993020699, -0.5082618883512081, -0.07858506492139578, -0.947173705657409, -0.00783691070739186, -0.9096956288883403, 0.2870767395793384 ], "joint_pos_r": [ -0.7157016478468043, -1.0234500689400665, 0.13180250759086498, -1.2835024355561333, 1.2611702886448366, 0.43218115825080505, -1.8142373675578294 ], "eef_pose_l": [ 521.1780781713821, 394.622317762069, 106.77361584436433, 1.680722591472905, -0.10899404534811445, 0.7593272755921354 ], "eef_pose_r": [ 513.4602078563952, -110.08808002846499, -49.74443455131484, 1.5468361700475246, 0.03602087785769252, 2.280742623383235 ], "joint_status_l": { "velocity": [ 0.05767144722201856, -0.6953119530281882, 0.08970294768684273, 1.461308845161824, -0.3802721184320637, -1.0392952507620734, 0.2907578873698746 ], "torque": [ -30.27099609375, 0.64453125, -9.686279296875, 1.336669921875, -5.3741455078125, -2.2393798828125, 0.4248046875 ] }, "joint_status_r": { "velocity": [ -0.8972802682469805, 0.0683590465131445, 0.008671662838466432, -2.041650622224722, 2.9707586158149724, -1.033854142931112, -2.5638267039358453 ], "torque": [ 23.8037109375, 3.18603515625, 9.100341796875, -11.102294921875, -0.1904296875, 3.7481689453125, -0.84503173828125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.9, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.9, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.2, -17.2, -2.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.2, -17.2, -2.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27434184786843474, -0.5163053235990858, -0.07759219274513297, -0.931759211630796, -0.01429359068843129, -0.9199042517744835, 0.29172013365052474 ], "act_joint_pos_r": [ -0.7328500390770141, -1.020855742577719, 0.13205384219675093, -1.316657801789529, 1.271983039378169, 0.41874273280004004, -1.8232518159942972 ], "act_eef_pose_l": [ 522.7046875079824, 394.66309076978365, 105.88123144788784, 1.6771406622400151, -0.10740142311437399, 0.7577697523866778 ], "act_eef_pose_r": [ 502.03026440420354, -102.22594812687868, -54.482256653080185, 1.5586640576076072, 0.012492977919577099, 2.303719519946193 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 173, "colors": { "rgb_main": "colors/000173_rgb_main.jpg", "rgb_wrist_0": "colors/000173_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000173_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000173_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2726156803448341, -0.5095565207240536, -0.07841804299762573, -0.9444528294673293, -0.008544956344847953, -0.9116307391229933, 0.2876181146729348 ], "joint_pos_r": [ -0.7169628214856208, -1.023353986778798, 0.13181469605968976, -1.2863720806776677, 1.2653458429127085, 0.4307280229957596, -1.8178409580611807 ], "eef_pose_l": [ 521.4210903805803, 394.6749229168153, 106.67329943963412, 1.6802761291815738, -0.10884903073688003, 0.7589628022744115 ], "eef_pose_r": [ 512.6988225042534, -109.5205577351902, -50.166269590832314, 1.548242430012013, 0.0339310007936074, 2.281587675693027 ], "joint_status_l": { "velocity": [ 0.046074636633308685, -0.555495780418358, 0.07166511191725178, 1.1674628831572775, -0.3038054448507854, -0.8303095091246604, 0.23229110164724176 ], "torque": [ -28.87939453125, 1.07666015625, -9.2041015625, 0.872802734375, -5.562744140625, -2.1826171875, 0.44403076171875 ] }, "joint_status_r": { "velocity": [ -0.7610775323394492, 0.05798247913624266, 0.007355347028115133, -1.7317380894805723, 2.519812054844195, -0.8769201639062807, -2.1746504077153617 ], "torque": [ 23.44482421875, 3.18603515625, 9.649658203125, -10.7177734375, 0.714111328125, 3.636474609375, -0.68572998046875 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.7, -1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.7, -1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 230, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27464832382351634, -0.520830365671948, -0.07708529987820856, -0.9246047187206128, -0.01586544907174903, -0.9260255620158802, 0.2931671930392498 ], "act_joint_pos_r": [ -0.7361295316355481, -1.0264662029566507, 0.13162393385882584, -1.321427401143816, 1.2709350556452916, 0.4123036079181158, -1.8252329063834893 ], "act_eef_pose_l": [ 523.3510875079824, 394.0462907697837, 105.52923144788753, 1.6758314511257524, -0.1069091251009269, 0.7546744550000404 ], "act_eef_pose_r": [ 499.19666440420355, -97.40914812687868, -56.01825665308024, 1.5626851922389131, 0.008714705996296177, 2.313830321906269 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 174, "colors": { "rgb_main": "colors/000174_rgb_main.jpg", "rgb_wrist_0": "colors/000174_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000174_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000174_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2727550586390534, -0.5102474637868759, -0.07833440269016881, -0.9431776050358778, -0.009044572616622037, -0.9125137656075414, 0.28798619911981 ], "joint_pos_r": [ -0.7187541472476956, -1.0233642119184372, 0.13181909295267072, -1.289826195735335, 1.2668063317106408, 0.42909003649319516, -1.8192008431521158 ], "eef_pose_l": [ 521.546754903093, 394.65921857929453, 106.59973231395338, 1.6799897181984325, -0.10871836516911804, 0.7587642375792226 ], "eef_pose_r": [ 511.50025488187157, -108.54659005695922, -50.718855384495726, 1.54967000016621, 0.03146692852774629, 2.284128861990555 ], "joint_status_l": { "velocity": [ 0.20446660950157458, -1.1429196949728215, 0.13489912505471047, 2.005812563769638, -0.736632931326725, -1.4592309743832743, 0.5595308408192778 ], "torque": [ -25.01953125, 0.78369140625, -9.24072265625, 0.897216796875, -5.56640625, -2.2064208984375, 0.53558349609375 ] }, "joint_status_r": { "velocity": [ -1.8764861698867819, -0.3350051516779473, -0.021076560515420617, -3.4128295280897447, 0.44588903414854997, -1.8128808180470912, -0.6514436156841441 ], "torque": [ 22.18505859375, 0.8642578125, 9.417724609375, -11.419677734375, 0.435791015625, 3.3856201171875, -0.73333740234375 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.6, -8.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.3, -16.6, -8.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.1, -1.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.1, -1.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 87, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27467632080934806, -0.5229717138558668, -0.07677334627927465, -0.9180659446220069, -0.01585944850826983, -0.9308772339715341, 0.29293943290680274 ], "act_joint_pos_r": [ -0.7398669973276264, -1.025408703634447, 0.13172055865666452, -1.3390882965034603, 1.2700736573341525, 0.40696238808307744, -1.8230651303428553 ], "act_eef_pose_l": [ 523.7110875079824, 394.63989076978373, 105.23243144788768, 1.675978252028977, -0.10642763001356972, 0.7542289181250663 ], "act_eef_pose_r": [ 494.1014644042035, -92.83634812687865, -55.1166566530801, 1.5620304201367732, -0.0012935232864731627, 2.3284156666814995 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 175, "colors": { "rgb_main": "colors/000175_rgb_main.jpg", "rgb_wrist_0": "colors/000175_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000175_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000175_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2732025917569413, -0.5127785527869096, -0.07803477798986298, -0.9386942610288217, -0.010655315031176818, -0.9157768104690771, 0.28920636937843786 ], "joint_pos_r": [ -0.7224542726034342, -1.02402478756025, 0.1317775334052431, -1.2965557401755454, 1.2676855523239192, 0.4255153305404239, -1.8204853839491173 ], "eef_pose_l": [ 521.9812873779507, 394.5252814331133, 106.34017222007002, 1.6790202202795226, -0.10826979926962675, 0.7577873848144463 ], "eef_pose_r": [ 508.9124235526578, -106.15378286215049, -51.89341478388599, 1.5525378367727074, 0.0266480632528169, 2.2904643941390788 ], "joint_status_l": { "velocity": [ 0.15915804354404983, -1.1008289282332662, 0.13623060683665145, 2.227792466709566, -0.5620298393420042, -1.6307976404590363, 0.4031589705246752 ], "torque": [ -24.08203125, 0.322265625, -8.80126953125, 0.7080078125, -5.614013671875, -2.296142578125, 0.51361083984375 ] }, "joint_status_r": { "velocity": [ -1.476884417090929, -0.2636650864245027, -0.01658826176853534, -2.6860601634624004, 0.35093600840419015, -1.4268239612862388, -0.5127173011221231 ], "torque": [ 22.55126953125, -1.69189453125, 9.4482421875, -10.418701171875, 0.8349609375, 3.6859130859375, -0.77362060546875 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.7, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.7, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.3, -2.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.3, -2.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 295, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2753980525075799, -0.5254787437303621, -0.07659821158712875, -0.9180545723757413, -0.01600752976859182, -0.929991930288465, 0.2922840948477796 ], "act_joint_pos_r": [ -0.740525970406873, -1.0288423674801392, 0.13145247451735473, -1.34401342074774, 1.269800121080092, 0.4045474008235562, -1.8212101276116366 ], "act_eef_pose_l": [ 524.1518875079823, 393.4262907697837, 104.66523144788772, 1.6761849648684135, -0.10473775670509779, 0.7527461282473584 ], "act_eef_pose_r": [ 492.30626440420355, -89.4579481268787, -54.6030566530801, 1.5609302096835056, -0.006814329632071084, 2.335670048621431 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 176, "colors": { "rgb_main": "colors/000176_rgb_main.jpg", "rgb_wrist_0": "colors/000176_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000176_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000176_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27326729853424947, -0.5132261022209653, -0.07797939251676442, -0.9377885369584437, -0.010883812057434668, -0.9164398222616706, 0.28937027638021195 ], "joint_pos_r": [ -0.7232188102226241, -1.0240855509340059, 0.1317750318243979, -1.2984232100786235, 1.2677904064548962, 0.4247007295701574, -1.820598652446565 ], "eef_pose_l": [ 522.0580974755911, 394.53083127348594, 106.29100419279149, 1.6788885841196932, -0.10818605357114479, 0.7576305300293591 ], "eef_pose_r": [ 508.2726314560849, -105.55959458145973, -52.05062635777057, 1.5529882116848424, 0.02542496239914586, 2.2921342609795383 ], "joint_status_l": { "velocity": [ 0.15216991769873012, -1.0524950148877998, 0.13024915215553712, 2.1299771520171262, -0.5373528883139134, -1.5591944786814693, 0.3854575364092838 ], "torque": [ -23.84033203125, -0.6884765625, -8.612060546875, 2.0263671875, -5.7110595703125, -2.457275390625, 0.50811767578125 ] }, "joint_status_r": { "velocity": [ -1.7979511796042402, -0.14289627714703101, -0.005882928607592319, -4.3916998076198865, 0.24658382235820397, -1.9156843805139268, -0.2663717565827284 ], "torque": [ 22.80029296875, -2.93701171875, 9.0087890625, -11.26708984375, 0.732421875, 3.80126953125, -0.68206787109375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.5, -2.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.4, -17.5, -2.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 230, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 17, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27665047341571813, -0.524061115735099, -0.07679951645547767, -0.922176588097868, -0.01742521141627635, -0.9258977479285537, 0.2932093979503125 ], "act_joint_pos_r": [ -0.7405283102938459, -1.030755760230171, 0.13130137919212936, -1.3420707408610537, 1.2653151868559398, 0.40549312742268834, -1.8133278672989153 ], "act_eef_pose_l": [ 523.9614875079824, 393.2478907697837, 104.37803144788774, 1.6760553775300102, -0.10420094329051112, 0.7543248386642195 ], "act_eef_pose_r": [ 492.31426440420347, -88.70914812687863, -54.632656653080176, 1.5597885161544327, -0.010760419878633607, 2.337180240582853 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 177, "colors": { "rgb_main": "colors/000177_rgb_main.jpg", "rgb_wrist_0": "colors/000177_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000177_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000177_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27389872432331835, -0.5163926246749231, -0.07762247262745683, -0.9327060750203663, -0.01234477217803066, -0.9198765548229391, 0.29022444386622437 ], "joint_pos_r": [ -0.727864547909934, -1.025337316584278, 0.13169039503575747, -1.3104684005590546, 1.2681446803428513, 0.4193879004523523, -1.820479694543721 ], "eef_pose_l": [ 522.6057373672733, 394.25256797217526, 105.84674740268389, 1.6781557698132668, -0.10725104252299139, 0.75643503542754 ], "eef_pose_r": [ 504.0871894429263, -101.23891577282556, -52.8436694453693, 1.555306494288633, 0.016748565326588655, 2.303717827400041 ], "joint_status_l": { "velocity": [ 0.2971801371194349, -0.8281726088532615, 0.08887664529722006, 1.1371510491526848, -0.5486712555368423, -0.6502696767265448, 0.32236553341835616 ], "torque": [ -23.00537109375, 0.6298828125, -9.014892578125, 0.03662109375, -5.7257080078125, -2.0855712890625, 0.4669189453125 ] }, "joint_status_r": { "velocity": [ -1.3676460009000024, -0.5851746549527803, -0.0420124720202919, -3.4129520929742085, -0.3055762840951104, -1.5005912296315316, 0.7723745624712564 ], "torque": [ 22.79296875, -1.11328125, 8.837890625, -11.004638671875, 0.5364990234375, 3.8690185546875, -0.333251953125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.7, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.3, -17.7, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 232, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -32, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27716111525129095, -0.5226090704549418, -0.07698371128202096, -0.9252302963962489, -0.017767662629022855, -0.9232267613194624, 0.2930724551922001 ], "act_joint_pos_r": [ -0.7410236473714309, -1.030487641136278, 0.1313178871164382, -1.3435321957808328, 1.2711366319597797, 0.40708732709299655, -1.8186566509018671 ], "act_eef_pose_l": [ 523.7302875079823, 393.2734907697837, 104.31643144788774, 1.676208841271832, -0.10374173009095772, 0.7554425765733599 ], "act_eef_pose_r": [ 492.2438644042035, -88.84514812687866, -54.37745665308012, 1.5585525139212428, -0.011562506491657474, 2.335493060400502 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 178, "colors": { "rgb_main": "colors/000178_rgb_main.jpg", "rgb_wrist_0": "colors/000178_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000178_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000178_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2743852566967679, -0.5177484783632516, -0.07747696705767063, -0.9308443732112296, -0.013243036546529101, -0.9209411523840907, 0.29075220884275527 ], "joint_pos_r": [ -0.730258468560929, -1.0263616033441618, 0.13161685661696884, -1.31644241466128, 1.2676098011588603, 0.4167612731445888, -1.8191277340114012 ], "eef_pose_l": [ 522.8464847816225, 394.0757403163204, 105.58686079294905, 1.6777872361546307, -0.10670824877280383, 0.7560602635348616 ], "eef_pose_r": [ 501.88737278498104, -98.8422331515181, -53.21981233481722, 1.5562394823725119, 0.011548356839717586, 2.3100605481022303 ], "joint_status_l": { "velocity": [ 0.24463619048775698, -0.6817447291735945, 0.07316250722411155, 0.9360931836503994, -0.45166156488689324, -0.5352965310736479, 0.2653685969873365 ], "torque": [ -23.10791015625, 1.5673828125, -8.88671875, 1.03759765625, -5.841064453125, -2.2503662109375, 0.501708984375 ] }, "joint_status_r": { "velocity": [ -1.1091101956983707, -0.4745549474387545, -0.03407055702542294, -2.767777598338128, -0.24781103591919873, -1.2169238467150123, 0.6263671312396468 ], "torque": [ 23.81103515625, -1.56005859375, 8.428955078125, -11.151123046875, -1.23779296875, 3.72802734375, 0.46966552734375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.5, -9.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.5, -9.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.5, -1.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.3, -17.5, -1.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 24, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2788615415686821, -0.5167464937313453, -0.07763466548647029, -0.9342566030341588, -0.01825810703875983, -0.918158121693676, 0.29300935164079284 ], "act_joint_pos_r": [ -0.7383410628025442, -1.0346378541104908, 0.130992744643679, -1.341980924429396, 1.2940075279608205, 0.40660407986846914, -1.8387043443740358 ], "act_eef_pose_l": [ 522.3590875079824, 393.78149076978366, 104.17403144788778, 1.6768970325756514, -0.10293009361918286, 0.7573391422317464 ], "act_eef_pose_r": [ 494.0502644042035, -88.21314812687865, -53.707056653080144, 1.5586090092044775, -0.01218696081585619, 2.3289573552832183 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 179, "colors": { "rgb_main": "colors/000179_rgb_main.jpg", "rgb_wrist_0": "colors/000179_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000179_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000179_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27466550038997417, -0.5182048983568107, -0.07742995786992722, -0.9302937680903908, -0.013686202832193817, -0.9212036550742623, 0.2909877185258404 ], "joint_pos_r": [ -0.7312688940646732, -1.026844740932322, 0.13158160680784936, -1.319053421716852, 1.2680596014386976, 0.415725944613428, -1.8191583159697868 ], "eef_pose_l": [ 522.9759664327638, 394.0051646871827, 105.45011514300379, 1.6778073541264538, -0.10663466037106493, 0.7560577870358945 ], "eef_pose_r": [ 500.9682055140945, -97.8229685781063, -53.3497381126748, 1.5565505900697623, 0.009274512046202242, 2.3125626556553325 ], "joint_status_l": { "velocity": [ 0.45315908208753974, 0.15750305424599986, -0.02210777055278168, -0.4279735515213545, -0.49375109189908617, 0.3289079044828114, 0.2183299371174563 ], "torque": [ -22.41943359375, 2.6513671875, -12.664794921875, 0.665283203125, -5.906982421875, -2.23388671875, 0.4925537109375 ] }, "joint_status_r": { "velocity": [ -0.7637716974473463, -0.8416314006511882, -0.06359523808918688, -2.476097264368704, 2.8022934151632484, -0.9851323375302812, -2.1109088097315265 ], "torque": [ 23.0419921875, -1.72119140625, 8.23974609375, -11.1328125, 0.260009765625, 3.936767578125, 0.443115234375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.6, -1.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.5, -17.6, -1.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 230, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2799129683323547, -0.514718835852837, -0.07789320994643388, -0.9385993843927314, -0.020213303414244436, -0.9137293665883475, 0.2947090403989151 ], "act_joint_pos_r": [ -0.7345551953733529, -1.0387346699175506, 0.130673734682628, -1.332847552535383, 1.296823620044334, 0.4078964468900681, -1.83799185334504 ], "act_eef_pose_l": [ 522.1302875079823, 393.89669076978373, 104.12283144788768, 1.6763293077361854, -0.10312599297642282, 0.7597017169101961 ], "act_eef_pose_r": [ 496.8774644042035, -88.64034812687862, -53.38065665308022, 1.5579016727332287, -0.011477498104470185, 2.323681021911226 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 180, "colors": { "rgb_main": "colors/000180_rgb_main.jpg", "rgb_wrist_0": "colors/000180_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000180_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000180_depth_main.npy" }, "states": { "joint_pos_l": [ 0.275812061244614, -0.517709800800565, -0.07749793709884975, -0.9315712613563844, -0.014982512546393201, -0.9201584601805869, 0.29160945793866566 ], "joint_pos_r": [ -0.732853093483053, -1.028953484199842, 0.131421851449909, -1.324327165789172, 1.274605590491981, 0.4135249454332699, -1.8239648491964713 ], "eef_pose_l": [ 522.7651362770303, 393.95186319129283, 105.12509277204954, 1.6774069807572198, -0.10553041755108399, 0.7564676612168667 ], "eef_pose_r": [ 499.4017745632115, -95.45558672477004, -53.439407473176345, 1.5570389867161434, 0.003998478772784255, 2.3163437237434295 ], "joint_status_l": { "velocity": [ 0.44288490328381336, 0.3230146875456974, -0.04268820851771604, -0.7590149019769399, -0.564908752634874, 0.6943216300401289, 0.33474503293007274 ], "torque": [ -21.6943359375, 10.10009765625, -13.1103515625, -3.460693359375, -5.863037109375, -0.1025390625, 0.4998779296875 ] }, "joint_status_r": { "velocity": [ -0.18382158262397752, -1.05633690252116, -0.08079422796802849, -0.9201746294902335, 2.399476422880298, -0.6078599147962827, -1.5148717692898828 ], "torque": [ 22.96875, -0.3662109375, 11.956787109375, -10.58349609375, 1.0931396484375, 3.5870361328125, -0.61798095703125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.7, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -16.7, -1.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -1.7, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 288, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -30, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2800137800527706, -0.5162792522009428, -0.07776057380094781, -0.9379725173065769, -0.01938705917909806, -0.9155601783055141, 0.2932504555642799 ], "act_joint_pos_r": [ -0.732981376792008, -1.0429610472257993, 0.13034800577993813, -1.326605954180776, 1.3157885270708112, 0.41147798110055167, -1.853628713506348 ], "act_eef_pose_l": [ 522.1454875079824, 393.02869076978374, 103.86443144788751, 1.676607245644215, -0.10163523114054318, 0.7569567925220236 ], "act_eef_pose_r": [ 499.36226440420353, -89.21954812687864, -53.42065665308019, 1.55691314807931, -0.011972600364912094, 2.3139141081713746 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 181, "colors": { "rgb_main": "colors/000181_rgb_main.jpg", "rgb_wrist_0": "colors/000181_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000181_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000181_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27587298102127517, -0.5176653694314267, -0.07750380895429047, -0.9316756654983367, -0.01506021696754034, -0.9200629547381582, 0.291655502842191 ], "joint_pos_r": [ -0.7331540394068028, -1.0306828800650143, 0.13128957811604708, -1.3258336417966652, 1.278533924903478, 0.4125297795721283, -1.8264449414547514 ], "eef_pose_l": [ 522.7557651078546, 393.95103112423726, 105.11022372125795, 1.677390536957971, -0.10549496097194754, 0.7565156361470501 ], "eef_pose_r": [ 498.963692563408, -94.25077385219141, -53.431808921147535, 1.5571851178673304, 0.0012629322882748864, 2.317619481021157 ], "joint_status_l": { "velocity": [ 0.436305761445821, 0.31821624120143, -0.042054066833108195, -0.7477395871937631, -0.5565169226547789, 0.6840073464617902, 0.329772330011302 ], "torque": [ -22.17041015625, 9.51416015625, -13.214111328125, -2.789306640625, -5.7952880859375, -0.3131103515625, 0.54840087890625 ] }, "joint_status_r": { "velocity": [ -0.1513203814313968, -0.8695676575465328, -0.06650912922745444, -0.7574800191019193, 1.9752288189511802, -0.5003851715912333, -1.2470297049755885 ], "torque": [ 23.642578125, -0.84228515625, 9.2041015625, -10.333251953125, 0.8184814453125, 3.5943603515625, -0.6097412109375 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.2, -1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.3, -17.2, -1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 288, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -41, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2798810755465117, -0.5186676084984192, -0.0774236900108735, -0.9314359938962059, -0.01953542032804264, -0.922091688764702, 0.2924513988848989 ], "act_joint_pos_r": [ -0.7324097820927601, -1.0477467385221044, 0.1299851135785617, -1.3234637123535278, 1.3426205389657078, 0.4150837339633208, -1.8766839846866037 ], "act_eef_pose_l": [ 522.3398875079823, 393.2574907697837, 103.71723144788763, 1.6761519453434095, -0.10039899394093177, 0.7547844136914744 ], "act_eef_pose_r": [ 501.2166644042035, -89.09954812687869, -53.46865665308019, 1.5560134997042474, -0.014393836353496229, 2.30390174403342 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 182, "colors": { "rgb_main": "colors/000182_rgb_main.jpg", "rgb_wrist_0": "colors/000182_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000182_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000182_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27701814541684894, -0.5174624993920441, -0.07754671794508562, -0.9328127921024792, -0.016316161202772596, -0.9193888768103198, 0.29207167689621644 ], "joint_pos_r": [ -0.7329963985304156, -1.035022831705023, 0.13095770188914416, -1.325404783386017, 1.294400278364281, 0.41301667914421186, -1.8387834232118643 ], "eef_pose_l": [ 522.6041334279527, 393.7434608602572, 104.75443924676095, 1.6771148941871201, -0.1043402818720597, 0.7565127170957869 ], "eef_pose_r": [ 499.4731201636796, -92.86208036777306, -53.414234018580885, 1.5567621486100476, -0.002843254868392143, 2.314458478271003 ], "joint_status_l": { "velocity": [ 0.3091873350105079, -0.130147944979786, 0.01328662502686484, 0.1486898209055454, -0.34766973155854475, -0.2918950820873789, 0.04100876528889685 ], "torque": [ -21.36474609375, 2.6953125, -13.690185546875, -0.67138671875, -5.6451416015625, -1.5618896484375, 0.1080322265625 ] }, "joint_status_r": { "velocity": [ 0.06335270677926275, -1.3741414081094305, -0.10503643965875664, 0.20962948881830812, 5.207634553981322, 0.22323533648949123, -4.093139918561306 ], "torque": [ 32.197265625, -0.7177734375, 8.53271484375, -5.72509765625, 0.9466552734375, 5.599365234375, -0.7818603515625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.4, -10.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.4, -10.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.4, -1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.4, -17.4, -1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -40, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27880510686375615, -0.5198893187733097, -0.0772828807011694, -0.9293380837761487, -0.01799469425714295, -0.9235226468460449, 0.291725457252169 ], "act_joint_pos_r": [ -0.73195373044517, -1.049409364518035, 0.12986106511407774, -1.3291108904498092, 1.3638389024445559, 0.4163788825445031, -1.8950123971551818 ], "act_eef_pose_l": [ 522.6318875079824, 393.1662907697837, 103.89963144788777, 1.6766157064427711, -0.10117324142103669, 0.7539435680853338 ], "act_eef_pose_r": [ 501.03026440420354, -87.88514812687868, -52.216656653080236, 1.5537986081961337, -0.018271606398787048, 2.3011483985812458 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 183, "colors": { "rgb_main": "colors/000183_rgb_main.jpg", "rgb_wrist_0": "colors/000183_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000183_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000183_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2775243355323838, -0.5176755728133852, -0.07752496557202292, -0.9325693626048882, -0.0168853532803836, -0.9198667566863531, 0.2921388149361324 ], "joint_pos_r": [ -0.7329706420596892, -1.0355814981732987, 0.1309149986153485, -1.325319557101827, 1.2965174773564472, 0.413107436977645, -1.8404475168844414 ], "eef_pose_l": [ 522.5575766668634, 393.6573688632714, 104.57079446930392, 1.6769459040690455, -0.10364294193637735, 0.7562064392939438 ], "eef_pose_r": [ 499.5512737634889, -92.69705036085487, -53.41315825686752, 1.556707717342992, -0.003350247263263729, 2.3139927413268313 ], "joint_status_l": { "velocity": [ 0.2545204148474145, -0.1071366941554075, 0.010937438021607626, 0.12240021053600003, -0.2861988001647553, -0.2402855776164614, 0.03375807082539595 ], "torque": [ -22.09716796875, 2.29248046875, -13.63525390625, -0.09765625, -5.5609130859375, -1.864013671875, 0.12725830078125 ] }, "joint_status_r": { "velocity": [ 0.06057108998014371, -1.3138072089979858, -0.10042462210713143, 0.20042532158903725, 4.978983806520176, 0.21343377955984622, -3.9134231023876254 ], "torque": [ 32.51220703125, -1.63330078125, 8.489990234375, -5.841064453125, 0.875244140625, 5.5755615234375, -0.626220703125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.8, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.8, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.3, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.4, -17.3, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -43, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27808015859897467, -0.5207688592614363, -0.07719761563740876, -0.9284804483094273, -0.01704835605730457, -0.9242982563401915, 0.2908561098529852 ], "act_joint_pos_r": [ -0.7324665906058483, -1.0510331456755815, 0.1297382050850677, -1.3299366807791415, 1.3683150243396554, 0.41757991824488894, -1.898727667058933 ], "act_eef_pose_l": [ 522.8054875079823, 392.8958907697837, 104.05243144788784, 1.6767688082440904, -0.10121014552183692, 0.7530414106279275 ], "act_eef_pose_r": [ 500.7958644042035, -87.06354812687869, -52.07985665308024, 1.5526285597033989, -0.020133882102841387, 2.3009890528390082 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 184, "colors": { "rgb_main": "colors/000184_rgb_main.jpg", "rgb_wrist_0": "colors/000184_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000184_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000184_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27764496014466994, -0.5179051108774542, -0.07750028420697895, -0.9322511596198562, -0.01698870891235552, -0.9202338315724196, 0.29208192123526905 ], "joint_pos_r": [ -0.7328373506483844, -1.0387529218257716, 0.13067338388167343, -1.3261852595773218, 1.3112813518248023, 0.4139710387518634, -1.852413662280867 ], "eef_pose_l": [ 522.566241239642, 393.6017969676773, 104.50598545448268, 1.6769116858006554, -0.10338771054888087, 0.7559660652861235 ], "eef_pose_r": [ 499.8431086655394, -91.5589161076899, -53.121506145404624, 1.5557515520955256, -0.006757239710191177, 2.3112535117723327 ], "joint_status_l": { "velocity": [ 0.0470000468724141, -0.3092757038705152, 0.03268724145499835, 0.40722481107291486, -0.006441701666651256, -0.4389449289297076, -0.1323837248374815 ], "torque": [ -21.99462890625, 2.7685546875, -13.4521484375, 0.390625, -5.5718994140625, -1.8072509765625, 0.11627197265625 ] }, "joint_status_r": { "velocity": [ 0.04004090365050672, -1.3262250608621073, -0.10099633130589147, -0.40514154078508113, 6.159454968189593, 0.38974749025877387, -5.0017649968570055 ], "torque": [ 31.11328125, -1.4501953125, 8.172607421875, -10.6201171875, 0.93017578125, 6.016845703125, -0.78369140625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.3, -1.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.6, -17.3, -1.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -87, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27711410370460254, -0.5203835350362659, -0.07722752829788307, -0.9285452117794535, -0.014911678146342125, -0.9244532039456373, 0.2899770458090324 ], "act_joint_pos_r": [ -0.7318057743380724, -1.0589983843668682, 0.12914329045997971, -1.3247139554293732, 1.3714524573300997, 0.41755868026894816, -1.9013545057218937 ], "act_eef_pose_l": [ 522.7566875079824, 393.0374907697837, 104.25563144788777, 1.6778002129595426, -0.10232598014958544, 0.7527367739874481 ], "act_eef_pose_r": [ 501.3654644042035, -84.19154812687867, -52.435856653080236, 1.5520951439749793, -0.021826334312669508, 2.302013062352439 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 185, "colors": { "rgb_main": "colors/000185_rgb_main.jpg", "rgb_wrist_0": "colors/000185_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000185_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000185_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2777053210525527, -0.518564500942501, -0.07743011877451748, -0.9313635046042874, -0.01690898053603776, -0.9212004973516017, 0.2917538342970448 ], "joint_pos_r": [ -0.7327906563706861, -1.0400927019598758, 0.13057152855991633, -1.3264808108417125, 1.317000824809438, 0.4143296811882934, -1.8570593163613582 ], "eef_pose_l": [ 522.6208638959014, 393.44137125129066, 104.40769823934616, 1.6769233722448889, -0.10292249529011094, 0.7552619557147752 ], "eef_pose_r": [ 499.9504174988623, -91.0680910576681, -53.0121809788626, 1.5553646462765462, -0.008110498615355032, 2.3102434937469507 ], "joint_status_l": { "velocity": [ -0.06384959043570504, -0.19644988814704334, 0.021879126186230557, 0.3043666482680507, 0.21570229628797843, -0.35128195164801923, -0.19188749728638044 ], "torque": [ -23.5107421875, 2.1533203125, -12.689208984375, 0.67138671875, -4.4329833984375, -2.3382568359375, -0.22613525390625 ] }, "joint_status_r": { "velocity": [ 0.10636412248032912, -2.0417534816550287, -0.154245165575162, 0.19081475675264414, 5.880602873119756, 0.34872161571586346, -4.783739362085981 ], "torque": [ 31.8603515625, -1.79443359375, 8.270263671875, -10.9130859375, 0.8807373046875, 6.163330078125, -0.5328369140625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.6, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.6, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.5, -1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.6, -17.5, -1.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 227, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -129, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27744790371720884, -0.5167146543067658, -0.07765275278501006, -0.934860352365874, -0.01472963841609396, -0.9206966643825624, 0.2899658092997449 ], "act_joint_pos_r": [ -0.7319328281608679, -1.0566261505456735, 0.12931495049753883, -1.3350872978027777, 1.3877568212658746, 0.416774215597082, -1.9178107269353386 ], "act_eef_pose_l": [ 521.9750875079824, 393.1846907697837, 104.48203144788778, 1.6780824130823255, -0.10265564271011449, 0.7537554347548968 ], "act_eef_pose_r": [ 500.0686644042035, -83.56834812687867, -51.01745665308022, 1.5510449647968052, -0.02329337980159356, 2.3023318954120726 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 186, "colors": { "rgb_main": "colors/000186_rgb_main.jpg", "rgb_wrist_0": "colors/000186_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000186_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000186_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27759355905200483, -0.5189083658343012, -0.07739182166256861, -0.9308307427607374, -0.016531416326285266, -0.9218153795051848, 0.29141795539115867 ], "joint_pos_r": [ -0.7325809236303935, -1.0441187075595306, 0.13026738219459608, -1.3261045551937687, 1.3285964166912432, 0.41501730346503135, -1.8664920718982487 ], "eef_pose_l": [ 522.6466542067197, 393.36500024781174, 104.37897586793633, 1.67708850765593, -0.10281024686514037, 0.7547845002466013 ], "eef_pose_r": [ 500.26258244668395, -89.60471215308159, -52.874265337743964, 1.5545523930954501, -0.011029021423573598, 2.308479324854671 ], "joint_status_l": { "velocity": [ -0.05177965036051724, -0.15931357510945432, 0.017743160079519704, 0.24683006611514458, 0.17492656425063813, -0.28487663758092197, -0.1556136452909307 ], "torque": [ -24.6240234375, 2.0361328125, -12.115478515625, 0.653076171875, -2.9864501953125, -2.2540283203125, -0.28106689453125 ] }, "joint_status_r": { "velocity": [ 0.08371365456927293, -1.606957700508893, -0.1213983268862906, 0.15018034522285006, 4.628315884115608, 0.27446060003999406, -3.765031809274788 ], "torque": [ 33.47900390625, -1.40625, 8.380126953125, -6.475830078125, 0.87158203125, 6.287841796875, -0.68572998046875 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.5, -1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.5, -17.5, -1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -137, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.278138016149071, -0.5144887101512791, -0.07792142178733177, -0.9390068112565909, -0.015424055385295187, -0.9176908065296568, 0.2906075480102303 ], "act_joint_pos_r": [ -0.7297833277458342, -1.0581425909047468, 0.12920274962368666, -1.3360765014203773, 1.3941681427768102, 0.41562881227115256, -1.9230064679341026 ], "act_eef_pose_l": [ 521.5374875079824, 393.2646907697837, 104.48203144788778, 1.6780307171447975, -0.10272290265446257, 0.754900477515605 ], "act_eef_pose_r": [ 500.5158644042035, -82.74354812687864, -50.02625665308028, 1.5503804479010277, -0.023678511451791347, 2.3023308256015733 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 187, "colors": { "rgb_main": "colors/000187_rgb_main.jpg", "rgb_wrist_0": "colors/000187_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000187_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000187_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27758387473992857, -0.5187446529190826, -0.07741186473659235, -0.9311504475583766, -0.016355993272156418, -0.9217535441023779, 0.2912734736049885 ], "joint_pos_r": [ -0.7321045253573764, -1.0472430841368965, 0.13003028042124853, -1.3279032680392313, 1.3422791009645738, 0.4152660487384095, -1.8782232287195018 ], "eef_pose_l": [ 522.5899380375658, 393.34111417292655, 104.38129857007891, 1.6771876143194533, -0.10278115969605434, 0.7546605834695272 ], "eef_pose_r": [ 500.2692620583146, -88.29455685432214, -52.62472735516525, 1.554166648467138, -0.014171619812084526, 2.307505706091704 ], "joint_status_l": { "velocity": [ 0.05984550713833414, 0.4596282629121262, -0.055030538440914434, -0.8484622553508459, 0.10064632337637713, 0.438762717239527, -0.07191784313054228 ], "torque": [ -25.0341796875, 8.91357421875, -11.71875, -1.898193359375, -2.9205322265625, -0.948486328125, -0.25360107421875 ] }, "joint_status_r": { "velocity": [ 0.25068194857791326, -1.1771120138641677, -0.08937069028913669, -0.8826831718149464, 5.603851238962676, 0.039177306063287176, -4.836447191790327 ], "torque": [ 33.84521484375, -1.2158203125, 8.3984375, -10.772705078125, 0.831298828125, 5.2130126953125, -0.7965087890625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -7.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -7.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.7, -17.4, -1.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -0.7, -17.4, -1.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -131, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.278904199019335, -0.5128888794623909, -0.07812987178129, -0.9425458517190878, -0.01678424252878484, -0.9156318140292796, 0.292215883202624 ], "act_joint_pos_r": [ -0.7236110662583558, -1.068607058771282, 0.1284320206551323, -1.3256115165256712, 1.401474099559907, 0.41601994622915545, -1.9264338214957017 ], "act_eef_pose_l": [ 521.1430875079824, 393.1070907697837, 104.50843144788774, 1.6773811707879862, -0.10314364666413597, 0.7552039761530134 ], "act_eef_pose_r": [ 503.67586440420354, -80.14914812687869, -48.615056653080046, 1.5476327264001095, -0.02394242909377212, 2.2996564878290204 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 188, "colors": { "rgb_main": "colors/000188_rgb_main.jpg", "rgb_wrist_0": "colors/000188_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000188_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000188_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2777373363752504, -0.5176923825825877, -0.07753834985929607, -0.9331101871015016, -0.01617601652415663, -0.9207333609328696, 0.29116363665638606 ], "joint_pos_r": [ -0.7317509047141237, -1.0486284669696593, 0.12992545018013826, -1.3286700993726905, 1.3482429383583925, 0.4153127943710667, -1.8833276098770202 ], "eef_pose_l": [ 522.330302110417, 393.3189664878566, 104.4054645611907, 1.6773676768889743, -0.1027789145309342, 0.7547262235558693 ], "eef_pose_r": [ 500.4208076904703, -87.49895029022892, -52.04540459461737, 1.5531003848302183, -0.014898296235443205, 2.306452214531774 ], "joint_status_l": { "velocity": [ 0.12601744887508204, 0.5187630368834739, -0.06388248346211878, -1.0190217242591615, -0.06568647118093685, 0.5509508161622989, 0.11363927538221574 ], "torque": [ -24.2431640625, 10.166015625, -12.506103515625, -3.4423828125, -2.89306640625, -0.439453125, -0.31768798828125 ] }, "joint_status_r": { "velocity": [ 0.8790766262443128, -2.15762427884858, -0.1612856318352618, 0.3303172052930847, 5.748795858092848, 0.07637014825601085, -4.655333553092333 ], "torque": [ 34.56298828125, -3.10546875, 8.45947265625, -11.395263671875, 0.6060791015625, 5.3741455078125, -0.78826904296875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.5, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.5, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.5, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.0, -17.5, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -118, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27993057709290886, -0.5112640209500522, -0.07834279716908148, -0.946106618855189, -0.019211673381171867, -0.9124407671274889, 0.2948344508919749 ], "act_joint_pos_r": [ -0.7236573814604386, -1.0690633474396722, 0.1283958780883571, -1.328027079607334, 1.4198097118801032, 0.4189571221402393, -1.9450431066461884 ], "act_eef_pose_l": [ 520.9062875079824, 393.1238907697837, 104.5276314478877, 1.676299002388886, -0.10387117398679942, 0.7567839243138115 ], "act_eef_pose_r": [ 504.12946440420353, -80.44514812687868, -48.10065665308025, 1.546411989671638, -0.023456273499107113, 2.293907550610185 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 189, "colors": { "rgb_main": "colors/000189_rgb_main.jpg", "rgb_wrist_0": "colors/000189_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000189_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000189_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27798582227689517, -0.5166694662951159, -0.07766431572072321, -0.935119532110534, -0.016305539555791983, -0.9196469755827613, 0.2913877148142736 ], "joint_pos_r": [ -0.7301141126906429, -1.05264584395803, 0.12962514526039765, -1.3280550670186246, 1.3589468780653886, 0.4154549913602322, -1.8919955832923772 ], "eef_pose_l": [ 522.0781432337351, 393.27445434456007, 104.42700347131748, 1.6773699861535065, -0.1028564676448777, 0.7548281383165046 ], "eef_pose_r": [ 501.09123147507916, -86.02660973159666, -51.34678989421076, 1.5519075611401123, -0.0167115629986145, 2.3050473075307343 ], "joint_status_l": { "velocity": [ 0.0991817629738545, 0.40829133602526824, -0.0502785716539611, -0.8020188634407788, -0.051698396320534745, 0.4336246587000048, 0.08943954806328591 ], "torque": [ -21.2255859375, 9.4921875, -11.51123046875, -3.80859375, -3.614501953125, -0.1611328125, 0.377197265625 ] }, "joint_status_r": { "velocity": [ 0.7023083012107634, -1.7237603602362483, -0.12885365703330098, 0.26389567005402625, 4.592804463880995, 0.061013326351666564, -3.719220033426396 ], "torque": [ 34.79736328125, -1.640625, 8.551025390625, -6.92138671875, 0.732421875, 6.156005859375, -0.6903076171875 ] }, "eef_FT_l": { "raw_value": [ -0.4, -17.1, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -17.1, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.3, -1.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.6, -17.3, -1.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 219, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -145, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28099122947340793, -0.5092133921080705, -0.07866675006632527, -0.9527709024406543, -0.020087383364896655, -0.9072104787244654, 0.2961647521709575 ], "act_joint_pos_r": [ -0.7225190848631686, -1.0713177176583082, 0.12823582256135146, -1.325177330999106, 1.441594647882491, 0.42066615543060576, -1.9663970926736984 ], "act_eef_pose_l": [ 520.4846875079824, 392.4878907697837, 104.39003144788768, 1.67627058497582, -0.10415171812148682, 0.7574450250266653 ], "act_eef_pose_r": [ 505.9934644042035, -81.29714812687865, -48.37745665308012, 1.5480364075807078, -0.021451584526486947, 2.28455750559969 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 190, "colors": { "rgb_main": "colors/000190_rgb_main.jpg", "rgb_wrist_0": "colors/000190_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000190_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000190_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27825317768666596, -0.515962075720054, -0.07775685388117334, -0.9366989714952287, -0.016651889971926497, -0.9185725643539359, 0.29181892756131605 ], "joint_pos_r": [ -0.7284005230961689, -1.0568776360786727, 0.12930979453741734, -1.3274952392719541, 1.376258531888665, 0.41645998866267053, -1.9073811120518553 ], "eef_pose_l": [ 521.9256682332622, 393.2208840158674, 104.42987531199826, 1.6772594275245896, -0.10297932652056038, 0.7550661184462041 ], "eef_pose_r": [ 502.11662826964994, -84.83910730019053, -50.60911592648125, 1.5507036105820249, -0.017984182618509616, 2.3010573142281334 ], "joint_status_l": { "velocity": [ 0.29570087173702575, 0.7288363342161652, -0.09826588979877648, -1.7357173498586675, -0.37102234372167475, 1.227069057516239, 0.46933521553871316 ], "torque": [ -20.50048828125, 9.462890625, -16.69921875, -4.119873046875, -4.9090576171875, 0.0897216796875, 0.42755126953125 ] }, "joint_status_r": { "velocity": [ 0.6351765956322808, -1.5594828161127339, -0.11598555260416976, 0.2503267104767559, 7.056092419011506, 0.4542526134723168, -6.373537929706075 ], "torque": [ 35.3759765625, -2.36572265625, 8.233642578125, -6.256103515625, 0.7965087890625, 6.0992431640625, -0.875244140625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.3, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.0, -17.3, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2821694276763889, -0.5085907284383797, -0.07874517909578048, -0.9539331789878371, -0.022260284865466995, -0.9064092437402721, 0.29791272730911733 ], "act_joint_pos_r": [ -0.7233815682671468, -1.0719349142578607, 0.12818857986994964, -1.32860024536825, 1.4686919779428047, 0.42331351547364005, -1.992687105669512 ], "act_eef_pose_l": [ 520.3070875079824, 392.52149076978367, 104.19003144788763, 1.6753992744475146, -0.103843627266204, 0.758073669746913 ], "act_eef_pose_r": [ 506.39346440420354, -81.72434812687868, -48.48145665308016, 1.5490351888552125, -0.022327933708608833, 2.276488252719261 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 191, "colors": { "rgb_main": "colors/000191_rgb_main.jpg", "rgb_wrist_0": "colors/000191_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000191_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000191_depth_main.npy" }, "states": { "joint_pos_l": [ 0.27891999525434324, -0.5144186859658338, -0.0779647000734292, -0.940360464525149, -0.017519057810490592, -0.9159849615063891, 0.29287193857752497 ], "joint_pos_r": [ -0.72782833700908, -1.0583230902978538, 0.1292022698975798, -1.327315536117738, 1.3831597380537954, 0.41691768294441695, -1.9136416918175299 ], "eef_pose_l": [ 521.5965871952936, 393.0588789252592, 104.41172253964571, 1.6769930035114942, -0.10323363092773664, 0.7556280232980792 ], "eef_pose_r": [ 502.51454769181106, -84.49292892931528, -50.3726739252059, 1.5503594973008692, -0.018340130455095863, 2.2992891177118753 ], "joint_status_l": { "velocity": [ 0.35092835150241086, 0.6294008497795822, -0.08428924843539853, -1.4658099302176097, -0.5120374202009781, 1.034147018205367, 0.5443891271128543 ], "torque": [ -21.50390625, 10.4296875, -17.486572265625, -4.071044921875, -5.482177734375, 0.032958984375, 0.509033203125 ] }, "joint_status_r": { "velocity": [ 0.4802368603007423, -1.4700336313557827, -0.10947529418292579, -0.13874450700335217, 9.237209471082863, 0.6907295411768821, -8.536652920893673 ], "torque": [ 37.060546875, -2.79052734375, 8.380126953125, -6.329345703125, 0.8990478515625, 6.068115234375, -0.76446533203125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.3, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -0.9, -17.3, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -166, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2831130485785382, -0.5081503138134388, -0.07874863264471293, -0.9525924991965335, -0.02305772715585535, -0.9080320681434374, 0.2982573037923266 ], "act_joint_pos_r": [ -0.7235652284858083, -1.0740844613582956, 0.12802261460215889, -1.334298553830774, 1.5194696100555964, 0.42612594290022643, -2.0297625239406485 ], "act_eef_pose_l": [ 520.0798875079823, 393.0326907697837, 103.8564314478877, 1.6754445412194798, -0.1031145909845128, 0.7583531701076975 ], "act_eef_pose_r": [ 507.4078644042035, -82.0195481268787, -48.6030566530801, 1.5526079828700614, -0.035344942223026, 2.262814625792661 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 192, "colors": { "rgb_main": "colors/000192_rgb_main.jpg", "rgb_wrist_0": "colors/000192_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000192_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000192_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2790158200879003, -0.5142468211637664, -0.07798771617676596, -0.9407607199960681, -0.017658875241472517, -0.915702576325856, 0.29302058999674646 ], "joint_pos_r": [ -0.7269877328348373, -1.0608962297399644, 0.1290106448956817, -1.3275583938018964, 1.3993285028480804, 0.4181267324439132, -1.9285842059653873 ], "eef_pose_l": [ 521.5588364083144, 393.0431466204513, 104.40516099251919, 1.676945012358556, -0.10325241107483331, 0.7557000407424826 ], "eef_pose_r": [ 503.26087572640427, -83.96651448583773, -49.970185674484185, 1.549864630176093, -0.01909453898725075, 2.294968127440517 ], "joint_status_l": { "velocity": [ 0.3405795746989071, 0.610839998579138, -0.08180358258580434, -1.4225836142500725, -0.49693758300081714, 1.0036503181600764, 0.5283352473206548 ], "torque": [ -21.884765625, 10.29052734375, -17.39501953125, -4.071044921875, -5.5682373046875, 0.1226806640625, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ 0.3894542869709028, -1.1921427675609664, -0.08878040434112666, -0.11251665066325245, 7.491034373980909, 0.5601560462906718, -6.922908987757381 ], "torque": [ 35.7568359375, -2.39501953125, 8.3740234375, -9.60693359375, 0.6573486328125, 5.885009765625, -0.90545654296875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.4, -1.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.4, -1.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -146, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2839536922000852, -0.5061770215219804, -0.07898414457034918, -0.9558129071887577, -0.024386552853682374, -0.9062609813789049, 0.29982295924227864 ], "act_joint_pos_r": [ -0.7238301146401418, -1.0784654572439476, 0.1276993638398276, -1.3350166151054124, 1.542590116704661, 0.4283286211610747, -2.0498607039288776 ], "act_eef_pose_l": [ 519.6094875079824, 393.1494907697837, 103.86603144788756, 1.6749446882402097, -0.10352831036753922, 0.7590393414753516 ], "act_eef_pose_r": [ 507.8598644042035, -80.81154812687868, -48.82305665308013, 1.553595662530261, -0.039083410503201514, 2.257383776468438 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 193, "colors": { "rgb_main": "colors/000193_rgb_main.jpg", "rgb_wrist_0": "colors/000193_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000193_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000193_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2801710616580126, -0.512465167313439, -0.07820987788739604, -0.9441987080228001, -0.019201972770616502, -0.9134882732424123, 0.294542021882298 ], "joint_pos_r": [ -0.726185382580368, -1.0649106408240372, 0.12871082833066572, -1.3292889443282665, 1.4325762269950282, 0.4204641479373337, -1.956759576316988 ], "eef_pose_l": [ 521.1301218054042, 393.04399114110157, 104.26100890476008, 1.6764960352681915, -0.10325822070777801, 0.7564606762855767 ], "eef_pose_r": [ 504.39629316182106, -83.2623900828962, -49.5254353558833, 1.5499216029854617, -0.023658707734202835, 2.286146924848972 ], "joint_status_l": { "velocity": [ 0.4085120501247097, 0.6790997165020407, -0.08361833556802534, -1.2542965164250575, -0.559918135068449, 0.7805245009198103, 0.5703244140584651 ], "torque": [ -21.49658203125, 10.5908203125, -17.68798828125, -3.45458984375, -5.5682373046875, 0.1995849609375, 0.5126953125 ] }, "joint_status_r": { "velocity": [ 0.25436143555523927, -1.4638769986055067, -0.10923494329806438, -0.6185702001797466, 11.881149672861469, 0.8493380582770271, -10.054625236763925 ], "torque": [ 37.412109375, -3.5595703125, 8.587646484375, -11.3037109375, 0.88623046875, 6.1065673828125, -0.75164794921875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.8, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.8, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.4, -1.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.4, -1.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -190, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2845539799885943, -0.5034195286857205, -0.07936447986326921, -0.9621606836469744, -0.025013273162033643, -0.8995948755869955, 0.30043949824416766 ], "act_joint_pos_r": [ -0.723882108904959, -1.0827552122624013, 0.12738693372607823, -1.3341799940040475, 1.555918107760541, 0.4304523480888863, -2.0600241634641425 ], "act_eef_pose_l": [ 519.3542875079823, 393.2054907697837, 103.91403144788757, 1.675239812653645, -0.10389482870937862, 0.7620851094339439 ], "act_eef_pose_r": [ 508.2582644042035, -79.52754812687868, -48.91265665308015, 1.5534202976834384, -0.042967235559426734, 2.2543018586773615 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 194, "colors": { "rgb_main": "colors/000194_rgb_main.jpg", "rgb_wrist_0": "colors/000194_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000194_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000194_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28088611908685807, -0.511276474600303, -0.07835624299955687, -0.9463942223087816, -0.02018205064568454, -0.912122047099002, 0.2955403148555401 ], "joint_pos_r": [ -0.7260485184662084, -1.0656983082949942, 0.128652052346338, -1.3296217780469795, 1.438969110498083, 0.42092115078729175, -1.9621696628469414 ], "eef_pose_l": [ 520.8436260939574, 393.0645549347767, 104.18596551024018, 1.676197975552523, -0.10331234345945563, 0.7569473000890803 ], "eef_pose_r": [ 504.6056357546354, -83.11925526006534, -49.45676763163959, 1.5499884652817004, -0.024561711721685843, 2.2844635104850823 ], "joint_status_l": { "velocity": [ 0.3312881254076139, 0.5507246897025198, -0.06781136965616774, -1.0171879666813766, -0.45407284630102906, 0.6329764291290729, 0.4625119527066346 ], "torque": [ -21.826171875, 10.3564453125, -17.81005859375, -3.72314453125, -5.5865478515625, -0.146484375, 0.5401611328125 ] }, "joint_status_r": { "velocity": [ 0.23958054716466393, -1.3788114206176871, -0.10288732420371538, -0.5826252186977854, 11.190738617116835, 0.7999832061251766, -9.470353123713693 ], "torque": [ 37.5, -2.255859375, 8.453369140625, -10.70556640625, 0.8331298828125, 6.0498046875, -0.86334228515625 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.7, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.7, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.4, -1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.8, -17.4, -1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -200, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28523964791313416, -0.5015049489516262, -0.0796338441940881, -0.9666947175737329, -0.026515362185138135, -0.8954968968604664, 0.30154583482651415 ], "act_joint_pos_r": [ -0.7234243145364534, -1.0889987545392494, 0.12693807802321122, -1.3311164932857895, 1.568722054957867, 0.4318622304326226, -2.070078668896931 ], "act_eef_pose_l": [ 519.0902875079823, 393.1318907697837, 104.00123144788773, 1.6746825423695548, -0.10392482528447441, 0.7637985150909726 ], "act_eef_pose_r": [ 508.97746440420354, -77.65714812687867, -49.19585665308023, 1.5537914225998308, -0.04621717978946835, 2.2515416431537822 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 195, "colors": { "rgb_main": "colors/000195_rgb_main.jpg", "rgb_wrist_0": "colors/000195_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000195_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000195_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28116076400236895, -0.510681533605353, -0.07843294010017837, -0.947598365700112, -0.020552704062852815, -0.9111579398534333, 0.2959099893905407 ], "joint_pos_r": [ -0.7255222978288249, -1.0700959053568284, 0.1283277212974456, -1.330186626343373, 1.4653347209841308, 0.4230960310815819, -1.9841625536142116 ], "eef_pose_l": [ 520.7333548939783, 393.07413176396733, 104.16758212317869, 1.6761167491458022, -0.10335709892445649, 0.7573433171705319 ], "eef_pose_r": [ 505.50754029259326, -82.12295273532605, -49.269389314019804, 1.5501813707279894, -0.028873280936311092, 2.277698488803102 ], "joint_status_l": { "velocity": [ 0.4405064703187911, 0.9910419133838388, -0.129693817027543, -2.062345176731206, -0.643948084973256, 1.6913427597531339, 0.6086533558136153 ], "torque": [ -22.412109375, 10.4150390625, -17.88330078125, -3.6376953125, -5.6634521484375, 0.0494384765625, 0.5584716796875 ] }, "joint_status_r": { "velocity": [ 0.22657551308835622, -2.0414475024255196, -0.15007704733138727, -0.1004226679732767, 11.165502760261958, 0.9467216078506979, -9.27866679088396 ], "torque": [ 36.884765625, -3.27392578125, 8.294677734375, -10.9375, 0.545654296875, 5.7550048828125, -0.81298828125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.8, -9.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.8, -9.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.4, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.4, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 227, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -137, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28591019029303827, -0.5015391275703864, -0.07968370644398044, -0.9687543576518322, -0.026886653848444776, -0.8934686541185652, 0.30140397440451583 ], "act_joint_pos_r": [ -0.7241208601137133, -1.093330348598112, 0.1266286050369603, -1.3303864281693103, 1.5845082771881174, 0.43343982326533037, -2.0819006868929404 ], "act_eef_pose_l": [ 519.0798875079823, 392.63829076978374, 103.7300314478876, 1.6748333587626203, -0.10304007376534459, 0.7638195879906314 ], "act_eef_pose_r": [ 509.2366644042035, -76.41074812687867, -49.819056653080224, 1.5552542528862405, -0.05113437212304629, 2.2479101668312786 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 196, "colors": { "rgb_main": "colors/000196_rgb_main.jpg", "rgb_wrist_0": "colors/000196_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000196_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000196_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2822642668513161, -0.5083101318000154, -0.07874719392410719, -0.9526868535487117, -0.022121938924960324, -0.906960386675103, 0.2973576827901893 ], "joint_pos_r": [ -0.7252884894840695, -1.0726682614428964, 0.1281390080873732, -1.3302717549236105, 1.4790568933346457, 0.4242700296793599, -1.9955089173349398 ], "eef_pose_l": [ 520.3117607529972, 393.05524242755587, 104.10498150017254, 1.6757412632739466, -0.10345000240118037, 0.7590152725318529 ], "eef_pose_r": [ 505.97457856316356, -81.50542861302276, -49.232468070885034, 1.5503949980527258, -0.03129538857510927, 2.2742265968669226 ], "joint_status_l": { "velocity": [ 0.39374811872594506, 0.7312468898259539, -0.10114036917052704, -1.735239264990085, -0.5145740351863992, 1.457064142297071, 0.4369866061160188 ], "torque": [ -21.40869140625, 11.49169921875, -18.2861328125, -3.64990234375, -5.5352783203125, 0.12451171875, 0.60333251953125 ] }, "joint_status_r": { "velocity": [ 0.12610025287074222, -2.2314395999698533, -0.16311871851515392, -0.01238434527728316, 11.388413572870348, 0.9903084996967237, -9.330035937562542 ], "torque": [ 37.001953125, -2.07275390625, 8.16650390625, -10.504150390625, 0.7049560546875, 5.69091796875, -0.758056640625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.1, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -17.1, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -177, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2864383948283493, -0.5017443850152377, -0.07964391699885091, -0.9676643677483574, -0.027873957073817623, -0.8946969155238379, 0.3019978868091398 ], "act_joint_pos_r": [ -0.7254591545836466, -1.095562488637374, 0.12646302587818622, -1.3329123053878122, 1.5954770415920072, 0.4347341391136847, -2.091255899389479 ], "act_eef_pose_l": [ 519.0358875079824, 392.7710907697837, 103.5892314478877, 1.674392207492897, -0.10261601927066769, 0.7636817325449624 ], "act_eef_pose_r": [ 508.60546440420353, -75.17234812687866, -50.067056653080044, 1.5556973551710591, -0.054786142436519476, 2.2470541216684166 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 197, "colors": { "rgb_main": "colors/000197_rgb_main.jpg", "rgb_wrist_0": "colors/000197_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000197_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000197_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28231842775695026, -0.5082095472082127, -0.07876110600071133, -0.9529255394639307, -0.02219271969681951, -0.9067599643498633, 0.29741779124331363 ], "joint_pos_r": [ -0.725082042795147, -1.0763214921577948, 0.12787195613012434, -1.330292030117505, 1.4977015845281434, 0.42589132627567666, -2.010783708487107 ], "eef_pose_l": [ 520.2936813631046, 393.0491246909241, 104.09941264963763, 1.6757270111744669, -0.10344441360507252, 0.7590866758570465 ], "eef_pose_r": [ 506.57511664821055, -80.6056243831711, -49.26825256146185, 1.5508739137248981, -0.034832537168161384, 2.2695537234474403 ], "joint_status_l": { "velocity": [ 0.3878989134302735, 0.72038407429309, -0.09963790920997084, -1.7094619464081973, -0.5069299372762182, 1.435419169554919, 0.43049508463566255 ], "torque": [ -21.591796875, 11.33056640625, -18.359375, -3.912353515625, -5.55908203125, 0.1226806640625, 0.5950927734375 ] }, "joint_status_r": { "velocity": [ 0.10380466803994182, -1.8369023190158984, -0.1342779577451214, -0.01019468891705344, 9.374846310963747, 0.815213631441658, -7.680407146329671 ], "torque": [ 37.03857421875, -1.06201171875, 8.587646484375, -9.3505859375, 0.933837890625, 5.7843017578125, -0.8441162109375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.4, -1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.5, -17.4, -1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -219, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28675381280998397, -0.5014193519419459, -0.07971352082949441, -0.9693845338771305, -0.027943297792735144, -0.8934505013435163, 0.30169852922986207 ], "act_joint_pos_r": [ -0.7269314442762655, -1.0966577639180022, 0.12636920094480025, -1.339600361193559, 1.6093502238211803, 0.43552964353606816, -2.1059746327791897 ], "act_eef_pose_l": [ 518.9302875079824, 392.48069076978373, 103.4972314478876, 1.674490560562235, -0.10204966858958303, 0.7635753872430948 ], "act_eef_pose_r": [ 507.23106440420355, -73.56354812687869, -49.795856653080136, 1.5558555153271796, -0.05693463181469511, 2.2477870889085434 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 198, "colors": { "rgb_main": "colors/000198_rgb_main.jpg", "rgb_wrist_0": "colors/000198_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000198_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000198_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2833184380445118, -0.5064855225618305, -0.07899985804052821, -0.9570117965280868, -0.023509212659547193, -0.9033714112599925, 0.2984906443183435 ], "joint_pos_r": [ -0.7254349204238244, -1.0816561641370996, 0.1274786545497898, -1.3322588669839524, 1.526493402085319, 0.428392784878549, -2.0351329825860094 ], "eef_pose_l": [ 519.9719624579635, 392.94010803609643, 103.98453543892519, 1.6754472905517281, -0.10327161145671193, 0.7602913939765087 ], "eef_pose_r": [ 506.9015159302354, -78.85908836533297, -49.32498332066069, 1.5516426512209713, -0.04056185756205013, 2.263622262301888 ], "joint_status_l": { "velocity": [ 0.3710095323294915, 0.547130290202702, -0.077073308052511, -1.336216224105513, -0.4788670709549858, 1.0714266709390685, 0.34644135270234244 ], "torque": [ -22.1337890625, 10.2099609375, -18.51806640625, -3.656005859375, -5.460205078125, 0.230712890625, 0.5987548828125 ] }, "joint_status_r": { "velocity": [ -0.16161980934192854, -1.6201249933045503, -0.11981745551192802, -0.7928579905396305, 8.948272832272508, 0.7707580027194183, -7.650672576337669 ], "torque": [ 26.7919921875, -1.6259765625, 8.33740234375, -10.369873046875, 0.4925537109375, 5.7550048828125, -0.70037841796875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.5, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.5, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.1, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.8, -17.1, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -179, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2885454265944289, -0.5001415378978559, -0.07989630545541573, -0.972437200628543, -0.030790472130272993, -0.8920408415134867, 0.30406895133478196 ], "act_joint_pos_r": [ -0.7281613836012166, -1.0993402866950532, 0.12616960022520826, -1.3421767562354057, 1.6089670419467816, 0.43460798755517727, -2.1042871022935556 ], "act_eef_pose_l": [ 518.4710875079824, 392.25269076978367, 103.20363144788763, 1.6733750315065856, -0.10148234201515595, 0.7637135869307791 ], "act_eef_pose_r": [ 505.8838644042035, -71.24114812687867, -49.783056653080166, 1.5552900816417785, -0.0614328307534401, 2.2526191268887525 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 199, "colors": { "rgb_main": "colors/000199_rgb_main.jpg", "rgb_wrist_0": "colors/000199_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000199_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000199_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2840500084657726, -0.5054066706671783, -0.0791518340614296, -0.959646597471949, -0.024453460594705455, -0.9012587322242622, 0.2991737702874991 ], "joint_pos_r": [ -0.7255428224103185, -1.0827378057122112, 0.12739866100494518, -1.3327882015533665, 1.5324675238110055, 0.42890736486684433, -2.040240789434452 ], "eef_pose_l": [ 519.7516256671414, 392.84272798810827, 103.88076325993505, 1.6752375686485088, -0.10301551679464242, 0.7609907313402643 ], "eef_pose_r": [ 506.932354679942, -78.47756890622415, -49.339511634388316, 1.5518345702332965, -0.041750262986245984, 2.2624711436523923 ], "joint_status_l": { "velocity": [ 0.29200225702874505, 0.4306177219346452, -0.06066038186858247, -1.0516661145256734, -0.376891301572424, 0.8432640643771805, 0.2726659239238316 ], "torque": [ -22.08251953125, 9.6533203125, -18.603515625, -3.50341796875, -5.460205078125, 0.230712890625, 0.56304931640625 ] }, "joint_status_r": { "velocity": [ -0.1499667384896597, -1.5033111484319406, -0.1111784074637745, -0.7356915430776212, 8.303086714645858, 0.7151850030218121, -7.099045706070228 ], "torque": [ 26.3525390625, -2.5341796875, 8.172607421875, -11.199951171875, 0.618896484375, 5.6817626953125, -0.72052001953125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.6, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.6, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -223, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2896888070917917, -0.4990969148081965, -0.08003051584679659, -0.9743192635242168, -0.032390757909852144, -0.8913574743062742, 0.3054928946311672 ], "act_joint_pos_r": [ -0.7271362284213804, -1.1020070916259144, 0.125987696988045, -1.3384568324146395, 1.6104938517675984, 0.4324229332630467, -2.102484575742475 ], "act_eef_pose_l": [ 518.1126875079824, 392.2206907697837, 103.00683144788769, 1.6728316875298135, -0.10119689708413125, 0.7638249598627971 ], "act_eef_pose_r": [ 506.5782644042035, -70.62434812687866, -50.30705665308028, 1.5574585671885253, -0.06378167799550541, 2.2524256644439613 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 200, "colors": { "rgb_main": "colors/000200_rgb_main.jpg", "rgb_wrist_0": "colors/000200_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000200_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000200_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28424738804466027, -0.505175495355104, -0.07918452144356702, -0.9602081923653524, -0.02473169871015973, -0.9008540038242216, 0.2993887021906144 ], "joint_pos_r": [ -0.7260378275691922, -1.0858762902223964, 0.1271663229451534, -1.3345629865070756, 1.5469287692690759, 0.4299849939286832, -2.052347917342053 ], "eef_pose_l": [ 519.6957854995158, 392.81689858063845, 103.85104057012806, 1.675153827869025, -0.10294972012781657, 0.761110025961705 ], "eef_pose_r": [ 506.75159082878474, -77.11082960825479, -49.389289983574656, 1.5522708552537596, -0.04548333829224648, 2.2605807699861655 ], "joint_status_l": { "velocity": [ 0.4641744732807318, 0.5436513712431257, -0.07687040610826479, -1.3206939406389395, -0.6543282309926235, 0.9517934579115206, 0.5054520000600249 ], "torque": [ -22.33154296875, 9.61669921875, -18.511962890625, -3.448486328125, -5.5023193359375, 0.0823974609375, 0.5401611328125 ] }, "joint_status_r": { "velocity": [ -0.22933728751706184, -1.4540687335813374, -0.10764287899711622, -0.8222628793106423, 6.6999358451464985, 0.4992685865210511, -5.609266538288082 ], "torque": [ 25.81787109375, -2.51220703125, 8.197021484375, -10.845947265625, 0.560302734375, 5.5352783203125, -0.92376708984375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.8, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.8, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.3, -1.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -0.9, -17.3, -1.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -228, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.290463872725463, -0.4981791694611895, -0.0801423121041964, -0.975728949171674, -0.03335440907219538, -0.8911978709452606, 0.3061283820619233 ], "act_joint_pos_r": [ -0.7271618283356012, -1.1027740442154963, 0.12592988153925025, -1.3395316404920494, 1.6203217394078528, 0.4323571174236858, -2.112096179891918 ], "act_eef_pose_l": [ 517.7758875079824, 392.2158907697837, 102.8908314478877, 1.672491294871136, -0.10074957713815613, 0.7636827064424185 ], "act_eef_pose_r": [ 506.65906440420355, -70.42514812687864, -50.5070566530801, 1.5590748829242824, -0.06397503618282026, 2.2503975918251187 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 201, "colors": { "rgb_main": "colors/000201_rgb_main.jpg", "rgb_wrist_0": "colors/000201_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000201_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000201_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2857431577820871, -0.5034923171041551, -0.07941778646366404, -0.9640718955888763, -0.026826438539021485, -0.8983020038423222, 0.3010418244661983 ], "joint_pos_r": [ -0.7263274215048525, -1.0902124482977251, 0.12684911542449043, -1.335799157776072, 1.5654651202137315, 0.4306016423113178, -2.0673644471348007 ], "eef_pose_l": [ 519.2540610326903, 392.65720254126944, 103.61973865730768, 1.6745048106835823, -0.10245725105706274, 0.7618239211337865 ], "eef_pose_r": [ 506.74867551600335, -75.40037650137833, -49.6361971239881, 1.5537442521424305, -0.05027474423066198, 2.257978462649002 ], "joint_status_l": { "velocity": [ 0.5098221774830769, 0.5738030220250323, -0.07824646142140512, -1.2589246569429946, -0.7050000247185162, 0.7672237248295133, 0.5493320186560346 ], "torque": [ -21.85546875, 11.03759765625, -18.524169921875, -3.6865234375, -5.4730224609375, 0.1519775390625, 0.552978515625 ] }, "joint_status_r": { "velocity": [ -0.09011327997132668, -1.3566123479762382, -0.09927433166612154, -0.40309624463752414, 5.924340143891982, 0.18958572060379097, -4.830884658440837 ], "torque": [ 25.4150390625, -3.55224609375, 8.184814453125, -11.0595703125, 0.703125, 5.5828857421875, -0.8514404296875 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.7, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.5, -1.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -17.5, -1.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 288, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -183, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29177244576266353, -0.49596479276118915, -0.08034002778005433, -0.9761548791123039, -0.03517526677271165, -0.8921573407144644, 0.30765645432890487 ], "act_joint_pos_r": [ -0.7280515050529116, -1.1046022082768197, 0.12580042327696667, -1.3393074959504225, 1.629978617684709, 0.43516903783108496, -2.12121524164684 ], "act_eef_pose_l": [ 517.1638875079824, 393.1158907697837, 102.73243144788768, 1.6720107653531004, -0.10058917122218913, 0.764778269906973 ], "act_eef_pose_r": [ 506.8582644042035, -70.22994812687864, -50.86545665308017, 1.5592327918174402, -0.065057981670522, 2.246714101324576 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 202, "colors": { "rgb_main": "colors/000202_rgb_main.jpg", "rgb_wrist_0": "colors/000202_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000202_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000202_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2865778198710557, -0.5025529079333255, -0.07954588868798627, -0.9661329606629887, -0.027980638609837183, -0.8970459334217812, 0.30194117061173575 ], "joint_pos_r": [ -0.7263640576673096, -1.0907639882082398, 0.12680875477460749, -1.335963039276213, 1.567873700702988, 0.43067871966619564, -2.0693284759129535 ], "eef_pose_l": [ 518.9936939765109, 392.5794122357664, 103.49058920544357, 1.6741433390081137, -0.10215956697931226, 0.7621512576628929 ], "eef_pose_r": [ 506.7479121663099, -75.18324342337925, -49.67020273752763, 1.5539512861725941, -0.05087848826771652, 2.2576376151955304 ], "joint_status_l": { "velocity": [ 0.41968133043690514, 0.47234982377775125, -0.06441182922523048, -1.036336193834586, -0.5803500934236372, 0.6315721202412306, 0.4522054995317326 ], "torque": [ -21.943359375, 10.6787109375, -18.743896484375, -3.887939453125, -5.5535888671875, -0.150146484375, 0.57403564453125 ] }, "joint_status_r": { "velocity": [ -0.08615669111922131, -1.2970477944032055, -0.09491551003537602, -0.3853975646173069, 5.664221122851032, 0.18126161178333433, -4.618775806216391 ], "torque": [ 25.6787109375, -3.61083984375, 8.111572265625, -11.09619140625, 0.4156494140625, 5.555419921875, -0.64544677734375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.4, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.4, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -183, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29217914719804666, -0.4957107332816643, -0.08037287202746075, -0.9765796159015037, -0.03571807226556294, -0.892074606463317, 0.3080344519469443 ], "act_joint_pos_r": [ -0.7287195590874491, -1.1058417433466752, 0.1257083962525266, -1.3403713870814589, 1.6376663406796415, 0.4374881908197689, -2.127884523323128 ], "act_eef_pose_l": [ 517.0590875079823, 393.1102907697837, 102.64443144788771, 1.6718394240357612, -0.10036234906036007, 0.7647922048123856 ], "act_eef_pose_r": [ 506.7782644042035, -69.87154812687868, -50.87185665308016, 1.5588017082085797, -0.06688103217670137, 2.244562076368285 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 203, "colors": { "rgb_main": "colors/000203_rgb_main.jpg", "rgb_wrist_0": "colors/000203_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000203_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000203_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28711672508012326, -0.5018959284004413, -0.07962793434382362, -0.9672528189403421, -0.02872638054644475, -0.8964539719555576, 0.3025294592844681 ], "joint_pos_r": [ -0.7267114538644298, -1.0938075647469359, 0.12658684885722407, -1.336722332118806, 1.5814813403945907, 0.43158731869391265, -2.0806598202554594 ], "eef_pose_l": [ 518.8110314793304, 392.60341190984275, 103.40979184633613, 1.6739165659516573, -0.10198731514158679, 0.7624022193069178 ], "eef_pose_r": [ 506.7791739842679, -74.08132252144843, -49.90141891101348, 1.5549817060757325, -0.0540396894906349, 2.2552913608433043 ], "joint_status_l": { "velocity": [ 0.5467254639301977, 0.6679813717709315, -0.0804508970603246, -1.0072643641301227, -0.755080435757699, 0.4729575240256523, 0.5945216730678382 ], "torque": [ -21.3720703125, 11.2939453125, -18.75, -3.759765625, -5.562744140625, -0.1153564453125, 0.604248046875 ] }, "joint_status_r": { "velocity": [ -0.14472126003095553, -1.1657871181736112, -0.08493145774834954, -0.27918945955995866, 5.237551474008839, 0.3868142583378642, -4.3798563333101725 ], "torque": [ 24.95361328125, -2.64404296875, 8.04443359375, -10.6201171875, 0.296630859375, 5.614013671875, -0.736083984375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.5, -9.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.5, -9.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.4, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.4, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 282, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -187, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2926896643157238, -0.49607520969690366, -0.08040685840006705, -0.9791054528575753, -0.03604657107041903, -0.8910605768358864, 0.3086751211850196 ], "act_joint_pos_r": [ -0.7291807170631497, -1.1079345844197055, 0.12555053780902933, -1.3431285376127942, 1.6451050168383266, 0.43829417951605004, -2.1354786524484144 ], "act_eef_pose_l": [ 516.9190875079823, 392.1238907697837, 102.48763144788774, 1.6715806285872987, -0.10015537738569033, 0.7630075400171239 ], "act_eef_pose_r": [ 506.1342644042035, -68.41874812687865, -50.57585665308011, 1.558305292454844, -0.06853881719472141, 2.2453585565453995 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 204, "colors": { "rgb_main": "colors/000204_rgb_main.jpg", "rgb_wrist_0": "colors/000204_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000204_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000204_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28839213492015553, -0.5003810404195123, -0.07981380530212759, -0.9696721859221297, -0.030471309981025357, -0.8953255170854147, 0.3039201238512124 ], "joint_pos_r": [ -0.7269111904577148, -1.0950045467620937, 0.12649947339073273, -1.3370852861107554, 1.587069792843211, 0.4321742501367077, -2.085357034924053 ], "eef_pose_l": [ 518.3720323660713, 392.68593599896207, 103.2125177343563, 1.6733854431425512, -0.10157912522844294, 0.7629130030660751 ], "eef_pose_r": [ 506.78392084162056, -73.66280432977382, -49.985794622531785, 1.5552890467128766, -0.05532413563900352, 2.254221478992444 ], "joint_status_l": { "velocity": [ 0.464119486248471, 0.4650160031278716, -0.06404784558722287, -1.0187627822260126, -0.6021104393563459, 0.46059996227931777, 0.5135245664535937 ], "torque": [ -21.7529296875, 10.72265625, -18.71337890625, -3.936767578125, -5.3851318359375, 0.05859375, 0.62896728515625 ] }, "joint_status_r": { "velocity": [ -0.19529805200235728, -1.1703827125417732, -0.08543381119074933, -0.3548884379593886, 5.464266006422136, 0.5738886678292587, -4.592833288722176 ], "torque": [ 24.7119140625, -4.60693359375, 7.916259765625, -10.931396484375, 0.3167724609375, 5.592041015625, -0.68023681640625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.9, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.9, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.3, -1.6, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.3, -1.6, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -206, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2920221512793637, -0.49647357006517795, -0.080337264363197, -0.9776079761705034, -0.03490360432168283, -0.8928374278726326, 0.30756494160845305 ], "act_joint_pos_r": [ -0.7284286300396134, -1.112510429178155, 0.12524688188612582, -1.3359509024313077, 1.643556239449505, 0.43838184163269656, -2.132103492522088 ], "act_eef_pose_l": [ 516.9430875079823, 392.2054907697837, 102.6236314478877, 1.6718786591537713, -0.10013334937336926, 0.7621737749405395 ], "act_eef_pose_r": [ 507.30786440420354, -67.68594812687866, -51.30225665308012, 1.5589924558070472, -0.06937260512484489, 2.24383039194821 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 205, "colors": { "rgb_main": "colors/000205_rgb_main.jpg", "rgb_wrist_0": "colors/000205_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000205_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000205_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28925629971575406, -0.4995152063591038, -0.07993305884573064, -0.9715690658367867, -0.031592406293873235, -0.8944679054486501, 0.3048762781717107 ], "joint_pos_r": [ -0.7274210257511151, -1.0979092007666178, 0.12628630080682987, -1.3384428656585141, 1.6001070515306783, 0.43354905490138296, -2.0966165502410656 ], "eef_pose_l": [ 518.0805423060216, 392.573039230697, 103.06619555291152, 1.6730197260571549, -0.10129557140379566, 0.762930445669684 ], "eef_pose_r": [ 506.64862476152416, -72.48458238440708, -50.094021437255435, 1.555814602369211, -0.05830527675376621, 2.252221998400343 ], "joint_status_l": { "velocity": [ 0.37079244085802543, 0.3715086824551683, -0.051168842723936514, -0.8139057933771454, -0.4810356084800349, 0.367980637170362, 0.41026294537838126 ], "torque": [ -21.8115234375, 10.751953125, -13.83056640625, -4.034423828125, -5.2239990234375, -0.1007080078125, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ -0.1900410567383659, -1.082709501722512, -0.07946006021330998, -0.5060376462786564, 4.859636925896638, 0.5124583442328579, -4.196983254988851 ], "torque": [ 24.49951171875, -3.3251953125, 7.806396484375, -10.87646484375, 0.216064453125, 5.621337890625, -0.7470703125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.8, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.8, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.2, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.2, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2908407609431915, -0.4945694736270394, -0.08045000025182061, -0.9757224053967365, -0.031127468148548113, -0.8955631632200327, 0.3037187662115629 ], "act_joint_pos_r": [ -0.7296498370084552, -1.1184605666015945, 0.12485054321021442, -1.3286637067193146, 1.6535779569067408, 0.4405672126176618, -2.1407582422459988 ], "act_eef_pose_l": [ 516.4958875079824, 393.4870907697837, 102.82043144788764, 1.674019022079976, -0.09980387995743303, 0.7625371799658162 ], "act_eef_pose_r": [ 508.43826440420355, -67.02594812687869, -53.18545665308011, 1.5620149886937005, -0.07056896213114139, 2.237912064204304 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 206, "colors": { "rgb_main": "colors/000206_rgb_main.jpg", "rgb_wrist_0": "colors/000206_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000206_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000206_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28948859898210955, -0.49912365706882916, -0.07997915814687556, -0.972107272585932, -0.031771477831045475, -0.8944012796040864, 0.3049899087506297 ], "joint_pos_r": [ -0.727865857653335, -1.1020596464162777, 0.12599479953679008, -1.3368541840089265, 1.611551658781161, 0.4349919104258659, -2.1060907937196265 ], "eef_pose_l": [ 517.9476077684226, 392.59180956234434, 103.02872876039284, 1.6729958433620007, -0.10116605717791569, 0.7628822072793174 ], "eef_pose_r": [ 506.9680036499143, -71.31852556461011, -50.640018520979595, 1.5568849037741017, -0.06099103083928876, 2.249403355981969 ], "joint_status_l": { "velocity": [ 0.14602918489581285, 0.4918373057476444, -0.050849447609802034, -0.39042282866041944, 0.06955099441280366, -0.1254797296947885, -0.13727934538154685 ], "torque": [ -22.3095703125, 11.37451171875, -14.0380859375, -3.778076171875, -5.0665283203125, -0.0897216796875, 0.52825927734375 ] }, "joint_status_r": { "velocity": [ -0.1926640880292041, -1.7712471398718677, -0.12357603858981214, 0.8845454590051816, 4.538706335573295, 0.6021148782844321, -3.743974018236784 ], "torque": [ 24.7998046875, -4.365234375, 7.861328125, -6.048583984375, 0.2032470703125, 5.5169677734375, -0.66375732421875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.5, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.6, -17.5, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -135, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2887367448276946, -0.491314902864946, -0.08096170744393498, -0.9849239459541234, -0.02752620156696278, -0.8881299840989124, 0.30124242760960873 ], "act_joint_pos_r": [ -0.7314595182189816, -1.1212403683981274, 0.12465488322684054, -1.3296930243041873, 1.668409640929722, 0.44519794269883095, -2.1555745669926716 ], "act_eef_pose_l": [ 516.1054875079824, 392.7974907697837, 103.77163144788784, 1.6753142802375836, -0.10144122171012361, 0.7633292525389014 ], "act_eef_pose_r": [ 508.3254644042035, -66.41954812687868, -53.6782566530801, 1.5621062977470617, -0.07217953310483932, 2.233017593936398 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 207, "colors": { "rgb_main": "colors/000207_rgb_main.jpg", "rgb_wrist_0": "colors/000207_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000207_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000207_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2896856642767942, -0.4978590097719964, -0.08012008833636915, -0.9734957289825569, -0.0314101184144202, -0.8942437318740963, 0.3045458137325673 ], "joint_pos_r": [ -0.7279944856841994, -1.1032421814393163, 0.12591229665486509, -1.336263636274962, 1.6145818283607105, 0.4353938994625375, -2.108590377375825 ], "eef_pose_l": [ 517.5826409180639, 392.7639168622924, 103.03427348542536, 1.6733132734830936, -0.10093789524143772, 0.762846266913107 ], "eef_pose_r": [ 507.0776638145741, -71.00998146967848, -50.81891353364597, 1.5572221517213929, -0.061688281501810875, 2.248576313891601 ], "joint_status_l": { "velocity": [ -0.102480278008521, 0.7067427016997918, -0.0908921828953746, -1.2342110318206423, 0.41945064848983304, 0.6602652862364167, -0.3567551793479673 ], "torque": [ -28.60107421875, 12.099609375, -18.7744140625, -5.06591796875, -3.0303955078125, -0.333251953125, -0.29754638671875 ] }, "joint_status_r": { "velocity": [ -0.1787726704005621, -1.643537123989347, -0.11466599012976975, 0.8207681847469672, 4.2114576726657305, 0.5587013427379439, -3.474026945029962 ], "torque": [ 24.814453125, -3.603515625, 7.99560546875, -5.694580078125, 0.3424072265625, 5.496826171875, -0.6719970703125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.4, -1.6, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.4, -1.6, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -114, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28744605643540505, -0.4892093730498338, -0.08125531940043489, -0.9892305978709762, -0.024634994261445265, -0.8853301840813184, 0.2992951391206306 ], "act_joint_pos_r": [ -0.7330329267859477, -1.1248587180213767, 0.12441135967043056, -1.3271430818940217, 1.6689175557741827, 0.4520756790017972, -2.15658564769254 ], "act_eef_pose_l": [ 515.7310875079824, 392.6734907697837, 104.26683144788768, 1.6765506711210858, -0.1024525292333961, 0.7633639993029311 ], "act_eef_pose_r": [ 508.5246644042035, -65.75714812687863, -53.65665665308006, 1.5579297252954185, -0.07340102360911162, 2.229800068523782 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 208, "colors": { "rgb_main": "colors/000208_rgb_main.jpg", "rgb_wrist_0": "colors/000208_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000208_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000208_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2895062833158711, -0.4966219309172151, -0.08027918555414638, -0.9756560857377533, -0.03067591411825546, -0.8930880068525511, 0.3039213512688677 ], "joint_pos_r": [ -0.728732371791016, -1.107074933937739, 0.12564452776965224, -1.3348644103693292, 1.6260445764464306, 0.4374816914881756, -2.118595761282129 ], "eef_pose_l": [ 517.3042646327309, 392.7710391046751, 103.17317796641542, 1.673693301874613, -0.10102954130038566, 0.7629364854872569 ], "eef_pose_r": [ 507.3540864770932, -70.03141230396825, -51.40400984234543, 1.5581118803368998, -0.06395017111181295, 2.2452852657073663 ], "joint_status_l": { "velocity": [ -0.08310770559205594, 0.5731421257215707, -0.07371019013124869, -1.0008993834187407, 0.34015892308847384, 0.5354506651196189, -0.2893152223037987 ], "torque": [ -30.9521484375, 10.810546875, -18.4326171875, -3.656005859375, -2.6568603515625, 0.0750732421875, -0.35064697265625 ] }, "joint_status_r": { "velocity": [ -0.29452312772448863, -1.5298218020394216, -0.106878458412063, 0.5584932231599282, 4.575292023169197, 0.8333305529797386, -3.9935932320016576 ], "torque": [ 23.84033203125, -3.59619140625, 7.818603515625, -5.694580078125, 0.29296875, 5.328369140625, -0.8056640625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -17.1, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -17.1, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.4, -1.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.4, -1.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -160, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2869973863604668, -0.487944140458709, -0.08145255179926073, -0.9925500369475709, -0.024467751476647648, -0.8833098263137891, 0.29948750120236795 ], "act_joint_pos_r": [ -0.7334301462786651, -1.1254821168658724, 0.12436891621847697, -1.3275404815772893, 1.6711429583477866, 0.4548731629012781, -2.158898470906184 ], "act_eef_pose_l": [ 515.4822875079824, 392.3894907697837, 104.66123144788781, 1.676238505649191, -0.10318594748477872, 0.763309963343856 ], "act_eef_pose_r": [ 508.5486644042035, -65.69714812687869, -53.39105665308011, 1.5562177115396063, -0.07385163878474102, 2.228231854526145 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 209, "colors": { "rgb_main": "colors/000209_rgb_main.jpg", "rgb_wrist_0": "colors/000209_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000209_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000209_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28926499571581005, -0.4957401215441518, -0.08039686855630318, -0.9773231511488504, -0.030023198698000585, -0.8921326443344167, 0.3034365446344663 ], "joint_pos_r": [ -0.7298663958468159, -1.1116700379408926, 0.12532578980334605, -1.333028932621487, 1.6375386652530348, 0.44155165752632936, -2.128826052090415 ], "eef_pose_l": [ 517.1183345140922, 392.7458319814, 103.3123903733092, 1.6739835902137719, -0.10121468539341782, 0.7629795746116018 ], "eef_pose_r": [ 507.660562686198, -68.92707058154024, -51.91123685653514, 1.5577187048294263, -0.06646438115608838, 2.241160366620577 ], "joint_status_l": { "velocity": [ -0.24489458759724414, 0.8419411255018439, -0.11401042768155456, -1.6444551656489281, 0.5999706047190023, 0.9528362438251392, -0.42648411218992877 ], "torque": [ -31.875, 10.3271484375, -17.76123046875, -4.632568359375, -2.4298095703125, 0.1739501953125, -0.42755126953125 ] }, "joint_status_r": { "velocity": [ -0.3848736953964149, -1.4916605297221608, -0.10333929933614705, 0.5927352309829104, 3.629156617980911, 1.4386801488917023, -3.2477254455614 ], "torque": [ 24.57275390625, -4.07958984375, 7.489013671875, -5.706787109375, 0.3094482421875, 5.3631591796875, -0.758056640625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.3, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.2, -17.3, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -82, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28711560201523034, -0.4866860870886107, -0.08161166434994714, -0.9943680963389953, -0.024876599906048458, -0.8820975505042135, 0.30022771743909854 ], "act_joint_pos_r": [ -0.7335239926952855, -1.1270442402121854, 0.12425838190674415, -1.328721432958354, 1.6783989134437256, 0.4604055561030916, -2.16702597553593 ], "act_eef_pose_l": [ 515.2486875079824, 392.5518907697837, 104.8084314478877, 1.6760322862458275, -0.10379053068309035, 0.7639774930340029 ], "act_eef_pose_r": [ 508.77666440420353, -65.4507481268787, -52.56545665308022, 1.5528040591301788, -0.07368655961137893, 2.2246590253890037 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 210, "colors": { "rgb_main": "colors/000210_rgb_main.jpg", "rgb_wrist_0": "colors/000210_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000210_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000210_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28876078159610014, -0.4939335648573859, -0.08064100747886671, -0.9808236032953798, -0.028793152643438662, -0.8900974249481447, 0.3025819166933158 ], "joint_pos_r": [ -0.7301247425911839, -1.1126891186301269, 0.12525515553593028, -1.3326507489681036, 1.6400693821753907, 0.4425943461398506, -2.131115061740373 ], "eef_pose_l": [ 516.7425611203103, 392.6741763941856, 103.62099673271948, 1.6744854309726003, -0.10167625590902267, 0.7630807730388701 ], "eef_pose_r": [ 507.72893964679025, -68.68756177417195, -51.99930705248937, 1.5575202477894177, -0.06700000086744673, 2.24019364273178 ], "joint_status_l": { "velocity": [ -0.17767415451475088, 0.7827045143922184, -0.10482785034449105, -1.4627621068470376, 0.4229752206508508, 0.8639609587790531, -0.2542460208698749 ], "torque": [ -32.431640625, 9.2578125, -18.060302734375, -3.900146484375, -2.57080078125, 0.1025390625, -0.4815673828125 ] }, "joint_status_r": { "velocity": [ -0.3671081839655699, -1.5503074069886935, -0.10764837703303165, 0.4243536134129755, 4.1394672899190965, 1.9235539438389182, -3.8782643066284095 ], "torque": [ 24.375, -3.3544921875, 7.58056640625, -5.4931640625, 0.3570556640625, 5.19287109375, -0.6829833984375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.9, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.9, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.4, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.4, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 278, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -114, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2885021360239582, -0.48616616603731627, -0.08164486821107883, -0.9937604490745271, -0.027996125190635594, -0.8829334710887073, 0.30306169769386637 ], "act_joint_pos_r": [ -0.7333827049992804, -1.1299587721520774, 0.1240582645796993, -1.3280800796033827, 1.6886022326487247, 0.4655700964598039, -2.177623919886925 ], "act_eef_pose_l": [ 515.0670875079824, 392.9654907697837, 104.61803144788752, 1.6746536982690585, -0.103816401564283, 0.7647818205097263 ], "act_eef_pose_r": [ 509.3998644042035, -65.06354812687869, -52.14625665308017, 1.5507699354079647, -0.07347978867866804, 2.2197874819911876 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 211, "colors": { "rgb_main": "colors/000211_rgb_main.jpg", "rgb_wrist_0": "colors/000211_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000211_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000211_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2884699000152022, -0.4926521498584289, -0.08081262777397155, -0.9832183835338396, -0.028100673193067832, -0.8886829798916316, 0.3021656744734523 ], "joint_pos_r": [ -0.7308486201883592, -1.115746072546357, 0.12504289045465455, -1.3318139926999348, 1.648231738032029, 0.44638728148621565, -2.138762367821012 ], "eef_pose_l": [ 516.4797067162531, 392.6535010778903, 103.83042230363051, 1.6747612876649642, -0.10204586225637508, 0.7632383567862048 ], "eef_pose_r": [ 507.9533136531947, -67.98684124970994, -52.09900798779387, 1.5563906886816858, -0.06843691526413379, 2.236949647542955 ], "joint_status_l": { "velocity": [ -0.14625987029281973, 0.6443157760624985, -0.08629340511745465, -1.2041334689376626, 0.3481896456934419, 0.7112053979598798, -0.20929318693774235 ], "torque": [ -32.58544921875, 9.7998046875, -17.987060546875, -3.79638671875, -2.548828125, 0.2178955078125, -0.49072265625 ] }, "joint_status_r": { "velocity": [ -0.2889317091625543, -1.2201661210324843, -0.0847244243611378, 0.3339866016833781, 3.257958856103471, 1.5139290076731093, -3.0523796080874632 ], "torque": [ 23.63525390625, -4.02099609375, 7.525634765625, -5.462646484375, 0.19775390625, 5.4180908203125, -0.6298828125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.9, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.9, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.2, -1.8, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.2, -1.8, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 206, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -82, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29000130698914833, -0.48634687877586114, -0.0817311673335191, -0.9976669199573354, -0.029473061646348858, -0.879364987336406, 0.30511892069800256 ], "act_joint_pos_r": [ -0.7335865637563592, -1.1312464326253113, 0.12397288574808893, -1.3273974716109367, 1.6938677989039528, 0.4681497422750455, -2.181259571784264 ], "act_eef_pose_l": [ 515.0150875079823, 391.93589076978367, 104.11243144788756, 1.6744715715320047, -0.10375370899646645, 0.7644150925790538 ], "act_eef_pose_r": [ 509.74786440420354, -65.07714812687868, -52.18705665308016, 1.5502855451472446, -0.0751076136988513, 2.2168604320021785 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 212, "colors": { "rgb_main": "colors/000212_rgb_main.jpg", "rgb_wrist_0": "colors/000212_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000212_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000212_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28848413657123606, -0.4918635770449818, -0.08091996459832708, -0.98474282194443, -0.02802714065426844, -0.8877681857076009, 0.30225517477792124 ], "joint_pos_r": [ -0.7314547290061886, -1.1190818883067732, 0.12481237910714131, -1.3308780845108072, 1.657925969488476, 0.45099898992718573, -2.1478403769382792 ], "eef_pose_l": [ 516.3074914852331, 392.6316373863338, 103.91484049048651, 1.6747949087031448, -0.10226447361879223, 0.7633844358542218 ], "eef_pose_r": [ 508.32206722218365, -67.32556788792675, -52.09714051956354, 1.554928531013179, -0.06985891430311751, 2.232813689429523 ], "joint_status_l": { "velocity": [ 0.16384957264969913, 0.5957858413010442, -0.08760731156121082, -1.3957614196105084, -0.15615486160319714, 0.9075186582565564, 0.3092754377771456 ], "torque": [ -28.76953125, 9.6826171875, -17.742919921875, -3.82080078125, -3.37646484375, 0.1611328125, 0.1611328125 ] }, "joint_status_r": { "velocity": [ -0.23023136270694522, -1.313732039946558, -0.09066260882695243, 0.37589510675317683, 3.881603095106101, 1.852226625064457, -3.6091665966857533 ], "torque": [ 24.23583984375, -2.73193359375, 7.635498046875, -5.450439453125, 0.37353515625, 5.3192138671875, -0.79925537109375 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.5, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.5, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.4, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.4, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -93, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2913908546143884, -0.4848508460487341, -0.08194017814892954, -1.0005715226509004, -0.03174995853702205, -0.8778136858360497, 0.3067280553377232 ], "act_joint_pos_r": [ -0.7335420788767629, -1.1355030413715734, 0.12369635077292719, -1.3232596756767887, 1.6992517416188324, 0.47355445529512136, -2.1864978785653184 ], "act_eef_pose_l": [ 514.5806875079824, 391.8862907697837, 103.95163144788768, 1.673611424584747, -0.10312447584394055, 0.7649766007944172 ], "act_eef_pose_r": [ 510.7558644042035, -64.63714812687869, -52.173456653080166, 1.5480395346194598, -0.07516002784027492, 2.211836180115432 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 213, "colors": { "rgb_main": "colors/000213_rgb_main.jpg", "rgb_wrist_0": "colors/000213_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000213_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000213_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2888659370036417, -0.49058016688806855, -0.0811083600085239, -0.9877317975474451, -0.028419103014500527, -0.8858347110683904, 0.3029459507325431 ], "joint_pos_r": [ -0.7316661115504013, -1.1203550699298357, 0.1247247707487912, -1.330470416875106, 1.6615809103626777, 0.45278518105665455, -2.151242240003119 ], "eef_pose_l": [ 516.0058792067792, 392.4747957285183, 103.9540007805149, 1.6746945558219402, -0.10258154305072671, 0.7636327851229555 ], "eef_pose_r": [ 508.47947124726466, -67.08936943578709, -52.094965775604976, 1.5543704692028406, -0.07038822611304583, 2.231184686159054 ], "joint_status_l": { "velocity": [ 0.2726830596033736, 0.6187484016395572, -0.08983370966009208, -1.3866494141350216, -0.3597217870053293, 0.8662451765575341, 0.4084552506156136 ], "torque": [ -23.1884765625, 9.74853515625, -17.840576171875, -3.40576171875, -4.53369140625, -0.0640869140625, 0.340576171875 ] }, "joint_status_r": { "velocity": [ -0.20259849592285661, -1.6359326664527885, -0.11106608167443799, 0.7787370817951, 4.068329786690583, 2.243015463549547, -3.807496668605026 ], "torque": [ 24.0673828125, -3.30322265625, 7.55615234375, -5.517578125, -0.0201416015625, 5.4327392578125, -0.81207275390625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.3, -2.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.3, -2.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -85, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29216346712777214, -0.4830179535240719, -0.08209029170060402, -0.9999587529055627, -0.03344094676988115, -0.8778071872271233, 0.3086605078731755 ], "act_joint_pos_r": [ -0.7348848434002764, -1.1369376449256978, 0.1235967664527639, -1.3235595959218387, 1.7046167204541653, 0.47959645804818524, -2.1931687151729244 ], "act_eef_pose_l": [ 514.3406875079824, 393.1006907697837, 103.9316314478877, 1.6732341652594604, -0.10394755069596845, 0.7675697253338201 ], "act_eef_pose_r": [ 510.81506440420355, -64.68594812687866, -52.04785665308009, 1.5454037985729123, -0.07506383682303773, 2.207590449797431 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 214, "colors": { "rgb_main": "colors/000214_rgb_main.jpg", "rgb_wrist_0": "colors/000214_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000214_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000214_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28940362362191296, -0.48936009573248546, -0.08128549746482254, -0.9904660445347643, -0.02912841583890049, -0.8841266165492287, 0.3037513580165088 ], "joint_pos_r": [ -0.7320433387365147, -1.123401086010188, 0.12451797185192978, -1.3290204515298578, 1.669155915254112, 0.4569615517047605, -2.1583315880651073 ], "eef_pose_l": [ 515.7037061790135, 392.3502612186768, 103.9531282655831, 1.6744603125298505, -0.10269958268081163, 0.7639189033107643 ], "eef_pose_r": [ 508.93939325516817, -66.58337844115447, -52.08903583392771, 1.5529703255183331, -0.07136130127469018, 2.227364737082849 ], "joint_status_l": { "velocity": [ 0.21461461746730137, 0.48698460300222735, -0.07070342859727408, -1.0913594486163802, -0.28311826127033757, 0.6817764091033851, 0.3214738293273456 ], "torque": [ -22.52197265625, 9.7998046875, -17.529296875, -3.936767578125, -5.009765625, -0.03662109375, 0.4595947265625 ] }, "joint_status_r": { "velocity": [ -0.16185916136546297, -1.306972631931913, -0.08873245950835607, 0.6221454429322648, 3.250253386289259, 1.7919807361121975, -3.0418696588725425 ], "torque": [ 24.08935546875, -2.783203125, 7.672119140625, -5.792236328125, 0.08056640625, 5.1708984375, -0.845947265625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.2, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.2, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -87, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2920229199477181, -0.48313382354720924, -0.08205889271185263, -0.9990985932336975, -0.03270594930841685, -0.8785983544347079, 0.30803335766401985 ], "act_joint_pos_r": [ -0.7357448630253405, -1.1372582993183293, 0.12357112414252054, -1.3248555946870382, 1.7092148007267534, 0.4824540686194312, -2.197935148656906 ], "act_eef_pose_l": [ 514.3398875079823, 393.2398907697837, 103.87163144788775, 1.673692771499689, -0.10386956072410376, 0.7673773697240586 ], "act_eef_pose_r": [ 510.6630644042035, -64.72434812687868, -52.01025665307998, 1.5445707056652536, -0.0757055898454528, 2.2054208978435046 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 215, "colors": { "rgb_main": "colors/000215_rgb_main.jpg", "rgb_wrist_0": "colors/000215_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000215_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000215_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28969654927157923, -0.4886756834225875, -0.0813724799679575, -0.9914954422555492, -0.02954972206131287, -0.8834595757952145, 0.30424302516580387 ], "joint_pos_r": [ -0.7328952632640603, -1.1269145989768887, 0.12427821053537225, -1.3278425789029065, 1.6790157414913545, 0.46315141894025136, -2.168017445803495 ], "eef_pose_l": [ 515.5534844609199, 392.4271956562281, 103.9472872442741, 1.6743516017406153, -0.10282564078335636, 0.7642848916270032 ], "eef_pose_r": [ 509.39468212251194, -66.07722767465546, -52.044060640534155, 1.5507675447054778, -0.07245930862672909, 2.2220917267564944 ], "joint_status_l": { "velocity": [ 0.25124062307657624, 0.5985032146322844, -0.07413038998160815, -0.8211160881153035, -0.34086248948547726, 0.5249964229934179, 0.4093438368557578 ], "torque": [ -22.265625, 10.05615234375, -17.7978515625, -3.778076171875, -4.984130859375, 0.0347900390625, 0.51544189453125 ] }, "joint_status_r": { "velocity": [ -0.3077476976853788, -1.117086690165081, -0.07636307821945465, 0.3225847811858529, 3.2614022075048155, 2.0846246826327075, -3.231016614426707 ], "torque": [ 23.94287109375, -4.87060546875, 7.53173828125, -6.33544921875, 0.1593017578125, 5.1727294921875, -0.72967529296875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.2, -2.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.6, -17.2, -2.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29183173933017453, -0.48186736170798666, -0.08235169801327683, -1.0059340573800248, -0.031363771037614334, -0.8719771390015549, 0.30636219015295746 ], "act_joint_pos_r": [ -0.7365871327741697, -1.1405090550838748, 0.12336193879087635, -1.3217695766636965, 1.7129536306064441, 0.4845903622830204, -2.199037631028074 ], "act_eef_pose_l": [ 514.2486875079824, 392.2838907697837, 103.94843144788757, 1.674646384860851, -0.10332470357321347, 0.7681912506449587 ], "act_eef_pose_r": [ 511.0094644042035, -64.14514812687867, -52.73345665308011, 1.5450326339487652, -0.07882043653267684, 2.20289591363412 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 216, "colors": { "rgb_main": "colors/000216_rgb_main.jpg", "rgb_wrist_0": "colors/000216_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000216_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000216_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29021076010265817, -0.4873751321119623, -0.0815395345532532, -0.9935035672869768, -0.030199818440427566, -0.8820768154919723, 0.3050211245414567 ], "joint_pos_r": [ -0.7330203801686024, -1.127368758113837, 0.12424716461028491, -1.327711429881881, 1.6803416865812417, 0.4639989371812809, -2.169331037425339 ], "eef_pose_l": [ 515.2776672448533, 392.5684858931934, 103.93326698528035, 1.67424276746087, -0.10303688240914885, 0.7650154136821314 ], "eef_pose_r": [ 509.4504502912066, -66.01491264995724, -52.03819402687145, 1.5504708956443378, -0.07260398834515781, 2.2213746794043674 ], "joint_status_l": { "velocity": [ 0.17506059343563862, 0.594821660302447, -0.08771106678284735, -1.3424533365045122, -0.1257031730792224, 1.0907328915177317, 0.14483081448535273 ], "torque": [ -21.708984375, 10.4443359375, -17.63916015625, -3.857421875, -5.064697265625, 0.062255859375, 0.48431396484375 ] }, "joint_status_r": { "velocity": [ -0.2942354705162131, -1.068038949959771, -0.07301021719741119, 0.3084211046502361, 3.118204361191701, 1.9930954121130107, -3.0891529033123533 ], "torque": [ 23.88427734375, -4.5849609375, 7.513427734375, -6.25, 0.0164794921875, 5.1397705078125, -0.556640625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.4, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.4, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29179060166575793, -0.4812512709085451, -0.08239418992985699, -1.0053565488553218, -0.03018977883364902, -0.8734668008371594, 0.3047393519632529 ], "act_joint_pos_r": [ -0.737581226881804, -1.14384765994044, 0.12314317465174722, -1.319515560045075, 1.7194980525662595, 0.4849881712853655, -2.2025404562749062 ], "act_eef_pose_l": [ 513.9814875079824, 392.5990907697837, 103.8740314478876, 1.6753858171797833, -0.10252301235710333, 0.7677331408141466 ], "act_eef_pose_r": [ 511.10546440420353, -63.26194812687868, -53.78705665308007, 1.547401627544137, -0.08251055659303907, 2.201063399510754 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 217, "colors": { "rgb_main": "colors/000217_rgb_main.jpg", "rgb_wrist_0": "colors/000217_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000217_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000217_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2904973628576309, -0.4864013120007955, -0.08168313188083141, -0.9957013824383719, -0.03040561504494221, -0.8802911077806371, 0.3052582362158883 ], "joint_pos_r": [ -0.7338117817544587, -1.130282638565915, 0.12405074977824092, -1.3264127097900187, 1.6876240472032624, 0.4685996980810518, -2.1759915523314723 ], "eef_pose_l": [ 515.096926779202, 392.51878806030885, 103.93558059208083, 1.674312446318897, -0.10308798571236248, 0.7655773765647754 ], "eef_pose_r": [ 509.79847391272534, -65.58883810795788, -52.16551162856365, 1.5491261792023354, -0.07397880365074302, 2.217320308114495 ], "joint_status_l": { "velocity": [ 0.14410840878431586, 0.4896521901041062, -0.07220301279009522, -1.1050963006251635, -0.10347779529412682, 0.897882146523088, 0.11922350889381761 ], "torque": [ -20.95458984375, 10.96435546875, -17.864990234375, -3.45458984375, -5.0775146484375, 0.05126953125, 0.49346923828125 ] }, "joint_status_r": { "velocity": [ -0.29972907009234717, -1.1044204108010547, -0.07438939263759714, 0.5014435883552437, 2.7355143278597893, 1.7269408004159104, -2.488903092958239 ], "torque": [ 24.25048828125, -3.33984375, 7.51953125, -5.72509765625, 0.0018310546875, 5.0189208984375, -0.7891845703125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -9.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -9.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.4, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.4, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 217, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -36, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2927821937583351, -0.4762895181245485, -0.08315702039333878, -1.0169646581310068, -0.03098626163930995, -0.8650151730675524, 0.30548077305881516 ], "act_joint_pos_r": [ -0.7392360274025456, -1.1464033399243876, 0.12296362896153414, -1.3209956730069718, 1.7250250656029493, 0.4870229203142058, -2.2085434606583894 ], "act_eef_pose_l": [ 512.9518875079824, 392.0862907697837, 104.15003144788767, 1.675383506016906, -0.10271150259514282, 0.7695956984982916 ], "act_eef_pose_r": [ 510.3718644042035, -61.94354812687868, -54.1158566530803, 1.5473378432136222, -0.08443839712570012, 2.2008982483570083 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 218, "colors": { "rgb_main": "colors/000218_rgb_main.jpg", "rgb_wrist_0": "colors/000218_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000218_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000218_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2907196113312603, -0.4854886959258526, -0.08181536310166625, -0.9976158666218671, -0.0304718176244139, -0.878880185774073, 0.30530106335562723 ], "joint_pos_r": [ -0.7350658657156124, -1.1341611983804054, 0.12378947828513556, -1.3249850352599355, 1.6966914642271507, 0.47321028861654324, -2.1838749595148195 ], "eef_pose_l": [ 514.9086786338769, 392.48744327919593, 103.94621536292237, 1.674416724587664, -0.10305919316262722, 0.7659760888243742 ], "eef_pose_r": [ 509.99877676734195, -64.7570545206375, -52.58923425395818, 1.5484497623598956, -0.07644701386869407, 2.2132108784449627 ], "joint_status_l": { "velocity": [ 0.22275233239543724, 0.9934819013586171, -0.14489471405942922, -2.0896078532972595, -0.055558315003839676, 1.4973772095245863, 0.019408075533799973 ], "torque": [ -20.4638671875, 11.9091796875, -17.9443359375, -5.377197265625, -4.81201171875, 0.4925537109375, -0.1409912109375 ] }, "joint_status_r": { "velocity": [ -0.45036417940735873, -1.3221122931312834, -0.08918909645727613, 0.4308384164204426, 3.0599387005167955, 1.4917202274111752, -2.6641195494985226 ], "torque": [ 24.6533203125, -2.39501953125, 7.70263671875, -5.2001953125, 0.2069091796875, 5.1141357421875, -0.970458984375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.5, -9.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.5, -9.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.4, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.3, -17.4, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29466862689110523, -0.47256563616249153, -0.08364615797425608, -1.022075557857767, -0.033371306278097444, -0.8617270903443038, 0.3070341719751133 ], "act_joint_pos_r": [ -0.7399939692652863, -1.148989485542977, 0.122791839767831, -1.320455624585237, 1.7294786968228477, 0.4913035848382404, -2.213513870718145 ], "act_eef_pose_l": [ 512.1014875079824, 392.6262907697837, 103.98683144788771, 1.6749729736378236, -0.1020255538952524, 0.7718483301978436 ], "act_eef_pose_r": [ 510.4518644042035, -61.341948126878606, -54.02225665308015, 1.5454775668378709, -0.08506549029504852, 2.1982288558362675 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 219, "colors": { "rgb_main": "colors/000219_rgb_main.jpg", "rgb_wrist_0": "colors/000219_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000219_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000219_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29123473817341705, -0.4832608810691358, -0.08213947775202662, -1.0022612385674614, -0.03062874003586803, -0.8755569520829588, 0.30536657999604966 ], "joint_pos_r": [ -0.7352489643138079, -1.1346987120606633, 0.12375321785572677, -1.324809874992529, 1.6979355029679017, 0.47381675754775016, -2.1849580753069784 ], "eef_pose_l": [ 514.4372893922315, 392.40314117607045, 103.99043113829649, 1.6746360164582899, -0.10296529311691976, 0.7668653951905906 ], "eef_pose_r": [ 510.01576571811825, -64.63212667478021, -52.65324877130746, 1.5483818061222552, -0.07680103094674452, 2.21267898628472 ], "joint_status_l": { "velocity": [ 0.3708490439024992, 1.155052383468913, -0.1627166649292855, -2.1398833708659026, -0.2961884185503083, 1.4935810169580677, 0.18009462213175453 ], "torque": [ -21.064453125, 9.814453125, -17.718505859375, -3.704833984375, -4.3304443359375, 0.135498046875, 0.22247314453125 ] }, "joint_status_r": { "velocity": [ -0.43059011400714553, -1.2640625277491324, -0.08527308557770841, 0.4119216654601132, 2.925586479022968, 1.4262235145627855, -2.547146493881769 ], "torque": [ 25.224609375, -3.603515625, 7.525634765625, -5.230712890625, 0.1226806640625, 4.9383544921875, -0.8551025390625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.4, -2.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.4, -2.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29554279635087605, -0.471408580804377, -0.08382216792067973, -1.0243546662347507, -0.03530178284733944, -0.8590547208142817, 0.3092501206546602 ], "act_joint_pos_r": [ -0.74001640902661, -1.1489698582887276, 0.12279263917481537, -1.3206157777026872, 1.729536908672929, 0.49167874538024287, -2.2138730478547815 ], "act_eef_pose_l": [ 511.98948750798235, 392.7846907697837, 103.93723144788765, 1.6743654293302372, -0.10267027257737467, 0.7736184443091132 ], "act_eef_pose_r": [ 510.4438644042035, -61.355548126878716, -53.94705665308015, 1.5451666284992474, -0.08483812641849925, 2.1980852211954445 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 220, "colors": { "rgb_main": "colors/000220_rgb_main.jpg", "rgb_wrist_0": "colors/000220_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000220_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000220_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2923696119552885, -0.4798390708527458, -0.0826224594218821, -1.0086103537129425, -0.03162398790007249, -0.8710474543380013, 0.3060468713712878 ], "joint_pos_r": [ -0.7373289450771874, -1.140950255812733, 0.12333257367571127, -1.322907702282069, 1.7117722123411223, 0.48146102856719253, -2.1974781007208457 ], "eef_pose_l": [ 513.704389662438, 392.4877647868924, 103.98407017339262, 1.6746872178955767, -0.10272059536096215, 0.768550365796429 ], "eef_pose_r": [ 510.21017334503824, -63.18089098473163, -53.23284104249683, 1.5469761184279653, -0.08044740012132476, 2.2064239097797853 ], "joint_status_l": { "velocity": [ 0.3426938075099528, 0.9104660724625901, -0.12956469656366654, -1.7003356036369155, -0.3971901398078237, 1.2951770213582847, 0.3459407196277908 ], "torque": [ -20.185546875, 10.3271484375, -17.864990234375, -3.4912109375, -5.130615234375, 0.2490234375, 0.47882080078125 ] }, "joint_status_r": { "velocity": [ -0.290237546438199, -0.8660915234042221, -0.05831120629962161, 0.2475205543444048, 1.9185306197986307, 1.103480870380924, -1.7706020693477598 ], "torque": [ 23.72314453125, -3.24462890625, 7.366943359375, -5.810546875, -0.1593017578125, 4.9658203125, -0.76995849609375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.1, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.1, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -51, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2969953398038991, -0.46922122013453016, -0.08417393159459222, -1.0293626174481638, -0.03794027520827166, -0.8541092085953538, 0.311673335022413 ], "act_joint_pos_r": [ -0.7395684085104182, -1.1474561596395898, 0.12289519824911065, -1.3211776134243591, 1.7296663279901647, 0.4915547833771073, -2.2135239627712058 ], "act_eef_pose_l": [ 511.66788750798236, 392.79589076978374, 103.83323144788761, 1.673667876154485, -0.10280420173192617, 0.7760969688419087 ], "act_eef_pose_r": [ 510.6430644042035, -62.06274812687866, -53.75585665308017, 1.5452018883410163, -0.08449337056469733, 2.1973804366607834 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 221, "colors": { "rgb_main": "colors/000221_rgb_main.jpg", "rgb_wrist_0": "colors/000221_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000221_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000221_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29333014966391485, -0.47740765793580997, -0.08297138318463067, -1.013217671650951, -0.032806127898143085, -0.8674564379801973, 0.30708550464045187 ], "joint_pos_r": [ -0.7380506072339765, -1.143091002334449, 0.1231884905906479, -1.322305215789797, 1.716765401270733, 0.48431865504559096, -2.2020525076668256 ], "eef_pose_l": [ 513.221754362605, 392.5706016151209, 103.96344836129322, 1.6745392277852407, -0.10272136812943479, 0.770097205459693 ], "eef_pose_r": [ 510.29106137383775, -62.71620086196587, -53.41281314502788, 1.5464301628215003, -0.08165993711270801, 2.204053992954989 ], "joint_status_l": { "velocity": [ 0.39582886077038637, 0.8841092071314449, -0.1298713979236421, -1.7436027212855976, -0.5544715562294522, 1.4414582600243975, 0.49547106811376196 ], "torque": [ -20.4638671875, 11.31591796875, -18.00537109375, -3.570556640625, -5.189208984375, -0.047607421875, 0.5364990234375 ] }, "joint_status_r": { "velocity": [ -0.16391770336099398, -0.4714230850737522, -0.03167463869258036, 0.12177746383379429, 1.3932589937208917, 0.7814788113180704, -1.2388806124423724 ], "torque": [ 23.47412109375, -4.013671875, 9.039306640625, -6.085205078125, -0.3497314453125, 5.1800537109375, -0.6298828125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.4, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.6, -17.4, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2985586161149862, -0.4679841064864574, -0.08437118712367112, -1.0320808448589351, -0.04066453720261448, -0.8506709666053486, 0.3132771168659395 ], "act_joint_pos_r": [ -0.7374304544381967, -1.1497429681693987, 0.12276368281642966, -1.3159125171953914, 1.734427647963616, 0.4904680588271228, -2.2148441074022256 ], "act_eef_pose_l": [ 511.54068750798234, 392.95189076978374, 103.54523144788783, 1.6730484596762574, -0.10187588913481557, 0.7785086031329462 ], "act_eef_pose_r": [ 512.2086644042035, -62.321148126878654, -54.081456653080295, 1.5473932561648294, -0.08500689704494453, 2.194042151199827 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 222, "colors": { "rgb_main": "colors/000222_rgb_main.jpg", "rgb_wrist_0": "colors/000222_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000222_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000222_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29445291356493575, -0.4750935277907459, -0.0833126515549815, -1.017805415507003, -0.034424781316003523, -0.8635613982483566, 0.308460583163124 ], "joint_pos_r": [ -0.738276337717138, -1.144464688335013, 0.12309809442694147, -1.3215489044936872, 1.720653707009254, 0.4861769022011509, -2.2052597370832774 ], "eef_pose_l": [ 512.7950259682128, 392.64614711366767, 103.90381460144847, 1.6742356869065589, -0.10267186503918678, 0.7719234635374618 ], "eef_pose_r": [ 510.5213077188355, -62.56042000439166, -53.5297253908538, 1.546266137565674, -0.08247221706166083, 2.201976663635138 ], "joint_status_l": { "velocity": [ 0.44340279793875226, 0.7677948559647874, -0.11431846977549842, -1.5417008999705217, -0.6738737609097711, 1.392125558896673, 0.5201702983010925 ], "torque": [ -19.69482421875, 11.396484375, -18.292236328125, -3.619384765625, -5.3961181640625, 0.2691650390625, 0.6353759765625 ] }, "joint_status_r": { "velocity": [ 0.09135269982252225, -0.5700374097585836, -0.03611538876879816, 0.6087118752198251, 1.4875417503716903, 0.46343124743053465, -1.0350814663500074 ], "torque": [ 30.69580078125, -3.62548828125, 8.19091796875, -5.77392578125, 0.0091552734375, 4.9603271484375, -0.60882568359375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.2, -2.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.1, -17.2, -2.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 34, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.299154701226455, -0.4682800725322288, -0.08435749698628159, -1.0325058324905545, -0.04110355122198398, -0.849644686689795, 0.3132461210404546 ], "act_joint_pos_r": [ -0.7376377694682592, -1.1513528872457803, 0.12266365149473556, -1.3140074134525512, 1.7340926721335466, 0.49065154278498724, -2.213636357618905 ], "act_eef_pose_l": [ 511.62148750798235, 392.79029076978367, 103.2604314478877, 1.6732314896577265, -0.10112292811880749, 0.7788907227742826 ], "act_eef_pose_r": [ 512.3558644042034, -61.913948126878665, -54.41265665308015, 1.547633288381025, -0.08603691279370376, 2.193828047905124 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 223, "colors": { "rgb_main": "colors/000223_rgb_main.jpg", "rgb_wrist_0": "colors/000223_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000223_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000223_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29641186536153025, -0.47179717475714184, -0.08380564219294089, -1.0244978501148716, -0.037368288391150924, -0.8574719344250075, 0.3107060388089935 ], "joint_pos_r": [ -0.737906204910171, -1.1470236776154277, 0.12293613559591271, -1.3188003280984961, 1.7269419298601176, 0.48816066730979896, -2.209551583839032 ], "eef_pose_l": [ 512.2186741249118, 392.7780159051684, 103.71663191189566, 1.6736769742007636, -0.10225549093422578, 0.7750247915889577 ], "eef_pose_r": [ 511.3096017513424, -62.414859608073286, -53.808800447043154, 1.5467877159812211, -0.08372821617366111, 2.1983245537585208 ], "joint_status_l": { "velocity": [ 0.29621753694231145, 0.3798358376316813, -0.05959855991521934, -0.8648365895815857, -0.40339648818654705, 0.8453178240870329, 0.2743207903384004 ], "torque": [ -18.83056640625, 10.810546875, -18.1640625, -3.643798828125, -5.390625, -0.0201416015625, 0.61065673828125 ] }, "joint_status_r": { "velocity": [ 0.02899017270774351, -0.46754085069800055, -0.029427415011995528, 0.5176195153921981, 0.7722573890163176, 0.26900661739404086, -0.4411425574204486 ], "torque": [ 31.38427734375, -4.7607421875, 7.086181640625, -5.499267578125, -0.2471923828125, 4.9822998046875, -0.72509765625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.2, -2.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.6, -17.2, -2.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2979887091475528, -0.4669135665353089, -0.0847026675427386, -1.0403020591573429, -0.03954999053651525, -0.842236856868064, 0.311848627885955 ], "act_joint_pos_r": [ -0.7368218094206053, -1.153217301249479, 0.12254864788153469, -1.3117418581360403, 1.7337388861043284, 0.4901854245199128, -2.211781313681114 ], "act_eef_pose_l": [ 511.5878875079824, 391.62949076978373, 103.84123144788765, 1.6736306224422002, -0.10166807349150087, 0.7796072462976085 ], "act_eef_pose_r": [ 512.7782644042036, -61.38434812687865, -54.37185665308016, 1.5475957765358581, -0.0870634387108216, 2.1940117984350334 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 224, "colors": { "rgb_main": "colors/000224_rgb_main.jpg", "rgb_wrist_0": "colors/000224_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000224_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000224_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2975696400732627, -0.47006680092531605, -0.08408837861652015, -1.0288400494828995, -0.03894792241193182, -0.8532459812133608, 0.31175094416123583 ], "joint_pos_r": [ -0.7377264545376927, -1.1491082214959272, 0.12280510166710168, -1.3164779827444708, 1.7301375125906953, 0.4892490879727591, -2.2112578408204353 ], "eef_pose_l": [ 511.94373878420924, 392.684203029128, 103.55738841380317, 1.673500730157922, -0.10178585262750928, 0.7768596899095724 ], "eef_pose_r": [ 511.8123178039789, -62.150986982782015, -54.07746689069279, 1.5471612879701386, -0.0848441258541795, 2.196314066737085 ], "joint_status_l": { "velocity": [ 0.04525812520617123, 0.34053927045230026, -0.0663412474011249, -1.2378605360945372, -0.06502143975012364, 1.188950363075314, 0.010549531127779233 ], "torque": [ -20.9033203125, 11.66015625, -18.475341796875, -4.21142578125, -5.5023193359375, 0.19775390625, 0.0714111328125 ] }, "joint_status_r": { "velocity": [ 0.0976987911744942, -0.44376752515873363, -0.027696191985726593, 0.51148637222731, 0.3889368683918093, 0.10112136467732569, -0.056533401588509946 ], "torque": [ 33.9697265625, -3.84521484375, 7.086181640625, -5.975341796875, -0.3094482421875, 5.247802734375, -0.62164306640625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -17.1, -8.6, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -17.1, -8.6, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.7, -3.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.7, -3.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3003898553713095, -0.46025471715268534, -0.08564673456403503, -1.0503790853344364, -0.03995576138418143, -0.8346409595636022, 0.31039635913248026 ], "act_joint_pos_r": [ -0.7348338611948447, -1.160522739222583, 0.12209925230428145, -1.3032829606949992, 1.7351780301279243, 0.48963154371532686, -2.211160310325405 ], "act_eef_pose_l": [ 510.15428750798236, 392.4318907697837, 103.47163144788789, 1.6752715467993373, -0.0994099444681848, 0.7837385942869558 ], "act_eef_pose_r": [ 514.2198644042035, -59.4955481268787, -54.717456653080035, 1.548184201384555, -0.08786357888885277, 2.193055721950577 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 225, "colors": { "rgb_main": "colors/000225_rgb_main.jpg", "rgb_wrist_0": "colors/000225_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000225_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000225_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29768957769414167, -0.46933381714206934, -0.08422592664756688, -1.0312945734830496, -0.039075016539265116, -0.8509193829028733, 0.3117490130680038 ], "joint_pos_r": [ -0.7376867344344353, -1.1492886381797947, 0.12279384159323298, -1.3162700345060598, 1.730295637500813, 0.4892901995463847, -2.2112808248565896 ], "eef_pose_l": [ 511.85255198867014, 392.48443342461894, 103.60859781961074, 1.6735500368885625, -0.10172863334743913, 0.7774738705853166 ], "eef_pose_r": [ 511.8548266241464, -62.11736148399058, -54.09044491566402, 1.5471802180651966, -0.08494165688624136, 2.196213027976336 ], "joint_status_l": { "velocity": [ 0.2916213882211416, 0.9805138801426416, -0.15344272942718895, -2.061066492042407, -0.09511763790620575, 1.7580178706761984, -0.1460823165690961 ], "torque": [ -18.896484375, 12.00439453125, -13.494873046875, -3.973388671875, -4.3780517578125, 0.1959228515625, 0.05767822265625 ] }, "joint_status_r": { "velocity": [ 0.09340914653854782, -0.42428309796349595, -0.026480139873386044, 0.4890286248357967, 0.3718598817581409, 0.09668144567420711, -0.05405119889267951 ], "torque": [ 33.4130859375, -3.74267578125, 7.177734375, -6.06689453125, -0.2691650390625, 5.0189208984375, -0.64910888671875 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.5, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.5, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.1, -2.0, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.1, -2.0, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3016815915112413, -0.44020313917083037, -0.08884012699352746, -1.0868593796832278, -0.03918197130675928, -0.8099163819008978, 0.3141479649747009 ], "act_joint_pos_r": [ -0.7338629228204758, -1.175105981086733, 0.12116893134654726, -1.2967790171111913, 1.7408131140289689, 0.4966287057903496, -2.2182045769753302 ], "act_eef_pose_l": [ 505.91828750798237, 392.7142907697837, 105.44603144788772, 1.67651631496687, -0.1057797361232509, 0.7911086554743912 ], "act_eef_pose_r": [ 514.6734644042035, -53.98114812687868, -53.59665665308012, 1.5419016256154778, -0.09010868724922245, 2.1932977562366363 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 226, "colors": { "rgb_main": "colors/000226_rgb_main.jpg", "rgb_wrist_0": "colors/000226_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000226_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000226_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29829617858549357, -0.46729425276956094, -0.08454510247005968, -1.0355817925338715, -0.039272870490544676, -0.8472625345013569, 0.3114451476211587 ], "joint_pos_r": [ -0.7370827272841485, -1.1516854463116, 0.1226455698641211, -1.313499701788494, 1.731398190809551, 0.48939024101240636, -2.211274147382655 ], "eef_pose_l": [ 511.4744241618263, 392.474457917435, 103.57646395761242, 1.673932969450495, -0.10120556781715001, 0.7788818875242396 ], "eef_pose_r": [ 512.3651447958952, -61.56583751800353, -54.228885201363994, 1.5473962541927457, -0.0856050678556781, 2.1955004693612343 ], "joint_status_l": { "velocity": [ 0.22611042409792503, 0.7602474243233459, -0.11897275723538048, -1.5980604901866258, -0.07375004137155639, 1.3630898910905742, -0.11326581618043008 ], "torque": [ -17.8271484375, 11.88720703125, -18.6767578125, -3.741455078125, -5.45654296875, -0.1080322265625, -0.27740478515625 ] }, "joint_status_r": { "velocity": [ 0.2428703745671612, -0.9543994858773885, -0.0590005563343432, 1.1033754957772146, 0.4082106068548086, 0.026059923318833, 0.012294039590798889 ], "torque": [ 34.8779296875, -3.30322265625, 7.31201171875, -5.09033203125, -0.208740234375, 4.1949462890625, -0.12725830078125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.5, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.5, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.6, -1.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.6, -17.6, -1.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 278, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3026890605674921, -0.43955791332010363, -0.08896683056107005, -1.0885311395692123, -0.0403257423771203, -0.8095644799368965, 0.31511563405492116 ], "act_joint_pos_r": [ -0.7334471821940194, -1.1762584303845713, 0.12108927862019923, -1.2978094313489752, 1.7473766318671586, 0.4955028999702734, -2.2256205052437155 ], "act_eef_pose_l": [ 505.58708750798235, 392.48229076978373, 105.23883144788766, 1.676210910960753, -0.10527601909263894, 0.7906370311931405 ], "act_eef_pose_r": [ 514.5910644042035, -53.2899481268787, -53.64385665308009, 1.543647857351243, -0.08933359802183426, 2.1932474948178022 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 227, "colors": { "rgb_main": "colors/000227_rgb_main.jpg", "rgb_wrist_0": "colors/000227_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000227_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000227_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2986596032158813, -0.46484358711786067, -0.08493450693260667, -1.0402601513463219, -0.03932455611354575, -0.8438681845103891, 0.3117055268359082 ], "joint_pos_r": [ -0.7362880445788785, -1.1568943939645648, 0.12231638315665544, -1.3099484518910711, 1.7345029825233358, 0.4906691682865263, -2.2138828973837126 ], "eef_pose_l": [ 510.9748786647678, 392.4926850255698, 103.72227598065533, 1.6741532870570608, -0.1015432327721581, 0.7799812838489176 ], "eef_pose_r": [ 512.8921089497535, -59.85937226021268, -54.133681142706166, 1.546587265687842, -0.08646873605050018, 2.1949635823655758 ], "joint_status_l": { "velocity": [ 0.4351685593633192, 2.7307722303357984, -0.43547810813382437, -5.213112975522627, -0.1081249274917373, 3.704690829922086, 0.368280717793823 ], "torque": [ -18.2958984375, 12.29736328125, -19.1162109375, -3.3935546875, -4.405517578125, -0.106201171875, 0.28564453125 ] }, "joint_status_r": { "velocity": [ 0.30680408886230026, -2.0912542551130286, -0.13252338136915398, 1.3109755533893264, 1.3903131240393662, 0.5220276254629397, -1.267624262299094 ], "torque": [ 35.8740234375, -2.35107421875, 7.4462890625, -5.816650390625, -0.2069091796875, 5.3411865234375, -0.9722900390625 ] }, "eef_FT_l": { "raw_value": [ 0.4, -17.1, -9.7, 1.5, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -17.1, -9.7, 1.5, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.5, -1.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.5, -1.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3030125207781824, -0.4387103635377706, -0.08908234435696193, -1.088381545377167, -0.0402075715508206, -0.8097803828788516, 0.31482026667378693 ], "act_joint_pos_r": [ -0.7325866363775639, -1.1772163703697456, 0.12104641990461348, -1.2950567512035425, 1.7475744922903482, 0.49420155667946897, -2.2265586184788537 ], "act_eef_pose_l": [ 505.4102875079824, 392.9454907697837, 105.14843144788762, 1.6765770149551673, -0.10505105487053411, 0.7913626641959063 ], "act_eef_pose_r": [ 515.2134644042035, -53.340348126878666, -53.91745665308031, 1.5448945900323625, -0.08732653416670734, 2.1925509248160195 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 228, "colors": { "rgb_main": "colors/000228_rgb_main.jpg", "rgb_wrist_0": "colors/000228_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000228_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000228_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2995743349538481, -0.4591383209013318, -0.08584375028181747, -1.051099522601364, -0.039545981670171426, -0.8361684336642319, 0.3124628762997069 ], "joint_pos_r": [ -0.736083213433566, -1.158290574849255, 0.1222279067739346, -1.3090732072844136, 1.7354311951511259, 0.49101768879290136, -2.214729199434104 ], "eef_pose_l": [ 509.7782194673698, 392.52010222854994, 104.05233707983157, 1.6746117309545452, -0.10236045014845485, 0.7824046472530787 ], "eef_pose_r": [ 513.0176113685566, -59.38700301786997, -54.100116176814424, 1.5463698185652743, -0.08667704524155836, 2.194839896830102 ], "joint_status_l": { "velocity": [ 0.37131311773297426, 2.2061543282210216, -0.349757844559373, -4.026339709244375, -0.07144959981680854, 2.849825433712816, 0.25459065165067685 ], "torque": [ -17.79052734375, 11.41845703125, -19.158935546875, -3.466796875, -5.4913330078125, -0.0128173828125, 0.53192138671875 ] }, "joint_status_r": { "velocity": [ 0.2846829775959847, -1.9404711666766161, -0.12296821384982781, 1.2164519236961269, 1.2900691167754275, 0.48438852088050766, -1.1762263364953895 ], "torque": [ 36.07177734375, -4.5556640625, 7.305908203125, -5.99365234375, -0.2032470703125, 5.185546875, -0.88714599609375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.7, -8.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.7, -8.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.3, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.3, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 234, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.304041118718286, -0.437504412079362, -0.08930807259398654, -1.0900646800595415, -0.04119538247926099, -0.8093235434862068, 0.31533480094233635 ], "act_joint_pos_r": [ -0.7295154980482508, -1.1791671572951943, 0.12096063138672722, -1.2875694098421164, 1.7435801606775474, 0.49346976157036054, -2.2216008113708163 ], "act_eef_pose_l": [ 505.00308750798234, 393.01349076978374, 104.97163144788766, 1.676440605939684, -0.10434767080301764, 0.7915256702366207 ], "act_eef_pose_r": [ 517.2166644042036, -53.92034812687871, -53.62945665308007, 1.544379516111872, -0.08461965710791712, 2.190264279791194 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 229, "colors": { "rgb_main": "colors/000229_rgb_main.jpg", "rgb_wrist_0": "colors/000229_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000229_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000229_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3003467024045394, -0.45454930501973967, -0.08657128066482946, -1.059474701361095, -0.039694603796963907, -0.8302405191898082, 0.31299244965220757 ], "joint_pos_r": [ -0.7352275439918441, -1.162964008418021, 0.12193596454686467, -1.3056352438872236, 1.7384345244407962, 0.49182049080133455, -2.217646441472858 ], "eef_pose_l": [ 508.80813460667497, 392.62593469823025, 104.29340795522985, 1.6750443960442911, -0.10295466182281919, 0.7844222360525991 ], "eef_pose_r": [ 513.5619859333732, -57.894186642983556, -54.05724809577168, 1.5459795026257261, -0.08686553811089043, 2.1942793496197113 ], "joint_status_l": { "velocity": [ 0.28789989319966125, 1.7105552299234716, -0.27118688052074624, -3.1218470797771403, -0.055398883513801955, 2.2096295520430687, 0.19739841637544941 ], "torque": [ -18.076171875, 11.1474609375, -18.365478515625, -3.94287109375, -5.4254150390625, -0.03662109375, 0.49713134765625 ] }, "joint_status_r": { "velocity": [ 0.28520961053413174, -1.5392096942221656, -0.09606798798933447, 1.1424435152669332, 0.9870874151651776, 0.25714753067740403, -0.9624867296196271 ], "torque": [ 37.11181640625, -4.8193359375, 6.939697265625, -5.548095703125, -0.1336669921875, 4.8486328125, -0.6170654296875 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.3, -2.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.3, -2.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30470719279764824, -0.4360330473136436, -0.0895940098965881, -1.0933821189087187, -0.041601044353791715, -0.8057271674786048, 0.3150656718813531 ], "act_joint_pos_r": [ -0.726620185909746, -1.180408703948011, 0.12092501724588163, -1.2798197899581645, 1.739396165774333, 0.49492407928595283, -2.215005086895591 ], "act_eef_pose_l": [ 504.8006875079824, 393.0526907697837, 104.86923144788767, 1.676819834246927, -0.10368373534796022, 0.7933095219642117 ], "act_eef_pose_r": [ 519.4814644042035, -55.223548126878654, -53.20065665308016, 1.542664080445693, -0.08304184712132788, 2.185960778501934 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 230, "colors": { "rgb_main": "colors/000230_rgb_main.jpg", "rgb_wrist_0": "colors/000230_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000230_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000230_depth_main.npy" }, "states": { "joint_pos_l": [ 0.300669464548461, -0.4530586225974927, -0.08681165313571236, -1.0621765777533223, -0.03982184622081318, -0.828344287797885, 0.3131785955676383 ], "joint_pos_r": [ -0.7339313412331767, -1.1665945995739015, 0.12171783281780388, -1.3015247307880833, 1.7395611810475389, 0.4922511177701751, -2.218457065446715 ], "eef_pose_l": [ 508.4845348658342, 392.66280677952955, 104.34936399512046, 1.675173051451734, -0.10306186640593867, 0.7850845570668148 ], "eef_pose_r": [ 514.408011916286, -57.029086236343275, -53.962317317584564, 1.5455819949823764, -0.08637995897259829, 2.193303064097798 ], "joint_status_l": { "velocity": [ 0.4360617899568098, 1.8387079008652663, -0.3004856678234802, -3.370099049024411, -0.19214773126730034, 2.44257695452621, 0.20379823117355755 ], "torque": [ -17.6220703125, 9.697265625, -18.048095703125, -3.546142578125, -5.4620361328125, 0.0604248046875, 0.52276611328125 ] }, "joint_status_r": { "velocity": [ 0.7895814874698814, -1.4918792717768525, -0.08562155649483039, 2.3440644751460127, -0.017821123901029523, 0.2886713297978183, 0.372802688294982 ], "torque": [ 36.48193359375, -4.66552734375, 6.97021484375, -5.99365234375, -0.2398681640625, 4.7442626953125, -0.6884765625 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.3, -2.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.3, -2.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.304624021325626, -0.435465252736086, -0.08970082514715244, -1.094512468618684, -0.041054265854335734, -0.8045441463072192, 0.3145217517838843 ], "act_joint_pos_r": [ -0.7263225709499896, -1.179882276671213, 0.12096242646341275, -1.2796108030761604, 1.7412820516482803, 0.49610957004413525, -2.2167657302061343 ], "act_eef_pose_l": [ 504.72948750798236, 393.08629076978366, 104.90203144788762, 1.677208833704158, -0.10369439076021697, 0.7938089678786245 ], "act_eef_pose_r": [ 519.8518644042035, -55.82834812687872, -53.08065665308004, 1.5424014358103768, -0.08244317417460735, 2.183943970332658 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 231, "colors": { "rgb_main": "colors/000231_rgb_main.jpg", "rgb_wrist_0": "colors/000231_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000231_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000231_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30166400524508746, -0.44881164636327514, -0.08750651827411461, -1.0699659120359175, -0.04023044045452094, -0.8226776035850973, 0.31361405671487175 ], "joint_pos_r": [ -0.7334041941505038, -1.1675906206538, 0.1216606694287979, -1.2999597666022717, 1.7395492831578043, 0.4924438429692447, -2.2182081717572526 ], "eef_pose_l": [ 507.5771692594657, 392.768922202729, 104.47586842057946, 1.6755922956726308, -0.10321042866982463, 0.787153793574858 ], "eef_pose_r": [ 514.7756590167115, -56.89925779074969, -53.9107105912816, 1.5453741261623772, -0.08613889070680267, 2.1927732539089284 ], "joint_status_l": { "velocity": [ 0.3196723084673003, 1.4413680008598106, -0.23697815299106306, -2.650949925349977, -0.08897051913475673, 1.958355627399655, 0.09802817626658467 ], "torque": [ -16.7724609375, 10.95703125, -18.450927734375, -4.1748046875, -5.364990234375, -0.10986328125, 0.5181884765625 ] }, "joint_status_r": { "velocity": [ 0.7326512816074882, -1.3843121676693215, -0.07944809255877594, 2.1750533277948847, -0.016536189706428672, 0.2678576221657458, 0.3459229626088245 ], "torque": [ 37.1337890625, -4.56298828125, 7.04345703125, -5.1025390625, -1.3201904296875, 5.028076171875, 0.29205322265625 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.6, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.6, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.4, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.8, -17.4, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -11, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30285311024050954, -0.434359091919468, -0.09004374386268965, -1.1012169840902504, -0.03891031243218842, -0.7982473491779352, 0.31266486846578667 ], "act_joint_pos_r": [ -0.7233600960075309, -1.184039485277289, 0.12076066225487321, -1.2674431743968242, 1.7400172700852161, 0.49507446895517204, -2.2114720537825603 ], "act_eef_pose_l": [ 504.72468750798237, 392.0222907697837, 105.70363144788763, 1.6774571938382161, -0.10463723801705167, 0.7941943217423743 ], "act_eef_pose_r": [ 522.6318644042035, -56.545148126878644, -53.84065665308003, 1.5443803333107873, -0.08164215836159075, 2.178856531512298 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 232, "colors": { "rgb_main": "colors/000232_rgb_main.jpg", "rgb_wrist_0": "colors/000232_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000232_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000232_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30170797686275197, -0.4486133830762497, -0.08753911513177845, -1.0703305559336773, -0.040242678541922275, -0.8224082275315001, 0.3136275407026085 ], "joint_pos_r": [ -0.7318133507413339, -1.1703518661210306, 0.12150381341033575, -1.2953884962039004, 1.7399385390183097, 0.49326732617242847, -2.217884136070836 ], "eef_pose_l": [ 507.5352770508106, 392.7739974466919, 104.48199567336754, 1.675615877481522, -0.10321725081441663, 0.7872528565735354 ], "eef_pose_r": [ 515.920388483141, -56.65869341705904, -53.732151065527034, 1.5447138719476243, -0.08530699665134325, 2.1907898210895267 ], "joint_status_l": { "velocity": [ 0.3149235138177886, 1.419956197368677, -0.23345779619077245, -2.6115695458539534, -0.08764884467610257, 1.9292638716263966, 0.09657194854018059 ], "torque": [ -16.962890625, 10.52490234375, -18.51806640625, -3.86962890625, -5.3887939453125, -0.260009765625, 0.51727294921875 ] }, "joint_status_r": { "velocity": [ 0.5929867282574719, -1.0292539831944225, -0.05846806584430819, 1.7039406027539172, 0.14509508468663057, 0.306953285040823, 0.12078427104711409 ], "torque": [ 36.6943359375, -4.51171875, 6.982421875, -5.438232421875, -0.2911376953125, 4.844970703125, 0.3900146484375 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.7, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.7, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.1, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.1, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -22, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30298001626862503, -0.43447334743127697, -0.0900177815757786, -1.1007617650014763, -0.03964959209866111, -0.7984471385783324, 0.3131409488016071 ], "act_joint_pos_r": [ -0.7233940561732481, -1.1841264230953414, 0.12075678981054251, -1.267475721576756, 1.7414299168455534, 0.4949449390863621, -2.2129554356354735 ], "act_eef_pose_l": [ 504.7798875079824, 392.1142907697837, 105.71723144788785, 1.6770684330361079, -0.1045317040785449, 0.7944847360657179 ], "act_eef_pose_r": [ 522.6542644042036, -56.55394812687871, -53.95265665308011, 1.5449067980885252, -0.08149376939446612, 2.178482795249521 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 233, "colors": { "rgb_main": "colors/000233_rgb_main.jpg", "rgb_wrist_0": "colors/000233_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000233_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000233_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3023590746593407, -0.4448229093342313, -0.08817781602448294, -1.077748797341747, -0.040310422678547515, -0.8167845806474818, 0.31372804116159486 ], "joint_pos_r": [ -0.7297338734254744, -1.1737675885386691, 0.12131770633587305, -1.2885797761030522, 1.7402690058700234, 0.4937455635517011, -2.2166860407376627 ], "eef_pose_l": [ 506.75857815400155, 392.7675185918616, 104.67744790232472, 1.676055676775744, -0.10343045386942108, 0.7891537488930788 ], "eef_pose_r": [ 517.5724350717874, -56.60365653334959, -53.76867238833756, 1.5446748766899219, -0.08435630581033879, 2.1878070441557167 ], "joint_status_l": { "velocity": [ 0.06705971598197635, 1.1177197201379663, -0.19871041888930296, -2.485327206442456, 0.07136759775300261, 1.9803853351252343, -0.06340410487482018 ], "torque": [ -16.07666015625, 11.4697265625, -18.8232421875, -4.26025390625, -3.2940673828125, 0.1812744140625, -0.21514892578125 ] }, "joint_status_r": { "velocity": [ 0.6846800696811428, -1.1187211372050143, -0.06057719810670381, 2.279170668295194, 0.12537468762729986, 0.12952873749716431, 0.4028934683297791 ], "torque": [ 37.6171875, -5.0244140625, 6.94580078125, -6.09130859375, -0.3515625, 4.98046875, 0.6610107421875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.9, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.9, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.2, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.2, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -106, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3047632418945771, -0.433214082199712, -0.09013174481604455, -1.0990905880502702, -0.04112659286202879, -0.8002675708241173, 0.3132679919323025 ], "act_joint_pos_r": [ -0.723772939597128, -1.1859003463751363, 0.12065928004865063, -1.2650454086641276, 1.7404479268881898, 0.49552112780993524, -2.2114441034623447 ], "act_eef_pose_l": [ 504.3966875079824, 393.1478907697837, 105.13963144788778, 1.6773805864292315, -0.10276511705647663, 0.7958395968833352 ], "act_eef_pose_r": [ 522.8374644042035, -56.195548126878634, -54.35585665308031, 1.5449617074363828, -0.08219768132729621, 2.177972013361142 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 234, "colors": { "rgb_main": "colors/000234_rgb_main.jpg", "rgb_wrist_0": "colors/000234_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000234_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000234_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3025438923203766, -0.44258181256718615, -0.08857300137664376, -1.0826001756106751, -0.04021325372027307, -0.8129332670727117, 0.3136067650505129 ], "joint_pos_r": [ -0.7292823899035062, -1.174540830600236, 0.1212758147470318, -1.2870220340968759, 1.7403381219284282, 0.4938406000210611, -2.2163946064517286 ], "eef_pose_l": [ 506.33035007715233, 392.6614478705288, 104.88017207460304, 1.6762801632548983, -0.10360849844296363, 0.7903297636573632 ], "eef_pose_r": [ 517.9429955052591, -56.59408919500024, -53.79081223509064, 1.5446957379595696, -0.08416009340150286, 2.187127492876235 ], "joint_status_l": { "velocity": [ 0.23968268495044853, 1.01168504163196, -0.16833932655224704, -1.7809120182832316, -0.09863771814561106, 1.3678548521260936, -0.03658641770787341 ], "torque": [ -18.603515625, 9.88037109375, -18.719482421875, -3.61328125, -3.1439208984375, 0.1226806640625, 0.205078125 ] }, "joint_status_r": { "velocity": [ 0.5950030844115162, -1.2267915214057012, -0.06658378364143847, 2.3734055468818127, 0.01185858590346811, 0.18149164838821008, 0.5346385545337284 ], "torque": [ 37.763671875, -5.5810546875, 7.000732421875, -5.426025390625, -0.3533935546875, 4.95849609375, 0.56121826171875 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.9, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.9, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.2, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.2, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 290, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -19, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3066675437692729, -0.4281854178078965, -0.0911170499732759, -1.1117692722508008, -0.04224438830655581, -0.790721555004499, 0.31384523594179553 ], "act_joint_pos_r": [ -0.7238623368649559, -1.1865157758794218, 0.12062186339866035, -1.2648139420176108, 1.7432674516910132, 0.49505342050800005, -2.2147339559981463 ], "act_eef_pose_l": [ 503.1854875079824, 392.36229076978367, 105.12123144788785, 1.6778079448492418, -0.10198088935113346, 0.7978302123404352 ], "act_eef_pose_r": [ 522.8630644042036, -56.01314812687866, -54.64625665308017, 1.5461762044774727, -0.08167729179373182, 2.177463733378688 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 235, "colors": { "rgb_main": "colors/000235_rgb_main.jpg", "rgb_wrist_0": "colors/000235_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000235_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000235_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3030165075701708, -0.4405869343023548, -0.08890493913378761, -1.0861118442927773, -0.040407751248578726, -0.8102360799031264, 0.31353462258870873 ], "joint_pos_r": [ -0.7280447255347753, -1.1770926764539558, 0.12113731399181338, -1.2820851193902418, 1.740362788942129, 0.4942181203269511, -2.215282506184635 ], "eef_pose_l": [ 505.92075897411365, 392.76698371183244, 104.93433428417143, 1.6765116165994511, -0.10342701414888117, 0.7915040955706415 ], "eef_pose_r": [ 519.0465410389334, -56.503311235495914, -53.92471771646228, 1.544763090896641, -0.08371961351446262, 2.185070703137458 ], "joint_status_l": { "velocity": [ 0.18864174334476402, 0.7962445431082266, -0.13249110606738945, -1.4016629859687768, -0.07763260460130761, 1.0765672288801653, -0.0287952616209175 ], "torque": [ -15.6005859375, 10.89111328125, -18.64013671875, -3.582763671875, -4.9896240234375, -0.194091796875, 0.22979736328125 ] }, "joint_status_r": { "velocity": [ 0.461339274791861, -0.951200297333088, -0.05162614322984371, 1.8402344836054851, 0.009194626992226063, 0.14072065782855248, 0.41453526794477114 ], "torque": [ 38.1005859375, -4.21142578125, 11.4990234375, -5.621337890625, -1.3128662109375, 4.962158203125, 0.6005859375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -7.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -7.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.2, -2.1, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.0, -17.2, -2.1, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -125, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30729792274339296, -0.4255985716120684, -0.09157509488942374, -1.1162465244889985, -0.042470936658953753, -0.7855299752905505, 0.31343000902481 ], "act_joint_pos_r": [ -0.7233812967311901, -1.1871618000312958, 0.1205904786937961, -1.2633258519713908, 1.7444688165968951, 0.4944989227055242, -2.2151782968993436 ], "act_eef_pose_l": [ 502.87668750798235, 392.7670907697837, 105.1204314478876, 1.6785011365241056, -0.10163185470793278, 0.8010625112873384 ], "act_eef_pose_r": [ 523.2414644042035, -56.05314812687868, -54.813456653080266, 1.547019996471867, -0.08169151053820856, 2.176702881689369 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 236, "colors": { "rgb_main": "colors/000236_rgb_main.jpg", "rgb_wrist_0": "colors/000236_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000236_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000236_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3034187763254218, -0.4391496183102985, -0.08915767468485775, -1.0889684004273275, -0.040601024570259395, -0.8080068653104346, 0.31353835350987375 ], "joint_pos_r": [ -0.7270467226172419, -1.179306062945609, 0.12101643043973173, -1.2779923377744733, 1.7409677033812974, 0.4944235554569911, -2.215044159253973 ], "eef_pose_l": [ 505.6186295234253, 392.76155963834873, 104.95736251280175, 1.6766738086485733, -0.10326453262128486, 0.7923180766026137 ], "eef_pose_r": [ 519.9552849007987, -56.39373057534759, -54.091824154678534, 1.5450713061436254, -0.08325646032727353, 2.18328118007217 ], "joint_status_l": { "velocity": [ 0.4189354572998738, 1.4634698806719193, -0.261073682136459, -2.945950512494022, -0.20194454954286511, 2.427432528851803, -0.011700859288588106 ], "torque": [ -15.9375, 11.21337890625, -18.603515625, -3.99169921875, -5.22216796875, 0.0146484375, 0.2618408203125 ] }, "joint_status_r": { "velocity": [ 0.39585432059485726, -0.8483945831923023, -0.046001431821429684, 1.583933751103217, 0.3781090755516914, 0.008139422781994199, -0.014486438443483962 ], "torque": [ 37.5, -5.5810546875, 8.99658203125, -6.38427734375, -0.3900146484375, 4.9969482421875, 0.087890625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.7, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.7, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.3, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.3, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -51, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.307646626172932, -0.4261875299513499, -0.09147873065102294, -1.1152806194675309, -0.04345128497758737, -0.7866338156463999, 0.314030550221473 ], "act_joint_pos_r": [ -0.7300683998575863, -1.1733182856757451, 0.12136328424194573, -1.2860004459511103, 1.7226715828807633, 0.49396900986098363, -2.1968046316830323 ], "act_eef_pose_l": [ 502.92788750798235, 392.6782907697837, 105.01963144788766, 1.6779778857761718, -0.1011750374872626, 0.8005647619985788 ], "act_eef_pose_r": [ 517.3710644042035, -56.56674812687868, -53.38945665308006, 1.5405585772903285, -0.08737312422377012, 2.192042944577814 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 237, "colors": { "rgb_main": "colors/000237_rgb_main.jpg", "rgb_wrist_0": "colors/000237_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000237_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000237_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30435514622888976, -0.43598360080154064, -0.08972297767385964, -1.0953543271436565, -0.04109959450481854, -0.8027628228295692, 0.3135476639838593 ], "joint_pos_r": [ -0.7268857853702209, -1.17965098349214, 0.12099772824700275, -1.2773483788125428, 1.7411214261791224, 0.49442686459428425, -2.215050048813341 ], "eef_pose_l": [ 504.980750065364, 392.7619514829214, 104.98754108052164, 1.6770644061642161, -0.10284962552966956, 0.7943571915575596 ], "eef_pose_r": [ 520.1000154515938, -56.378604548675, -54.124252575551225, 1.5451576491876093, -0.08318785638133616, 2.1829924848314772 ], "joint_status_l": { "velocity": [ 0.3554693499481232, 1.057944449417203, -0.18961572911657676, -2.1519761018353734, -0.2539750804644303, 1.741881401736478, 0.05215017557524959 ], "torque": [ -15.72509765625, 10.4736328125, -19.07958984375, -3.91845703125, -5.3997802734375, 0.098876953125, 0.27923583984375 ] }, "joint_status_r": { "velocity": [ 0.3784736105334474, -0.8111442628067067, -0.04398165457686343, 1.5143882343515713, 0.36150750302432755, 0.0077820464947642165, -0.013850384791069814 ], "torque": [ 37.6025390625, -5.91796875, 8.917236328125, -5.82275390625, -0.3167724609375, 4.112548828125, 0.08880615234375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.5, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.2, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.8, -17.2, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 274, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -114, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30878810657665356, -0.43398730875041946, -0.0900692442159403, -1.099151769279885, -0.04818494004889933, -0.7975779923884598, 0.3187059393761473 ], "act_joint_pos_r": [ -0.7402325190486171, -1.1538432817562647, 0.12251948065986637, -1.3136650120916078, 1.696818483192164, 0.4932931423772215, -2.1722473061021437 ], "act_eef_pose_l": [ 504.63028750798236, 393.2038907697837, 103.93403144788778, 1.6757771043996568, -0.10070829778586185, 0.7988226960941698 ], "act_eef_pose_r": [ 509.9430644042035, -58.72994812687864, -52.83985665308023, 1.535406623314283, -0.096882543098708, 2.2084376529734575 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 238, "colors": { "rgb_main": "colors/000238_rgb_main.jpg", "rgb_wrist_0": "colors/000238_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000238_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000238_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3049773579833037, -0.4341317801817318, -0.09005488008821766, -1.0991211352411052, -0.04154415120264969, -0.7997138424234858, 0.31363894738773734 ], "joint_pos_r": [ -0.727402828522751, -1.1786410421370663, 0.12105695029602334, -1.2785962915243343, 1.737528875515717, 0.49433732493599375, -2.2113856843492052 ], "eef_pose_l": [ 504.595760994093, 392.74809052839765, 104.99261525074871, 1.6772306610691736, -0.10253299898936113, 0.7955322024206034 ], "eef_pose_r": [ 519.6643981848165, -56.40512197188676, -54.00130199061101, 1.5442927628909224, -0.08397986123937688, 2.1845844178822587 ], "joint_status_l": { "velocity": [ 0.2882724623378685, 0.8579537208888155, -0.15377132554006412, -1.745172825332375, -0.20596437309877702, 1.4126012294788381, 0.042291858711962504 ], "torque": [ -16.47216796875, 11.31591796875, -19.000244140625, -3.47900390625, -5.2642822265625, -0.0274658203125, 0.3790283203125 ] }, "joint_status_r": { "velocity": [ -0.2878732137956419, 0.5748407438019854, 0.033083090425933825, -0.799625094410672, -1.6045402811890597, -0.03977685494582772, 1.574707244440532 ], "torque": [ 27.041015625, -0.56396484375, 9.356689453125, -11.3037109375, -2.6898193359375, 3.7921142578125, 0.4888916015625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.3, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.3, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.4, -2.0, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -2.3, -17.4, -2.0, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -38, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3079683528001743, -0.44132854977666514, -0.08893113182924102, -1.0892964615011766, -0.049591064371546444, -0.8035253934017961, 0.3199207599881441 ], "act_joint_pos_r": [ -0.7462891537588437, -1.140833778388508, 0.12333496737421835, -1.32966420199541, 1.6686322968344858, 0.49299771494633876, -2.140420919434821 ], "act_eef_pose_l": [ 506.27268750798237, 392.2710907697837, 103.56283144788773, 1.6742263160469535, -0.10030273403383366, 0.7958495676676217 ], "act_eef_pose_r": [ 505.1726644042035, -60.205148126878726, -51.875056653080264, 1.5291087152599083, -0.10731963324219748, 2.2219940368272484 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 239, "colors": { "rgb_main": "colors/000239_rgb_main.jpg", "rgb_wrist_0": "colors/000239_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000239_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000239_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3053444676059849, -0.4344377330761241, -0.09000922108521517, -1.0987676678910498, -0.04231190110637954, -0.7996720222277746, 0.3142187684524848 ], "joint_pos_r": [ -0.7312227346870644, -1.1710376668966735, 0.12151304739984338, -1.2889503066906616, 1.7237124124173104, 0.4940536693467211, -2.1973150990281756 ], "eef_pose_l": [ 504.6728076034385, 392.73844664232445, 104.86617384600495, 1.6770056110194635, -0.10230825735569071, 0.7957524675927735 ], "eef_pose_r": [ 516.7748876149092, -57.15548505408353, -53.60408083270386, 1.5411906095524368, -0.08858957910422156, 2.192054356718364 ], "joint_status_l": { "velocity": [ 0.2833712433845115, -0.7441862550581213, 0.11643020571983076, 1.022860122460223, -0.7861264470778173, -0.4161518130523234, 0.6157969238915761 ], "torque": [ -16.962890625, 4.19677734375, -13.104248046875, 0.836181640625, -5.26611328125, -1.3494873046875, 0.53558349609375 ] }, "joint_status_r": { "velocity": [ -1.6271252702573236, 3.2619237535840284, 0.19676155406067597, -4.396971011184192, -5.948477041993527, -0.11403971182000205, 6.144390176981318 ], "torque": [ 25.1806640625, 2.84912109375, 14.80712890625, -11.126708984375, -3.0889892578125, 3.0816650390625, 0.80291748046875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.4, -9.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -16.4, -9.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.5, -1.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.5, -1.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -125, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30515607629967284, -0.4674477359255421, -0.08474014094537814, -1.0381766307281075, -0.05391048923288049, -0.8405839111363973, 0.32501198029620104 ], "act_joint_pos_r": [ -0.7654658340998877, -1.0991554978196179, 0.12614867883203387, -1.3756479449593442, 1.5602012548964455, 0.4856727324357764, -2.0350720798780215 ], "act_eef_pose_l": [ 511.79988750798236, 392.5726907697837, 102.11723144788772, 1.6688528880572744, -0.100838852036547, 0.7851903251603086 ], "act_eef_pose_r": [ 489.2758644042035, -64.46994812687865, -49.77185665308025, 1.5129712590137006, -0.12470236683580803, 2.272534479488526 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 240, "colors": { "rgb_main": "colors/000240_rgb_main.jpg", "rgb_wrist_0": "colors/000240_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000240_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000240_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3058614526660083, -0.4362931528829013, -0.08971738167781874, -1.0959913591035357, -0.043926180430100284, -0.8010431174075618, 0.31550865084744956 ], "joint_pos_r": [ -0.7325167270236133, -1.1684435800020128, 0.12166952456096677, -1.2924470545419204, 1.7189818094040215, 0.4939629777965039, -2.1924286935699624 ], "eef_pose_l": [ 505.0984699724507, 392.64579588866434, 104.56572835298904, 1.6763387896721722, -0.10187886927016765, 0.795610863275222 ], "eef_pose_r": [ 515.7936503348109, -57.42004013650184, -53.46555604910026, 1.5401362788617357, -0.09020854467342238, 2.194591631325129 ], "joint_status_l": { "velocity": [ -0.07617840080254012, -3.36459573515846, 0.5375261456173064, 6.243806513317018, -1.0782735487218642, -4.270279777544239, 1.0263293105001736 ], "torque": [ -16.47216796875, 3.77197265625, -12.225341796875, 0.1953125, -4.947509765625, -2.1551513671875, 0.582275390625 ] }, "joint_status_r": { "velocity": [ -1.4873782195286012, 2.9817706316350723, 0.17986251906976225, -4.019333381075185, -5.437586984454512, -0.10424531326691522, 5.616673951651663 ], "torque": [ 24.85107421875, 3.0029296875, 14.727783203125, -11.920166015625, -3.08349609375, 3.0853271484375, 0.81298828125 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.4, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.4, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.3, -2.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.9, -17.3, -2.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3031197258453739, -0.47998824375103694, -0.08292081531892659, -1.0144006604709965, -0.05353499396017115, -0.85830481900774, 0.32556032435982096 ], "act_joint_pos_r": [ -0.7726832471891893, -1.0812938408247417, 0.12743310257963095, -1.3950324965173886, 1.513757076838523, 0.47883154120250676, -1.9949416959835837 ], "act_eef_pose_l": [ 514.2998875079824, 392.3414907697837, 101.5620314478877, 1.6672586634509432, -0.1013643762984317, 0.7789355027751514 ], "act_eef_pose_r": [ 482.3310644042035, -66.01234812687869, -49.14305665308029, 1.509841745434458, -0.12599245649065147, 2.2956333434757075 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 241, "colors": { "rgb_main": "colors/000241_rgb_main.jpg", "rgb_wrist_0": "colors/000241_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000241_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000241_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30571124125657057, -0.4429275881328125, -0.0886574675933515, -1.0836795887494586, -0.04605236039458593, -0.8094634142019377, 0.31753240522734383 ], "joint_pos_r": [ -0.7395333100136897, -1.153688534357506, 0.12262337006565814, -1.3101648625271498, 1.685169149918775, 0.4921975522738335, -2.158919265334133 ], "eef_pose_l": [ 506.42684917603077, 392.65629019990763, 103.91247381837745, 1.675543584654804, -0.10174528262206667, 0.7940443329870475 ], "eef_pose_r": [ 510.3406043689948, -58.963440496586486, -52.70223684595919, 1.5337768807351666, -0.0977452320554924, 2.210783890135859 ], "joint_status_l": { "velocity": [ -0.05995604703601387, -2.6480978601428617, 0.42305880052873057, 4.914174530475712, -0.8486528848569153, -3.3609145440456345, 0.8077702835254108 ], "torque": [ -25.2978515625, 3.7353515625, -10.662841796875, 1.031494140625, -5.2166748046875, -2.6092529296875, 0.52825927734375 ] }, "joint_status_r": { "velocity": [ -2.800630001142501, 5.889394247695634, 0.3807221179699116, -7.071964326238245, -13.49613461519894, -0.7046597596818138, 13.375101551726942 ], "torque": [ 24.23583984375, 2.138671875, 15.4541015625, -11.16943359375, -3.592529296875, 2.75390625, 0.7159423828125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.1, -7.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.7, -16.1, -7.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.4, -2.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.2, -17.4, -2.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -129, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29939643275205946, -0.5067212699184176, -0.07914817959438344, -0.9539961637620533, -0.05526826278116555, -0.9060068636818542, 0.32955455245709225 ], "act_joint_pos_r": [ -0.7882754165756585, -1.0261359128157543, 0.1318095785563502, -1.4230097282245235, 1.3360533587676287, 0.4781616034130785, -1.8292671082088852 ], "act_eef_pose_l": [ 519.2030875079823, 393.9598907697837, 100.61083144788773, 1.6620239448050182, -0.10393394964505703, 0.7659089227612471 ], "act_eef_pose_r": [ 468.2878644042035, -78.04514812687864, -47.14625665308017, 1.4932911738791133, -0.12247223570257972, 2.3504814831198737 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 242, "colors": { "rgb_main": "colors/000242_rgb_main.jpg", "rgb_wrist_0": "colors/000242_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000242_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000242_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30522237264274615, -0.44881845381341823, -0.08776361272039167, -1.0720702538328224, -0.047106026445885185, -0.8179198419149352, 0.3187616390076865 ], "joint_pos_r": [ -0.7508105712548433, -1.1251421231985241, 0.12465117694983517, -1.336747861303787, 1.6088155465526628, 0.48884618916022665, -2.0865478822881216 ], "eef_pose_l": [ 507.79675355717535, 392.75069543517344, 103.6503555240679, 1.673586683408566, -0.10160346216272181, 0.7909707787024947 ], "eef_pose_r": [ 501.33541457840903, -63.26863485731212, -51.101109058356315, 1.5210839432538583, -0.10500494644078627, 2.2409379366809214 ], "joint_status_l": { "velocity": [ -0.6291829514353253, -6.2533197075334, 0.93043933576753, 12.751625638548703, -0.881495525889453, -9.51311777641628, 1.1656002749935723 ], "torque": [ -27.7294921875, -4.951171875, -10.333251953125, 8.0322265625, -5.4144287109375, -4.5098876953125, 0.55572509765625 ] }, "joint_status_r": { "velocity": [ -4.046083961780411, 10.6923553671745, 0.7730845725929525, -9.316006866503912, -29.45744747981216, -1.153901228194698, 27.785504110919845 ], "torque": [ 23.59130859375, 1.60400390625, 15.325927734375, -12.3291015625, -4.6197509765625, 2.9498291015625, 0.9649658203125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -17.1, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -17.1, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.9, -17.2, -2.2, 1.0, 0.0, 0.1 ], "actual_contact_FT": [ -3.9, -17.2, -2.2, 1.0, 0.0, 0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 299, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -104, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29774023851039944, -0.5155680567018147, -0.07815817512212515, -0.9383553583489703, -0.05467295356163422, -0.9166263383270763, 0.3298791224475205 ], "act_joint_pos_r": [ -0.7923891581083642, -1.0028420358456973, 0.13394505995906886, -1.4254373065667114, 1.253937484982875, 0.48055363296632275, -1.7528482709128252 ], "act_eef_pose_l": [ 521.0054875079824, 393.5486907697837, 100.40763144788781, 1.6610011634108859, -0.10481845800217976, 0.7621591087793529 ], "act_eef_pose_r": [ 464.3230644042035, -84.90034812687867, -47.15985665308017, 1.4900327160056654, -0.11543025684397037, 2.3700815170546163 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 243, "colors": { "rgb_main": "colors/000243_rgb_main.jpg", "rgb_wrist_0": "colors/000243_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000243_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000243_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30395712316373563, -0.46128040338588205, -0.08591423105593238, -1.0466937759955044, -0.04883534873729311, -0.8368359164185466, 0.3210648346158769 ], "joint_pos_r": [ -0.7519153988372711, -1.1222224583466909, 0.12486227616760187, -1.3392916991087924, 1.6007718675803415, 0.48853110377980713, -2.0789607457819623 ], "eef_pose_l": [ 510.366603725711, 393.08219677459834, 102.9434032009845, 1.6711359248777695, -0.10192859365845891, 0.7855807456705436 ], "eef_pose_r": [ 499.98959867292876, -63.96024273062751, -50.86790396321817, 1.5192701376900317, -0.10587241924363024, 2.245535328593439 ], "joint_status_l": { "velocity": [ -0.6714037405655127, -5.862893641315647, 0.8376293362944986, 11.70020402675398, -0.6304427271144886, -8.617111418004697, 0.9519150105847807 ], "torque": [ -35.185546875, 2.18994140625, -10.24169921875, 1.068115234375, -5.5718994140625, -2.384033203125, 0.6170654296875 ] }, "joint_status_r": { "velocity": [ -3.9267661019701805, 10.37704086288116, 0.7502865294665151, -9.041280486185244, -28.588755771494334, -1.119873010718031, 26.966117534769296 ], "torque": [ 21.90673828125, 1.35498046875, 15.118408203125, -13.250732421875, -3.8140869140625, 2.9718017578125, 0.87249755859375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.9, -9.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.1, -16.9, -9.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.0, -2.7, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -3.0, -17.0, -2.7, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -104, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2951011490833316, -0.5308606349948652, -0.07650131535429883, -0.9093999846002728, -0.05420571263908074, -0.9379701753405799, 0.331246371615146 ], "act_joint_pos_r": [ -0.7979681414738042, -0.9645963656292987, 0.13731298026913832, -1.4333352228603253, 1.1644790851870974, 0.4906864482936915, -1.667542298580698 ], "act_eef_pose_l": [ 523.8558875079824, 393.08789076978366, 100.13003144788769, 1.6586510187193586, -0.10671319417574723, 0.7547597789538161 ], "act_eef_pose_r": [ 459.6358644042035, -97.85714812687866, -46.33105665308017, 1.4863583624485275, -0.10639911539742136, 2.3859184735723478 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 244, "colors": { "rgb_main": "colors/000244_rgb_main.jpg", "rgb_wrist_0": "colors/000244_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000244_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000244_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30350887490975365, -0.4651946381141363, -0.08535500586132476, -1.0388823866490475, -0.049256250252418164, -0.8425889453549581, 0.3217003601806801 ], "joint_pos_r": [ -0.7617908577707586, -1.0934796998442355, 0.12703655084708393, -1.3605296163988283, 1.5177649230230454, 0.4864739477266397, -2.000885787067277 ], "eef_pose_l": [ 511.1712563082247, 393.1435037438912, 102.74232697500663, 1.6704073200982434, -0.10208154688903585, 0.7838947527019685 ], "eef_pose_r": [ 492.3026990168905, -69.05464558461682, -49.505654545119626, 1.5083443864823507, -0.10878932271496203, 2.273085479782808 ], "joint_status_l": { "velocity": [ -0.6229943568940577, -5.44016875826836, 0.7772347965185888, 10.856598858141275, -0.5849867041347045, -7.995802617395853, 0.8832802738596435 ], "torque": [ -34.013671875, 1.36962890625, -10.675048828125, 1.458740234375, -5.445556640625, -2.4957275390625, 0.63720703125 ] }, "joint_status_r": { "velocity": [ -3.304518974883486, 9.788579013136456, 0.7460969791401872, -7.0098237944282715, -28.49252296629423, -0.6393751367528289, 26.787261696629372 ], "torque": [ 22.81494140625, 3.2373046875, 15.3564453125, -12.8662109375, -3.69140625, 2.6824951171875, 0.82305908203125 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.4, -9.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.3, -16.4, -9.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.7, -17.0, -4.1, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -3.7, -17.0, -4.1, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 204, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -80, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2910410231036175, -0.5594230767848303, -0.07349368127515032, -0.857934511013312, -0.05658257035280811, -0.9722436010544706, 0.33680297046726815 ], "act_joint_pos_r": [ -0.792207265869711, -0.9215576690863936, 0.1413795114514431, -1.4089298413568656, 1.032390164732039, 0.5227592985652977, -1.5317857161662842 ], "act_eef_pose_l": [ 529.4894875079824, 391.9158907697837, 99.65803144788771, 1.6530463991430309, -0.11115714113752055, 0.7444441210465228 ], "act_eef_pose_r": [ 461.8046644042035, -118.8003481268787, -43.553456653080275, 1.4751348004986338, -0.08673181390672648, 2.397287702834644 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 245, "colors": { "rgb_main": "colors/000245_rgb_main.jpg", "rgb_wrist_0": "colors/000245_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000245_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000245_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30183652751270046, -0.4790358432719711, -0.08344723145067497, -1.011536291403996, -0.05057187349113528, -0.8626234027086905, 0.32389431627778825 ], "joint_pos_r": [ -0.7696052055390666, -1.0558262107259584, 0.1301321931132356, -1.3742645962363385, 1.4117001172764152, 0.4924390487468377, -1.8990104497006122 ], "eef_pose_l": [ 513.9898693766366, 393.26563809782, 102.09712407372191, 1.6678455792067928, -0.10282236760865546, 0.7779343730288224 ], "eef_pose_r": [ 486.1342887428168, -80.10371929579087, -47.323524363351396, 1.493298104018023, -0.10552717778538384, 2.2978160953645856 ], "joint_status_l": { "velocity": [ -1.1658800903862065, -8.681565170310712, 1.0749517149505339, 16.588503030449786, -0.6491361158142972, -11.83863225954962, 1.3940935358727202 ], "torque": [ -34.09423828125, 4.0869140625, -10.302734375, 2.557373046875, -5.625, -2.6385498046875, 0.69854736328125 ] }, "joint_status_r": { "velocity": [ -2.440950523721952, 14.500574825479617, 1.2146745556154137, -3.743736057423064, -40.96426669832809, 3.274490404461261, 39.659101539033514 ], "torque": [ 22.41943359375, 2.08740234375, 15.777587890625, -12.310791015625, -4.281005859375, 5.767822265625, 0.9063720703125 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.2, -6.8, 1.3, -0.2, 0.0 ], "actual_contact_FT": [ -2.0, -16.2, -6.8, 1.3, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.1, -16.9, -0.7, 0.9, 0.0, 0.0 ], "actual_contact_FT": [ -3.1, -16.9, -0.7, 0.9, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 257, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29005373791095157, -0.5684633847734166, -0.07266124873887275, -0.8384622664000545, -0.05583602668147442, -0.9858197989620939, 0.33713903712571297 ], "act_joint_pos_r": [ -0.7894471868560378, -0.914456332502299, 0.14228664719972273, -1.3959746852794706, 1.0047368524976967, 0.5339803706569625, -1.5046862231275484 ], "act_eef_pose_l": [ 531.0830875079823, 392.26789076978366, 99.17403144788756, 1.6525947681346358, -0.11201080015261407, 0.741266825596216 ], "act_eef_pose_r": [ 463.9422644042035, -124.2147481268787, -43.08385665308015, 1.4716891349873127, -0.07843818524774678, 2.3960952007836367 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 246, "colors": { "rgb_main": "colors/000246_rgb_main.jpg", "rgb_wrist_0": "colors/000246_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000246_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000246_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29910717290549627, -0.4994577312706525, -0.08093526648419813, -0.972386952114287, -0.05201619310943303, -0.8905442899576785, 0.3271088521435183 ], "joint_pos_r": [ -0.7711938520960884, -1.0460397223562052, 0.13095662011073306, -1.3765715696464, 1.3839404110986004, 0.49479188299498134, -1.8721303360373618 ], "eef_pose_l": [ 518.14466696358, 393.13172496622616, 101.35785929698265, 1.664115937397288, -0.10464803010188331, 0.7694807787406923 ], "eef_pose_r": [ 484.8091267678321, -83.24137642538814, -46.756290908092694, 1.4896551740737913, -0.10404768967892902, 2.3036298937895303 ], "joint_status_l": { "velocity": [ -0.977742142447724, -7.452390781780949, 0.893567562128661, 14.463439480792317, -0.4125298588626425, -10.289451501326319, 1.0832280299739594 ], "torque": [ -35.57373046875, -0.8935546875, -9.405517578125, 3.900146484375, -5.7330322265625, -3.2537841796875, 0.604248046875 ] }, "joint_status_r": { "velocity": [ -1.9713020136293835, 14.210586985362816, 1.223606837256197, -2.0954746856496342, -40.95277649131823, 4.232231844488066, 39.68279381281903 ], "torque": [ 22.0751953125, 1.04736328125, 15.4296875, -13.409423828125, -3.8104248046875, 5.577392578125, 0.8221435546875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.4, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.4, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.4, -17.3, -3.1, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -4.4, -17.3, -3.1, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -82, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2862548467605359, -0.5847786439233411, -0.07132172266385832, -0.8066842543705969, -0.05151621962499599, -1.0086062466142542, 0.33300542089068635 ], "act_joint_pos_r": [ -0.7836021107353637, -0.9030231526223026, 0.14333648070661292, -1.377653525362381, 0.9790453812380964, 0.5474174763157561, -1.4833682154815313 ], "act_eef_pose_l": [ 533.9094875079824, 391.7998907697837, 99.01563144788776, 1.6524942979474064, -0.11160342455401921, 0.7335582102863162 ], "act_eef_pose_r": [ 468.3310644042035, -133.4403481268787, -42.175856653080245, 1.4694099098630895, -0.059981704697668545, 2.386829114149653 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 247, "colors": { "rgb_main": "colors/000247_rgb_main.jpg", "rgb_wrist_0": "colors/000247_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000247_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000247_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29739573799864616, -0.5125023584476086, -0.07937117033751104, -0.9470702207125135, -0.052738283290396294, -0.9085548938860595, 0.3290049290150081 ], "joint_pos_r": [ -0.7752943522887713, -1.016480317318953, 0.1335018415112328, -1.3809303610912718, 1.2987546472062403, 0.5035953374498632, -1.7895862598122831 ], "eef_pose_l": [ 520.7248729617642, 393.0727768731751, 100.88431228234171, 1.6619048570329367, -0.10588776432116885, 0.7641619881970655 ], "eef_pose_r": [ 481.1510237121177, -93.12801556205953, -45.15713323582662, 1.4796164538100423, -0.09812645261170534, 2.3208210614083535 ], "joint_status_l": { "velocity": [ -0.7929126237633533, -6.043612596361214, 0.7246501602389266, 11.72931312814729, -0.3345464193171832, -8.344363644360975, 0.8784577672291682 ], "torque": [ -35.6103515625, 4.05029296875, -9.869384765625, 1.77001953125, -5.8319091796875, -2.4261474609375, 0.66192626953125 ] }, "joint_status_r": { "velocity": [ -1.528461053715624, 11.018265393832216, 0.9487310330307253, -1.6247390932075945, -31.752985324279948, 3.2814868040866862, 30.768296499553927 ], "torque": [ 22.02392578125, 3.61083984375, 16.1376953125, -12.5, -3.409423828125, 6.156005859375, 0.89263916015625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.5, -7.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.5, -7.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.4, -16.8, -3.0, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -3.4, -16.8, -3.0, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 286, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -45, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28358605737874043, -0.5918017590258682, -0.07063443347846773, -0.7868484325365578, -0.04726690345001937, -1.024854610354529, 0.32920636066066505 ], "act_joint_pos_r": [ -0.7787996198144488, -0.8931075972902551, 0.1443487359507006, -1.359038239875289, 0.9585381646076706, 0.5549387851306333, -1.4720701445616127 ], "act_eef_pose_l": [ 534.8126875079823, 392.9030907697837, 99.11483144788764, 1.653695888575859, -0.11155424855335605, 0.7294328825579685 ], "act_eef_pose_r": [ 472.69986440420354, -142.31634812687867, -42.81585665308012, 1.4733111212697592, -0.03774510903768823, 2.3751793850473204 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 248, "colors": { "rgb_main": "colors/000248_rgb_main.jpg", "rgb_wrist_0": "colors/000248_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000248_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000248_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2960270374229963, -0.5212642758403309, -0.07838035145977122, -0.9297830498814909, -0.052571081871468216, -0.9209623976934738, 0.3295081793954163 ], "joint_pos_r": [ -0.7766718545094538, -0.9884570314282269, 0.13595399330141583, -1.3777388982604537, 1.2207813915259556, 0.514709582733878, -1.7161596463048878 ], "eef_pose_l": [ 522.4191368967248, 393.05858424340977, 100.61833074394266, 1.6607096848419292, -0.10655705308543667, 0.760457121452974 ], "eef_pose_r": [ 479.5819722555712, -104.92735522367265, -43.93093527994961, 1.4724877134788084, -0.08494885578977115, 2.3319817038511683 ], "joint_status_l": { "velocity": [ -1.343586217822601, -7.617823508343058, 0.8365344697154331, 15.436483398511669, 0.5728343746697062, -11.220028050354713, -0.03259546200151675 ], "torque": [ -36.27685546875, 2.8564453125, -9.55810546875, 2.191162109375, -3.6529541015625, -2.281494140625, 0.618896484375 ] }, "joint_status_r": { "velocity": [ -0.2297918755909123, 10.297435180285142, 0.9066054672237644, 2.019611540339028, -28.321433211152325, 4.344625720963169, 26.360888715421638 ], "torque": [ 22.40478515625, 5.19287109375, 15.838623046875, -7.623291015625, -3.2611083984375, 6.2310791015625, 0.845947265625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.8, -12.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.8, -12.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.2, -3.7, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -3.5, -17.2, -3.7, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -83, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28035411258455695, -0.5937463315649422, -0.07044640961688386, -0.7785215711728368, -0.04098678815524896, -1.0323168030216672, 0.32422767179664724 ], "act_joint_pos_r": [ -0.7733050120480884, -0.8827017359402376, 0.1453657546040732, -1.3437804793363763, 0.94467972164993, 0.5597645945370597, -1.4637721164886357 ], "act_eef_pose_l": [ 535.0182875079823, 393.7606907697837, 99.63163144788774, 1.6565741243717853, -0.11206399572357069, 0.7270682077365337 ], "act_eef_pose_r": [ 476.98626440420355, -151.09394812687867, -42.819056653080224, 1.4776597702474499, -0.01901307705605583, 2.3626303914604057 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 249, "colors": { "rgb_main": "colors/000249_rgb_main.jpg", "rgb_wrist_0": "colors/000249_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000249_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000249_depth_main.npy" }, "states": { "joint_pos_l": [ 0.292947046724071, -0.5380079261630576, -0.07654280475302565, -0.89566172434309, -0.05104269671643583, -0.9458254275446262, 0.32921830282439696 ], "joint_pos_r": [ -0.7768252701084284, -0.9815821705045047, 0.13655926892497905, -1.3763905480920196, 1.2018731963221703, 0.5176101785690848, -1.698560366428749 ], "eef_pose_l": [ 525.547305318775, 393.19337592834603, 100.220690169416, 1.6590105388806335, -0.10771741859968069, 0.7530796289095986 ], "eef_pose_r": [ 479.36132441031066, -107.19887229799717, -43.74904547022078, 1.4715315619407492, -0.08209913150486697, 2.3338698782864498 ], "joint_status_l": { "velocity": [ -1.3599967761068754, -6.019570245669126, 0.658391256491142, 12.650763428064593, 1.0860060945706018, -9.34079305955482, -0.538972254860326 ], "torque": [ -36.18896484375, 3.69140625, -9.027099609375, 1.544189453125, -2.8472900390625, -2.764892578125, -0.05126953125 ] }, "joint_status_r": { "velocity": [ -0.2132234795597654, 9.554972098301917, 0.8412376278001954, 1.8739940169076874, -26.279408355447842, 4.031370609726359, 24.460222545950927 ], "torque": [ 21.92138671875, 6.14501953125, 15.936279296875, -6.09130859375, -2.8326416015625, 6.76025390625, 0.8294677734375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.5, -9.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, -9.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.0, -2.6, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -2.7, -17.0, -2.6, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 295, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -32, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2796988014026274, -0.588271655521268, -0.07104782423573108, -0.785933833362823, -0.037548768881639494, -1.0276061058878594, 0.3210776679982725 ], "act_joint_pos_r": [ -0.7654410227422767, -0.8759861493568953, 0.14588127354678407, -1.3252678625945782, 0.9229263634454794, 0.5654274241921406, -1.4451099139066832 ], "act_eef_pose_l": [ 534.0766875079823, 394.6606907697837, 99.94043144788776, 1.659157482183362, -0.1117861835145175, 0.7290042230467129 ], "act_eef_pose_r": [ 481.53586440420355, -158.27554812687868, -42.160656653080196, 1.4802232839018414, -0.0026137190667868213, 2.35525760033927 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 250, "colors": { "rgb_main": "colors/000250_rgb_main.jpg", "rgb_wrist_0": "colors/000250_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000250_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000250_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29041480799921454, -0.5492160327930681, -0.07531691667366834, -0.8721067030266103, -0.049020613475934435, -0.96321746723312, 0.32821476631654806 ], "joint_pos_r": [ -0.7760796091963525, -0.9573463109061195, 0.13871569855464422, -1.3686681342262776, 1.1385323899467878, 0.5279334304161036, -1.6406379140580618 ], "eef_pose_l": [ 527.5663999499646, 393.38212039339453, 100.06882660112932, 1.658380940050532, -0.10862131015340379, 0.7478846869275321 ], "eef_pose_r": [ 479.3271502693384, -118.16000585740997, -43.15841278624754, 1.469445208349126, -0.06644414410644085, 2.339133816698911 ], "joint_status_l": { "velocity": [ -1.0865230594987452, -4.809130429642039, 0.525999248614184, 10.10689615323912, 0.8676275453274873, -7.4625081702492935, -0.430593508472743 ], "torque": [ -35.5810546875, 2.46826171875, -9.124755859375, 2.0751953125, -2.537841796875, -2.625732421875, -0.49530029296875 ] }, "joint_status_r": { "velocity": [ 0.29964765437817675, 8.061376338729609, 0.7181848716076855, 2.6877874560575776, -20.935470717356353, 3.4376643365732207, 19.10094278530572 ], "torque": [ 32.109375, 7.08984375, 15.850830078125, -5.731201171875, -2.398681640625, 6.4306640625, 0.72601318359375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.5, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.3, -3.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.0, -17.3, -3.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 257, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -30, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27968027232668874, -0.5820703091757763, -0.07169329964272454, -0.7974723753473926, -0.03652969760382763, -1.0172707749381242, 0.32059110451481604 ], "act_joint_pos_r": [ -0.7622499590090624, -0.868872313916915, 0.14652654818397026, -1.3117890664730631, 0.917968077267883, 0.5689835664209053, -1.4421664556162692 ], "act_eef_pose_l": [ 533.4254875079823, 395.2486907697837, 100.29083144788757, 1.6606311974304182, -0.11266379246894764, 0.7335366909402202 ], "act_eef_pose_r": [ 485.0990644042035, -165.61714812687867, -42.80865665308011, 1.4845954532235743, 0.00953012865728975, 2.3422718211354585 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 251, "colors": { "rgb_main": "colors/000251_rgb_main.jpg", "rgb_wrist_0": "colors/000251_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000251_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000251_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2890898463758935, -0.5540853387485842, -0.07478312080603239, -0.8614561734104885, -0.047668155587187865, -0.9710671102173468, 0.32742040157796365 ], "joint_pos_r": [ -0.7733792720542654, -0.9352926946675828, 0.140662521432909, -1.3570139456493016, 1.0810755051552794, 0.5379970516541975, -1.5885738731547945 ], "eef_pose_l": [ 528.4378884055774, 393.5583775159667, 100.0453922080147, 1.6583764962426093, -0.1090998358295461, 0.745639146975938 ], "eef_pose_r": [ 480.44115409152664, -129.2349593326753, -42.71697988516377, 1.4697777144427508, -0.04878076433323447, 2.341473264095564 ], "joint_status_l": { "velocity": [ -1.0162040259786842, -3.0222876685264133, 0.33369084395185045, 6.910046389890567, 1.2029179840334359, -4.989848622125592, -0.7375423301718698 ], "torque": [ -36.591796875, 2.67333984375, -9.185791015625, 1.226806640625, -2.5286865234375, -2.7520751953125, -0.50811767578125 ] }, "joint_status_r": { "velocity": [ 1.2019303598416187, 7.173189559154913, 0.6332962110413565, 4.88414290093786, -17.61508268274703, 3.3464448966875615, 15.811534757871115 ], "torque": [ 33.03955078125, 7.15576171875, 15.6982421875, -3.753662109375, -2.142333984375, 6.45263671875, 0.86517333984375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.3, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.3, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.0, -5.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.0, -5.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27989115024008404, -0.5803736170418518, -0.07185283833829356, -0.7996190784910642, -0.037175829897132744, -1.0147196718341955, 0.3208967672438135 ], "act_joint_pos_r": [ -0.7624407076998677, -0.8599397990627384, 0.1473601118050469, -1.3044742482241207, 0.9113933619620465, 0.5742004280937422, -1.4355421323117172 ], "act_eef_pose_l": [ 533.3118875079824, 395.75109076978373, 100.39643144788766, 1.6605544693167105, -0.11281125928113352, 0.7357090216315018 ], "act_eef_pose_r": [ 486.3886644042035, -172.05234812687866, -43.48865665308017, 1.4873743264598738, 0.015809917674050687, 2.334044765225132 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 252, "colors": { "rgb_main": "colors/000252_rgb_main.jpg", "rgb_wrist_0": "colors/000252_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000252_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000252_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2865643414258117, -0.5615342816354242, -0.07395906781581052, -0.8443245086160458, -0.04470166374831862, -0.9833799793136071, 0.3255963044060213 ], "joint_pos_r": [ -0.7707593268407064, -0.9192145289009903, 0.14208398062504402, -1.3460123790192844, 1.0422670603225466, 0.5455439436030977, -1.5537071573716585 ], "eef_pose_l": [ 529.8186205783571, 394.0671590059248, 100.10922783663287, 1.6589013314927263, -0.11012418681183818, 0.7425124437371641 ], "eef_pose_r": [ 481.9329069781929, -138.15856163073815, -42.68212622570093, 1.4718803222754369, -0.03440597687465854, 2.3403578113945374 ], "joint_status_l": { "velocity": [ -0.7206833926383105, -2.034588216922373, 0.22746607481860526, 4.828044057950898, 0.8127660846737883, -3.3845869691662145, -0.5075350445729043 ], "torque": [ -35.91064453125, 1.083984375, -8.953857421875, 0.787353515625, -2.581787109375, -2.662353515625, -0.5859375 ] }, "joint_status_r": { "velocity": [ 0.8983843707799366, 6.401482020911509, 0.5698053619296317, 4.4859858187979995, -14.133942564581226, 3.0948090484756996, 12.761446327735015 ], "torque": [ 33.92578125, 8.9208984375, 16.4794921875, -3.91845703125, -1.9573974609375, 6.4361572265625, 0.90911865234375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.9, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.9, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.5, -3.6, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -1.0, -17.5, -3.6, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28114470375039596, -0.5868846417520835, -0.07114056892044932, -0.7818692922546321, -0.03988331525653531, -1.025392156797279, 0.32217011071157003 ], "act_joint_pos_r": [ -0.7659254960674793, -0.8416443872708064, 0.14922996790757487, -1.3059565399435107, 0.9038074107432584, 0.5831336492291042, -1.4278111434328038 ], "act_eef_pose_l": [ 534.4846875079824, 397.2366907697837, 99.41963144788775, 1.6596038498021752, -0.1115968774856477, 0.7368445054950632 ], "act_eef_pose_r": [ 485.3254644042035, -180.85474812687866, -43.21505665308018, 1.4881184110366632, 0.021215307459152344, 2.3266323566418934 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 253, "colors": { "rgb_main": "colors/000253_rgb_main.jpg", "rgb_wrist_0": "colors/000253_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000253_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000253_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2851202893410022, -0.5660523017780972, -0.07345464272974099, -0.83350236980204, -0.043129908240026264, -0.9908888448962684, 0.3245964905601674 ], "joint_pos_r": [ -0.7703940826084781, -0.9166119631597589, 0.14231563884251358, -1.344188571193297, 1.036520810534302, 0.5468021591192711, -1.548518905196204 ], "eef_pose_l": [ 530.6769222606383, 394.52292136654665, 100.12563833043636, 1.6591988223072296, -0.11069587841599343, 0.7410389008537818 ], "eef_pose_r": [ 482.1871137065035, -139.65296784403193, -42.71084304103499, 1.472333783582689, -0.03214929762466081, 2.3399223807206067 ], "joint_status_l": { "velocity": [ -0.4293505807670961, -2.2498263621084647, 0.24991260062545706, 5.5762079136592035, 0.3506217011827184, -3.7262477855053433, -0.26204129515372543 ], "torque": [ -36.9580078125, 0.30029296875, -8.43505859375, 1.336669921875, -2.3822021484375, -2.537841796875, -0.53558349609375 ] }, "joint_status_r": { "velocity": [ 0.8589391570739124, 6.120413210539688, 0.5447870123196363, 4.289020382776343, -13.513365890381657, 2.958925780391475, 12.201131618384764 ], "torque": [ 33.720703125, 10.34912109375, 16.461181640625, -4.50439453125, -1.717529296875, 6.46728515625, 0.780029296875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.8, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.8, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.1, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.3, -17.1, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2810512873778854, -0.5898351871519222, -0.07081446321394311, -0.7735144755996862, -0.04030572095720457, -1.0286729462884288, 0.32323490423684925 ], "act_joint_pos_r": [ -0.7657440575345725, -0.8329644429568523, 0.14999855728269204, -1.2957130875091605, 0.8864721177302392, 0.5910405368146229, -1.4095197512818245 ], "act_eef_pose_l": [ 535.3062875079823, 398.22149076978366, 99.1196314478878, 1.6597976456401518, -0.11260206593259788, 0.7388854702012321 ], "act_eef_pose_r": [ 486.1878644042035, -187.10674812687867, -43.87585665308006, 1.490492111516987, 0.026595506179766977, 2.3231448789630855 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 254, "colors": { "rgb_main": "colors/000254_rgb_main.jpg", "rgb_wrist_0": "colors/000254_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000254_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000254_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28387133777956086, -0.5728082615419055, -0.07270432618955028, -0.8166682015520045, -0.04215280425932693, -1.0019403877551074, 0.3239305776945512 ], "joint_pos_r": [ -0.7682424818599318, -0.8819397750209518, 0.14550620500994046, -1.32573801072048, 0.9743556541391192, 0.5639214674804568, -1.4917812543455211 ], "eef_pose_l": [ 531.9694624732689, 395.47343076420884, 99.8700218425203, 1.6593181183440182, -0.11107015543134643, 0.7399116318624929 ], "eef_pose_r": [ 484.22857809615726, -158.9595793548531, -43.0298852530629, 1.4782331995342672, -0.00702327049276388, 2.3324062355671997 ], "joint_status_l": { "velocity": [ -0.30455646096827493, -1.8388537317903797, 0.2040991817819915, 4.660464949784782, 0.19947911330725487, -2.8870311731656884, -0.07513051757568334 ], "torque": [ -38.291015625, 1.82373046875, -7.940673828125, 1.409912109375, -2.5689697265625, -2.46826171875, -0.50628662109375 ] }, "joint_status_r": { "velocity": [ 0.2698218691676857, 5.28917986690125, 0.48515973643548094, 3.242596071565629, -9.491142005889408, 2.9287731085441138, 8.883980311885864 ], "torque": [ 34.25537109375, 9.111328125, 16.253662109375, -4.2724609375, -1.4794921875, 6.522216796875, 0.860595703125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.6, -9.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.6, -9.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.7, -3.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.4, -17.7, -3.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28059553152651034, -0.5915682346389443, -0.07073317661008098, -0.7729796918798718, -0.039533308960065044, -1.0285631014022252, 0.32260388520590244 ], "act_joint_pos_r": [ -0.7639672133338582, -0.8233299176288641, 0.1509556045937725, -1.287552079770894, 0.8807691269220737, 0.5938317829660787, -1.4044938604548507 ], "act_eef_pose_l": [ 535.6798875079824, 397.4710907697837, 99.09723144788774, 1.6599828923540543, -0.11241755358008125, 0.7376985592771 ], "act_eef_pose_r": [ 488.1086644042035, -194.31634812687867, -44.04945665308014, 1.4948472827486736, 0.03578949582247411, 2.313123245567852 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 255, "colors": { "rgb_main": "colors/000255_rgb_main.jpg", "rgb_wrist_0": "colors/000255_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000255_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000255_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2830410340993307, -0.5777339829699378, -0.0721671467391529, -0.8045155613587539, -0.04156826868119839, -1.0094307308165484, 0.32368121199070626 ], "joint_pos_r": [ -0.767391923473888, -0.8677728440862877, 0.1468129838424409, -1.3168285625346055, 0.9500862441924647, 0.571513103407914, -1.4690954528263935 ], "eef_pose_l": [ 532.9576223895898, 396.1916359226636, 99.65153614687233, 1.6594564424016605, -0.11148608279114185, 0.7395255577735539 ], "eef_pose_r": [ 485.15413871493695, -167.291793941631, -43.301996655654364, 1.4814173870187126, 0.003088129280936306, 2.3284060929064925 ], "joint_status_l": { "velocity": [ -0.2641064884603139, -1.4940551154518644, 0.15486420646415588, 3.4057734558006203, 0.21976916813726266, -2.0662350829061538, -0.11634786126180074 ], "torque": [ -38.466796875, 2.0361328125, -8.087158203125, 1.37939453125, -2.6898193359375, -2.5506591796875, -0.52734375 ] }, "joint_status_r": { "velocity": [ 0.36985778675102665, 4.799694497979345, 0.44738984608572174, 3.161766887151529, -7.4860278766122335, 2.4103463029172545, 6.976766207406726 ], "torque": [ 34.48974609375, 10.83984375, 16.729736328125, -4.034423828125, -1.358642578125, 6.3592529296875, 0.8001708984375 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.7, -9.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.7, -9.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.3, -3.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.3, -3.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 38, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28281763383429886, -0.5844515705116521, -0.07126931726517491, -0.7804121325338816, -0.041123945710338096, -1.0224546070223646, 0.3225041269668225 ], "act_joint_pos_r": [ -0.7521309215580811, -0.8083362033544551, 0.1520322465265592, -1.2524312822426877, 0.8549976086246733, 0.6007010062485963, -1.3803224080536247 ], "act_eef_pose_l": [ 534.4934875079823, 399.5238907697837, 98.72123144788776, 1.660972873441578, -0.11099649338377891, 0.743578300248768 ], "act_eef_pose_r": [ 496.00146440420355, -211.12114812687867, -43.89905665308015, 1.5056692909870317, 0.06287994100482261, 2.2903484660778886 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 256, "colors": { "rgb_main": "colors/000256_rgb_main.jpg", "rgb_wrist_0": "colors/000256_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000256_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000256_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28238148286130604, -0.581465076086274, -0.07178040546787756, -0.7960103477522984, -0.041019440714988024, -1.0145907248588235, 0.32339065731185535 ], "joint_pos_r": [ -0.7654894242856662, -0.8549882742702823, 0.14797709564286174, -1.306238727654316, 0.9299413755237763, 0.5778766320757648, -1.4503078537164091 ], "eef_pose_l": [ 533.7017507003412, 396.54331560503937, 99.49888667123038, 1.6595909663059432, -0.11173948588622959, 0.739034924542272 ], "eef_pose_r": [ 486.8034145436327, -175.69556022879786, -43.56056516432733, 1.4854557373286599, 0.013989763468616136, 2.322119947669343 ], "joint_status_l": { "velocity": [ -0.1928770555532644, -1.0911089431502319, 0.11309738101306088, 2.4872374770739114, 0.16049749591107165, -1.5089721619316876, -0.08496888141973358 ], "torque": [ -38.49609375, 2.64404296875, -7.647705078125, 1.4892578125, -2.7154541015625, -2.51220703125, -0.43853759765625 ] }, "joint_status_r": { "velocity": [ 1.4426757451326822, 5.0382750629296424, 0.43794337898961366, 5.8110327172080645, -8.09368811453215, 2.46495971056504, 7.558205214234448 ], "torque": [ 36.46728515625, 14.67041015625, 16.534423828125, -2.972412109375, -1.1627197265625, 6.3116455078125, 0.9246826171875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.1, -17.2, -3.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.1, -17.2, -3.8, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2840241164713685, -0.5825955070826054, -0.07146739537263332, -0.784727578083881, -0.04252787956127499, -1.0182502764478194, 0.3231194342761953 ], "act_joint_pos_r": [ -0.7454135664173466, -0.8083168090541784, 0.15172131279059367, -1.2316318502984938, 0.8499229557210354, 0.6010579371099021, -1.380392472995018 ], "act_eef_pose_l": [ 534.2918875079823, 399.56469076978374, 98.4524314478877, 1.6608809831075455, -0.11026303410365121, 0.7455511671588257 ], "act_eef_pose_r": [ 501.0454644042035, -217.29794812687868, -44.43825665308009, 1.511105507575102, 0.07958184259550431, 2.276925314846668 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 257, "colors": { "rgb_main": "colors/000257_rgb_main.jpg", "rgb_wrist_0": "colors/000257_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000257_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000257_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2824245884116638, -0.5825092092680717, -0.07162458421808619, -0.7915542472068948, -0.04099427936336076, -1.0169164762014937, 0.3231549060328543 ], "joint_pos_r": [ -0.761549415887941, -0.8429185764418041, 0.14900369291439977, -1.2908197480839716, 0.9101884815360667, 0.5838067437314644, -1.432208557741866 ], "eef_pose_l": [ 533.959259604344, 397.27935859861554, 99.30067473493797, 1.6599294613563924, -0.11158535225917149, 0.7400633118423511 ], "eef_pose_r": [ 489.78126484262367, -185.21200926036974, -43.817011343404545, 1.4908162189168934, 0.027979038684453988, 2.312617681800636 ], "joint_status_l": { "velocity": [ 0.04244765371774761, -0.20976882750556314, 0.038367699319641346, 1.2033128948694127, -0.014003552460839508, -0.5981004886228547, -0.0702820662730197 ], "torque": [ -33.62548828125, 2.9150390625, -10.064697265625, 1.287841796875, -3.8763427734375, -2.347412109375, -0.45867919921875 ] }, "joint_status_r": { "velocity": [ 1.7426203469845802, 3.736880664460429, 0.29349429047753617, 6.392104435787971, -6.508484830524353, 1.863073936442916, 5.595972108284997 ], "torque": [ 35.01708984375, 12.01171875, 16.619873046875, -2.392578125, -1.1773681640625, 6.170654296875, 0.67474365234375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -16.4, -4.5, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -16.4, -4.5, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 301, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 19, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28612392533744524, -0.5758372765503447, -0.07212747107347342, -0.798046116112213, -0.04568618120383962, -1.0072890776523529, 0.32721446127499393 ], "act_joint_pos_r": [ -0.7403542067630458, -0.8062064941936283, 0.1517625080473907, -1.221035779809129, 0.8547096221143731, 0.5931960409710224, -1.3848593406123224 ], "act_eef_pose_l": [ 533.3550875079824, 399.9518907697837, 98.44523144788769, 1.6602769748943194, -0.11197207144930472, 0.7502511606849298 ], "act_eef_pose_r": [ 504.9254644042035, -222.57394812687866, -45.1166566530801, 1.5199235036030696, 0.08826211433582999, 2.2628976481349006 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 258, "colors": { "rgb_main": "colors/000258_rgb_main.jpg", "rgb_wrist_0": "colors/000258_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000258_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000258_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2827787937252615, -0.5825947083224863, -0.07157883363459225, -0.7897154577784098, -0.04132534366472734, -1.0173918917907407, 0.3231248634173395 ], "joint_pos_r": [ -0.759100073222269, -0.837666198169149, 0.14941621425850182, -1.2818353160215874, 0.9010404708337529, 0.5864253901220723, -1.4243431306771284 ], "eef_pose_l": [ 534.050065491927, 397.8434206483989, 99.09969310343567, 1.6601675373933562, -0.11128137693568528, 0.741353375054876 ], "eef_pose_r": [ 491.6047801944445, -190.01806723537186, -43.98840621291282, 1.493823675881465, 0.03587959877955576, 2.3070756513732302 ], "joint_status_l": { "velocity": [ 0.13449088998251923, -8.626354919272217e-05, 0.012034977338926112, 0.5386751196363448, -0.12987004651482392, -0.09270280884088322, -0.0005863299508135356 ], "torque": [ -26.982421875, 7.75634765625, -8.88671875, 0.96435546875, -4.9365234375, -2.244873046875, 0.13092041015625 ] }, "joint_status_r": { "velocity": [ 1.4780991407272737, 3.1696405408663253, 0.24894329927560577, 5.421814390226487, -5.520528812879455, 1.5802684671584188, 4.746531038218649 ], "torque": [ 34.892578125, 9.85107421875, 16.937255859375, -4.718017578125, -1.1553955078125, 6.2017822265625, 0.87158203125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.6, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.4, -3.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.4, -3.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2902013801359324, -0.5690926468969799, -0.0726748318024107, -0.8057528059491175, -0.04899063550338984, -1.0019919299668685, 0.32849135537523794 ], "act_joint_pos_r": [ -0.723707722328264, -0.8127624626359743, 0.15054815189168302, -1.1877424075738394, 0.8455240763018823, 0.584334169508524, -1.37473187426349 ], "act_eef_pose_l": [ 531.8998875079824, 401.5926907697837, 97.41163144788771, 1.6608906614178227, -0.10952196073913535, 0.7550241563150364 ], "act_eef_pose_r": [ 514.5550644042034, -229.35314812687866, -44.68305665308003, 1.530414509388311, 0.1057849468259427, 2.2450619426990013 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 259, "colors": { "rgb_main": "colors/000259_rgb_main.jpg", "rgb_wrist_0": "colors/000259_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000259_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000259_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28281551793717646, -0.5825947318776941, -0.07157554735209207, -0.7895683666315717, -0.04136080610467573, -1.0174172053089832, 0.32312470331351856 ], "joint_pos_r": [ -0.7566999604064765, -0.8343955064833192, 0.14964348731891697, -1.2744244079660314, 0.8953464740030808, 0.5872483775209871, -1.4194070272548427 ], "eef_pose_l": [ 534.0573185986572, 397.8941575084162, 99.0805788689122, 1.6601885185346867, -0.11125114663227398, 0.7414771602269514 ], "eef_pose_r": [ 493.3174796202503, -193.59418982283356, -44.162611223737144, 1.4967632206149337, 0.04200651405058928, 2.302123500716529 ], "joint_status_l": { "velocity": [ 0.13052479206976386, -8.37196614256186e-05, 0.01168006929630483, 0.5227897442914298, -0.1260402159551921, -0.08996902949931496, -0.0005690392481660922 ], "torque": [ -26.3671875, 7.91748046875, -8.709716796875, 0.982666015625, -4.98779296875, -2.29248046875, 0.13458251953125 ] }, "joint_status_r": { "velocity": [ 3.5630566257101037, 2.3362998300333615, 0.09770089232485901, 9.361379943214843, -5.380660257638503, -0.3147251830233344, 4.824774223957107 ], "torque": [ 35.38330078125, 11.72607421875, 16.6259765625, -3.216552734375, -1.0382080078125, 6.002197265625, 0.6829833984375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -16.9, -3.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.6, -16.9, -3.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 99, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29151718941624777, -0.5679510531878443, -0.07278763997951258, -0.8078692416371431, -0.04958914843202381, -1.0003118359598353, 0.3275833200645992 ], "act_joint_pos_r": [ -0.7087016109938178, -0.8280507560686792, 0.14841566521886487, -1.148255860671824, 0.8577095538069758, 0.5769865322034112, -1.3985129475926557 ], "act_eef_pose_l": [ 531.6110875079823, 401.6814907697837, 96.91483144788782, 1.6613832768095096, -0.10748170621214746, 0.7558749068744712 ], "act_eef_pose_r": [ 525.8462644042036, -235.12514812687868, -45.082256653080094, 1.5365465863641958, 0.13560004059301373, 2.2171863503023848 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 260, "colors": { "rgb_main": "colors/000260_rgb_main.jpg", "rgb_wrist_0": "colors/000260_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000260_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000260_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2847916957096001, -0.5789959171325868, -0.07186919202844232, -0.7939166734832543, -0.04340981517704258, -1.0132151382358248, 0.32456134344942883 ], "joint_pos_r": [ -0.7474521202044665, -0.8301434477737939, 0.14971364385574892, -1.2501227902724645, 0.8838935802086297, 0.5859973075351472, -1.4100641851926448 ], "eef_pose_l": [ 533.4975302375975, 398.8820728350696, 98.63008054033835, 1.6603560515750275, -0.11078920135353698, 0.7451467171173299 ], "eef_pose_r": [ 499.5962348348138, -202.56053169908148, -44.63884428260991, 1.5059464879175044, 0.06010886512475166, 2.2861522836541526 ], "joint_status_l": { "velocity": [ 0.7263318983032896, 1.192810125978383, -0.09918945327902495, -1.5068329189587004, -0.6673483091516608, 1.393515546262769, 0.32636384885087466 ], "torque": [ -25.42236328125, 10.576171875, -15.02685546875, -3.216552734375, -5.496826171875, -0.025634765625, 0.5145263671875 ] }, "joint_status_r": { "velocity": [ 4.184931566792116, 0.22600403852024442, -0.14017755846729152, 11.001303930754602, -2.8277914501284585, -0.9731350347443879, 1.2474968678475307 ], "torque": [ 35.13427734375, 10.10009765625, 11.31591796875, -2.081298828125, -0.9832763671875, 3.58154296875, 0.51177978515625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.9, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.9, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 3.2, -16.2, -4.7, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 3.2, -16.2, -4.7, 1.0, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 40, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29228972935943465, -0.5663688745872733, -0.07303270306281925, -0.8143716824628788, -0.04992397989149183, -0.9962960143169306, 0.32831267295727723 ], "act_joint_pos_r": [ -0.7057650714857142, -0.835022193156993, 0.1475451243908106, -1.1364985582592557, 0.8762308852060201, 0.5705058358964646, -1.4171724814165667 ], "act_eef_pose_l": [ 531.2206875079823, 400.7206907697837, 96.79323144788788, 1.661367284073847, -0.10736179679904047, 0.7550188281153006 ], "act_eef_pose_r": [ 529.8374644042035, -236.90834812687868, -46.380656653079996, 1.5404881692554184, 0.14109315967163144, 2.2022314413224944 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 261, "colors": { "rgb_main": "colors/000261_rgb_main.jpg", "rgb_wrist_0": "colors/000261_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000261_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000261_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2863025368026206, -0.5765147558911369, -0.07207551575229117, -0.7970510327198457, -0.044797964659640206, -1.0103164901715247, 0.3252402120427978 ], "joint_pos_r": [ -0.7406007044010724, -0.8297734422871011, 0.14948415032066092, -1.2321118607253174, 0.8792640242120988, 0.5844041267030425, -1.4080218292738824 ], "eef_pose_l": [ 533.0774687503597, 399.51226716823373, 98.24343448063883, 1.6605715526754659, -0.11004718911354441, 0.747557448249977 ], "eef_pose_r": [ 504.37592554516624, -208.1142259582219, -44.95716749704627, 1.5117493028158084, 0.07355318440034761, 2.274062809675744 ], "joint_status_l": { "velocity": [ 0.5631658725819833, 0.9248526148866176, -0.07690714828478828, -1.1683321049540396, -0.5174325865590079, 1.0804707880796016, 0.25304820309646203 ], "torque": [ -23.90625, 10.42236328125, -15.576171875, -3.424072265625, -5.7183837890625, -0.3369140625, 0.55389404296875 ] }, "joint_status_r": { "velocity": [ 3.445000483125682, 0.18604462449722803, -0.1153929876596127, 9.056180907998979, -2.3278141485452153, -0.8010765794699282, 1.0269289339248644 ], "torque": [ 33.984375, 11.27197265625, 10.760498046875, -3.02734375, -1.1846923828125, 3.984375, 0.59051513671875 ] }, "eef_FT_l": { "raw_value": [ -0.4, -17.0, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -17.0, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.4, -2.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.3, -17.4, -2.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29295963077359705, -0.5624440376160615, -0.07344523168537793, -0.822334524720063, -0.04921492145330697, -0.9907228883879567, 0.32639313944257603 ], "act_joint_pos_r": [ -0.6965720308780314, -0.854993728919802, 0.14545509682071206, -1.117867264044339, 0.9620712842971884, 0.5330737835137024, -1.4740338762221472 ], "act_eef_pose_l": [ 530.4958875079824, 400.69829076978374, 96.7196314478877, 1.662514193188893, -0.10567541270520946, 0.756397965015515 ], "act_eef_pose_r": [ 541.2998644042036, -240.28914812687867, -50.211856653080304, 1.5599404045149252, 0.12614756743715783, 2.153119215216737 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 262, "colors": { "rgb_main": "colors/000262_rgb_main.jpg", "rgb_wrist_0": "colors/000262_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000262_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000262_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28673336602077093, -0.575747053672923, -0.07214722991074227, -0.798327189517448, -0.04515234116966099, -1.0092789887007165, 0.3254230217224402 ], "joint_pos_r": [ -0.7364778132826222, -0.830766752252369, 0.14922717798293525, -1.2210900953736892, 0.8809538862034937, 0.5819066437034172, -1.4102282365840444 ], "eef_pose_l": [ 532.939774525314, 399.61333783767924, 98.13892522999463, 1.660641427843555, -0.10983126543577372, 0.748128213310152 ], "eef_pose_r": [ 507.59192386054417, -211.29464199420758, -45.34314402844683, 1.5157273431408012, 0.08061780158218389, 2.2648880462309147 ], "joint_status_l": { "velocity": [ 0.6724167614327037, 1.4366833614305463, -0.14018005727078897, -2.5927157338188067, -0.438745730520107, 2.0039997289655886, 0.1047696237597151 ], "torque": [ -24.08935546875, 11.103515625, -15.625, -4.04052734375, -5.8831787109375, -0.0054931640625, 0.56671142578125 ] }, "joint_status_r": { "velocity": [ 4.309697391965628, -2.6164363124179246, -0.4073727507030167, 11.147736998641022, 8.760420619323916, -5.273793358268719, -6.8908058474601575 ], "torque": [ 36.181640625, 5.45654296875, 10.809326171875, -4.132080078125, -0.633544921875, 3.9239501953125, -0.289306640625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.9, -1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.1, -17.9, -1.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29275388393609103, -0.5615896297787724, -0.07352412327184102, -0.8235344080687491, -0.04794743555900469, -0.990349282259147, 0.3250557210071618 ], "act_joint_pos_r": [ -0.693339928107727, -0.861619788989604, 0.14476256404767449, -1.1099448994104484, 0.9851021584457521, 0.5251208359289096, -1.4881104180891396 ], "act_eef_pose_l": [ 530.2726875079824, 400.7550907697837, 96.7196314478877, 1.6633599280336107, -0.10522260458482535, 0.7561637146696912 ], "act_eef_pose_r": [ 544.7878644042034, -241.30354812687867, -51.02945665308016, 1.5640103203846991, 0.12178225854269445, 2.1395504579142943 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 263, "colors": { "rgb_main": "colors/000263_rgb_main.jpg", "rgb_wrist_0": "colors/000263_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000263_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000263_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2882683546927453, -0.572429242244244, -0.0724708234232364, -0.8043046034305507, -0.04612048824614194, -1.0046751707469324, 0.32562369442770295 ], "joint_pos_r": [ -0.7279317778486162, -0.8360243702908461, 0.14841361750287765, -1.1989908838713406, 0.8985701381705044, 0.5713894388438765, -1.4240248941170637 ], "eef_pose_l": [ 532.3346243949879, 399.88778197320113, 97.78485872317029, 1.6611153662781837, -0.1087910446993743, 0.7501695311196419 ], "eef_pose_r": [ 515.1174760783271, -217.28221062988462, -46.64407022640404, 1.5256397542191513, 0.09028955410284908, 2.240557845573847 ], "joint_status_l": { "velocity": [ 0.48442287099259573, 1.1706436199832027, -0.11375302868299464, -2.076757650232075, -0.19730449060423316, 1.5471503259210095, -0.06133932031193723 ], "torque": [ -23.67919921875, 10.751953125, -16.0888671875, -3.900146484375, -5.819091796875, -0.1116943359375, 0.5657958984375 ] }, "joint_status_r": { "velocity": [ 3.7358095902018107, -2.764223693045409, -0.39430214384172935, 9.616682692881184, 9.345182568299748, -4.9968617402571525, -6.921032464042298 ], "torque": [ 36.6357421875, 3.61083984375, 9.747314453125, -3.692626953125, 1.688232421875, 3.91845703125, -0.816650390625 ] }, "eef_FT_l": { "raw_value": [ -0.4, -17.2, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -17.2, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.7, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.2, -17.7, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29009194918830394, -0.5590829100139023, -0.07386986187292585, -0.8317700753707791, -0.042870803626691864, -0.9844227226142472, 0.3219837839885465 ], "act_joint_pos_r": [ -0.6833475548143019, -0.8745524979328931, 0.14339441457295746, -1.0896768468943365, 0.9902800339026125, 0.5205840280784655, -1.4933780552246174 ], "act_eef_pose_l": [ 530.0422875079823, 399.8446907697837, 97.59483144788766, 1.6655733465554388, -0.10682240783915764, 0.7552495878634901 ], "act_eef_pose_r": [ 550.8334644042036, -241.22354812687868, -49.95585665308022, 1.5641846278202782, 0.12950654357107258, 2.1300720902573 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 264, "colors": { "rgb_main": "colors/000264_rgb_main.jpg", "rgb_wrist_0": "colors/000264_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000264_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000264_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2884653000819842, -0.5719533091758379, -0.07251707048515808, -0.805148923276436, -0.04620070371908404, -1.0040461663348876, 0.3255987565128399 ], "joint_pos_r": [ -0.7197166511231177, -0.842801003996681, 0.14750703218920158, -1.1785309381842088, 0.9166228756349857, 0.5615138225333036, -1.4375753101785949 ], "eef_pose_l": [ 532.2449632598402, 399.92651316525075, 97.73761184517903, 1.6612124394347667, -0.10863404730013941, 0.750432828471646 ], "eef_pose_r": [ 522.1096045063362, -221.97705716253765, -47.60115380848964, 1.5336532461345147, 0.09769225459263493, 2.21869983593589 ], "joint_status_l": { "velocity": [ 0.4631533962644596, 1.1192443645349215, -0.10875849330138632, -1.985573796200235, -0.18864147502850592, 1.47921985292232, -0.05864610493899747 ], "torque": [ -23.34228515625, 11.6015625, -16.046142578125, -3.13720703125, -5.76416015625, 0.2911376953125, -0.07965087890625 ] }, "joint_status_r": { "velocity": [ 3.927746558660239, -3.4290602103856926, -0.44414960306204954, 9.595958841629226, 7.954738480433043, -4.420287431713632, -6.0265187223009775 ], "torque": [ 35.10498046875, 3.11279296875, 9.66796875, -3.6865234375, 1.93359375, 3.5650634765625, -0.66009521484375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.5, -9.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.5, -9.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.2, -18.4, -0.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.2, -18.4, -0.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 295, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29016652975274876, -0.5563641510860472, -0.07412923495265675, -0.835877347583633, -0.03946743077464702, -0.9810560201494176, 0.31857077303090287 ], "act_joint_pos_r": [ -0.6768058847125218, -0.8813122299024615, 0.1428149733815354, -1.0856271124481347, 1.0000765605939037, 0.5143919664297121, -1.5035982541012938 ], "act_eef_pose_l": [ 529.5406875079824, 400.2350907697837, 97.23563144788778, 1.6686453423087175, -0.10555752733091193, 0.756393393987857 ], "act_eef_pose_r": [ 553.8310644042035, -239.58354812687867, -48.22785665308015, 1.5635187615106743, 0.13279218985722918, 2.12616117323589 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 265, "colors": { "rgb_main": "colors/000265_rgb_main.jpg", "rgb_wrist_0": "colors/000265_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000265_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000265_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28895143203149454, -0.5684843375418022, -0.0728779338357562, -0.8121461080119106, -0.045208264625493606, -0.9988605829446786, 0.32448672138425266 ], "joint_pos_r": [ -0.708915364186774, -0.8524542124661553, 0.14631975689230534, -1.154683111294872, 0.9377632402902185, 0.5496071906596351, -1.4541871863250158 ], "eef_pose_l": [ 531.6513043742971, 399.95866705017636, 97.65043392349004, 1.6625177099584219, -0.10801982990293478, 0.7517785030326655 ], "eef_pose_r": [ 530.4211219319856, -226.52999084125258, -48.056422833672684, 1.5416333196370624, 0.10680219813239109, 2.1945568236711663 ], "joint_status_l": { "velocity": [ 0.13122668357112843, 1.3089415320548525, -0.13513653498609113, -2.562898285101589, 0.6199917702116031, 1.922836070870737, -0.6389035787082165 ], "torque": [ -22.5732421875, 9.86572265625, -16.326904296875, -3.1982421875, -3.211669921875, -0.362548828125, -0.47607421875 ] }, "joint_status_r": { "velocity": [ 3.4677215082412616, -3.11657396468501, -0.3785054557416956, 7.457827918571525, 6.729640112672186, -3.8031320494478216, -5.336237935912536 ], "torque": [ 36.533203125, 3.28125, 9.21630859375, -3.466796875, 2.4407958984375, 3.6016845703125, -0.6719970703125 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.9, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.9, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.5, -2.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.5, -2.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 257, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29005108371964955, -0.557650015017049, -0.07398961526030876, -0.8329304846842843, -0.03709546877140293, -0.9844400052898042, 0.3159659671187315 ], "act_joint_pos_r": [ -0.6711474715110316, -0.8938598320719394, 0.14168707850110668, -1.0735745005686765, 1.0088359301561791, 0.510237997760675, -1.513391828138122 ], "act_eef_pose_l": [ 529.4878875079824, 400.1166907697837, 96.82523144788757, 1.6702021880689695, -0.10406252541112924, 0.7542668549318235 ], "act_eef_pose_r": [ 557.6326644042035, -237.06674812687868, -47.982256653080185, 1.5633827558237265, 0.13635887580352857, 2.121457021579451 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 266, "colors": { "rgb_main": "colors/000266_rgb_main.jpg", "rgb_wrist_0": "colors/000266_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000266_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000266_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2891957688532511, -0.566047160855597, -0.0731295505844476, -0.8169180827690709, -0.044053874264277974, -0.9952803686046511, 0.3232971182823352 ], "joint_pos_r": [ -0.7070494892307619, -0.8541311456614666, 0.14611609467522596, -1.150670282033226, 0.9413842539498704, 0.5475608415429003, -1.4570584528613497 ], "eef_pose_l": [ 531.2313024293121, 400.01701340254635, 97.56350093125576, 1.6637569016339575, -0.1075081740697957, 0.7527019483013503 ], "eef_pose_r": [ 531.8208031813512, -227.2779057481051, -48.10092563378993, 1.5429387516442168, 0.10834516241327322, 2.1905176102885093 ], "joint_status_l": { "velocity": [ 0.10483908508218676, 1.0457342128296077, -0.10796272757607195, -2.0475402110022856, 0.4953212881596558, 1.5361843258308028, -0.5104302328198251 ], "torque": [ -23.0859375, 10.31982421875, -16.265869140625, -3.8330078125, -2.86376953125, -0.1739501953125, -0.42205810546875 ] }, "joint_status_r": { "velocity": [ 3.2662129561691344, -2.9354705209518883, -0.3565105850011907, 7.02445513996075, 6.3385821710673085, -3.58213286286313, -5.026150295533327 ], "torque": [ 37.60986328125, 2.80517578125, 8.880615234375, -2.801513671875, 2.039794921875, 3.365478515625, -0.84228515625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.5, -9.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.5, -9.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.7, -1.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.6, -17.7, -1.9, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2841035199799435, -0.5685876228742824, -0.07294007259547584, -0.814958787244698, -0.030239366674140535, -1.0009206094927894, 0.3111358188501097 ], "act_joint_pos_r": [ -0.6684278160228402, -0.913676902598556, 0.13986534530803352, -1.0506354478335318, 1.0242089129258485, 0.5122331380282286, -1.529300448977561 ], "act_eef_pose_l": [ 531.1462875079824, 398.3878907697837, 97.94283144788761, 1.6704724398395436, -0.1054201673063568, 0.7439773052727424 ], "act_eef_pose_r": [ 562.3710644042035, -234.25474812687867, -49.847056653080244, 1.5615073807921689, 0.13947165474774245, 2.1115438953228827 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 267, "colors": { "rgb_main": "colors/000267_rgb_main.jpg", "rgb_wrist_0": "colors/000267_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000267_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000267_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28925743855067126, -0.5654417119578857, -0.07319156275143539, -0.8180726049454955, -0.04355216106118591, -0.9944987594548333, 0.3227685294646225 ], "joint_pos_r": [ -0.6990260323263138, -0.8653461232227369, 0.1449196964639625, -1.131063930848888, 0.9578851519371897, 0.5398901960881942, -1.4712661411111487 ], "eef_pose_l": [ 531.1063865839375, 400.0245842901112, 97.50938496737508, 1.6642239368771583, -0.10725511284791271, 0.7528122306393418 ], "eef_pose_r": [ 538.1397746575451, -228.9861656779853, -48.48799337420064, 1.547067673525895, 0.11485204512916815, 2.1741244893849685 ], "joint_status_l": { "velocity": [ 0.08571115033406684, 0.8414784515302642, -0.08618712900487768, -1.604603686533146, 0.6973022014674646, 1.0863134107212957, -0.7346550658633433 ], "torque": [ -22.94677734375, 10.34912109375, -16.50390625, -3.167724609375, -2.669677734375, -0.1776123046875, -0.52734375 ] }, "joint_status_r": { "velocity": [ 3.304509899465735, -5.21957022959274, -0.5458538257423484, 8.686019985193028, 7.162754932609872, -2.9868741773313445, -6.2675203989375206 ], "torque": [ 35.7861328125, 4.130859375, 8.624267578125, -2.294921875, 1.9940185546875, 3.9422607421875, -0.96405029296875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.5, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.5, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -17.6, -1.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.8, -17.6, -1.9, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -74, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.281420700859937, -0.5738712495490307, -0.07229309698256352, -0.7995140454299605, -0.025766409877763137, -1.0141600517119431, 0.30710521577601946 ], "act_joint_pos_r": [ -0.6716150332042914, -0.9214882193739803, 0.13942689179560996, -1.0566200555441103, 1.0756770289234634, 0.5079944113729776, -1.5800429856679146 ], "act_eef_pose_l": [ 531.7614875079823, 399.2774907697837, 98.10443144788775, 1.6721045530941192, -0.10505690490109026, 0.7401923071233867 ], "act_eef_pose_r": [ 563.2430644042036, -231.76354812687867, -51.01905665308004, 1.5602085992556718, 0.1368594589757821, 2.0971269485659545 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 268, "colors": { "rgb_main": "colors/000268_rgb_main.jpg", "rgb_wrist_0": "colors/000268_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000268_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000268_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28782589966971195, -0.5665273833940359, -0.07309172107970811, -0.8164044166481392, -0.03999720309272236, -0.9968575657895429, 0.3196551123021598 ], "joint_pos_r": [ -0.6957131838268747, -0.871142875011876, 0.14433009810378045, -1.1222509189295486, 0.9676291144209377, 0.5365831865032062, -1.4800428404104242 ], "eef_pose_l": [ 531.1540464961765, 399.6682113885038, 97.62871956063866, 1.6658424096615256, -0.10679666339396188, 0.7503934782706639 ], "eef_pose_r": [ 540.995153104782, -229.4938051047594, -48.73563180138683, 1.5485434660455153, 0.11756377636167409, 2.1662296149674742 ], "joint_status_l": { "velocity": [ -0.6917410696436477, -0.7931141530876928, 0.0862488587175525, 1.8241062924246876, 1.5368803393529529, -1.8686133678134098, -1.3553488509456812 ], "torque": [ -34.05029296875, 1.81640625, -8.8623046875, 2.642822265625, -2.4957275390625, -2.6971435546875, -0.5401611328125 ] }, "joint_status_r": { "velocity": [ 2.602523509911414, -5.437136831328182, -0.5295306636103891, 7.087924198478035, 11.668830612510561, -3.087496653218391, -10.799697167767519 ], "torque": [ 36.7822265625, 3.61083984375, 8.5205078125, -3.753662109375, 1.798095703125, 3.62548828125, -0.68115234375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.5, 1.5, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -8.5, 1.5, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.5, -1.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.7, -17.5, -1.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28121712500000257, -0.5755865357947667, -0.07210363667254864, -0.795265299945827, -0.02442928451145066, -1.017982377551422, 0.30515698085621856 ], "act_joint_pos_r": [ -0.6723403786154178, -0.927088798527645, 0.13905458799882295, -1.05759052850052, 1.1017157390590349, 0.5046353798323476, -1.603384008482835 ], "act_eef_pose_l": [ 531.8734875079824, 399.35189076978367, 97.83723144788775, 1.6729317434120596, -0.10369635887461831, 0.7387457082920297 ], "act_eef_pose_r": [ 564.1854644042035, -230.22914812687867, -51.81345665308004, 1.5609452491358762, 0.13359841813759935, 2.089663987303458 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 269, "colors": { "rgb_main": "colors/000269_rgb_main.jpg", "rgb_wrist_0": "colors/000269_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000269_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000269_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28661507959589744, -0.5679156464010009, -0.07294075151311494, -0.8132115102087737, -0.03730705551062494, -1.0001283771888312, 0.3172827165203226 ], "joint_pos_r": [ -0.6914524282040102, -0.8800443551476519, 0.1434631700073137, -1.1106468305253165, 0.9867328940621837, 0.5315284507147771, -1.497723706791673 ], "eef_pose_l": [ 531.2722134805638, 399.5928283783283, 97.72163568146823, 1.6669988777413267, -0.10649302009500097, 0.7484570484636942 ], "eef_pose_r": [ 545.0517595727599, -229.94441144145802, -49.14637452913223, 1.550292601032545, 0.12105080734633676, 2.1536327468976046 ], "joint_status_l": { "velocity": [ -0.5609763583707128, -0.6431861702242969, 0.06994462639309251, 1.4792825670051357, 1.2463529691332242, -1.515376154864967, -1.09913766305203 ], "torque": [ -34.98046875, 1.47216796875, -9.19189453125, 0.946044921875, -2.70263671875, -2.4261474609375, -0.63995361328125 ] }, "joint_status_r": { "velocity": [ 2.1423754739826606, -4.4758053296209965, -0.43590519052782994, 5.834719612114014, 9.605683260534015, -2.5416012883914263, -8.890219915613784 ], "torque": [ 38.60595703125, 3.74267578125, 8.984375, -2.6123046875, 1.9940185546875, 3.3966064453125, -0.68389892578125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.7, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.7, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -17.3, -2.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.6, -17.3, -2.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 280, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -34, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2828729425012436, -0.5795194937779515, -0.07182239552624706, -0.7921001763379305, -0.024196712335150503, -1.0192792745873858, 0.30164487185118605 ], "act_joint_pos_r": [ -0.6727601196916123, -0.9339774296382584, 0.1386380859879215, -1.0618308240709826, 1.1347445644585612, 0.49423343001621584, -1.631237397588013 ], "act_eef_pose_l": [ 532.4142875079824, 398.1806907697837, 96.56603144788761, 1.6740067749712642, -0.09853229958307819, 0.7369436374047363 ], "act_eef_pose_r": [ 565.0758644042035, -227.38914812687867, -53.41505665308023, 1.5670646433685635, 0.12671444927862, 2.0829347576594985 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 270, "colors": { "rgb_main": "colors/000270_rgb_main.jpg", "rgb_wrist_0": "colors/000270_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000270_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000270_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2861049017191371, -0.5689868481128039, -0.0728324807765843, -0.8110593226264966, -0.035858264309561606, -1.002167301780942, 0.31573638912062846 ], "joint_pos_r": [ -0.6867711735307013, -0.8927127046053682, 0.14231123118278174, -1.0982311058022747, 1.0201321342980296, 0.5231491008234374, -1.5279936971081873 ], "eef_pose_l": [ 531.3726330384403, 399.49638573585054, 97.66590618986382, 1.6677043325237042, -0.10591155808124507, 0.7472700956823408 ], "eef_pose_r": [ 550.10244780595, -229.6820848680973, -49.9685332587502, 1.5531502362462024, 0.12318443802077113, 2.1360697970209186 ], "joint_status_l": { "velocity": [ -0.3490413011095761, -1.1374921832967289, 0.10908598971715033, 2.0475274105722363, 1.2594104689100938, -1.8480385581121084, -1.5218389808580035 ], "torque": [ -35.22216796875, 0.439453125, -9.2529296875, 1.77001953125, -2.5067138671875, -2.431640625, -0.59417724609375 ] }, "joint_status_r": { "velocity": [ 1.5131491866720026, -4.456458867323931, -0.3966879813583901, 3.9311144849563107, 12.37777739430701, -3.122800345106924, -11.149990800419118 ], "torque": [ 38.75244140625, 2.18994140625, 8.782958984375, -2.38037109375, 2.1533203125, 3.328857421875, -0.77362060546875 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.7, -17.3, -1.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.7, -17.3, -1.9, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 286, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -64, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28289558451561986, -0.5803813150819006, -0.07172230527836664, -0.789620531992887, -0.023402306415313552, -1.0219841262849998, 0.2997953857878677 ], "act_joint_pos_r": [ -0.6729128314647118, -0.9378523961809476, 0.13842364109399366, -1.0634904622789327, 1.1482312651247728, 0.4905126348382538, -1.6426268014948044 ], "act_eef_pose_l": [ 532.3694875079824, 398.2334907697837, 96.36203144788766, 1.6745148585950775, -0.09690894061814911, 0.7358439817533736 ], "act_eef_pose_r": [ 565.4134644042035, -225.56434812687866, -54.0070566530801, 1.568933359222248, 0.12336818833146783, 2.081094138467407 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 271, "colors": { "rgb_main": "colors/000271_rgb_main.jpg", "rgb_wrist_0": "colors/000271_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000271_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000271_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2853798559554652, -0.5713907824907116, -0.07260117664709502, -0.8066913928504543, -0.033203688018866924, -1.006130163455613, 0.312489610735575 ], "joint_pos_r": [ -0.6855700907064459, -0.8963143243264032, 0.1419925743334832, -1.0951294906061197, 1.0301760688330341, 0.5206103804720459, -1.5370300627810154 ], "eef_pose_l": [ 531.6093134509125, 399.20345842488166, 97.41192334441934, 1.669119709843358, -0.10420778232721296, 0.7448915014187821 ], "eef_pose_r": [ 551.4490370205294, -229.49610197382532, -50.23974299468682, 1.5541088908806358, 0.12347643613215588, 2.131226591332626 ], "joint_status_l": { "velocity": [ -0.26829340261258494, -0.9709488832418955, 0.09491530844529805, 1.843598598584073, 1.0585179938643607, -1.7121774875974438, -1.370935860760536 ], "torque": [ -36.708984375, 2.8125, -8.8623046875, 0.946044921875, -2.548828125, -2.40966796875, -0.5950927734375 ] }, "joint_status_r": { "velocity": [ 1.3669436822585368, -4.485979453399125, -0.38543342211383447, 3.416914282836636, 12.749585170593214, -3.250460661236687, -11.404111434801578 ], "torque": [ 38.6572265625, 3.24462890625, 8.184814453125, -2.99072265625, 1.8988037109375, 3.5321044921875, -0.94940185546875 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.5, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.3, -16.5, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -17.7, -1.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.8, -17.7, -1.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -64, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2840674700116647, -0.5778001438329721, -0.07200916600057972, -0.7960736791932003, -0.02489396166801759, -1.0155465238325003, 0.2993476642146806 ], "act_joint_pos_r": [ -0.6696029701258772, -0.9514460790750161, 0.13756497086805877, -1.0747825924725516, 1.1952632168337682, 0.4765187167117152, -1.6841793767172026 ], "act_eef_pose_l": [ 532.1710875079823, 398.19109076978367, 96.19163144788769, 1.6743846703458685, -0.0952835395890479, 0.7387434696803098 ], "act_eef_pose_r": [ 566.6390644042035, -217.05554812687868, -53.42225665308001, 1.5719143850276367, 0.11290808596086517, 2.0796317279251606 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 272, "colors": { "rgb_main": "colors/000272_rgb_main.jpg", "rgb_wrist_0": "colors/000272_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000272_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000272_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28530659550061804, -0.5716559107276603, -0.07257525898158049, -0.8061879780419923, -0.032914648076254605, -1.0065976922889686, 0.31211526166941245 ], "joint_pos_r": [ -0.6831773993904524, -0.9041665600996713, 0.14131791361852114, -1.0891485411067745, 1.0524928783081657, 0.5149207905510699, -1.556991761825988 ], "eef_pose_l": [ 531.6323245644446, 399.17489473369335, 97.38122141273314, 1.6692761003677388, -0.1039956632179155, 0.744623401139173 ], "eef_pose_r": [ 554.1962973323415, -228.83363092347057, -50.87979778200855, 1.5563742851956357, 0.12353075297871714, 2.1212357592345743 ], "joint_status_l": { "velocity": [ -0.2603815068380477, -0.9423158781363128, 0.0921162831226674, 1.7892314027445622, 1.0273026007110442, -1.6616858627660491, -1.3305073539897627 ], "torque": [ -36.6650390625, 3.427734375, -8.70361328125, 0.74462890625, -2.3583984375, -2.33642578125, -0.64544677734375 ] }, "joint_status_r": { "velocity": [ 1.108540641321376, -3.637963000794109, -0.3125722138244136, 2.770990787402283, 10.33944083068672, -2.6360030722294425, -9.248311519863606 ], "torque": [ 39.57275390625, 3.193359375, 8.502197265625, -3.338623046875, 1.966552734375, 3.83056640625, -0.7379150390625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.5, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.5, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.4, -1.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.4, -1.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -99, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2849440131141595, -0.5772581975048587, -0.07205957126645578, -0.7969965563995517, -0.026503465186558453, -1.0148720724233626, 0.30006608377116517 ], "act_joint_pos_r": [ -0.6676900133362107, -0.9554505099370602, 0.1373778755337507, -1.0828049526987655, 1.2186215344778546, 0.4709790323467844, -1.7063839904077747 ], "act_eef_pose_l": [ 532.0438875079824, 398.2606907697837, 96.04683144788766, 1.6736587268628673, -0.09461928603795079, 0.7393870056803394 ], "act_eef_pose_r": [ 566.9102644042035, -213.61714812687867, -52.316656653080145, 1.571922087455605, 0.10972794947892077, 2.0789170935020604 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 273, "colors": { "rgb_main": "colors/000273_rgb_main.jpg", "rgb_wrist_0": "colors/000273_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000273_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000273_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2849970901687545, -0.5733017255017869, -0.07242198121786408, -0.80340547803885, -0.030882544998191902, -1.0090926074448272, 0.30886943521280447 ], "joint_pos_r": [ -0.6793412457825078, -0.9170022026861058, 0.14032130550027702, -1.0868225478455795, 1.0933156014491026, 0.5040958846588278, -1.5936265897102044 ], "eef_pose_l": [ 531.7729307586702, 398.925796016609, 97.07179085456637, 1.6705511507898945, -0.10176936587498836, 0.7430318911943589 ], "eef_pose_r": [ 557.6810164295322, -225.447218119061, -51.15176138537555, 1.55906394927894, 0.12052421794234744, 2.109060057890585 ], "joint_status_l": { "velocity": [ -0.005732152835502546, -0.4272863741938693, 0.03913912040554024, 0.6921431233744002, 0.4729266714298408, -0.6241638089541368, -0.9507339152992067 ], "torque": [ -34.072265625, 2.314453125, -11.29150390625, 0.909423828125, -2.530517578125, -2.376708984375, -0.52276611328125 ] }, "joint_status_r": { "velocity": [ 1.258295992744074, -4.152294717716387, -0.317881060984071, 0.43388747902906033, 13.532641643173804, -3.5765145660420217, -12.177440120938243 ], "torque": [ 38.466796875, 3.65478515625, 8.67919921875, -2.679443359375, 1.9354248046875, 3.4991455078125, -0.809326171875 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.7, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.3, -16.7, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.7, -17.0, -2.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.7, -17.0, -2.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -110, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2882147101758464, -0.5758171219373015, -0.07227370733045914, -0.8029386875645108, -0.031166820071727053, -1.0104611085191115, 0.3022088051826363 ], "act_joint_pos_r": [ -0.6642343489099471, -0.9607425308076044, 0.1371479827410852, -1.0961897558157907, 1.2506291529152065, 0.46455809620151994, -1.7366546740939983 ], "act_eef_pose_l": [ 531.6414875079823, 397.5382907697837, 95.27563144788775, 1.6718545053264637, -0.09203643687278121, 0.7403203389518778 ], "act_eef_pose_r": [ 567.0478644042034, -208.14114812687868, -49.77665665308018, 1.5696237756057163, 0.10462797606057227, 2.0798846334249963 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 274, "colors": { "rgb_main": "colors/000274_rgb_main.jpg", "rgb_wrist_0": "colors/000274_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000274_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000274_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28503437414057764, -0.5741228572376147, -0.07234798627485825, -0.8021289559563006, -0.03001928561285268, -1.0102578311710568, 0.30702657319572274 ], "joint_pos_r": [ -0.6785011715504743, -0.9197743928673323, 0.14010907905298317, -1.0865328722105647, 1.1023503783230089, 0.5017081017009626, -1.601756595461412 ], "eef_pose_l": [ 531.8253178155131, 398.77344220162854, 96.84228297796662, 1.671184141103952, -0.10021137405241473, 0.7422659362326341 ], "eef_pose_r": [ 558.395811897771, -224.6417731138374, -51.196741260255294, 1.5597143503769748, 0.11979320567311047, 2.106602364757716 ], "joint_status_l": { "velocity": [ 0.34346616181624157, -0.18297519100141102, 0.008021889402187732, -0.08744843453278861, -0.12393006643648952, -0.021953306111655024, -0.5203035998788685 ], "torque": [ -35.38330078125, 2.28515625, -9.1796875, 0.89111328125, -2.5048828125, -2.4664306640625, -0.56121826171875 ] }, "joint_status_r": { "velocity": [ 1.167570651485761, -3.8529070081123606, -0.29496128065908955, 0.4026034331214845, 12.55691451832508, -3.318641612148898, -11.299425395467466 ], "torque": [ 38.94287109375, 1.93359375, 8.526611328125, -2.667236328125, 1.7340087890625, 3.7335205078125, -1.02630615234375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -9.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -9.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -17.3, -0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.8, -17.3, -0.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -93, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2924332152491031, -0.572780681930262, -0.07263665600656254, -0.8115455541345797, -0.03715878266261717, -1.0052206363689975, 0.30544208574534043 ], "act_joint_pos_r": [ -0.6629531059595397, -0.9699546562556054, 0.13649099368444098, -1.0967487719218383, 1.2804727599743757, 0.4677434799891308, -1.7605099568208071 ], "act_eef_pose_l": [ 530.7694875079824, 396.8438907697837, 94.41883144788773, 1.6694791405270923, -0.08922561506157341, 0.7412830969565896 ], "act_eef_pose_r": [ 568.3990644042035, -204.64114812687868, -48.63585665308028, 1.5639015985033518, 0.09738266813317077, 2.07375383685835 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 275, "colors": { "rgb_main": "colors/000275_rgb_main.jpg", "rgb_wrist_0": "colors/000275_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000275_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000275_depth_main.npy" }, "states": { "joint_pos_l": [ 0.28532634864739836, -0.5741999097749166, -0.07234802230664016, -0.8023151957069476, -0.03019103662977727, -1.010194639584802, 0.3067272347128955 ], "joint_pos_r": [ -0.675069682437382, -0.9306064161154831, 0.13932772565947563, -1.088801070891415, 1.1409369002167742, 0.49392578244934476, -1.6362784396292673 ], "eef_pose_l": [ 531.7994877242545, 398.6740187160925, 96.7165231802132, 1.6711971444670048, -0.09958098137075992, 0.7421393392112476 ], "eef_pose_r": [ 560.788869938183, -220.4947462570892, -50.48947618012039, 1.5595904733677988, 0.11533272453677404, 2.09836680029768 ], "joint_status_l": { "velocity": [ 0.7675189562221796, 0.153272086704348, -0.031171520236794592, -0.9968493096854658, -0.7524943779113613, 0.5371765041335408, -0.1387919950448513 ], "torque": [ -28.6083984375, 2.6953125, -8.984375, -1.9287109375, -4.2681884765625, -1.4501953125, -0.58502197265625 ] }, "joint_status_r": { "velocity": [ 1.3085516659394614, -4.249484603284337, -0.30635801775713567, -0.8583263963011234, 15.069428404785867, -2.827605269943856, -13.416608154980025 ], "torque": [ 39.4189453125, 3.68408203125, 8.6181640625, -7.09228515625, 1.9976806640625, 3.4442138671875, -0.88531494140625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.5, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.5, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.0, -16.9, -1.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.0, -16.9, -1.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -145, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29629722578174406, -0.5701895257224594, -0.07281622627695354, -0.8130726841331712, -0.04318140379880926, -1.004535593162353, 0.3101464037990167 ], "act_joint_pos_r": [ -0.6621295435278599, -0.9857418689304307, 0.1353046655301355, -1.0862312780643306, 1.330900271649167, 0.46832953578670805, -1.8015761524659484 ], "act_eef_pose_l": [ 530.0494875079823, 397.8718907697837, 93.59643144788771, 1.6673707647477887, -0.08842702991046045, 0.7441113272629655 ], "act_eef_pose_r": [ 572.0142644042036, -202.52034812687867, -50.372656653080185, 1.565373721281986, 0.090045480307897, 2.0556016776003596 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 276, "colors": { "rgb_main": "colors/000276_rgb_main.jpg", "rgb_wrist_0": "colors/000276_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000276_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000276_depth_main.npy" }, "states": { "joint_pos_l": [ 0.287309898372776, -0.5736980666879256, -0.07242989651288667, -0.8046885329826332, -0.03226558917145794, -1.008923721688947, 0.30668251578692846 ], "joint_pos_r": [ -0.6741838219060428, -0.9336780151628331, 0.13910556918723255, -1.089217874604791, 1.1517467902357346, 0.4920466986346073, -1.645845795608857 ], "eef_pose_l": [ 531.5050648101123, 398.2798793818632, 96.09939423218812, 1.670643887997448, -0.0969797757239446, 0.7420878621098123 ], "eef_pose_r": [ 561.4488013410878, -219.3677954148908, -50.327145798164054, 1.5595367982133632, 0.11398716135626424, 2.0960199656563114 ], "joint_status_l": { "velocity": [ 0.970602733771031, 0.37891124888034255, -0.041722383983255895, -0.9054616190953269, -1.1788732107471112, 0.4739039038241799, 0.37408887214418485 ], "torque": [ -23.1884765625, 9.7998046875, -8.935546875, -3.1982421875, -5.4693603515625, -0.355224609375, -0.6243896484375 ] }, "joint_status_r": { "velocity": [ 1.301823669607849, -5.622730373332274, -0.4104854883442144, 0.3225429134756652, 19.348005353736042, -2.561378043766105, -16.818382508887453 ], "torque": [ 38.3935546875, 1.99951171875, 8.477783203125, -8.0322265625, 1.8585205078125, 3.369140625, -0.77545166015625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.4, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.8, -16.4, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -17.0, -1.5, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.2, -17.0, -1.5, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 282, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -143, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29848584611655404, -0.5670256173242246, -0.0731348704360449, -0.8191385535065743, -0.04448019310922449, -1.0008431960358615, 0.31027631085218876 ], "act_joint_pos_r": [ -0.6623264891795291, -1.0016380144162322, 0.1341182440739355, -1.0728223662716583, 1.3518201884124965, 0.4708921349557786, -1.818144028628463 ], "act_eef_pose_l": [ 529.2518875079824, 397.9006907697837, 92.99723144788783, 1.6677779946968099, -0.08655495813012881, 0.7451368615191771 ], "act_eef_pose_r": [ 574.4862644042034, -198.99794812687867, -52.454256653080165, 1.5656158143769126, 0.08540277242751865, 2.0479544290672123 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 277, "colors": { "rgb_main": "colors/000277_rgb_main.jpg", "rgb_wrist_0": "colors/000277_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000277_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000277_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2893288465954883, -0.5729098943843911, -0.07251668313532184, -0.8065719813420915, -0.03471776027177446, -1.0079379554108678, 0.30746065707715264 ], "joint_pos_r": [ -0.671475901875952, -0.9453738419919279, 0.1382517193902905, -1.0885469539291617, 1.1919925258624946, 0.4867187828259788, -1.6808296693336875 ], "eef_pose_l": [ 531.1795564684644, 398.1869304295076, 95.53640546073674, 1.6699007879093302, -0.09506510368964292, 0.7425369705840714 ], "eef_pose_r": [ 564.0066887377274, -215.73176367352704, -50.138361028978295, 1.5594824632346809, 0.10876984636172272, 2.086028081941977 ], "joint_status_l": { "velocity": [ 0.7525627564635151, 0.29379115058159044, -0.0323497051926136, -0.7020551954255438, -0.9140465425580002, 0.36744428565071985, 0.2900520913322602 ], "torque": [ -22.68310546875, 9.3310546875, -9.881591796875, -3.521728515625, -5.595703125, -0.35888671875, 0.36529541015625 ] }, "joint_status_r": { "velocity": [ 1.0093769316128487, -4.359618329288217, -0.3182724299531925, 0.25008561752137837, 15.001594096592186, -1.985980106889329, -13.040235577093995 ], "torque": [ 40.40771484375, 2.431640625, 8.30078125, -3.64990234375, 1.6864013671875, 3.651123046875, -0.94757080078125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.4, -17.0, -1.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.4, -17.0, -1.3, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -120, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2992853209335048, -0.5612802501097284, -0.0738209609125645, -0.8343603012591682, -0.044233264903390586, -0.9899840426213664, 0.30984292089993104 ], "act_joint_pos_r": [ -0.665842298448533, -1.011165270213478, 0.1335003241637328, -1.0724677082804903, 1.3986023346094785, 0.4738755579927563, -1.862396120901106 ], "act_eef_pose_l": [ 528.2686875079823, 396.9414907697837, 93.17723144788766, 1.6685016717780679, -0.08602299150612279, 0.7464105200695492 ], "act_eef_pose_r": [ 575.2542644042036, -197.01154812687867, -54.77105665308022, 1.5677000377807622, 0.08145276175247898, 2.0341818114122536 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 278, "colors": { "rgb_main": "colors/000278_rgb_main.jpg", "rgb_wrist_0": "colors/000278_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000278_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000278_depth_main.npy" }, "states": { "joint_pos_l": [ 0.2903793270521975, -0.5719543594587079, -0.07262204700527594, -0.808793414418747, -0.03578765710007101, -1.0065557351470682, 0.3077514613543038 ], "joint_pos_r": [ -0.6696640530621536, -0.9616330621782315, 0.1370735678249906, -1.084843143245986, 1.2429989909529824, 0.4828988587910246, -1.7254821145213077 ], "eef_pose_l": [ 530.9185071282205, 398.099352887168, 95.2672186770967, 1.6696885371367158, -0.09410678527665113, 0.7428888676115009 ], "eef_pose_r": [ 567.0820882177427, -211.14688743511638, -50.84778236244318, 1.5597547717698688, 0.10200878625472319, 2.072684110551382 ], "joint_status_l": { "velocity": [ 0.9618189718465509, 1.1527698105622264, -0.12947888321168666, -2.761142343224776, -0.912098741844114, 1.7896900086906697, 0.2258709692193328 ], "torque": [ -23.69384765625, 12.01171875, -15.045166015625, -5.48095703125, -5.6927490234375, 0.3350830078125, 0.3955078125 ] }, "joint_status_r": { "velocity": [ 0.41273732523539053, -5.349320698025295, -0.3858989339352581, 1.3365075580900054, 16.804665487786252, -0.9744877452333434, -14.7862765911011 ], "torque": [ 39.83642578125, 1.0546875, 9.28955078125, -2.655029296875, 1.6864013671875, 4.0557861328125, -0.6884765625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.4, -17.6, -1.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.4, -17.6, -1.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29831943962092056, -0.5544971292753753, -0.07458826879172156, -0.8496532731117097, -0.04315088322525782, -0.979745550584451, 0.3075728733948072 ], "act_joint_pos_r": [ -0.6695407078927613, -1.0189414334490814, 0.13302140453527983, -1.071709724863012, 1.4244622701226515, 0.47617597125470623, -1.891390891389876 ], "act_eef_pose_l": [ 527.1934875079824, 396.4078907697837, 94.27083144788759, 1.668686880797613, -0.08557655760592338, 0.7480426438184161 ], "act_eef_pose_r": [ 575.1822644042036, -194.56674812687868, -57.10385665308013, 1.5698970646522865, 0.08198502663686859, 2.0280437923537433 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 279, "colors": { "rgb_main": "colors/000279_rgb_main.jpg", "rgb_wrist_0": "colors/000279_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000279_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000279_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29236565583880897, -0.5694557213869064, -0.07290277420214851, -0.8147640395144315, -0.037668832329828504, -1.0026809108124248, 0.30818757297049404 ], "joint_pos_r": [ -0.6694962519155949, -0.9638078646289865, 0.1369166780076394, -1.0842997770735558, 1.2498310411795548, 0.48250267421802895, -1.7314935751128808 ], "eef_pose_l": [ 530.3145270307203, 397.83447341695467, 94.8114626923129, 1.6694053137945846, -0.09230038960042124, 0.743702933403613 ], "eef_pose_r": [ 567.4702814565759, -210.5452924855089, -50.983375039642624, 1.5598573138090517, 0.1011124468514615, 2.070887873933555 ], "joint_status_l": { "velocity": [ 0.6429896845010497, 1.615480302000094, -0.182028047043592, -3.767926099466301, -0.5920440353009426, 2.4769458510087716, -0.0663855962357296 ], "torque": [ -23.056640625, 10.96435546875, -15.93017578125, -3.533935546875, -5.7879638671875, -0.062255859375, 0.4815673828125 ] }, "joint_status_r": { "velocity": [ 0.3946153358862503, -5.114448960515716, -0.36895533338610065, 1.277825742195482, 16.0668258247334, -0.9317010732754483, -14.137057994888735 ], "torque": [ 38.97216796875, 2.16796875, 8.978271484375, -3.118896484375, 1.695556640625, 3.995361328125, -0.98419189453125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.7, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.7, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.6, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.6, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2994108291405441, -0.5449678747648226, -0.07565065150347895, -0.8689902476586947, -0.042850732116436405, -0.9649722217096135, 0.30724181193042155 ], "act_joint_pos_r": [ -0.6712317433244935, -1.0296248986230276, 0.13229524485865068, -1.0665759387805176, 1.4609498131005019, 0.47704816350001217, -1.9307447272293872 ], "act_eef_pose_l": [ 525.6590875079823, 396.4958907697837, 94.6228314478879, 1.670173304558705, -0.08569970119224575, 0.7526990123376072 ], "act_eef_pose_r": [ 576.5750644042035, -192.60514812687867, -59.57985665308024, 1.574275477725843, 0.08484298080001831, 2.0165576306931006 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 280, "colors": { "rgb_main": "colors/000280_rgb_main.jpg", "rgb_wrist_0": "colors/000280_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000280_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000280_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29370313700960926, -0.5660953650113586, -0.07328141026948651, -0.8226016927964019, -0.038900341588198696, -0.9975286221884059, 0.3080494844643827 ], "joint_pos_r": [ -0.669381845562702, -0.9778054928206431, 0.13592532419788858, -1.0810686944932597, 1.294125565827411, 0.48078772238503437, -1.7718699027538434 ], "eef_pose_l": [ 529.6243448350425, 397.52056080814486, 94.68646673499593, 1.6692259516242949, -0.09080187009853143, 0.7446801711156141 ], "eef_pose_r": [ 569.626094185164, -206.58614067132896, -52.27681365101415, 1.5609934442059508, 0.0961415180317046, 2.059502305111601 ], "joint_status_l": { "velocity": [ 0.4985459781940982, 1.25257251683486, -0.14113655780112477, -2.92148450947316, -0.4590449579950362, 1.920515090662711, -0.05147247741454919 ], "torque": [ -23.291015625, 9.9462890625, -16.583251953125, -3.67431640625, -5.943603515625, -0.0970458984375, 0.1922607421875 ] }, "joint_status_r": { "velocity": [ -0.017156625638392597, -4.442550561845948, -0.31361407400909425, 1.01073890991632, 14.075948915962755, -0.4980544327453096, -12.907886074939867 ], "torque": [ 35.126953125, 2.39501953125, 8.55712890625, -2.764892578125, 1.505126953125, 3.7628173828125, -0.74615478515625 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.9, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.9, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.3, -1.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.3, -1.5, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 305, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -148, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30019882437710704, -0.5417251179236223, -0.07602406108669925, -0.8754466851923971, -0.04294628378011987, -0.9601042297577433, 0.3069426166418619 ], "act_joint_pos_r": [ -0.6699229084601219, -1.039064234731086, 0.1316451014055821, -1.0535041930489604, 1.4675035008129502, 0.4769797342689296, -1.9325465006823388 ], "act_eef_pose_l": [ 525.0750875079824, 396.5462907697837, 94.56603144788761, 1.6707848302719717, -0.08515688584599619, 0.7543056414837673 ], "act_eef_pose_r": [ 578.8406644042035, -191.72354812687865, -61.02465665308023, 1.5764562159873032, 0.08236787095895069, 2.0108904613347196 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 281, "colors": { "rgb_main": "colors/000281_rgb_main.jpg", "rgb_wrist_0": "colors/000281_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000281_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000281_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29443923690312224, -0.5634974702976726, -0.07357347168644886, -0.8283093176793209, -0.039411700037716, -0.9935352588580086, 0.3079391058495632 ], "joint_pos_r": [ -0.6696869057452789, -0.9909426646605558, 0.13500506442810065, -1.0767165195173762, 1.3346276960660841, 0.4798270741678427, -1.8099628087338417 ], "eef_pose_l": [ 529.1435731982336, 397.39999943554704, 94.661528334914, 1.6693272195518627, -0.09012740638069852, 0.745663110389172 ], "eef_pose_r": [ 571.6073485069716, -203.21023298970994, -53.915772464712575, 1.5630617245974128, 0.09300826035086092, 2.04842783393387 ], "joint_status_l": { "velocity": [ 0.6220171017767839, 2.3513447071925597, -0.264655849619988, -5.090685549666851, -0.3817237858383393, 3.610444658455947, -0.1076176604182244 ], "torque": [ -21.8994140625, 11.49169921875, -16.607666015625, -4.559326171875, -5.848388671875, 0.2197265625, -0.36163330078125 ] }, "joint_status_r": { "velocity": [ -0.0254875414880118, -5.196976290994471, -0.3628653042919705, 2.5068573227846613, 14.350163677207206, -0.3075036397479636, -13.238648277377862 ], "torque": [ 30.41015625, 2.58544921875, 8.50830078125, -2.850341796875, 1.673583984375, 3.7701416015625, -0.849609375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.7, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.7, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.2, -16.9, -3.0, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.2, -16.9, -3.0, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 207, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -139, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30400590529292093, -0.5314331262930467, -0.07713618168818598, -0.8922132601467018, -0.04720995948512512, -0.9489923018969787, 0.3091087633574686 ], "act_joint_pos_r": [ -0.67004055737122, -1.0429507121306858, 0.1314659722465709, -1.0612455811981525, 1.479249759809771, 0.4725379173082467, -1.939487032205471 ], "act_eef_pose_l": [ 522.9614875079824, 397.50949076978367, 94.36683144788782, 1.6703487071080676, -0.08346358262930133, 0.7596270300778217 ], "act_eef_pose_r": [ 577.8126644042035, -187.26514812687867, -61.03825665308, 1.5787793252180096, 0.07316187490628517, 2.0166335697627087 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 282, "colors": { "rgb_main": "colors/000282_rgb_main.jpg", "rgb_wrist_0": "colors/000282_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000282_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000282_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29608601485391695, -0.5575105533727278, -0.07424463952054601, -0.8409505388464181, -0.04053430233489484, -0.9846150690869776, 0.3078183401987373 ], "joint_pos_r": [ -0.6697521550761673, -1.003079025040705, 0.1341630344398887, -1.0714211119801573, 1.3681982160674684, 0.4788642191045527, -1.8407066791829172 ], "eef_pose_l": [ 528.0389153428439, 397.26220119867844, 94.61718570768268, 1.6696297437852778, -0.08880588872741033, 0.748117611262863 ], "eef_pose_r": [ 573.4522172786646, -200.17855130604954, -55.55890508965615, 1.5656948187077002, 0.089779148426667, 2.039143014965896 ], "joint_status_l": { "velocity": [ 0.855322941010872, 2.816279062894722, -0.3122773439770965, -5.536210618626747, -0.720949708949814, 3.8471453910320363, 0.13936159089222855 ], "torque": [ -20.70556640625, 12.9931640625, -17.51708984375, -5.999755859375, -6.177978515625, 0.618896484375, -0.38909912109375 ] }, "joint_status_r": { "velocity": [ -0.031146529247294552, -4.306015206587688, -0.2912741262072194, 1.0989249133999124, 11.993213003258063, -0.6832204434914502, -10.667963491670207 ], "torque": [ 27.8173828125, -1.11328125, 8.154296875, -3.8330078125, 1.563720703125, 3.5394287109375, -0.7415771484375 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.3, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.3, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.7, -2.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.7, -2.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -166, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3072369342280691, -0.5262750274543196, -0.07777378784624504, -0.9024470856953365, -0.0508656494170419, -0.9418533512023094, 0.3121676061962203 ], "act_joint_pos_r": [ -0.6692756707102903, -1.0399136053763316, 0.13174654458348004, -1.0735824698576815, 1.4633870393438266, 0.47541067559606576, -1.9270561386479677 ], "act_eef_pose_l": [ 521.8134875079824, 397.54789076978375, 93.8564314478877, 1.6698065157486277, -0.08268311012330079, 0.7622459714495305 ], "act_eef_pose_r": [ 575.6918644042034, -183.78514812687865, -57.67425665308019, 1.5695560838576772, 0.07111041207836113, 2.0296530724420156 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 283, "colors": { "rgb_main": "colors/000283_rgb_main.jpg", "rgb_wrist_0": "colors/000283_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000283_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000283_depth_main.npy" }, "states": { "joint_pos_l": [ 0.29796045199945215, -0.5515003077562562, -0.07491300963515198, -0.8527681887496978, -0.04214175320126552, -0.9764021063466753, 0.30819843028278765 ], "joint_pos_r": [ -0.6697606599774335, -1.004254829699118, 0.1340834988465295, -1.0711210384851904, 1.3714730943579578, 0.4786776582724053, -1.8436196835657388 ], "eef_pose_l": [ 526.8885781979034, 397.3372166228095, 94.53705315742822, 1.6697317623835959, -0.08759764843517256, 0.7507875970025597 ], "eef_pose_r": [ 573.6621813770959, -199.62491867830713, -55.78295197435136, 1.566147756022494, 0.08904433360259469, 2.03809267513575 ], "joint_status_l": { "velocity": [ 1.0018305332786248, 2.724249925152744, -0.30895493465932233, -5.365162633115261, -0.9421530039863124, 3.7311555110424166, 0.4286583560482171 ], "torque": [ -20.11962890625, 10.56884765625, -17.68798828125, -4.071044921875, -5.73486328125, 0.4248046875, 0.4559326171875 ] }, "joint_status_r": { "velocity": [ -0.030228027000589464, -4.179032048647002, -0.28268453546087535, 1.0665179317355111, 11.639536579012955, -0.6630724678520217, -10.35336829681377 ], "torque": [ 27.34130859375, 0.52734375, 7.89794921875, -3.515625, 1.2158203125, 3.724365234375, -0.882568359375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.5, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.5, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.7, -3.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.1, -17.7, -3.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -166, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3099554009063758, -0.5294266857767966, -0.07748682059080696, -0.8989314431335502, -0.0562450828306514, -0.9448517354601301, 0.3161289504070464 ], "act_joint_pos_r": [ -0.6667193324142596, -1.0392724575628849, 0.1318536266151785, -1.0864890044784399, 1.4478284145453273, 0.4814118371785448, -1.9179728864772565 ], "act_eef_pose_l": [ 522.1214875079824, 396.8182907697837, 93.02123144788771, 1.6670348423833816, -0.08110647871937725, 0.7608494702386126 ], "act_eef_pose_r": [ 573.8622644042034, -178.80754812687866, -52.5678566530803, 1.5550102836724249, 0.07152727337957737, 2.043813124588761 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 284, "colors": { "rgb_main": "colors/000284_rgb_main.jpg", "rgb_wrist_0": "colors/000284_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000284_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000284_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30108946564274397, -0.5438972406152389, -0.07578131869484393, -0.8679728798292143, -0.045326823569916186, -0.9658756711862272, 0.3097775814481437 ], "joint_pos_r": [ -0.669341943889076, -1.0203391034125355, 0.1330329209776307, -1.0730269487045228, 1.411940297043385, 0.4776489435040746, -1.8807376886498932 ], "eef_pose_l": [ 525.3565506327479, 397.3583400759605, 94.24440610131064, 1.6694528621639493, -0.08596085532853351, 0.7542501780174291 ], "eef_pose_r": [ 574.5234660300373, -192.2843766082402, -56.19213887199038, 1.5660841163120838, 0.08118399350647276, 2.0351527968885708 ], "joint_status_l": { "velocity": [ 0.9574927687325818, 1.5627738310013406, -0.18418877240644616, -3.3434262277820537, -1.1791372233659336, 2.2705180930673308, 0.68592761720776 ], "torque": [ -19.78271484375, 9.71923828125, -17.645263671875, -3.82080078125, -5.877685546875, 0.2471923828125, 0.62530517578125 ] }, "joint_status_r": { "velocity": [ 0.28323368574945107, -2.04474194179749, -0.12736003486135683, -1.4538591442994075, 3.875802379528892, 0.40638053128949636, -4.021282763959633 ], "torque": [ 34.00634765625, -0.60791015625, 8.04443359375, -8.88671875, 0.63720703125, 5.614013671875, -0.684814453125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -18.0, -3.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.1, -18.0, -3.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 225, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -183, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3099745097729462, -0.5341375127950234, -0.07701261871874317, -0.8919746616205089, -0.0571408567861324, -0.9495363867627986, 0.3170667303659038 ], "act_joint_pos_r": [ -0.664730299199166, -1.0385306152252554, 0.1319145619456944, -1.0871416229901527, 1.4367849079427417, 0.4831463326261588, -1.9066396394423877 ], "act_eef_pose_l": [ 522.9654875079824, 396.2174907697837, 92.6684314478876, 1.6660543637238172, -0.08092999967858822, 0.7587097660003428 ], "act_eef_pose_r": [ 573.9054644042035, -178.24994812687868, -50.707056653080144, 1.5501232960381928, 0.07106040117735163, 2.047884525024911 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 285, "colors": { "rgb_main": "colors/000285_rgb_main.jpg", "rgb_wrist_0": "colors/000285_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000285_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000285_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30348060546175815, -0.5399945367437858, -0.0762412919941718, -0.876322394150632, -0.048271474494647824, -0.9602055226489045, 0.31149054356339584 ], "joint_pos_r": [ -0.6689107987936473, -1.0234516585356643, 0.13283905048430023, -1.0752400478909758, 1.4178401361898525, 0.47826754567520896, -1.8868589815195005 ], "eef_pose_l": [ 524.4938100763983, 397.21782003711235, 93.91231895961413, 1.6687637695292896, -0.08467804461533734, 0.7560293038045891 ], "eef_pose_r": [ 574.433292719088, -190.06042650728685, -55.59943291656447, 1.5642152698295722, 0.07959470244864474, 2.036573781539508 ], "joint_status_l": { "velocity": [ 0.6992572845274658, 1.1412942437605267, -0.13451312118406555, -2.4417052759071467, -0.8611243027846771, 1.6581601115701616, 0.5009331648802018 ], "torque": [ -18.94775390625, 10.84716796875, -17.388916015625, -3.680419921875, -5.6671142578125, 0.03662109375, 0.53924560546875 ] }, "joint_status_r": { "velocity": [ 0.23667138872518478, -1.7085959025964215, -0.1064226390972145, -1.2148514813166145, 3.2386385438538667, 0.33957346717627956, -3.360202631558451 ], "torque": [ 37.4853515625, 0.5419921875, 8.111572265625, -8.251953125, 0.8203125, 6.0479736328125, -0.68756103515625 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.4, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -16.4, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.8, -1.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.8, -1.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -166, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3099463008816335, -0.5387132944017358, -0.0764500590117585, -0.8814388890591707, -0.05754058431297702, -0.9600678540905366, 0.31801806296613044 ], "act_joint_pos_r": [ -0.6611521406976396, -1.0398202964925058, 0.13183638456983193, -1.0887822378512646, 1.4158678644511975, 0.4901484365142361, -1.884180413026216 ], "act_eef_pose_l": [ 523.3230875079823, 396.1798907697837, 92.36763144788762, 1.6648976358500858, -0.08105583806247724, 0.754388115317226 ], "act_eef_pose_r": [ 573.7590644042036, -175.52674812687866, -46.500656653080114, 1.53678506573045, 0.06754601569181894, 2.0571688699835797 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 286, "colors": { "rgb_main": "colors/000286_rgb_main.jpg", "rgb_wrist_0": "colors/000286_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000286_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000286_depth_main.npy" }, "states": { "joint_pos_l": [ 0.305158206457623, -0.5385849238484292, -0.07642427767729983, -0.8799960386024305, -0.05055860414152769, -0.9578980521146329, 0.31295638889991007 ], "joint_pos_r": [ -0.6685200947674816, -1.0251834340353194, 0.13273224601662403, -1.0765564668474839, 1.4204278420497891, 0.47874741656038133, -1.8895528154714467 ], "eef_pose_l": [ 524.0932416863069, 396.9775231909507, 93.58462668226429, 1.6680177475859665, -0.08373217219501325, 0.756540908386434 ], "eef_pose_r": [ 574.3823322098781, -188.7448329049043, -55.12655399217283, 1.562809004148474, 0.07864691654223542, 2.0376837692781593 ], "joint_status_l": { "velocity": [ 0.5170989467746523, -0.013863610871300835, -0.002784302002845074, -0.15582325356611193, -0.7540316195426833, -0.23433170215270138, 0.5466446767288247 ], "torque": [ -19.39453125, 8.35693359375, -12.97607421875, -2.0751953125, -6.0003662109375, -1.6278076171875, 0.52001953125 ] }, "joint_status_r": { "velocity": [ 0.40928585013766394, -1.4414530551274396, -0.08830727517661341, -1.143163147612647, 1.7665110159796882, 0.4750689236949768, -1.8453225639802895 ], "torque": [ 39.5361328125, 0.1171875, 7.958984375, -9.100341796875, 0.7781982421875, 6.0662841796875, -0.4632568359375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.7, -10.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.7, -10.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.7, -1.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.0, -17.7, -1.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -156, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3105636129450927, -0.5400255893273135, -0.07635035805013805, -0.8809271904204318, -0.058132217363412717, -0.961485648622737, 0.3183987356086484 ], "act_joint_pos_r": [ -0.6589192289423894, -1.0414557269449198, 0.13171735596864653, -1.0862549309476464, 1.4112206246791696, 0.4925601083699609, -1.8783794335816812 ], "act_eef_pose_l": [ 523.3270875079824, 395.4742907697837, 92.08203144788769, 1.6644200506292475, -0.0803027952420642, 0.7523945951389348 ], "act_eef_pose_r": [ 574.5262644042035, -175.09554812687867, -45.028656653080134, 1.532470105335741, 0.0672014152422516, 2.0577585771145213 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 287, "colors": { "rgb_main": "colors/000287_rgb_main.jpg", "rgb_wrist_0": "colors/000287_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000287_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000287_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30522933453653395, -0.5385868308180994, -0.07642466066406436, -0.8800174724280939, -0.05066232282219943, -0.9579302849472582, 0.31303158105790063 ], "joint_pos_r": [ -0.6671767332442506, -1.0286695524423035, 0.13251792141222032, -1.0792063270215428, 1.4224758379990021, 0.48054345812142224, -1.8915983242959988 ], "eef_pose_l": [ 524.0818186853694, 396.96559858805864, 93.56648592433339, 1.667971606077244, -0.08369236904046286, 0.7565085870708402 ], "eef_pose_r": [ 574.3101949620624, -185.88280975150394, -53.61618019911691, 1.5583275374129553, 0.07643344491913548, 2.0410107270001987 ], "joint_status_l": { "velocity": [ 0.5094173408091152, -0.013657664220900756, -0.0027429406521672917, -0.1535084686654642, -0.7428303323944174, -0.23085065889727474, 0.5385241631676863 ], "torque": [ -19.453125, 7.6318359375, -12.3046875, -3.521728515625, -5.870361328125, -1.6845703125, 0.51361083984375 ] }, "joint_status_r": { "velocity": [ 0.891784162833531, -1.380866119813362, -0.08645851794830683, -0.7612267728349664, -1.215527188485055, 1.2977599514583105, 1.4275980923912357 ], "torque": [ 40.869140625, -0.3076171875, 8.172607421875, -8.587646484375, -1.1041259765625, 6.3079833984375, 0.216064453125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -6.0, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -6.0, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.5, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.5, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3121948306939527, -0.5434486687613861, -0.07589743085961112, -0.8714578702343438, -0.05990874823048639, -0.9693113727965409, 0.31926479746620845 ], "act_joint_pos_r": [ -0.6562512545506229, -1.041829807064089, 0.13167698623770382, -1.0828479858922677, 1.3998859593230062, 0.4971558698631301, -1.8694283425580285 ], "act_eef_pose_l": [ 523.6014875079824, 396.0590907697837, 91.15643144788766, 1.6638562655194769, -0.07877429600564462, 0.7510725875963978 ], "act_eef_pose_r": [ 575.3398644042036, -175.29314812687866, -42.879856653080196, 1.5255254894657517, 0.07092971378592158, 2.0589089611624876 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 288, "colors": { "rgb_main": "colors/000288_rgb_main.jpg", "rgb_wrist_0": "colors/000288_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000288_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000288_depth_main.npy" }, "states": { "joint_pos_l": [ 0.306647284432405, -0.5389308521469504, -0.07640796501553519, -0.8802799842715258, -0.052657108900596966, -0.958841615776729, 0.31446633398281815 ], "joint_pos_r": [ -0.6648114802680012, -1.0320093019230319, 0.13230735808954153, -1.080737103120441, 1.4185907694996835, 0.48404672415990363, -1.887409992670735 ], "eef_pose_l": [ 523.8787380539442, 396.5857071801048, 93.17456058824659, 1.667035302966803, -0.08280244963307055, 0.7554601636125052 ], "eef_pose_r": [ 574.4707413917686, -183.10211155907564, -51.2195002805351, 1.5510433938265389, 0.07433290374932787, 2.045372857742847 ], "joint_status_l": { "velocity": [ 0.4229510050972607, -0.11822812852679832, 0.00622136877348467, -0.0698962026026706, -0.5912942746916228, -0.2855471256060227, 0.424686850120537 ], "torque": [ -19.541015625, 5.00244140625, -12.603759765625, -3.680419921875, -5.9765625, -2.0819091796875, 0.54473876953125 ] }, "joint_status_r": { "velocity": [ 0.924477111482247, -1.060583275002358, -0.06807815214082691, -0.22796861578200378, -2.0200599205981717, 1.4157459807524475, 1.94196093709742 ], "torque": [ 41.5283203125, -0.66650390625, 8.23974609375, -8.221435546875, -1.7559814453125, 6.3427734375, 0.73333740234375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -17.1, -2.2, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.8, -17.1, -2.2, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.31362256448678705, -0.543451908688078, -0.07604055599901782, -0.8774629431008967, -0.06224630412580698, -0.9632358835361653, 0.322031389905125 ], "act_joint_pos_r": [ -0.6554839429371846, -1.0417327980345314, 0.13168722765611074, -1.083599155960229, 1.4006410404507295, 0.49598710615194647, -1.8722013497543604 ], "act_eef_pose_l": [ 523.7422875079824, 394.7294907697837, 90.7948314478877, 1.6630569151354944, -0.07896157892230855, 0.7515371483526829 ], "act_eef_pose_r": [ 575.4382644042034, -175.1099481268787, -42.56545665307999, 1.5258116016490257, 0.07311969484772754, 2.0592862860880095 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 289, "colors": { "rgb_main": "colors/000289_rgb_main.jpg", "rgb_wrist_0": "colors/000289_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000289_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000289_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3080203516365757, -0.5400490520744989, -0.07628160325610871, -0.8780964323217433, -0.054451954345935666, -0.961432974067723, 0.3156539965148316 ], "joint_pos_r": [ -0.6634042190822552, -1.0336237471684853, 0.13220372789695467, -1.0810841224036376, 1.4155157859399685, 0.4862018065765959, -1.8844538932529455 ], "eef_pose_l": [ 523.8115466320386, 396.45449949069035, 92.67323584980332, 1.6662592193257997, -0.08179675886220017, 0.7543681047509134 ], "eef_pose_r": [ 574.6319797835936, -181.81781948275906, -49.85160469460129, 1.5468453182362938, 0.0737574977968316, 2.0475561003403278 ], "joint_status_l": { "velocity": [ 0.4508304416637188, -0.36714777373880736, 0.04148939515746797, 0.7169435603193719, -0.5893163585745098, -0.8508419684698509, 0.38995500164062946 ], "torque": [ -18.59619140625, 4.541015625, -11.578369140625, 0.689697265625, -5.811767578125, -2.354736328125, 0.59783935546875 ] }, "joint_status_r": { "velocity": [ 0.7724973858236339, -0.886228330817751, -0.05688642142387401, -0.19049163852091766, -1.6879714905737586, 1.1830039441091955, 1.6227116157310206 ], "torque": [ 40.08544921875, 0.0732421875, 7.958984375, -8.343505859375, -1.8896484375, 6.0040283203125, 0.8441162109375 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.6, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.3, -16.6, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -16.9, -2.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ 0.4, -16.9, -2.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -110, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.31378079512813994, -0.543933354192085, -0.0759700380721062, -0.8757941706457563, -0.061872685490114473, -0.9650847875332657, 0.32074833094568905 ], "act_joint_pos_r": [ -0.6543388189748914, -1.0441410889773313, 0.13151653224301235, -1.0804266708035954, 1.3957516736660365, 0.49627622934526977, -1.867902371204461 ], "act_eef_pose_l": [ 523.6958875079823, 394.8214907697837, 90.62123144788762, 1.6633132203792123, -0.07772023279894912, 0.7509018422252355 ], "act_eef_pose_r": [ 575.9318644042035, -174.28994812687867, -42.22865665308018, 1.5245762955882372, 0.07389954202741379, 2.060774489520196 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 290, "colors": { "rgb_main": "colors/000290_rgb_main.jpg", "rgb_wrist_0": "colors/000290_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000290_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000290_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3090110025980503, -0.5407049931840496, -0.0762292500101372, -0.8777215757125864, -0.05575888448578169, -0.9620357946433883, 0.3166024473779651 ], "joint_pos_r": [ -0.6625247228200528, -1.0345785232476075, 0.13214249159140287, -1.0812901945276536, 1.413733882346545, 0.4873579190789892, -1.8828944441912694 ], "eef_pose_l": [ 523.7931357768603, 396.1757063765629, 92.3256869343735, 1.6657355707958528, -0.08115223296927822, 0.7537857195767501 ], "eef_pose_r": [ 574.7360180609946, -181.05578657060107, -49.03887933530865, 1.5444398315842562, 0.07359833115241025, 2.0488685080616316 ], "joint_status_l": { "velocity": [ 0.5151224005266464, -0.3486527059055611, 0.027994063666603175, 0.20815360805492844, -0.6602710348146967, -0.32928152046718395, 0.44774221986321194 ], "torque": [ -19.73876953125, 3.72802734375, -11.041259765625, 1.30615234375, -5.82275390625, -2.332763671875, 0.54840087890625 ] }, "joint_status_r": { "velocity": [ 0.8840515415711181, -1.0327266401652935, -0.06760161582319846, 0.09325781170677061, -1.9420212606391374, 0.9631491021937499, 1.6190961298878648 ], "torque": [ 42.275390625, 0.4248046875, 11.163330078125, -8.563232421875, -1.99951171875, 6.21826171875, 0.728759765625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.7, -8.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.2, -16.7, -8.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.4, -1.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.6, -17.4, -1.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -110, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3146025442133809, -0.5433765144408924, -0.07602409700512186, -0.8765195792403631, -0.06351976227666867, -0.9642027972552365, 0.32161578080285685 ], "act_joint_pos_r": [ -0.6534153160674626, -1.0476346351713706, 0.13126775229518212, -1.0752253769494136, 1.387920451492011, 0.4971219813872756, -1.8597514857372344 ], "act_eef_pose_l": [ 523.6166875079823, 395.0046907697837, 90.4932314478877, 1.6626969286931852, -0.0771982469166222, 0.7519687336827797 ], "act_eef_pose_r": [ 576.5230644042035, -173.2571481268787, -42.16225665308025, 1.5231859156280803, 0.07369288348377526, 2.0627892902038396 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 291, "colors": { "rgb_main": "colors/000291_rgb_main.jpg", "rgb_wrist_0": "colors/000291_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000291_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000291_depth_main.npy" }, "states": { "joint_pos_l": [ 0.30954923945377527, -0.541069290554878, -0.07619999980321261, -0.8775040818831725, -0.05644878305230022, -0.9623798516093506, 0.3170702805848845 ], "joint_pos_r": [ -0.6603405470711632, -1.037304128592654, 0.1319626263723042, -1.0806917895032009, 1.4085174680600996, 0.48972595311296574, -1.8784284918286462 ], "eef_pose_l": [ 523.8220711831766, 396.0503741103145, 92.10179709845875, 1.6657805729168416, -0.08102286035483786, 0.7535768982665041 ], "eef_pose_r": [ 575.1070280572815, -179.233311432833, -47.2752974346011, 1.5391902881425803, 0.0736397049040594, 2.05205593982543 ], "joint_status_l": { "velocity": [ 0.4569945344981008, -0.3093097502144815, 0.024835134486367316, 0.18466496723945625, -0.5857641870927188, -0.2921244640319287, 0.39721772365597374 ], "torque": [ -18.80859375, 3.720703125, -10.955810546875, 1.28173828125, -5.5828857421875, -2.4078369140625, 0.53375244140625 ] }, "joint_status_r": { "velocity": [ 0.7479028901826723, -1.1156618058150158, -0.07504418701931304, 0.5903551442152377, -2.224412183824853, 0.7987474958270901, 2.0170571679525295 ], "torque": [ 40.166015625, -0.97412109375, 8.11767578125, -5.16357421875, -1.95556640625, 6.3153076171875, 0.79376220703125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.7, -8.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.7, -8.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -16.9, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.6, -16.9, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3149675137290854, -0.5425148733097923, -0.07608355413580885, -0.8766302209865693, -0.06240606463408626, -0.9647367476103365, 0.31982566180233585 ], "act_joint_pos_r": [ -0.6544291191811453, -1.0489662892238767, 0.1311980914615205, -1.0784517996030825, 1.3905882646825027, 0.49778041773521386, -1.8620842445300045 ], "act_eef_pose_l": [ 523.3054875079823, 395.3350907697837, 90.22043144788773, 1.6638161544497434, -0.07589201136949328, 0.7519751086262269 ], "act_eef_pose_r": [ 575.7750644042035, -171.58354812687867, -42.135856653080054, 1.5222110971800973, 0.0710534867985895, 2.0650966729546396 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 292, "colors": { "rgb_main": "colors/000292_rgb_main.jpg", "rgb_wrist_0": "colors/000292_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000292_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000292_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31079997747577004, -0.5416403490555559, -0.07615646229098755, -0.8772604086937053, -0.05819891350937244, -0.9628310469240606, 0.3181953324513478 ], "joint_pos_r": [ -0.6592020713912464, -1.039002415695973, 0.13184839231469853, -1.0797931367729796, 1.4051314145942881, 0.49094182566852046, -1.875358079130877 ], "eef_pose_l": [ 523.7420301363545, 395.769839905875, 91.72706619541376, 1.6647812461122007, -0.07988129199966039, 0.7530853951098374 ], "eef_pose_r": [ 575.3492171740857, -178.2534424368738, -46.43584109820176, 1.5365500702582533, 0.07363745228436046, 2.0537964889172136 ], "joint_status_l": { "velocity": [ 0.41066509574250176, -0.1875003315894297, 0.014295029264199677, 0.08000722127476934, -0.5746347189228285, -0.14814466647372626, 0.3693975271650274 ], "torque": [ -20.5078125, 3.08349609375, -10.546875, 0.84228515625, -5.716552734375, -2.5726318359375, 0.5126953125 ] }, "joint_status_r": { "velocity": [ 0.6249511430196364, -0.9322522080337237, -0.062707272655671, 0.49330351173626497, -1.8587291947600448, 0.6674371326194084, 1.685462376459057 ], "torque": [ 41.5869140625, 1.13525390625, 8.355712890625, -3.52783203125, -1.8109130859375, 6.5606689453125, 0.72509765625 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.2, -2.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.2, -2.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -104, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3156788801509118, -0.5417112473656365, -0.07614464244690833, -0.8769626128237624, -0.06357226345800965, -0.9644348019740143, 0.3202333723548148 ], "act_joint_pos_r": [ -0.6572883176527289, -1.0492294626050758, 0.13122168240624732, -1.087557097133305, 1.3984026826335825, 0.49622509239060614, -1.8733928108834135 ], "act_eef_pose_l": [ 523.1422875079824, 395.7070907697837, 90.10043144788762, 1.6634990084536507, -0.07531364568157922, 0.7529969081679438 ], "act_eef_pose_r": [ 573.8022644042035, -168.9267481268787, -42.7742566530801, 1.5236589184309184, 0.06989497907049853, 2.069421852174098 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 293, "colors": { "rgb_main": "colors/000293_rgb_main.jpg", "rgb_wrist_0": "colors/000293_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000293_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000293_depth_main.npy" }, "states": { "joint_pos_l": [ 0.310917535775748, -0.541678748229153, -0.07615344212383485, -0.8772402054496024, -0.05833927962276801, -0.9628794313862621, 0.3182696079280102 ], "joint_pos_r": [ -0.6587495838276411, -1.0398022699902347, 0.1317954649614602, -1.0795424928039343, 1.4037703714842817, 0.4915015235037357, -1.8741201175127302 ], "eef_pose_l": [ 523.7337621920096, 395.75212390016316, 91.68659148218725, 1.6647365971560135, -0.07978270667290067, 0.7530522441850047 ], "eef_pose_r": [ 575.4213793371163, -177.7514010785814, -46.068461495144675, 1.5353571465845255, 0.07352154657178353, 2.0546605805621043 ], "joint_status_l": { "velocity": [ 0.4373847189875768, -0.09029884548672484, 0.007547680099917464, 0.06587637908772592, -0.43919982771584154, -0.20058423628377398, 0.16804886209076386 ], "torque": [ -20.7861328125, 3.34716796875, -10.43701171875, 0.958251953125, -5.7147216796875, -2.5360107421875, 0.51544189453125 ] }, "joint_status_r": { "velocity": [ 0.46659642029567294, -0.9896848880375231, -0.06451443524191358, 0.11779139162104713, -1.4236255470017056, 0.6781005774918469, 1.2998359455220765 ], "torque": [ 40.48095703125, 0.4541015625, 8.367919921875, -3.69873046875, -1.9134521484375, 6.1962890625, 0.75347900390625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.2, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.5, -17.2, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -66, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3154801322721904, -0.5421620569212905, -0.07609054812670708, -0.8759459891242345, -0.06244425513348296, -0.9657109560924676, 0.3187078407724401 ], "act_joint_pos_r": [ -0.6582079882386784, -1.049393434484267, 0.13121909384546984, -1.0893842757891576, 1.3966514747818017, 0.4954801991519821, -1.8721277431439975 ], "act_eef_pose_l": [ 523.1198875079824, 395.6422907697837, 89.99883144788765, 1.6641087061899027, -0.0744711228291102, 0.7521238595964257 ], "act_eef_pose_r": [ 573.1470644042035, -168.03394812687867, -43.10865665308006, 1.5242841679428623, 0.0689000795481152, 2.0720714689652717 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 294, "colors": { "rgb_main": "colors/000294_rgb_main.jpg", "rgb_wrist_0": "colors/000294_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000294_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000294_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31216908479361416, -0.5417342586300744, -0.07614664498143674, -0.8771095544204427, -0.0596619747258703, -0.9633650727739188, 0.3187185796060196 ], "joint_pos_r": [ -0.6584378826459847, -1.0422527878962173, 0.1316468480469367, -1.0817475121407567, 1.4022555532619077, 0.49266974280205467, -1.8738407589097619 ], "eef_pose_l": [ 523.5791159564853, 395.7242129657258, 91.25786802624378, 1.6644411567211035, -0.07855892006165255, 0.7529625598425146 ], "eef_pose_r": [ 574.968505461956, -175.3966747503705, -45.247942603236254, 1.5323889796821741, 0.07250087145729019, 2.058669864531247 ], "joint_status_l": { "velocity": [ 0.35758258135132337, -0.046200852830136085, 0.006058281631360352, 0.12566134580715982, -0.3004774219143025, -0.2533479263053806, -0.001159759821511841 ], "torque": [ -19.91455078125, 6.5478515625, -10.44921875, -0.42724609375, -5.8245849609375, -2.51220703125, 0.50811767578125 ] }, "joint_status_r": { "velocity": [ 0.024827863730259025, -0.7711670871515253, -0.04619609127765045, -0.8247461494388375, -0.6052226257651228, 0.303520333938323, 0.1850002464127698 ], "torque": [ 38.8330078125, -1.31103515625, 11.7431640625, -8.770751953125, -1.951904296875, 6.1505126953125, 0.68572998046875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.6, -8.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.6, -8.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.2, -17.0, -2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.2, -17.0, -2.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 288, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -55, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.31556772943764283, -0.5419526358430939, -0.07606417472945977, -0.8742690471708089, -0.06408975191949368, -0.9676199508197728, 0.3199017204591946 ], "act_joint_pos_r": [ -0.65846476789247, -1.05126042265381, 0.1310798616897988, -1.0850174614798105, 1.3827681951941182, 0.49358521593954874, -1.8581873569676848 ], "act_eef_pose_l": [ 523.0462875079824, 396.1350907697837, 90.2436314478876, 1.6628104654689329, -0.07480938260942431, 0.7524968113858245 ], "act_eef_pose_r": [ 573.0526644042035, -167.11954812687867, -44.01985665308007, 1.5260507122828542, 0.06830251452660538, 2.0770627242612423 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 295, "colors": { "rgb_main": "colors/000295_rgb_main.jpg", "rgb_wrist_0": "colors/000295_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000295_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000295_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3127949955376008, -0.5418151283694739, -0.076136040595874, -0.8768895974355491, -0.06018792888725796, -0.9638085317042778, 0.3187165495682868 ], "joint_pos_r": [ -0.6584000890775786, -1.0434266768935703, 0.13157652725112598, -1.083002960469098, 1.40133426889543, 0.4931317687189015, -1.8735591471068342 ], "eef_pose_l": [ 523.4925193933601, 395.7085945490375, 91.01957416209947, 1.6643791519539215, -0.07778568019382917, 0.7528032423401437 ], "eef_pose_r": [ 574.6751380373028, -174.1826108076036, -44.89993537353433, 1.5310636131223943, 0.07190422557830989, 2.06087294805628 ], "joint_status_l": { "velocity": [ 0.2899862146490406, -0.03746717856101256, 0.0049130417676401805, 0.10190669204490632, -0.2436760477513844, -0.20545577432962148, -0.0009405222125558055 ], "torque": [ -19.24072265625, 5.00244140625, -10.36376953125, 0.982666015625, -5.89599609375, -2.49755859375, 0.00732421875 ] }, "joint_status_r": { "velocity": [ 0.02074627872250545, -0.6443908145037369, -0.038601669315574405, -0.689161728827159, -0.5057268486563515, 0.25362300656217585, 0.15458706868543004 ], "torque": [ 40.0927734375, -0.5859375, 10.284423828125, -8.355712890625, -1.9171142578125, 6.177978515625, 0.68572998046875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.6, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.6, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.0, -2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -17.0, -2.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -51, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.31750898046723924, -0.5369073713124665, -0.07672026731690185, -0.8875178732626939, -0.06591139909967789, -0.9578015401121995, 0.3224699473126514 ], "act_joint_pos_r": [ -0.6587416095159386, -1.050094100697445, 0.13115622132449, -1.0853544477389974, 1.3729548800397922, 0.4928577431687994, -1.8501522195802258 ], "act_eef_pose_l": [ 522.0846875079824, 395.3646907697837, 90.10203144788767, 1.6628693095296936, -0.07521073563419364, 0.7542730792308937 ], "act_eef_pose_r": [ 572.5190644042035, -166.90274812687866, -44.084656653080174, 1.5261771551113552, 0.06943504554772767, 2.0810490498771372 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 296, "colors": { "rgb_main": "colors/000296_rgb_main.jpg", "rgb_wrist_0": "colors/000296_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000296_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000296_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31302945692547823, -0.5418357296094064, -0.07613097546372125, -0.8767349256131597, -0.060453963958704206, -0.9640557409712677, 0.31876822108346026 ], "joint_pos_r": [ -0.658401038675033, -1.0442172698369536, 0.13152728891191176, -1.0834131971557963, 1.3996590617374205, 0.49324933388600223, -1.8722731336866714 ], "eef_pose_l": [ 523.4573495701999, 395.72445899113626, 90.94249117613168, 1.6642993877214312, -0.07751533458769166, 0.7527609290066948 ], "eef_pose_r": [ 574.4918611621042, -173.41793660348634, -44.765439761937216, 1.5304273078742825, 0.0715352965142473, 2.0625541136840804 ], "joint_status_l": { "velocity": [ 0.27412534641868547, -0.012625500868779227, 0.007214266526833768, 0.2663070174682147, -0.392653519068753, -0.38492331093209486, 0.12241432216164583 ], "torque": [ -18.69873046875, 4.85595703125, -10.21728515625, 1.031494140625, -5.950927734375, -2.4884033203125, -0.00823974609375 ] }, "joint_status_r": { "velocity": [ -0.03678056603284574, -0.6346790140758785, -0.04007411751871803, -0.20964887972230173, -2.8839665652977686, -0.04229055016491401, 2.388988264055314 ], "torque": [ 40.3564453125, -0.263671875, 9.11865234375, -8.3251953125, -1.99951171875, 5.218505859375, 0.9228515625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.6, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.6, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -16.7, -1.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.5, -16.7, -1.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 257, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -61, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3200027446797786, -0.5343454952604002, -0.0769248444931454, -0.8887459711372113, -0.06924019531893884, -0.9561888836712578, 0.324352518853518 ], "act_joint_pos_r": [ -0.6587086860120124, -1.0497911870547325, 0.13117375683583982, -1.0848748321724557, 1.3669476666896463, 0.4932074306617413, -1.845347919006026 ], "act_eef_pose_l": [ 521.5910875079824, 396.5710907697837, 89.51883144788764, 1.66247663367624, -0.07401894272105285, 0.7578050080605683 ], "act_eef_pose_r": [ 572.3494644042034, -166.77714812687867, -43.96145665308018, 1.5254738571832662, 0.07041766718811147, 2.0830420469780346 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 297, "colors": { "rgb_main": "colors/000297_rgb_main.jpg", "rgb_wrist_0": "colors/000297_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000297_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000297_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31421171936982656, -0.5405403679592158, -0.07628286337849254, -0.8794400176351923, -0.06190289310566921, -0.9624602136706565, 0.3197399478549147 ], "joint_pos_r": [ -0.6584804976476946, -1.0455962208961178, 0.1314401739803086, -1.0838575029728117, 1.3931753988364364, 0.49316716723886034, -1.8669073377982717 ], "eef_pose_l": [ 523.104236876779, 395.67136751836716, 90.71670046221126, 1.6639278707514866, -0.07691414979471932, 0.7532379438809076 ], "eef_pose_r": [ 574.0286878495999, -171.87254064745537, -44.59865783655903, 1.5293854805708604, 0.0710597691196019, 2.066975599718711 ], "joint_status_l": { "velocity": [ 0.625412287925009, 0.6690265195898881, -0.06933191554703289, -1.0050133369343683, -0.7924052682889982, 0.6772836645216884, 0.49814297590744516 ], "torque": [ -19.921875, 10.458984375, -11.126708984375, -3.387451171875, -5.8447265625, -0.6646728515625, 0.560302734375 ] }, "joint_status_r": { "velocity": [ -0.02464361652076974, -0.45304298334158943, -0.028772203011895314, -0.10986831316817103, -2.832511531391191, 0.004348321424263446, 2.3283485585938735 ], "torque": [ 40.49560546875, -0.322265625, 8.306884765625, -8.624267578125, -1.9537353515625, 5.159912109375, 0.721435546875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.1, -2.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.6, -17.1, -2.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -43, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32147550149991155, -0.5331297542219801, -0.07711564020434528, -0.8931005147825591, -0.07184691862051806, -0.9511889963806812, 0.3258242326733589 ], "act_joint_pos_r": [ -0.6591366945399386, -1.0529659271439382, 0.13096124464933914, -1.0828376719193193, 1.3590631745125812, 0.4931405909341708, -1.8401815096561256 ], "act_eef_pose_l": [ 521.5566875079824, 396.3614907697837, 89.23643144788781, 1.6618628388491372, -0.07309884863027355, 0.7601753393408773 ], "act_eef_pose_r": [ 572.0318644042036, -164.83954812687867, -44.35345665308, 1.5251240043344876, 0.071402763367697, 2.0875492976675414 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 298, "colors": { "rgb_main": "colors/000298_rgb_main.jpg", "rgb_wrist_0": "colors/000298_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000298_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000298_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31523562132968863, -0.539445062385863, -0.07639637103668881, -0.8810853884493609, -0.06320018982156513, -0.9613513898037849, 0.32055548918528304 ], "joint_pos_r": [ -0.6584905166763959, -1.0457804085801414, 0.13142847644689154, -1.0839021706774097, 1.3920238221469825, 0.49316893507829707, -1.8659607319697393 ], "eef_pose_l": [ 522.8190801172145, 395.84162876612254, 90.48977554786015, 1.6636463563341346, -0.0763697673633923, 0.754099700062704 ], "eef_pose_r": [ 573.9562429766285, -171.6484121896749, -44.56991615218482, 1.529209344276054, 0.0710301490717267, 2.067679633153887 ], "joint_status_l": { "velocity": [ 0.5148341375882381, 0.5507370064301575, -0.057073450005939996, -0.8273185298319774, -0.6523013551162915, 0.5575342187205123, 0.41006710988655826 ], "torque": [ -19.51904296875, 10.3271484375, -16.49169921875, -3.60107421875, -5.950927734375, -0.4486083984375, 0.65643310546875 ] }, "joint_status_r": { "velocity": [ -0.023561593334164854, -0.43315130014054404, -0.027508906661810606, -0.10504434334723811, -2.7081449169266136, 0.004157400395943256, 2.226118144236011 ], "torque": [ 40.52490234375, -0.1318359375, 8.148193359375, -8.6669921875, -1.97021484375, 5.2001953125, 0.79376220703125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -17.0, -2.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.4, -17.0, -2.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32216262532723355, -0.532308395154024, -0.07725445369376095, -0.8964254591860706, -0.0730611295081396, -0.9473471481838309, 0.3270537018488114 ], "act_joint_pos_r": [ -0.658694816713905, -1.0536456725601104, 0.13089601368817252, -1.0776517271193258, 1.3390150700674237, 0.4941390316297255, -1.8243593797621684 ], "act_eef_pose_l": [ 521.5742875079824, 396.1334907697837, 89.11403144788761, 1.6617082524779347, -0.07321672765690392, 0.7616762225188493 ], "act_eef_pose_r": [ 572.0574644042035, -164.55554812687865, -44.38705665308021, 1.5237627681399917, 0.0757367858000532, 2.0928026026345123 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 299, "colors": { "rgb_main": "colors/000299_rgb_main.jpg", "rgb_wrist_0": "colors/000299_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000299_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000299_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3158261799212775, -0.538837974403248, -0.07646475456213842, -0.882210712770289, -0.06400694684153947, -0.96042032806193, 0.3210575386561041 ], "joint_pos_r": [ -0.6585618739572087, -1.0470756227908813, 0.13134431519354078, -1.0837402514008607, 1.3842598347207045, 0.4932165608615153, -1.8597204556814717 ], "eef_pose_l": [ 522.6955051473044, 395.88945381428493, 90.3655870964246, 1.6634652044866278, -0.07606472097914808, 0.7547152096788602 ], "eef_pose_r": [ 573.5401476105619, -170.26247033484182, -44.44784019495154, 1.5281588263948231, 0.07114643879579231, 2.0720883208829073 ], "joint_status_l": { "velocity": [ 0.6843159210241367, 0.7051737609282682, -0.08528499086890573, -1.535147336153564, -0.9778228886482276, 1.4118617861980098, 0.6475665258580676 ], "torque": [ -19.8193359375, 10.92041015625, -16.30859375, -4.04052734375, -5.91064453125, -0.311279296875, 0.62896728515625 ] }, "joint_status_r": { "velocity": [ -0.014357394273467605, -0.7095444481821644, -0.048415134651813574, 0.6575412292644245, -4.88629046912159, 0.09962390471640603, 3.8188835673338417 ], "torque": [ 36.97998046875, -0.57861328125, 8.14208984375, -5.780029296875, -2.0599365234375, 5.3961181640625, 0.7763671875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.6, -9.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ 0.0, -16.6, -9.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -17.1, -2.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.4, -17.1, -2.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3226232914134218, -0.530240891987681, -0.07766209503665149, -0.9071865187573549, -0.07341640450988854, -0.9379018718501184, 0.32760783747957656 ], "act_joint_pos_r": [ -0.6606860777893147, -1.0534716519436498, 0.13090409024743696, -1.0768795241413183, 1.3185851948347658, 0.49815922033709725, -1.8168781605399713 ], "act_eef_pose_l": [ 521.3862875079824, 394.5926907697837, 89.17323144788776, 1.661960413010189, -0.07304830263508193, 0.7624262339270583 ], "act_eef_pose_r": [ 570.7142644042035, -163.38754812687867, -44.52145665308012, 1.5201719110885143, 0.08603762718387771, 2.1001268990089597 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 300, "colors": { "rgb_main": "colors/000300_rgb_main.jpg", "rgb_wrist_0": "colors/000300_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000300_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000300_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31740134998834657, -0.5371911321074881, -0.0766662677360815, -0.8858888469999112, -0.06625321552762456, -0.9570442879546129, 0.32254987434719085 ], "joint_pos_r": [ -0.658590184402256, -1.048474728974488, 0.13124884842687798, -1.0824436871021799, 1.3746248650894666, 0.493413002989251, -1.852190238755354 ], "eef_pose_l": [ 522.4308328468543, 395.9242595749816, 90.07189917147471, 1.6630352530962467, -0.07540133934446161, 0.7563688755926721 ], "eef_pose_r": [ 573.2337237314498, -169.0477000859148, -44.42170176296446, 1.5271550314202125, 0.07211785283717438, 2.0764774455550814 ], "joint_status_l": { "velocity": [ 0.5639530410022076, 0.7506037950637534, -0.10754617655661658, -2.3000807125486133, -0.7736015939250884, 2.067319966942982, 0.5462439076944214 ], "torque": [ -19.541015625, 10.4150390625, -17.608642578125, -3.57666015625, -5.899658203125, -0.260009765625, 0.633544921875 ] }, "joint_status_r": { "velocity": [ -0.011299956383048482, -0.558445436779742, -0.03810502793255566, 0.5175164148178979, -3.845744438212506, 0.07840878062781442, 3.0056441245296384 ], "torque": [ 39.55810546875, -1.32568359375, 7.940673828125, -3.94287109375, -2.2979736328125, 6.2933349609375, 0.84136962890625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.7, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.7, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.1, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -17.1, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3234721388414058, -0.5305733259081324, -0.07758290247161188, -0.9048221992126704, -0.07414812246127367, -0.9411376552034502, 0.32682054994386084 ], "act_joint_pos_r": [ -0.6625027162797353, -1.0505347912460101, 0.13112888033157918, -1.0853751806659238, 1.3194966474894896, 0.4993932898670264, -1.8216708934824197 ], "act_eef_pose_l": [ 521.1582875079823, 394.8494907697837, 88.86283144788769, 1.6616449249338006, -0.0712097846239984, 0.761546445365435 ], "act_eef_pose_r": [ 568.9814644042035, -162.49874812687867, -43.96145665308018, 1.5180690385287379, 0.08694865288563536, 2.1036584423209876 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 301, "colors": { "rgb_main": "colors/000301_rgb_main.jpg", "rgb_wrist_0": "colors/000301_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000301_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000301_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3176306289052257, -0.5368859690661971, -0.07670999136035982, -0.8868239603447575, -0.06656772847933397, -0.9562038050625963, 0.32277195349634374 ], "joint_pos_r": [ -0.6586822084459136, -1.0486941280433089, 0.13123371118661942, -1.082199382321035, 1.3721643405733235, 0.49362139436789837, -1.8506397971883346 ], "eef_pose_l": [ 522.3718280128479, 395.8472227437054, 90.0199470740447, 1.6629667830001484, -0.07526905625957248, 0.7567210724614172 ], "eef_pose_r": [ 573.1270425082328, -168.80055450916763, -44.421142053241965, 1.5268242963091425, 0.07272870859814738, 2.0775032289796433 ], "joint_status_l": { "velocity": [ 0.5391916482775372, 0.7176471586083366, -0.10282416440288156, -2.199091449824664, -0.7396351969258252, 1.9765504917073073, 0.522260066951663 ], "torque": [ -19.65087890625, 10.87646484375, -17.803955078125, -4.644775390625, -5.7696533203125, 0.164794921875, 0.6573486328125 ] }, "joint_status_r": { "velocity": [ -0.21641150637030648, -0.5159573638877646, -0.03559801152452913, 0.5745277386193237, -5.786377079694205, 0.4900707508093127, 3.646149220601913 ], "torque": [ 38.53271484375, -1.494140625, 7.855224609375, -4.193115234375, -2.0965576171875, 6.3043212890625, 0.84228515625 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.2, -17.3, -2.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.2, -17.3, -2.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 207, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3232719868225023, -0.5293703663568315, -0.07772073195328369, -0.9069622736047331, -0.07312261113197184, -0.9411678168944121, 0.3257828284256962 ], "act_joint_pos_r": [ -0.6617684180385552, -1.0539477097530716, 0.13088262777750534, -1.0788490556543515, 1.3101278486857362, 0.49967913943549724, -1.8114279053727254 ], "act_eef_pose_l": [ 520.7286875079824, 394.6806907697837, 89.0140314478877, 1.6619953170069772, -0.07088661296471793, 0.7604180069070761 ], "act_eef_pose_r": [ 569.6470644042035, -161.79234812687866, -44.36945665308008, 1.5180699023989288, 0.08656820108893205, 2.1056050992005813 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 302, "colors": { "rgb_main": "colors/000302_rgb_main.jpg", "rgb_wrist_0": "colors/000302_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000302_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000302_depth_main.npy" }, "states": { "joint_pos_l": [ 0.31911100209949406, -0.5351755763725454, -0.07694559548439124, -0.8916574930507865, -0.06845260586918499, -0.9522352485329322, 0.3237767062493194 ], "joint_pos_r": [ -0.6596410808837491, -1.0495536330091122, 0.13117911886343983, -1.0823391102669633, 1.3566828815315226, 0.49522052776974756, -1.8416157300315148 ], "eef_pose_l": [ 522.0531298389775, 395.5884480469092, 89.74620745179314, 1.662647262058045, -0.07427855156537755, 0.7578596097403132 ], "eef_pose_r": [ 572.091540217658, -167.0155440964151, -44.32028987762902, 1.5243390694363677, 0.07665872968982904, 2.0848076131967193 ], "joint_status_l": { "velocity": [ 0.44937309653381163, 0.6269441909667606, -0.0837122696789594, -1.6528675511038315, -0.5043456934998858, 1.1952473650236328, 0.2166548051567574 ], "torque": [ -19.22607421875, 11.27197265625, -17.7734375, -3.80859375, -5.5224609375, -0.146484375, 0.60516357421875 ] }, "joint_status_r": { "velocity": [ -0.22974563673372472, -0.47454629235232915, -0.03202009289882124, 0.37691478165502446, -5.027795260451384, 0.481515858349546, 3.260188909019135 ], "torque": [ 27.421875, 0.380859375, 8.0078125, -4.69970703125, -1.8072509765625, 6.4910888671875, 0.904541015625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.1, -4.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -17.1, -4.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 32, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32342031074220257, -0.52588656032364, -0.07804496350222812, -0.9099289119236693, -0.07343540554570364, -0.9403198847000027, 0.3256902184635976 ], "act_joint_pos_r": [ -0.661731506795368, -1.055358951913672, 0.13078202591792043, -1.0762630265534459, 1.308217624424741, 0.49962984869981913, -1.8106520136919682 ], "act_eef_pose_l": [ 519.9886875079824, 395.5750907697837, 89.37803144788774, 1.6619372827992793, -0.07100975176953236, 0.7618153546848752 ], "act_eef_pose_r": [ 569.9278644042035, -161.61794812687867, -44.735056653080164, 1.5185700743521526, 0.08791415629387729, 2.1055546285059017 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 303, "colors": { "rgb_main": "colors/000303_rgb_main.jpg", "rgb_wrist_0": "colors/000303_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000303_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000303_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3199477099336179, -0.5340082409886817, -0.07710146309727886, -0.8947350409490571, -0.06939166963627036, -0.9500097640930641, 0.324180105505246 ], "joint_pos_r": [ -0.6600172119772102, -1.0503305427183816, 0.13112669674685037, -1.0817220392706164, 1.348451560336923, 0.49600884779573323, -1.8362782688432486 ], "eef_pose_l": [ 521.7733476779723, 395.39598517249823, 89.58994353029746, 1.6625013993256732, -0.07356139759313918, 0.7584045535477482 ], "eef_pose_r": [ 571.6696813193939, -166.09505531299794, -44.317732732033164, 1.5231752668639287, 0.07841018874945825, 2.088452550099693 ], "joint_status_l": { "velocity": [ 0.35901131552673604, 0.5008756877011855, -0.06687906395597132, -1.3205021806825812, -0.40292979775657933, 0.954902134122193, 0.1730889704223415 ], "torque": [ -20.15625, 10.458984375, -17.926025390625, -3.948974609375, -5.654296875, -0.245361328125, 0.5877685546875 ] }, "joint_status_r": { "velocity": [ -0.189124676690966, -0.390642518361517, -0.02635867128186753, 0.31027307954190064, -4.138838789803145, 0.3963798064967605, 2.6837601015454737 ], "torque": [ 28.06640625, -0.57861328125, 8.0078125, -3.924560546875, -1.8585205078125, 6.5643310546875, 0.84228515625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -17.1, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.8, -17.1, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32338327349780516, -0.5241942134115514, -0.07819310558544423, -0.9109281519172807, -0.07265176140647243, -0.9393349775539448, 0.3253974196039819 ], "act_joint_pos_r": [ -0.6634937324583469, -1.0546515976252089, 0.13082807416535536, -1.0764722585911257, 1.31406539698769, 0.49935867961519226, -1.8191603760826691 ], "act_eef_pose_l": [ 519.7310875079824, 396.2350907697837, 89.41243144788751, 1.6628149505471757, -0.07154132086730773, 0.7631907108010036 ], "act_eef_pose_r": [ 569.7566644042035, -162.45794812687868, -45.859856653080215, 1.5208872482569789, 0.09052283960889651, 2.102457552471413 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 304, "colors": { "rgb_main": "colors/000304_rgb_main.jpg", "rgb_wrist_0": "colors/000304_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000304_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000304_depth_main.npy" }, "states": { "joint_pos_l": [ 0.32009587178897775, -0.5337528539758823, -0.07713346975538543, -0.8953159700195376, -0.0695601300884864, -0.949608945983968, 0.32424910025584874 ], "joint_pos_r": [ -0.6601892511388618, -1.050772331949966, 0.13109657442485914, -1.081286003776889, 1.3445286818632975, 0.4963710498240155, -1.8337614355016496 ], "eef_pose_l": [ 521.7060709132599, 395.3912498731854, 89.57524947510566, 1.6624761491928157, -0.07344833117732959, 0.7585342650544433 ], "eef_pose_r": [ 571.4892637115935, -165.6583939398852, -44.339030218267226, 1.5226713781747439, 0.0792999236822652, 2.090141493153546 ], "joint_status_l": { "velocity": [ 0.35902881795912833, 0.849534658756923, -0.09843842137291503, -1.578151180565257, -0.41851740586834607, 1.0031890311896774, 0.15563617619296366 ], "torque": [ -19.60693359375, 10.68603515625, -17.93212890625, -4.0283203125, -5.584716796875, -0.362548828125, 0.64178466796875 ] }, "joint_status_r": { "velocity": [ -0.16655869851600613, -0.49534034679776795, -0.03397023685081102, 0.5424655409660417, -3.9214785455374823, 0.35193989867421394, 2.4957439474135867 ], "torque": [ 28.02978515625, -0.7470703125, 7.82470703125, -3.521728515625, -1.9793701171875, 6.4892578125, 0.70037841796875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.1, -2.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.5, -17.1, -2.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 234, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3229188958495804, -0.5232050919966377, -0.0783663426281985, -0.9150088704058154, -0.07152545677474204, -0.9361408170698022, 0.3247931798606899 ], "act_joint_pos_r": [ -0.6656830790735917, -1.0524106959738104, 0.13098252765882307, -1.07916351522214, 1.322513254305991, 0.49933540648576064, -1.830137889212897 ], "act_eef_pose_l": [ 519.6046875079824, 395.6814907697837, 89.60683144788783, 1.6633850831079753, -0.07186254932526757, 0.763017384066904 ], "act_eef_pose_r": [ 569.2582644042036, -163.64514812687867, -46.8358566530801, 1.522998241623723, 0.09277369269429983, 2.098855275556618 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 305, "colors": { "rgb_main": "colors/000305_rgb_main.jpg", "rgb_wrist_0": "colors/000305_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000305_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000305_depth_main.npy" }, "states": { "joint_pos_l": [ 0.32099898149925066, -0.5310836775310462, -0.0774334606678514, -0.899842100096271, -0.07040392112487853, -0.9466188956913939, 0.3245544031139086 ], "joint_pos_r": [ -0.6611713010359613, -1.0516456304996555, 0.13103609207010022, -1.0801971372528019, 1.3371391193399242, 0.4971425593884468, -1.8306222274178872 ], "eef_pose_l": [ 521.1760638416337, 395.58229884686546, 89.53784200648863, 1.662567051601621, -0.07293739996437916, 0.7597529653765775 ], "eef_pose_r": [ 571.0176609362312, -164.90164697622117, -44.783895127314906, 1.5223059621585273, 0.08233936978415202, 2.093099042416464 ], "joint_status_l": { "velocity": [ 0.20734463453209173, 0.8508621428786611, -0.10074828030570693, -1.6379628842972949, -0.12112227787464125, 1.1315991164000394, 0.025787128101750767 ], "torque": [ -20.9912109375, 11.0009765625, -17.938232421875, -3.3935546875, -5.7421875, -0.230712890625, 0.61798095703125 ] }, "joint_status_r": { "velocity": [ -0.48725765716728375, -0.08262463432462397, -0.005784785804818782, 0.11162788702367976, -1.5795468374211197, 0.23682050186257797, 0.05230698342728601 ], "torque": [ 26.65283203125, -0.31494140625, 7.82470703125, -3.985595703125, -1.4776611328125, 6.4178466796875, 0.692138671875 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.9, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.3, -16.9, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.0, -2.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -2.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 22, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32234642855907675, -0.521657243593545, -0.0785323106617421, -0.9169555956632454, -0.06986468622927085, -0.9367076373732477, 0.3245853720846594 ], "act_joint_pos_r": [ -0.6728375354916017, -1.0514571346600583, 0.1310059658282589, -1.0705984696070294, 1.335762303960878, 0.49727356651312843, -1.8479331272635937 ], "act_eef_pose_l": [ 519.0902875079823, 395.6798907697837, 89.89883144788774, 1.6639410405902648, -0.07306499035137634, 0.7616387683682986 ], "act_eef_pose_r": [ 569.4686644042035, -168.12034812687867, -52.985456653080064, 1.5358836259338309, 0.09933278268137126, 2.0861957856194 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 306, "colors": { "rgb_main": "colors/000306_rgb_main.jpg", "rgb_wrist_0": "colors/000306_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000306_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000306_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3214078313761751, -0.5294059158509303, -0.077632119881273, -0.9030718963490796, -0.07064275454592935, -0.9443875663854199, 0.3246052511340388 ], "joint_pos_r": [ -0.6620241943775723, -1.0517902562421804, 0.13102596641025058, -1.0800017443632695, 1.3343742885351473, 0.4975570887985535, -1.8305306695383365 ], "eef_pose_l": [ 520.8432865365932, 395.6049652363918, 89.5516948555182, 1.662738817504106, -0.0727081160522566, 0.760448773506536 ], "eef_pose_r": [ 570.6868029181677, -164.66473012766681, -45.17129074321059, 1.5224329886810068, 0.08431496892304541, 2.094180545894515 ], "joint_status_l": { "velocity": [ 0.1631901500913635, 0.669669225425551, -0.07929371802473106, -1.2891551765275011, -0.09532902913234054, 0.890622658575424, 0.020295703888617567 ], "torque": [ -20.888671875, 11.75537109375, -17.950439453125, -3.5888671875, -5.79345703125, -0.13916015625, 0.120849609375 ] }, "joint_status_r": { "velocity": [ -0.395147892906067, -0.06700551479354999, -0.004691246793253612, 0.09052607731874218, -1.2809539170337558, 0.19205264592825344, 0.04241902406576514 ], "torque": [ 27.97119140625, -0.908203125, 7.92236328125, -3.6376953125, -1.67724609375, 6.416015625, 0.1519775390625 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.7, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.3, -16.7, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.2, -2.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.7, -17.2, -2.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3216310201139975, -0.5219752595567222, -0.07842094585844359, -0.9133465679933848, -0.06741396042758743, -0.9401406334699314, 0.3229284380899278 ], "act_joint_pos_r": [ -0.6756029653830384, -1.0507365394584882, 0.13100500679966356, -1.0605056323755184, 1.3446577937455393, 0.497642546280268, -1.8573940934959867 ], "act_eef_pose_l": [ 519.0422875079823, 396.32149076978374, 89.84123144788765, 1.6652970690535347, -0.07343097464416456, 0.7609317287357327 ], "act_eef_pose_r": [ 570.8502644042035, -172.72434812687868, -56.32145665308008, 1.542746486116645, 0.10433264661231928, 2.073815192962162 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 307, "colors": { "rgb_main": "colors/000307_rgb_main.jpg", "rgb_wrist_0": "colors/000307_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000307_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000307_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3214705037817226, -0.5289776261851672, -0.07768207253835388, -0.9038510258910881, -0.07062112900571377, -0.9439332368390068, 0.3246070474503938 ], "joint_pos_r": [ -0.6627541847567231, -1.0517881319980373, 0.13102359762278393, -1.079432039372704, 1.3341254928575517, 0.4975900080618278, -1.8315310127240783 ], "eef_pose_l": [ 520.7491681273514, 395.6097921843421, 89.56746733420178, 1.6628005990457926, -0.07271124766123757, 0.7605376377656377 ], "eef_pose_r": [ 570.5801293962534, -164.83662196758007, -45.671845536231274, 1.5232276523294894, 0.08541752907923893, 2.0938325668659306 ], "joint_status_l": { "velocity": [ 0.0945970859622669, 0.7905780030434961, -0.09182300915100416, -1.4152517947723098, 0.0816934104375111, 0.7803417273537505, -0.0023408704592497998 ], "torque": [ -20.8154296875, 11.3525390625, -17.901611328125, -3.387451171875, -5.6671142578125, -0.2142333984375, 0.11993408203125 ] }, "joint_status_r": { "velocity": [ -1.0889697619198557, 0.03574665821037826, -0.0019041776480044348, 0.9539973980441374, 0.17677038559504865, -0.03417467933131135, -1.7713761263209449 ], "torque": [ 26.9091796875, 2.958984375, 7.525634765625, -2.459716796875, 0.2178955078125, 5.386962890625, 0.1776123046875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.1, -2.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.7, -17.1, -2.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 274, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 66, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32022423892325313, -0.5290012884690853, -0.0777329127272227, -0.9059994188002635, -0.06634806188707548, -0.9498058072406871, 0.32315149836985274 ], "act_joint_pos_r": [ -0.6752248029064267, -1.0486288989214856, 0.13110241973010087, -1.0532649267020062, 1.348585919653436, 0.49954811545359923, -1.861957508297165 ], "act_eef_pose_l": [ 519.7022875079824, 393.9110907697837, 89.93963144788773, 1.663350139587009, -0.0737402987837415, 0.7517889896008093 ], "act_eef_pose_r": [ 572.4430644042036, -176.90114812687867, -57.00225665308017, 1.544135718173631, 0.10990924224963088, 2.064147765101314 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 308, "colors": { "rgb_main": "colors/000308_rgb_main.jpg", "rgb_wrist_0": "colors/000308_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000308_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000308_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3214382766928488, -0.5275709288089885, -0.07783447312465354, -0.905920804184753, -0.06975693120616627, -0.9434754041771652, 0.3242042963433385 ], "joint_pos_r": [ -0.666050735280187, -1.0513641337681967, 0.1310258120550825, -1.0740139502209776, 1.3371332903546147, 0.49774099390241744, -1.8385504941108783 ], "eef_pose_l": [ 520.3475275583743, 395.6473390231174, 89.64425560260716, 1.6633176935449479, -0.07290938401781358, 0.7601160558313669 ], "eef_pose_r": [ 570.8015052409569, -167.1639210532955, -48.47991783893485, 1.5283664939514454, 0.0906378255588163, 2.087870589853721 ], "joint_status_l": { "velocity": [ -0.1311122121685493, -0.15447428731452106, 0.010968199432914716, -0.008490128071692027, 0.3681470285456512, -0.6836633672868686, -0.11369882776923745 ], "torque": [ -27.392578125, 7.20703125, -13.3544921875, -2.264404296875, -2.6422119140625, -1.5399169921875, -0.31219482421875 ] }, "joint_status_r": { "velocity": [ -0.9907700824323129, 0.29539665118694103, 0.008273384891510638, 2.24082845034701, 1.2368474854067557, 0.19516337149116936, -2.527882976195883 ], "torque": [ 25.751953125, 5.9033203125, 8.55712890625, -2.496337890625, 0.6024169921875, 6.2237548828125, -0.8038330078125 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.7, -10.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -16.7, -10.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.5, -17.1, -2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.5, -17.1, -2.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.31916247868524, -0.5325509836578949, -0.07698761584033713, -0.8856139857207433, -0.0726885678506541, -0.9732666066442791, 0.3325923077532268 ], "act_joint_pos_r": [ -0.6729394736170837, -1.040310562765352, 0.1316369021031392, -1.0552073526824086, 1.3357506102895762, 0.49917562432649576, -1.85563201821662 ], "act_eef_pose_l": [ 519.4974875079823, 396.38149076978374, 91.35563144788767, 1.6559377006654274, -0.08038650052898423, 0.7467232840051693 ], "act_eef_pose_r": [ 572.5542644042035, -180.3683481268787, -55.31745665308017, 1.5427477197984982, 0.11961158598646876, 2.0647666009124688 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 309, "colors": { "rgb_main": "colors/000309_rgb_main.jpg", "rgb_wrist_0": "colors/000309_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000309_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000309_depth_main.npy" }, "states": { "joint_pos_l": [ 0.32119415301050824, -0.5278585513822217, -0.0778140509443706, -0.9059366123333161, -0.06907146181498676, -0.9447483475280786, 0.3239925954189646 ], "joint_pos_r": [ -0.6675589092129848, -1.0509144739156688, 0.1310384059995815, -1.0706029075213546, 1.3390160491998924, 0.4980380762575866, -1.842398498080177 ], "eef_pose_l": [ 520.2186488117604, 395.2974350141486, 89.70397688270526, 1.663321815777171, -0.07307700003235582, 0.7584417903790274 ], "eef_pose_r": [ 571.0927016419814, -168.75437555959218, -49.884922569571984, 1.530958545629516, 0.09376128488087747, 2.083929088355507 ], "joint_status_l": { "velocity": [ -0.10474763205747806, -0.12341196553977696, 0.008762669010953239, -0.006782898378965285, 0.2941185176524863, -0.5461895399614392, -0.09083580224533705 ], "torque": [ -30.64453125, 5.6982421875, -12.46337890625, -2.154541015625, -2.4151611328125, -2.457275390625, -0.28472900390625 ] }, "joint_status_r": { "velocity": [ -0.8278921015190122, 0.24683481936804696, 0.006913278999820527, 1.872446703626629, 1.0335155270713159, 0.16307942339865988, -2.1123108041578575 ], "torque": [ 25.9423828125, 5.20751953125, 8.63037109375, -4.40673828125, 0.498046875, 6.38671875, -0.73974609375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.3, -2.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.3, -17.3, -2.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 141, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.31678925557036386, -0.5353487053904326, -0.07670859432473634, -0.8820261060452238, -0.07086398708044878, -0.9775096872132867, 0.3323896350578547 ], "act_joint_pos_r": [ -0.6684597681865984, -1.0230987183000386, 0.13271661760782671, -1.0513566871002273, 1.276014507219383, 0.5004671070285864, -1.8024804789379576 ], "act_eef_pose_l": [ 519.9398875079823, 395.5846907697837, 92.1028314478877, 1.6551080958566313, -0.08239019788430552, 0.7430232369852109 ], "act_eef_pose_r": [ 572.3454644042035, -187.47154812687867, -52.441456653080195, 1.539460959215252, 0.1325607185713454, 2.0753558527864113 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 310, "colors": { "rgb_main": "colors/000310_rgb_main.jpg", "rgb_wrist_0": "colors/000310_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000310_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000310_depth_main.npy" }, "states": { "joint_pos_l": [ 0.32096431066528064, -0.528295139582276, -0.07774511684544604, -0.9043663756045083, -0.0692409154752228, -0.9469994036899675, 0.32459507918112845 ], "joint_pos_r": [ -0.6681270688298273, -1.0495492242238516, 0.13111600710501456, -1.068672938097066, 1.3374088915432925, 0.4982197015380275, -1.8425820894145735 ], "eef_pose_l": [ 520.1757837837947, 395.3324802861869, 89.84721339776621, 1.6627661585480504, -0.07366342787768997, 0.7573922532967771 ], "eef_pose_r": [ 571.2636277825236, -170.12845295689132, -50.4840282244441, 1.5322197560646773, 0.09665213614594395, 2.08201690122529 ], "joint_status_l": { "velocity": [ -0.45089265188336114, -0.7617626402924849, 0.11194113070944756, 2.4126779542710253, -0.1752865635635814, -3.2950134392910613, 0.8417872074999444 ], "torque": [ -32.080078125, 7.6171875, -10.797119140625, 0.140380859375, -4.2059326171875, -2.42431640625, 0.399169921875 ] }, "joint_status_r": { "velocity": [ -0.03593047081817957, 2.8565703897323047, 0.17286083604584057, 1.8700999520095962, -6.6303979538471225, 0.24271263455366565, 4.330846199994909 ], "torque": [ 26.044921875, 7.5, 13.09814453125, -3.45458984375, -0.780029296875, 6.419677734375, -0.6829833984375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -15.5, -7.5, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -15.5, -7.5, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -17.5, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.9, -17.5, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3215681888987918, -0.5455608847765573, -0.0754345766740397, -0.8571031319849229, -0.08023152983599316, -0.999405716682775, 0.34375948241643883 ], "act_joint_pos_r": [ -0.6635196823493552, -0.9953607201278396, 0.13459770669397628, -1.0585216273027536, 1.2014106206814377, 0.5066876152459255, -1.7355177109673754 ], "act_eef_pose_l": [ 520.7638875079824, 396.4190907697837, 90.21323144788772, 1.6493764480366795, -0.08454940263742312, 0.7380380225804377 ], "act_eef_pose_r": [ 569.9278644042035, -196.06754812687868, -46.78465665307999, 1.5310339516527327, 0.1458377316950342, 2.092888571435586 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 311, "colors": { "rgb_main": "colors/000311_rgb_main.jpg", "rgb_wrist_0": "colors/000311_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000311_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000311_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3202086500618313, -0.5306343876142748, -0.07741453537993405, -0.8973886908616583, -0.07018698607889443, -0.9558233446953043, 0.3271850007046895 ], "joint_pos_r": [ -0.6680599580424436, -1.0424846352563344, 0.1315494831985201, -1.0647947903569897, 1.3207098260995809, 0.4989338942338349, -1.831136901584273 ], "eef_pose_l": [ 520.1790786151347, 395.4428183466813, 90.28915593206168, 1.6605493432343053, -0.07590545770924922, 0.7535275436888559 ], "eef_pose_r": [ 571.5081696543285, -174.48348679467486, -50.762325665097364, 1.5334008613543897, 0.10554143655438142, 2.080814508923037 ], "joint_status_l": { "velocity": [ 0.14682586399406006, -1.6120141497104612, 0.2138292336805181, 4.350712041295779, -1.0847787319281377, -4.706757356259139, 1.7899912318997124 ], "torque": [ -27.2021484375, 0.93017578125, -9.625244140625, 4.0283203125, -5.52978515625, -3.468017578125, 0.6170654296875 ] }, "joint_status_r": { "velocity": [ 0.4903353131870958, 5.089232734981408, 0.3291984283205762, 0.6774816286059249, -12.883934193832047, 0.8373771721861267, 10.326568020783355 ], "torque": [ 27.2607421875, 7.8076171875, 14.5751953125, -3.582763671875, -2.054443359375, 6.4105224609375, 0.673828125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.9, -7.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.9, -7.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.4, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.0, -17.4, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 192, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32958235455455154, -0.5630755486115515, -0.07360117971422225, -0.8244985658138958, -0.10115092350133524, -1.0305615514642883, 0.35989026580122846 ], "act_joint_pos_r": [ -0.6547281519798736, -0.9680611940014644, 0.136436302497078, -1.0546812972806145, 1.0924326160652607, 0.5187233049492195, -1.6323873231583617 ], "act_eef_pose_l": [ 522.1702875079824, 395.1270907697837, 88.19563144788782, 1.6340166846243351, -0.08245034469919632, 0.7282485526915927 ], "act_eef_pose_r": [ 567.9662644042035, -204.97874812687866, -40.18305665308003, 1.522032106002082, 0.15992983682062945, 2.1199924288732617 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 312, "colors": { "rgb_main": "colors/000312_rgb_main.jpg", "rgb_wrist_0": "colors/000312_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000312_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000312_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3202288462770924, -0.5308561236482803, -0.0773851227062058, -0.896790241007288, -0.07033619974047084, -0.9564707693530781, 0.32743121787141677 ], "joint_pos_r": [ -0.6678606089099072, -1.040415573323184, 0.13168332104244684, -1.0645193556262251, 1.3154717756550722, 0.4992743355775271, -1.8269385656258819 ], "eef_pose_l": [ 520.1892526153905, 395.4574146024196, 90.28695609090221, 1.660386722134279, -0.07602783149670131, 0.7532948310335491 ], "eef_pose_r": [ 571.4644505406357, -175.44244728145412, -50.570070121065726, 1.5331349993474355, 0.1073182492834166, 2.0812747770089817 ], "joint_status_l": { "velocity": [ 0.1446447370749837, -1.588067364310497, 0.2106527586029916, 4.286081363203742, -1.0686641317526613, -4.636837555393569, 1.7634005621429694 ], "torque": [ -28.0224609375, 6.4892578125, -10.3271484375, 1.13525390625, -4.815673828125, -2.7557373046875, 0.8349609375 ] }, "joint_status_r": { "velocity": [ 0.4688062418392036, 4.865780636568395, 0.31474436747624956, 0.6477355549963093, -12.3182414300409, 0.8006105914395434, 9.87316110979819 ], "torque": [ 33.15673828125, 8.63525390625, 13.96484375, -3.643798828125, -2.3602294921875, 6.7694091796875, 1.787109375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.3, -7.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.3, -7.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.6, -0.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -17.6, -0.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3331587909173116, -0.5806634721766448, -0.07162367718425285, -0.7807282354075359, -0.1179908170079519, -1.06235764417129, 0.3676355631829801 ], "act_joint_pos_r": [ -0.6473644930838898, -0.9391501562786329, 0.1386355747921531, -1.0673956153278172, 1.0372974078343375, 0.5224581594871519, -1.5809458162869716 ], "act_eef_pose_l": [ 524.8742875079823, 397.64149076978373, 87.44683144788775, 1.6209376804833777, -0.07982596631464656, 0.728085684178733 ], "act_eef_pose_r": [ 565.4998644042035, -213.61874812687867, -33.610256653080114, 1.5182051746322025, 0.17088688829688886, 2.1337233492729406 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 313, "colors": { "rgb_main": "colors/000313_rgb_main.jpg", "rgb_wrist_0": "colors/000313_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000313_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000313_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3226905335605667, -0.5399803206838492, -0.07631117021688787, -0.8758431980235326, -0.07892389461608684, -0.9772557976323014, 0.3360945004300643 ], "joint_pos_r": [ -0.6642335405443448, -1.0206333300423993, 0.13299924130246632, -1.0627997057507952, 1.2570252462035785, 0.5042514607379682, -1.7759444197574121 ], "eef_pose_l": [ 520.9050592802736, 395.56000082696215, 89.67823491543302, 1.6533106410680287, -0.07722799175718409, 0.7466689356157548 ], "eef_pose_r": [ 570.8347295736396, -183.57710039063176, -47.25196815773808, 1.527385601757297, 0.12135436021130717, 2.0902627966302556 ], "joint_status_l": { "velocity": [ 1.1305384510791328, -4.39365077741849, 0.5062343169415229, 10.272113002749883, -4.219103182524608, -9.1907283601671, 3.406334312854309 ], "torque": [ -21.17431640625, -2.95166015625, -9.100341796875, 6.31103515625, -6.7108154296875, -4.24072265625, 0.7415771484375 ] }, "joint_status_r": { "velocity": [ 1.821803394510546, 8.799923226625594, 0.6087060640603825, -0.4963435954463691, -23.729906667693257, 1.966265473011486, 21.059228066077296 ], "torque": [ 38.8623046875, 13.59375, 14.715576171875, -5.224609375, -4.010009765625, 6.6668701171875, 0.93658447265625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.2, -7.4, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.2, -7.4, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 1.3, -17.5, -3.2, 1.1, 0.3, -0.1 ], "actual_contact_FT": [ 1.3, -17.5, -3.2, 1.1, 0.3, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.33484572474335067, -0.5822273824151918, -0.07149523420331635, -0.7763284868173514, -0.12346952844429229, -1.0667661703518925, 0.37120975377643844 ], "act_joint_pos_r": [ -0.6417988671269401, -0.9177966502670182, 0.14040551628345768, -1.0781729620810905, 0.9646989765144713, 0.5151957095537407, -1.521650806027946 ], "act_eef_pose_l": [ 524.9222875079823, 397.9486907697837, 87.43323144788775, 1.6169437218476168, -0.07965687148249113, 0.7282372145926862 ], "act_eef_pose_r": [ 561.9006644042036, -217.12914812687868, -31.27185665308002, 1.5292495231153487, 0.18562567261926807, 2.1604810610000413 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 314, "colors": { "rgb_main": "colors/000314_rgb_main.jpg", "rgb_wrist_0": "colors/000314_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000314_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000314_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3247955335841379, -0.5481610552543558, -0.07536858993748445, -0.8567170921469265, -0.08677963122565203, -0.994368425156223, 0.34243690638892854 ], "joint_pos_r": [ -0.661044665085855, -1.0052299888813594, 0.13406471732197842, -1.0636685030728699, 1.2154885374495534, 0.5076932018888831, -1.7390824533361051 ], "eef_pose_l": [ 521.8300168412557, 396.0179418702118, 89.13302760269846, 1.64662154544031, -0.07729751479599747, 0.7425394221912258 ], "eef_pose_r": [ 570.1064541429921, -189.3939160632893, -44.37744953279122, 1.523513252352819, 0.13078989467032498, 2.0976799389048146 ], "joint_status_l": { "velocity": [ 0.9032051533708341, -3.510157501045441, 0.40443864906869464, 8.206554488467965, -3.370708650750731, -7.34261909465328, 2.721374671101895 ], "torque": [ -21.50390625, 2.96630859375, -9.185791015625, 2.0263671875, -5.74951171875, -2.7630615234375, 0.732421875 ] }, "joint_status_r": { "velocity": [ 1.4774150021859, 7.136411443890545, 0.4936380477028601, -0.40251625195164564, -19.244074424808133, 1.5945683913320963, 17.078253105156094 ], "torque": [ 40.84716796875, 6.08642578125, 15.380859375, -8.831787109375, -2.559814453125, 6.2786865234375, 0.985107421875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.3, -9.0, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -16.3, -9.0, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.3, -2.8, 1.1, 0.3, -0.1 ], "actual_contact_FT": [ 1.0, -17.3, -2.8, 1.1, 0.3, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.33692599449557786, -0.5752403449615553, -0.07209896326327783, -0.784664235049073, -0.1283693566327868, -1.0543471930859403, 0.38223285316461325 ], "act_joint_pos_r": [ -0.6361119967592419, -0.8829384343627554, 0.1433857489750229, -1.0921487314197253, 0.8603372446093118, 0.5269369793464315, -1.4242220775256311 ], "act_eef_pose_l": [ 524.7374875079823, 400.5118907697837, 87.40203144788762, 1.6171038630672858, -0.08777344322225562, 0.7396273792407964 ], "act_eef_pose_r": [ 555.3734644042036, -224.56754812687868, -25.811056653080186, 1.5320883519145414, 0.19560926256819186, 2.1968348648564113 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 315, "colors": { "rgb_main": "colors/000315_rgb_main.jpg", "rgb_wrist_0": "colors/000315_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000315_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000315_depth_main.npy" }, "states": { "joint_pos_l": [ 0.32565870287996834, -0.5510868710086161, -0.07503592345496693, -0.8498128477643176, -0.08993077454667053, -1.0005863676560511, 0.3449080870883875 ], "joint_pos_r": [ -0.6594684404057742, -0.9980150406076098, 0.1345849052162382, -1.0647656748541647, 1.194949965465409, 0.5084376676090854, -1.721225478582905 ], "eef_pose_l": [ 522.0746128098683, 396.15826195213447, 88.99018394636173, 1.6445606283511944, -0.07732230741295357, 0.7414520522495601 ], "eef_pose_r": [ 569.5804806870307, -191.7606994962238, -43.0885062921036, 1.5225453793633241, 0.13534075632679282, 2.102444160641742 ], "joint_status_l": { "velocity": [ 0.9921690987817477, -3.363076043283897, 0.3823831613898321, 7.9360769201954895, -3.6220785934454325, -7.147207895521035, 2.8404962263515188 ], "torque": [ -20.85205078125, 3.33984375, -9.051513671875, 0.714111328125, -5.958251953125, -3.0377197265625, 0.73333740234375 ] }, "joint_status_r": { "velocity": [ 1.9082576330635703, 8.663330645505063, 0.6286074554737731, -1.4479443156725225, -24.866373412219644, 0.7298470043357597, 21.55342895152934 ], "torque": [ 41.12548828125, 11.0302734375, 15.362548828125, -9.16748046875, -2.42431640625, 6.6778564453125, 1.5948486328125 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.3, -9.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.3, -16.3, -9.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -17.4, -2.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ 0.4, -17.4, -2.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 291, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 78, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.33437379906449244, -0.5711017060508239, -0.07227017848742052, -0.7817982915984135, -0.11949195387637805, -1.0502604344321973, 0.38219021251142393 ], "act_joint_pos_r": [ -0.6328865928835197, -0.8530426884453095, 0.14612536088964587, -1.1049441515274714, 0.7832524481232296, 0.5378430868192964, -1.363264450894621 ], "act_eef_pose_l": [ 524.8598875079824, 404.0830907697837, 87.18763144788778, 1.6254774711908113, -0.09546040970950112, 0.7470427055079175 ], "act_eef_pose_r": [ 549.4542644042035, -231.46514812687866, -22.055856653080127, 1.537151672191127, 0.2139739183077855, 2.2235955700402763 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 316, "colors": { "rgb_main": "colors/000316_rgb_main.jpg", "rgb_wrist_0": "colors/000316_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000316_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000316_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3282634403471541, -0.5567666682474058, -0.07432134451611613, -0.8334813452189669, -0.0988045903647287, -1.0135979892486793, 0.3541432253002622 ], "joint_pos_r": [ -0.6529992837686694, -0.9652072529601072, 0.13712320133743983, -1.072919542359642, 1.100296343670987, 0.5140839763966312, -1.6378015264669303 ], "eef_pose_l": [ 522.7802827131862, 397.1998938012192, 88.292844740383, 1.6398335509772974, -0.07911568207822442, 0.741497234871072 ], "eef_pose_r": [ 566.0858576548155, -201.22101210473417, -37.083995342363096, 1.518198218712453, 0.15322115334194208, 2.1277663630758314 ], "joint_status_l": { "velocity": [ 0.6598992787836266, -1.5481384228670514, 0.2215193977337382, 5.5816051703754255, -2.2341693659548856, -3.9594273027532267, 3.02898528365958 ], "torque": [ -21.50390625, 3.4716796875, -8.6181640625, 1.708984375, -5.67626953125, -2.7886962890625, 0.6353759765625 ] }, "joint_status_r": { "velocity": [ 2.172106552738029, 12.113415701500152, 0.9722045579975136, -3.458555785474715, -34.23973087227594, 2.5659082482292206, 29.649129707472355 ], "torque": [ 41.2060546875, 12.216796875, 15.869140625, -9.185791015625, -2.896728515625, 6.77490234375, 1.63238525390625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -15.7, -9.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -15.7, -9.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -17.1, -2.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 1.6, -17.1, -2.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 53, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3423604607913828, -0.5631268329185067, -0.072939686603581, -0.7907515043240061, -0.1356927964918358, -1.035855534762297, 0.39924419507067205 ], "act_joint_pos_r": [ -0.630874358144196, -0.8240925650423313, 0.1492518318737188, -1.1236854310942397, 0.7282943335761778, 0.5334497499224425, -1.3259787519309993 ], "act_eef_pose_l": [ 524.3790875079824, 407.5638907697837, 85.95083144788765, 1.621018226209698, -0.10008323840848052, 0.7638554010776217 ], "act_eef_pose_r": [ 544.1590644042035, -238.36274812687867, -20.243056653079975, 1.5523105290044912, 0.232961534928714, 2.2413544568944737 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 317, "colors": { "rgb_main": "colors/000317_rgb_main.jpg", "rgb_wrist_0": "colors/000317_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000317_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000317_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3294185247111031, -0.5594765219220132, -0.07393359808137943, -0.82371133172551, -0.10271526913647352, -1.020528550797457, 0.3594451458391615 ], "joint_pos_r": [ -0.6496928511863922, -0.9467679216539994, 0.13860311438459175, -1.078184238754164, 1.0481758058355928, 0.5179898633451253, -1.5926689115971069 ], "eef_pose_l": [ 523.2033392679325, 398.73845664865274, 88.27033411623682, 1.636091040011554, -0.08294446801817834, 0.7423752593683266 ], "eef_pose_r": [ 563.7353310530258, -206.2950822465143, -33.962341469497005, 1.5171699559036516, 0.1635608707077049, 2.1425524009454002 ], "joint_status_l": { "velocity": [ 0.5351538466467076, -1.2554828574238286, 0.17964401783043815, 4.526474832487359, -1.8118285148840396, -3.2109487306808404, 2.4563947531137664 ], "torque": [ -20.1708984375, 2.10205078125, -8.477783203125, 0.96435546875, -5.7879638671875, -2.8692626953125, 0.6024169921875 ] }, "joint_status_r": { "velocity": [ 1.815022365486918, 10.122026653320404, 0.8123786627178831, -2.889985343955459, -28.61087880017177, 2.1440848988065753, 24.774951057747074 ], "torque": [ 39.375, 7.79296875, 15.1611328125, -9.06982421875, -2.2247314453125, 6.1688232421875, 0.86883544921875 ] }, "eef_FT_l": { "raw_value": [ 0.2, -15.9, -9.1, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -15.9, -9.1, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -16.9, -3.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.7, -16.9, -3.4, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32624148655641866, -0.5507988549590769, -0.07394194337482565, -0.8027024406504745, -0.0666104104944449, -1.0157020125926395, 0.35989251514183107 ], "act_joint_pos_r": [ -0.6280043577079071, -0.799448007545203, 0.15175240972259224, -1.126138203173011, 0.6441975791297399, 0.5404648419209479, -1.2533900559860751 ], "act_eef_pose_l": [ 523.2718875079823, 411.0078907697837, 83.33403144788764, 1.671764350838594, -0.1091447536577691, 0.7625029310801672 ], "act_eef_pose_r": [ 539.2694644042035, -245.58674812687866, -20.303856653080175, 1.5718824647933687, 0.24524821567970706, 2.2679116106410784 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 318, "colors": { "rgb_main": "colors/000318_rgb_main.jpg", "rgb_wrist_0": "colors/000318_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000318_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000318_depth_main.npy" }, "states": { "joint_pos_l": [ 0.33013605476321783, -0.5599862705310903, -0.07382193940724832, -0.8202402454531352, -0.10429916061956158, -1.0223493884947168, 0.362113914872599 ], "joint_pos_r": [ -0.6478616483495063, -0.935397137150075, 0.1395701412891566, -1.0819714070448692, 1.0173822723657606, 0.5198134829443828, -1.5666061671554707 ], "eef_pose_l": [ 523.3345854686871, 399.5177439585283, 88.0465269462999, 1.6355379695276022, -0.08455102605794837, 0.7437664617045209 ], "eef_pose_r": [ 562.1593789521976, -209.33779472703463, -32.27097269658324, 1.5177107708173492, 0.17013440002258556, 2.151594266304317 ], "joint_status_l": { "velocity": [ -0.4206009613723083, 0.9922116180600682, -0.012960046262167069, 1.8940270573457596, 4.070264967464432, 0.717895424230619, -0.2399040953302567 ], "torque": [ -20.7421875, 4.63623046875, -8.636474609375, -0.616455078125, -6.5386962890625, -2.2467041015625, 0.670166015625 ] }, "joint_status_r": { "velocity": [ 2.1445241399344894, 14.682072972731497, 1.3156461879009207, -4.769873301945893, -40.3027582031763, 2.230280990847433, 33.826342351655825 ], "torque": [ 40.5908203125, 12.7587890625, 16.156005859375, -10.44921875, -4.38720703125, 6.1065673828125, 0.8624267578125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -17.0, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -17.0, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.1, -17.2, -3.9, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 2.1, -17.2, -3.9, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 0, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3381044091587188, -0.5452017551329513, -0.07429776248178072, -0.8035659209096042, -0.08931780707066793, -1.0233878080335985, 0.38372253566404163 ], "act_joint_pos_r": [ -0.6309920999230347, -0.77580907538166, 0.1543116737859085, -1.1308810260991788, 0.6029435350692838, 0.5478074988001026, -1.2208244818739638 ], "act_eef_pose_l": [ 520.5358875079824, 413.0750907697837, 81.82843144788768, 1.660156210255578, -0.11368231924737426, 0.7647363605720238 ], "act_eef_pose_r": [ 534.8270644042036, -254.36114812687867, -21.122256653080285, 1.5849861757943742, 0.25508384860665506, 2.2769536592864945 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 319, "colors": { "rgb_main": "colors/000319_rgb_main.jpg", "rgb_wrist_0": "colors/000319_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000319_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000319_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3296929777552393, -0.5574665522569784, -0.07386726435066887, -0.8159373949476628, -0.09596786854073534, -1.0210415625868998, 0.362610399378662 ], "joint_pos_r": [ -0.6430348993800609, -0.9010514090541851, 0.1426608334027822, -1.0930429477089882, 0.9237991606446724, 0.5251414114299698, -1.4881220351312654 ], "eef_pose_l": [ 523.2274320651193, 402.4228190879057, 86.80242559568165, 1.643997754920661, -0.09083427681443056, 0.7485659616331616 ], "eef_pose_r": [ 556.9679609714343, -218.55026851393433, -28.125741246359183, 1.5235821331526276, 0.1902105073467617, 2.1795738493229915 ], "joint_status_l": { "velocity": [ 0.9084077995198392, 1.3245590236148352, -0.04649242693921529, 1.3360797905432875, 0.7181854570195156, -0.253387034991448, 2.2800434725334107 ], "torque": [ -30.439453125, 11.22802734375, -11.4501953125, 1.434326171875, -2.3345947265625, -0.6573486328125, -0.35614013671875 ] }, "joint_status_r": { "velocity": [ 1.3005839826849552, 13.525773115278916, 1.2582536511698272, -4.086391944452039, -34.65138557415415, 2.4478652400476975, 28.867284356747902 ], "torque": [ 38.91357421875, 11.1328125, 16.2109375, -9.08203125, -1.8988037109375, 6.251220703125, 0.9979248046875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.4, -9.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -16.4, -9.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.3, -17.2, -3.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.3, -17.2, -3.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 36, "motor_current": -862, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3446663559287326, -0.5389977837895987, -0.07471657942646205, -0.8052030138902393, -0.10234584746450084, -1.0292124375488623, 0.39960040893105986 ], "act_joint_pos_r": [ -0.6343429937334069, -0.7587937621308937, 0.15632304922096546, -1.1260838838759664, 0.574558956538629, 0.558274511762341, -1.196306209481456 ], "act_eef_pose_l": [ 518.1990875079823, 415.2846907697837, 81.51803144788761, 1.6531805930456034, -0.11924815776612203, 0.7665389424963877 ], "act_eef_pose_r": [ 532.2774644042036, -263.1635481268787, -22.54225665308013, 1.5946525244083063, 0.2613973947033481, 2.27894354483365 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 320, "colors": { "rgb_main": "colors/000320_rgb_main.jpg", "rgb_wrist_0": "colors/000320_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000320_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000320_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3300622970801042, -0.5569280438419211, -0.07388616616077837, -0.8153942026870172, -0.09567588539367909, -1.0211445787969566, 0.3635373664482795 ], "joint_pos_r": [ -0.6428560012393322, -0.8991909096981596, 0.14283390891482622, -1.0936050397621615, 0.9190327875880908, 0.5254781205898774, -1.4841512777114723 ], "eef_pose_l": [ 523.1147987252398, 402.8902894311634, 86.58189936798362, 1.6447011584529034, -0.09183328351503889, 0.7492933376577704 ], "eef_pose_r": [ 556.6757285895786, -219.08310897531814, -27.95565425897962, 1.524037366647466, 0.19126075651630942, 2.1809468490358026 ], "joint_status_l": { "velocity": [ 0.8685224887887699, 1.266401830043229, -0.04445109165329697, 1.277416756567895, 0.6866522071609094, -0.24226161243223743, 2.179933981586224 ], "torque": [ -21.93603515625, 11.91650390625, -11.95068359375, 1.4404296875, -2.325439453125, -2.083740234375, 0.48614501953125 ] }, "joint_status_r": { "velocity": [ 1.2812635533121508, 13.324845110883388, 1.2395620471483682, -4.025687793083321, -34.136632465874506, 2.4115017232624325, 28.438455203049884 ], "torque": [ 38.2177734375, 10.26123046875, 16.27197265625, -8.5205078125, -1.98486328125, 6.265869140625, 0.802001953125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.3, -7.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.3, -7.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.8, -17.3, -2.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 1.8, -17.3, -2.9, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 36, "motor_current": -862, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.33746364255289546, -0.5354417200816902, -0.07497090141534105, -0.8065136248150168, -0.07016227421118272, -1.0283308181583526, 0.37720261524188065 ], "act_joint_pos_r": [ -0.6365696467469135, -0.7529984926911191, 0.15707373818127932, -1.1309282008043249, 0.5875215182312162, 0.5513124765268155, -1.2104485833554732 ], "act_eef_pose_l": [ 517.1798875079824, 416.1486907697837, 80.18763144788755, 1.6754174878517605, -0.11846259287565135, 0.7601269942943323 ], "act_eef_pose_r": [ 532.1422644042035, -266.31794812687866, -22.982256653080185, 1.5976690725937228, 0.26447173692229753, 2.2693955766345857 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 321, "colors": { "rgb_main": "colors/000321_rgb_main.jpg", "rgb_wrist_0": "colors/000321_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000321_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000321_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3331730435304993, -0.5521730611300341, -0.07410988660306549, -0.8128154925326131, -0.09478736676689445, -1.0230368633935163, 0.37089384347884846 ], "joint_pos_r": [ -0.6403833975125715, -0.8587415740949447, 0.1467161313884216, -1.1037443054157736, 0.8213861552287887, 0.5338552097210305, -1.4028853767805474 ], "eef_pose_l": [ 521.854869396733, 406.111332836626, 85.1652346702391, 1.6486114699915393, -0.0987192702324881, 0.7533282877287684 ], "eef_pose_r": [ 550.3304507531419, -231.75191617553787, -25.364245616652028, 1.53706782029743, 0.21327391029528006, 2.2071817346014693 ], "joint_status_l": { "velocity": [ 0.46337102802063157, 1.8069315406239461, -0.09298685722491928, 0.6805816408181897, 2.6594315602757046, -0.5717302523198242, 0.6813272557342209 ], "torque": [ -23.0419921875, 11.87255859375, -15.283203125, 0.946044921875, -2.4957275390625, -2.845458984375, 0.25360107421875 ] }, "joint_status_r": { "velocity": [ 0.41187293514788337, 11.419915979195672, 1.1185885426230335, -2.9357741159339312, -25.25663589107996, 1.8853292102116725, 20.782560741043454 ], "torque": [ 38.14453125, 10.4736328125, 16.278076171875, -8.306884765625, -1.585693359375, 5.8575439453125, 0.70770263671875 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.6, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.6, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.7, -16.9, -3.4, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 2.7, -16.9, -3.4, 1.0, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 257, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 206, "motor_current": -1585, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.338014618491273, -0.5455461907694142, -0.07365048018970495, -0.778351924488843, -0.06744636285154842, -1.0524114256208117, 0.37712435067886274 ], "act_joint_pos_r": [ -0.6400008684074727, -0.7477419052084476, 0.1582232071460119, -1.1384867232199305, 0.6125570820714238, 0.5443323255397351, -1.2330098370984282 ], "act_eef_pose_l": [ 517.7414875079824, 417.6070907697837, 78.51083144788782, 1.6770010883547615, -0.11867080730345751, 0.7533850559905929 ], "act_eef_pose_r": [ 532.0054644042036, -269.0171481268787, -22.862256653080067, 1.596411007410582, 0.2639468398480924, 2.2562462969888513 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 322, "colors": { "rgb_main": "colors/000322_rgb_main.jpg", "rgb_wrist_0": "colors/000322_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000322_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000322_depth_main.npy" }, "states": { "joint_pos_l": [ 0.33403581473830296, -0.5488086546103135, -0.0742830229846397, -0.811548287185819, -0.08983565239422298, -1.0241013934795655, 0.372162437119349 ], "joint_pos_r": [ -0.6396624572075591, -0.8387522108553046, 0.1486741031226204, -1.1088830695975633, 0.7771770673547719, 0.5371552804464094, -1.3665076874473294 ], "eef_pose_l": [ 520.934038878508, 408.1258626258578, 84.15912179768776, 1.6539696938360613, -0.10271955213620847, 0.7547616793567943 ], "eef_pose_r": [ 547.1309086392442, -238.29089580117235, -24.601621594602932, 1.5459188684341687, 0.22363368727578442, 2.21854233343281 ], "joint_status_l": { "velocity": [ 0.3701944856731032, 1.4435863527877402, -0.07428867948822138, 0.5437274996609176, 2.1246621802070154, -0.4567643937631871, 0.5443231832793494 ], "torque": [ -22.24365234375, 11.6748046875, -16.44287109375, 1.2451171875, -2.457275390625, -2.6129150390625, 0.65643310546875 ] }, "joint_status_r": { "velocity": [ 0.3340136785432435, 9.261128419350229, 0.9071338318527022, -2.3808039522705826, -20.482195215286936, 1.5289320832425624, 16.853886163119114 ], "torque": [ 37.5439453125, 9.638671875, 16.705322265625, -7.867431640625, -1.0345458984375, 5.98388671875, 0.85235595703125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.6, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.5, -16.6, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.9, -17.4, -2.4, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 1.9, -17.4, -2.4, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 209, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 398, "motor_current": -2398, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3387348728429302, -0.5533478758126243, -0.07250073795101993, -0.7500778600587483, -0.06647371006831952, -1.0726168376856635, 0.376976883986471 ], "act_joint_pos_r": [ -0.6421810916857296, -0.7415058614211558, 0.1592748566451665, -1.1487620097064912, 0.6250511662844591, 0.5399347481102559, -1.2440832522214305 ], "act_eef_pose_l": [ 518.3974875079823, 420.8734907697837, 77.06363144788776, 1.67870847274945, -0.11881299308470088, 0.7531290264641106 ], "act_eef_pose_r": [ 530.7886644042035, -270.21874812687867, -22.076656653080136, 1.5954057162089081, 0.26280064698536293, 2.251614290698988 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 323, "colors": { "rgb_main": "colors/000323_rgb_main.jpg", "rgb_wrist_0": "colors/000323_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000323_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000323_depth_main.npy" }, "states": { "joint_pos_l": [ 0.33432269344599275, -0.5485734252628334, -0.07423741554309801, -0.8091547713901728, -0.08822134546961032, -1.0261425962981945, 0.3725201997630982 ], "joint_pos_r": [ -0.6396868572467989, -0.8321902086829353, 0.1493626102197046, -1.1110175447869313, 0.765307678571085, 0.5376727579469939, -1.3568822590107386 ], "eef_pose_l": [ 520.7163121987106, 408.80895604642785, 83.75283945183514, 1.6556012072963873, -0.10391150789391448, 0.7546863661787596 ], "eef_pose_r": [ 546.1059889572401, -240.51759176502293, -24.431408059335382, 1.549009198781407, 0.2266767071662275, 2.221198233404302 ], "joint_status_l": { "velocity": [ 0.39871614538622424, 0.32693168295505615, 0.06338714866249706, 3.326609352245491, 2.2436319503634783, -2.8369498954772254, 0.4972336337805139 ], "torque": [ -21.7529296875, 11.09619140625, -9.039306640625, 1.318359375, -2.1514892578125, -2.7227783203125, 0.6683349609375 ] }, "joint_status_r": { "velocity": [ -0.03391220516579807, 9.12014779086423, 0.9569162453049174, -2.9665837760521896, -16.496577881406793, 0.7192120879890851, 13.377827008612897 ], "torque": [ 33.99169921875, 10.634765625, 17.022705078125, -7.33642578125, -0.904541015625, 5.625, 0.52001953125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -15.7, -7.4, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -15.7, -7.4, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 3.2, -16.9, -2.8, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 3.2, -16.9, -2.8, 1.0, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 477, "motor_current": -2163, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3374080438216657, -0.5617203014268868, -0.07154068128033227, -0.7295664012798404, -0.06596730798414513, -1.0900503644493607, 0.3785483426814609 ], "act_joint_pos_r": [ -0.6424747975478282, -0.733273156307669, 0.1604997435980542, -1.158197347190986, 0.6187840033905223, 0.5417268241064328, -1.234406548936042 ], "act_eef_pose_l": [ 519.1910875079824, 421.3734907697837, 76.94523144788769, 1.677297394168595, -0.12091931133806608, 0.7478764437519096 ], "act_eef_pose_r": [ 528.6462644042035, -271.0443481268787, -20.337456653080153, 1.5941286463551982, 0.25911256508245917, 2.255900213900353 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 324, "colors": { "rgb_main": "colors/000324_rgb_main.jpg", "rgb_wrist_0": "colors/000324_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000324_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000324_depth_main.npy" }, "states": { "joint_pos_l": [ 0.33536840164243004, -0.5504121816337595, -0.07371893729647326, -0.7923934111417004, -0.08255899535071673, -1.0394218812814748, 0.3737863924061842 ], "joint_pos_r": [ -0.6403247798557203, -0.8083226256820194, 0.15198620489641135, -1.121214983629475, 0.7285212491031567, 0.5384112011731045, -1.3270164913618792 ], "eef_pose_l": [ 520.2559433784483, 411.9787145980872, 82.01434006311368, 1.6613367070859673, -0.10811176777724195, 0.7539866907903245 ], "eef_pose_r": [ 542.2048675586523, -248.30111230880144, -23.677606211280448, 1.5597922030022864, 0.23605738322987918, 2.229277582386872 ], "joint_status_l": { "velocity": [ 0.2202748586976888, -1.221240919082156, 0.2352447115713252, 6.785116948753611, 1.7918493878170683, -5.467714920499134, 0.5142754619855694 ], "torque": [ -22.4267578125, 5.67626953125, -8.16650390625, 1.019287109375, -2.3126220703125, -2.962646484375, 0.67108154296875 ] }, "joint_status_r": { "velocity": [ -0.23219506252036837, 8.105103645175582, 0.9194350624897041, -3.9939774685731066, -11.851273002351448, 0.35807671589127565, 10.001578801190902 ], "torque": [ 26.59423828125, 12.24609375, 17.431640625, -8.63037109375, -1.1737060546875, 5.6341552734375, 0.9539794921875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -16.6, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 3.3, -17.1, -2.9, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 3.3, -17.1, -2.9, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -206, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3354997138158147, -0.5750428485629223, -0.07006844439807954, -0.6965843441524546, -0.060938964241758146, -1.1125096745164915, 0.37835926531072495 ], "act_joint_pos_r": [ -0.6432555964960095, -0.7213266178407194, 0.1625054235153058, -1.1739757003081384, 0.6007693999786053, 0.5464218184639059, -1.2145667844411971 ], "act_eef_pose_l": [ 520.8990875079824, 422.8974907697837, 75.67883144788772, 1.6803136691366496, -0.12376666525088925, 0.7434193447480496 ], "act_eef_pose_r": [ 524.4710644042035, -270.7075481268787, -17.81345665308004, 1.5925208304000442, 0.2546621498989664, 2.2689735438901635 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 325, "colors": { "rgb_main": "colors/000325_rgb_main.jpg", "rgb_wrist_0": "colors/000325_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000325_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000325_depth_main.npy" }, "states": { "joint_pos_l": [ 0.33575396964232507, -0.5525498355691403, -0.0733071661417318, -0.7805167767111878, -0.07942255123422287, -1.0489925418568922, 0.3746865775768624 ], "joint_pos_r": [ -0.6407049210588512, -0.7950532485568685, 0.15349147011205413, -1.1277537764173258, 0.709118781501781, 0.5389974311821092, -1.3106422749705915 ], "eef_pose_l": [ 520.1055123167587, 413.7665502094303, 81.05565868030712, 1.6642719301728703, -0.11064551174455642, 0.7528736615800636 ], "eef_pose_r": [ 539.8910330560707, -252.36684637522112, -23.064947650306863, 1.565334980382738, 0.2402289483282583, 2.2339495936170164 ], "joint_status_l": { "velocity": [ 0.1786347428187618, -0.9903811029072784, 0.1907747384309877, 5.502478259663768, 1.4531234134242954, -4.434114062782157, 0.4170583308185094 ], "torque": [ -21.7822265625, 4.51904296875, -7.82470703125, 1.03759765625, -2.3309326171875, -2.8619384765625, 0.55023193359375 ] }, "joint_status_r": { "velocity": [ -0.1911410234063382, 6.67205318122388, 0.7568712137646649, -3.2878086748215907, -9.755868302060655, 0.2947657421761285, 8.233215586017195 ], "torque": [ 26.2060546875, 10.927734375, 16.7236328125, -8.09326171875, -0.52001953125, 5.7550048828125, 0.7965087890625 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.5, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.5, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.8, -17.0, -1.9, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.8, -17.0, -1.9, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -335, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.33256277190467115, -0.5967402825573925, -0.06789386913608034, -0.6460864464619371, -0.055987479727706464, -1.1449741664272315, 0.3826460180358279 ], "act_joint_pos_r": [ -0.6439489426564551, -0.7157803619849197, 0.16336561493709623, -1.1781057998612818, 0.586111530769696, 0.5534880776977563, -1.200525365327721 ], "act_eef_pose_l": [ 523.9430875079823, 424.6990907697837, 74.12843144788764, 1.6829042962999665, -0.13128884897721443, 0.7376808690371945 ], "act_eef_pose_r": [ 522.2270644042035, -270.8099481268787, -16.871856653080158, 1.591387642850666, 0.25380383038471627, 2.2777782617298943 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 326, "colors": { "rgb_main": "colors/000326_rgb_main.jpg", "rgb_wrist_0": "colors/000326_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000326_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000326_depth_main.npy" }, "states": { "joint_pos_l": [ 0.3356679843274982, -0.5552460473419986, -0.07294089043510496, -0.771127126421281, -0.07750634125287242, -1.0559626722240618, 0.3751808648667793 ], "joint_pos_r": [ -0.6409712356809969, -0.7871380514950671, 0.15443969481959763, -1.1323881151805162, 0.6974085201776201, 0.5397489115508134, -1.300400550670097 ], "eef_pose_l": [ 520.3077728115082, 414.7297168338064, 80.48824396033712, 1.66582053227272, -0.11223663617185434, 0.7518592283685473 ], "eef_pose_r": [ 538.339929983791, -254.48650172347521, -22.53957512053222, 1.568109182846677, 0.24207660678256326, 2.23745816201041 ], "joint_status_l": { "velocity": [ -0.33535305095577783, -4.481245235998799, 0.5450622245436465, 13.503995156562532, 2.3239685029307067, -9.612957854905346, 0.806212764282499 ], "torque": [ -25.5029296875, 2.55615234375, -7.373046875, 1.513671875, -2.4078369140625, -2.4517822265625, 0.57769775390625 ] }, "joint_status_r": { "velocity": [ -0.3215828687688216, 7.706403178883825, 0.963970941886716, -4.937364325744653, -12.019720353354302, 1.4837861819354536, 10.78620189495716 ], "torque": [ 26.103515625, 11.6455078125, 17.193603515625, -8.23974609375, -0.5877685546875, 5.987548828125, 1.04736328125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -15.9, -12.3, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.6, -15.9, -12.3, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.8, -17.1, -2.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 2.8, -17.1, -2.3, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 209, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -240, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3233719441465849, -0.589505771131903, -0.0686185921099984, -0.662931204391239, -0.025638974225783484, -1.1173997865087202, 0.36409048033437946 ], "act_joint_pos_r": [ -0.6445379070748278, -0.7138763622162899, 0.16368192313667937, -1.178855524103242, 0.5839355678999865, 0.5571582793424833, -1.1986360201223567 ], "act_eef_pose_l": [ 525.2710875079823, 426.0062907697837, 73.50363144788781, 1.7073407468311192, -0.13358642396352033, 0.7460159196053324 ], "act_eef_pose_r": [ 521.5494644042035, -271.1523481268787, -16.43985665308014, 1.589626543786975, 0.25400121360169764, 2.279412763549734 ], "act_grip_l": false, "act_grip_r": false } } ] }