{ "info": { "version": "1.0.0", "datetime": "2025-06-13-20:57", "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_0042", "episode_id": 42, "task": "Push the box to the lined area.", "total_steps": 240 }, "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.npz" }, "states": { "joint_pos_l": [ 0.3579597192076574, -0.2918586804122322, -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": [ 457.7654875079823, 348.26789076978355, 116.82043144788788, 1.6656263244780796, -0.0754936507169403, 0.8180631129867804 ], "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": [ -28.4912109375, 10.546875, -17.28515625, -4.241943359375, -3.69140625, -0.8001708984375, -0.3753662109375 ] }, "joint_status_r": { "velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "torque": [ 27.392578125, 15.27099609375, 17.803955078125, -4.3701171875, 2.303466796875, 1.4886474609375, 0.28656005859375 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.7, -9.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.3, -16.7, -9.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.1, 1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.8, -17.1, 1.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -198, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3579602415595993, -0.29185868265297193, -0.12847009057949862, -1.5191471471316438, -0.10984926145879806, -0.5092536146021346, 0.35808773475403305 ], "act_joint_pos_r": [ -0.480455521469033, -0.2846939284347493, 0.277799626191243, -1.3152536269136812, -0.02999999278066623, 0.7533570419891711, -0.19766064531856284 ], "act_eef_pose_l": [ 457.7654875079823, 348.26789076978355, 116.82043144788788, 1.6656263232034922, -0.07549364575442372, 0.8180631049630251 ], "act_eef_pose_r": [ 451.8198644042035, -395.37474812687867, 103.95054334691986, 1.689961907456498, 0.014678289631629567, 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.npz" }, "states": { "joint_pos_l": [ 0.3579597421424776, -0.29185868051061586, -0.1284700915887029, -1.519147155939923, -0.10984926518213002, -0.5092536000163469, 0.3580877424938327 ], "joint_pos_r": [ -0.4804558471109017, -0.2846939340370576, 0.2777996205947349, -1.3152536095540162, -0.029999999683021895, 0.7533570675423159, -0.19766064093047497 ], "eef_pose_l": [ 457.7654851399563, 348.2678907730902, 116.8204209394616, 1.6656263412703491, -0.07549363480599722, 0.818063111363757 ], "eef_pose_r": [ 451.81986617891573, -395.3747481281173, 103.95055027812623, 1.68996189730062, 0.014678300690172232, 2.349915423818558 ], "joint_status_l": { "velocity": [ 5.3935458321774377e-05, -2.3136736970741367e-07, 1.08990927394359e-07, 9.512657328514251e-07, 4.021080135530042e-07, -1.5752181781181207e-06, -8.358735925639849e-07 ], "torque": [ -28.447265625, 10.517578125, -17.291259765625, -4.23583984375, -3.6859130859375, -0.802001953125, -0.3753662109375 ] }, "joint_status_r": { "velocity": [ 3.516828517291515e-05, 6.05031136302614e-07, 6.044047484721204e-07, -1.8747883245850971e-06, 7.454324379985167e-07, -2.7596582796718394e-06, -4.7389958623966777e-07 ], "torque": [ 27.392578125, 15.27099609375, 17.7978515625, -4.376220703125, 2.3016357421875, 1.490478515625, 0.28656005859375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.8, -9.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.2, -16.8, -9.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.2, 1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -17.2, 1.5, 1.0, 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": 700, "motor_current": -217, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3436110859021593, -0.2898772832719584, -0.13093026514507172, -1.5706259085019927, -0.010146238547662332, -0.40560731667764144, 0.3766708707418911 ], "act_joint_pos_r": [ -0.4822014293450918, -0.2839816524495374, 0.278367655752341, -1.3159891091109743, -0.029906021637529534, 0.755246829313368, -0.19800642931188658 ], "act_eef_pose_l": [ 460.6766875079823, 344.70629076978355, 114.01883144788788, 1.713037646190673, -0.19642406902071674, 0.841059559755503 ], "act_eef_pose_r": [ 451.20466440420347, -395.1643481268787, 103.56574334691982, 1.6903899419456025, 0.013952599220498511, 2.3517997173910037 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3567274530148801, -0.2916885067545329, -0.1286813855904, -1.5235684517836927, -0.10128618471533615, -0.5003518516713885, 0.3596837695254816 ], "joint_pos_r": [ -0.48072079800178374, -0.28458581284926726, 0.2778858458828679, -1.3153652558345297, -0.029985733855352248, 0.7536439225310073, -0.19771313017609435 ], "eef_pose_l": [ 458.00394737983544, 347.8902784795522, 116.43560434374861, 1.6702759721987541, -0.0855517818162775, 0.8200823754092733 ], "eef_pose_r": [ 451.7265402645159, -395.34279133491566, 103.89207037522091, 1.690027021559865, 0.014568299438282816, 2.3502014772422037 ], "joint_status_l": { "velocity": [ -1.416525869976315, 0.19560636701676515, -0.242871828782798, -5.082055438361266, 9.842823887535879, 10.232107999430973, 1.83455282412881 ], "torque": [ -31.0693359375, 11.2646484375, -19.268798828125, -3.717041015625, 0.325927734375, 0.2911376953125, 0.20050048828125 ] }, "joint_status_r": { "velocity": [ -0.15990346897609697, 0.06524739880209296, 0.05203393124419975, -0.06737416676116936, 0.008608665625825518, 0.1731088269227854, -0.03167537245030161 ], "torque": [ 20.595703125, 15.6884765625, 13.92822265625, -3.924560546875, 2.464599609375, 1.9354248046875, 0.23529052734375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -18.2, -3.2, 1.7, -0.1, 0.1 ], "actual_contact_FT": [ 0.0, -18.2, -3.2, 1.7, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.5, 0.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.2, -17.5, 0.3, 1.0, 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": 700, "motor_current": -194, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3208107223494831, -0.2949916169953548, -0.12929191809387797, -1.5723620682900736, 0.14204592632296303, -0.3724910096256625, 0.1691095105635456 ], "act_joint_pos_r": [ -0.48262864021634927, -0.2835932365533793, 0.27880897561051826, -1.3177062316190693, -0.031423291681289545, 0.7557838999238379, -0.19638105159980665 ], "act_eef_pose_l": [ 465.2038875079823, 347.11429076978357, 111.62283144788792, 1.7555096160728956, -0.14610285133705853, 0.8646217138480455 ], "act_eef_pose_r": [ 450.7830644042035, -394.62034812687864, 103.49214334691987, 1.6910152501784306, 0.013230976892950745, 2.3537299919968047 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3535700916476403, -0.2916153042643238, -0.12897915626861964, -1.53138070748719, -0.07962092644846107, -0.48332225977063736, 0.35336300749438637 ], "joint_pos_r": [ -0.48091270175482737, -0.28449506691972165, 0.27796585967101567, -1.315535434819732, -0.030064907140015206, 0.753856008115667, -0.1976517765288907 ], "eef_pose_l": [ 458.5658200428519, 347.2731184582977, 115.56808213931272, 1.680769526339745, -0.10073646105718953, 0.8239881973872059 ], "eef_pose_r": [ 451.643237558303, -395.29099794150534, 103.85092034837443, 1.6901043436589127, 0.014457078382277182, 2.3504940390558735 ], "joint_status_l": { "velocity": [ -3.537907539195917, -0.3646310207341408, -0.0337772809201331, -4.42585643305371, 23.93931404698735, 11.969421996425922, -19.898790785068066 ], "torque": [ -32.2998046875, 9.41162109375, -20.391845703125, -5.16357421875, 0.029296875, 0.2471923828125, 0.56304931640625 ] }, "joint_status_r": { "velocity": [ -0.1853158882441086, 0.09739480705839298, 0.0910538359768509, -0.2344391399144996, -0.14670120373688755, 0.2082061745696251, 0.13723424483358393 ], "torque": [ 19.892578125, 16.06201171875, 17.730712890625, -4.669189453125, 1.549072265625, 1.98486328125, 0.16937255859375 ] }, "eef_FT_l": { "raw_value": [ -0.4, -17.1, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.4, -17.1, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.1, 1.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.6, -17.1, 1.7, 1.0, 0.2, 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": 700, "motor_current": -225, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.32411827673692833, -0.29080926873246327, -0.1310931644807895, -1.5847366255616862, 0.1558171449971902, -0.3472820109130961, 0.1562516256346315 ], "act_joint_pos_r": [ -0.48179642914974435, -0.28320748967769527, 0.2791378187319937, -1.3182936670509329, -0.03402835038369911, 0.7560265490442563, -0.19425398877185546 ], "act_eef_pose_l": [ 465.25108750798233, 348.5158907697836, 110.59883144788803, 1.7606943766579013, -0.14867903514841202, 0.8805752017271941 ], "act_eef_pose_r": [ 450.66066440420343, -394.5331481268787, 103.71614334691958, 1.691864588336446, 0.013754328661512945, 2.3544585727777814 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3481511935235477, -0.2917403167537066, -0.12923771291649527, -1.5400229365866345, -0.038874380132864345, -0.46088170840066006, 0.3193345201833776 ], "joint_pos_r": [ -0.481046838168519, -0.28438842925527413, 0.278064158829382, -1.3157771459938212, -0.03031439901470691, 0.7540584202200993, -0.19743199102096057 ], "eef_pose_l": [ 459.6095385111057, 346.99270688481766, 113.86147840829035, 1.6995107683362236, -0.10778440649220564, 0.8314478838412449 ], "eef_pose_r": [ 451.5886809715438, -395.2341489820693, 103.7873885184438, 1.690418662718546, 0.014560852709140518, 2.3508868468071875 ], "joint_status_l": { "velocity": [ -2.595478463409684, 0.10055022072430475, -0.20038285896717412, -4.828935987450933, 21.026064583419547, 12.26840549137842, -17.612433160315355 ], "torque": [ -29.5751953125, 8.94287109375, -20.5078125, -5.609130859375, -0.15380859375, 0.084228515625, -0.955810546875 ] }, "joint_status_r": { "velocity": [ -0.08095343837810631, 0.12753771285511917, 0.11595184966495253, -0.27177625855578924, -0.40109491818887677, 0.21255164413336303, 0.34321412034410415 ], "torque": [ 19.16015625, 16.23779296875, 18.1884765625, -4.6875, 1.91162109375, 1.973876953125, 0.60333251953125 ] }, "eef_FT_l": { "raw_value": [ -1.1, -17.9, -9.6, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ -1.1, -17.9, -9.6, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.9, 2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.6, -17.9, 2.2, 1.1, 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": -190, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3242580936191407, -0.29176221301393973, -0.13050927779255583, -1.5770876756801266, 0.1265004828779422, -0.3656374916827289, 0.19220420077748807 ], "act_joint_pos_r": [ -0.4818272921280328, -0.28269745629925414, 0.2795903958783904, -1.3192348297872334, -0.030841457335487377, 0.7534746465417436, -0.19858920748891076 ], "act_eef_pose_l": [ 464.73748750798234, 347.84549076978357, 111.97403144788798, 1.751774970795691, -0.15442164243287765, 0.8690720243443765 ], "act_eef_pose_r": [ 450.93586440420347, -394.8139481268787, 104.31534334691969, 1.6897912247513338, 0.016387952502431687, 2.352192108020576 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34421230237872735, -0.29166910123884854, -0.1294925928909372, -1.5467167218963735, -0.009385888075865458, -0.44378292415097675, 0.29561227066825474 ], "joint_pos_r": [ -0.48119892408589227, -0.28412856714178103, 0.2782999259856026, -1.316324501821461, -0.03092128916782073, 0.7543421336569697, -0.19698329105474877 ], "eef_pose_l": [ 460.32009963143344, 346.9675591452274, 113.05053624580319, 1.7100992499271988, -0.11357394565686925, 0.8368901943084451 ], "eef_pose_r": [ 451.3853485311794, -395.0943434792992, 103.82965543514742, 1.6904681429990533, 0.014352741207000697, 2.3514749953681946 ], "joint_status_l": { "velocity": [ -2.1549909879738927, -0.010055775130801692, -0.10979873103433846, -3.2799662712097444, 14.675295238314401, 8.439457798068428, -11.167742173253892 ], "torque": [ -30.85693359375, 6.99462890625, -21.30126953125, -4.55322265625, -0.2764892578125, 0.5657958984375, -0.48797607421875 ] }, "joint_status_r": { "velocity": [ -0.06786174707551496, 0.1545554126245463, 0.1393666380218317, -0.3143061503383393, 0.008621583611978512, -0.09368584532865043, -0.17343385973100922 ], "torque": [ 18.96240234375, 16.3623046875, 18.84765625, -4.43115234375, 1.8365478515625, 1.8841552734375, 0.59417724609375 ] }, "eef_FT_l": { "raw_value": [ -1.2, -17.9, -6.9, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -1.2, -17.9, -6.9, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.4, 1.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.6, -17.4, 1.1, 1.0, 0.2, 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": 700, "motor_current": -211, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.32554294059197547, -0.2940717250020664, -0.12974710234107914, -1.5772579878739341, 0.11204359721988054, -0.3622576564064312, 0.20997524611424478 ], "act_joint_pos_r": [ -0.4876666587087777, -0.2825836026044906, 0.2801948122366297, -1.3245167254212846, -0.0019227734242512895, 0.7224132687758329, -0.22069374928285598 ], "act_eef_pose_l": [ 465.3582875079823, 347.1334907697836, 111.98203144788802, 1.7480427634336628, -0.15766444565542725, 0.8700151269165799 ], "act_eef_pose_r": [ 454.6118644042035, -397.6867481268787, 104.88094334691982, 1.6793005675318962, 0.01674965808142493, 2.3230735543923355 ], "act_grip_l": false, "act_grip_r": false } }, { "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.npz" }, "states": { "joint_pos_l": [ 0.3419606131252669, -0.29167960823443395, -0.12960731848565815, -1.550143866068118, 0.005947913672670561, -0.43496477292204244, 0.2839434121081654 ], "joint_pos_r": [ -0.4816646032408486, -0.2838341775039605, 0.27859454145678647, -1.3172166522982591, -0.029224777745176934, 0.7523627258073899, -0.1985907054786545 ], "eef_pose_l": [ 460.771660216738, 346.97735793975454, 112.72702613122259, 1.7157585433169342, -0.11777604481631994, 0.8400741175629439 ], "eef_pose_r": [ 451.512529656979, -395.1997293581318, 103.96813630107904, 1.689681093249702, 0.014808910845393932, 2.3499354171963285 ], "joint_status_l": { "velocity": [ -1.9118157206712283, -0.00892105307448432, -0.09740873222796598, -2.9098456167861997, 13.019293490633295, 7.487125552881668, -9.907542616363507 ], "torque": [ -29.31884765625, 7.294921875, -20.050048828125, -5.078125, -0.194091796875, 0.4193115234375, -0.78277587890625 ] }, "joint_status_r": { "velocity": [ -0.6482028728145295, 0.13505810581682098, 0.17282414704711258, -0.7883846451246512, 2.9485295044307245, -3.2344459645239354, -2.387058328331637 ], "torque": [ 16.904296875, 15.6005859375, 19.22607421875, -5.279541015625, 4.453125, -1.1224365234375, -0.44586181640625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -15.9, -8.3, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -15.9, -8.3, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.1, 1.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -17.1, 1.2, 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": -248, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.32874910122609025, -0.2942636132519654, -0.12976586989982927, -1.5797345632496185, 0.09201494136122888, -0.35585051309256377, 0.23038425422993933 ], "act_joint_pos_r": [ -0.491037639306727, -0.2835247602663698, 0.27961634434318056, -1.3253790134231354, 0.01753722962227755, 0.7005985924083987, -0.23599676286156207 ], "act_eef_pose_l": [ 465.61748750798233, 347.0366907697836, 111.95163144788792, 1.7434330819063641, -0.15823212174884366, 0.874564814737893 ], "act_eef_pose_r": [ 457.61026440420346, -400.3939481268787, 104.67214334691971, 1.6739744507084375, 0.016891330459077803, 2.3009302419514963 ], "act_grip_l": false, "act_grip_r": false } }, { "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.npz" }, "states": { "joint_pos_l": [ 0.3387245497899877, -0.2921780857070929, -0.12964774316315775, -1.5561285579637854, 0.02699261370618718, -0.4189714656432135, 0.2697336700750551 ], "joint_pos_r": [ -0.48304226787028576, -0.28366563159088987, 0.27885534342412427, -1.3186588092710572, -0.02266058634953562, 0.7451282916206943, -0.20387237435475766 ], "eef_pose_l": [ 461.72871975471026, 346.92298779528795, 112.32365795173632, 1.723415405736629, -0.12582733899631574, 0.8464222137301014 ], "eef_pose_r": [ 452.4134999540345, -395.9063546681626, 104.1737358647902, 1.6869325509703805, 0.015331198790427596, 2.342667979906226 ], "joint_status_l": { "velocity": [ -1.0773166711444127, -0.22523033203292186, -0.012757311303679408, -2.549373381121711, 7.022204277900124, 6.816861822877662, -4.249611575678935 ], "torque": [ -29.267578125, 4.1748046875, -16.00341796875, -4.437255859375, -0.4010009765625, 0.5767822265625, -0.48431396484375 ] }, "joint_status_r": { "velocity": [ -0.8634746483120459, 0.015213654345647143, 0.08218567532103371, -0.7257606432578001, 4.341236087041567, -4.809065679117985, -3.469331636267725 ], "torque": [ 18.21533203125, 12.01904296875, 18.682861328125, -3.466796875, 5.009765625, -0.3369140625, -1.2615966796875 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.9, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.9, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.4, 0.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.4, 0.8, 1.0, 0.3, 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": -209, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3372626300881024, -0.3008711210408594, -0.12726022763291286, -1.5681796956221454, 0.023941272920051018, -0.3574226837445714, 0.3010681059797381 ], "act_joint_pos_r": [ -0.5052761494838922, -0.2864343890687256, 0.278030729039229, -1.3299353803420988, 0.09617436105300836, 0.6465690457543304, -0.3060527938106694 ], "act_eef_pose_l": [ 468.0966875079823, 347.9334907697836, 110.82843144788792, 1.72898729578796, -0.15929829432334322, 0.8814430790104224 ], "act_eef_pose_r": [ 464.6278644042035, -406.85074812687867, 104.37134334691973, 1.6504289056186798, 0.019850896653575978, 2.244209946011588 ], "act_grip_l": false, "act_grip_r": false } }, { "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.npz" }, "states": { "joint_pos_l": [ 0.3369652902670729, -0.2926704835626861, -0.12963285169060018, -1.5604193184333597, 0.03827299694442537, -0.4070626200478512, 0.26334519387982536 ], "joint_pos_r": [ -0.4841536631570834, -0.283646049795677, 0.27896112623126584, -1.3195929501399717, -0.017072895575468542, 0.7389384481318088, -0.20833781967665968 ], "eef_pose_l": [ 462.4955567549643, 346.92000681795435, 112.12056218069498, 1.72752554022352, -0.13176477453539787, 0.8516885303281624 ], "eef_pose_r": [ 453.0847339485327, -396.45153172300576, 104.268298431194, 1.6851389622832127, 0.015617910596408168, 2.3374338352831305 ], "joint_status_l": { "velocity": [ 0.032111753585528646, -0.8856427270065304, 0.25623584095813, -0.8380960180662811, -1.5477805452854265, 5.360955007838175, 4.073954351929698 ], "torque": [ -29.677734375, 4.22607421875, -16.90673828125, -4.2236328125, -0.2252197265625, 0.421142578125, -0.5914306640625 ] }, "joint_status_r": { "velocity": [ -0.7434474973493366, 0.013098882834405856, 0.07076146908868708, -0.6248764048368827, 3.73778328133148, -4.140582298181705, -2.9870777648199898 ], "torque": [ 18.7353515625, 12.41455078125, 19.000244140625, -4.083251953125, 4.7021484375, -0.08056640625, -0.699462890625 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.7, -7.9, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.1, -16.7, -7.9, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.5, 1.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.5, 1.2, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 183, "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": [ 0.3420245392574122, -0.3147591659708725, -0.12254086653242141, -1.55026050492186, -0.003529215163702427, -0.3617144633966189, 0.3343909894646808 ], "act_joint_pos_r": [ -0.5085728306764845, -0.29420076368896675, 0.2721126009479851, -1.3226299118091756, 0.15874089506959743, 0.59477921113029, -0.3678588756659916 ], "act_eef_pose_l": [ 471.9214875079823, 347.42229076978356, 107.1292314478879, 1.7270135138529066, -0.16083301409202505, 0.8817719368417998 ], "act_eef_pose_r": [ 473.4470644042035, -415.5275481268786, 103.07854334691979, 1.6390357733125989, 0.029044386985529486, 2.185000934909179 ], "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.npz" }, "states": { "joint_pos_l": [ 0.33729457596626317, -0.2949274565195748, -0.1289391107506261, -1.560750138038668, 0.03414272348768852, -0.39853525638105336, 0.27195130747751406 ], "joint_pos_r": [ -0.48762610140060164, -0.28410443976823196, 0.2788081732719737, -1.3212931974313713, 0.00154442526479332, 0.723753349162689, -0.22440170571249402 ], "eef_pose_l": [ 463.73188362902306, 347.05945559152025, 111.7091628160488, 1.727498216149421, -0.1367466433438638, 0.8569907920646765 ], "eef_pose_r": [ 455.08156331080903, -398.0108368329004, 104.54491378504028, 1.6781303300745982, 0.01695174657330764, 2.3224002720630734 ], "joint_status_l": { "velocity": [ 0.5108209695845467, -2.1417614528624895, 0.6909899959055554, 1.132846965079537, -4.0684493818498035, 3.976528360884135, 6.743286772001644 ], "torque": [ -21.65771484375, -1.3037109375, -9.04541015625, -0.537109375, -4.259033203125, 0.640869140625, 0.52001953125 ] }, "joint_status_r": { "velocity": [ -1.9061489741365456, -0.25162710310855374, -0.08396150082434772, -0.9333282273136234, 10.219731650254037, -8.335658920984201, -8.818057439900828 ], "torque": [ 17.70263671875, 8.7890625, 12.060546875, -4.974365234375, 4.9273681640625, -0.0677490234375, -0.8258056640625 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.8, -8.0, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -1.3, -16.8, -8.0, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.9, 1.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.9, 1.8, 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": -192, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3480432607076634, -0.3240753933168753, -0.119845325991616, -1.5452713110520315, -0.041189505587153015, -0.3592164662305898, 0.36999212262570347 ], "act_joint_pos_r": [ -0.5132361266415844, -0.29902470159191763, 0.2686668167041158, -1.3188755567551285, 0.20718302192063917, 0.5699546154481414, -0.4139268078677055 ], "act_eef_pose_l": [ 473.8774875079823, 345.3478907697836, 105.02763144788794, 1.7204060544624966, -0.1557444303585304, 0.8834871811949213 ], "act_eef_pose_r": [ 477.73346440420346, -419.9627481268787, 102.05374334691965, 1.6293749997351104, 0.0316292110498622, 2.1535869379221486 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3387513293934683, -0.2992389664609076, -0.12758309683555866, -1.5584626965522614, 0.023699938965164098, -0.39220020868211963, 0.28623343237635945 ], "joint_pos_r": [ -0.4903830463856202, -0.28538235184771454, 0.2779702571264428, -1.321490818402785, 0.0218199856512564, 0.7077851949351116, -0.24286176753345332 ], "eef_pose_l": [ 465.32368328472484, 346.8741679011362, 110.8010604514787, 1.726286261234269, -0.1401735185924488, 0.8612251861006524 ], "eef_pose_r": [ 457.5374789269831, -399.94876962091877, 104.79754583230815, 1.6708677061341999, 0.019299692839209515, 2.305684867450492 ], "joint_status_l": { "velocity": [ 1.0034989853124898, -2.6822549915621607, 0.8356546048307045, 1.4246276168812244, -7.007853326064573, 3.5621391250875156, 9.045671759101648 ], "torque": [ -19.21875, 2.5634765625, -9.503173828125, -0.2197265625, -3.6676025390625, 0.267333984375, 0.64361572265625 ] }, "joint_status_r": { "velocity": [ -2.4680598761088746, -1.4733303188187996, -1.0047419323320206, 0.2824399278260614, 20.01861749953038, -14.885263567211204, -18.47447948045278 ], "torque": [ 16.5380859375, 9.44091796875, 11.077880859375, -3.424072265625, 5.19287109375, -0.8367919921875, -0.8038330078125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.9, -9.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.6, -16.9, -9.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.2, -16.6, 1.6, 0.9, 0.4, -0.1 ], "actual_contact_FT": [ -0.2, -16.6, 1.6, 0.9, 0.4, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 200, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -230, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.34835281289450326, -0.3389027661695325, -0.11615805205098981, -1.5463244444158988, -0.014951067967610124, -0.34825647672325827, 0.3646750484634687 ], "act_joint_pos_r": [ -0.5200434556228144, -0.30687753305282106, 0.26200975977076235, -1.2981391968850593, 0.26821966109744544, 0.5574950833032186, -0.45893556159809673 ], "act_eef_pose_l": [ 475.75828750798235, 339.3150907697836, 100.60443144788776, 1.7324119429156781, -0.17027811214665017, 0.8720201399422794 ], "act_eef_pose_r": [ 482.7734644042035, -428.2731481268787, 99.09294334691981, 1.618633720377109, 0.02118534606948457, 2.1164187126178833 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34031381030961333, -0.30499512182181965, -0.12589496099353706, -1.5564129328385863, 0.015993236285029935, -0.38554107908933527, 0.29940297676901284 ], "joint_pos_r": [ -0.4951939462472256, -0.28852746467423357, 0.27573157647874424, -1.3195013091749248, 0.061261321003464424, 0.6808317507297629, -0.27844461293153966 ], "eef_pose_l": [ 466.9788229116395, 345.9556930264112, 109.41673436058095, 1.7263635743306778, -0.14438620715511552, 0.8636276354130601 ], "eef_pose_r": [ 462.09085920952566, -403.8832079599104, 104.9731051067767, 1.6577875499316435, 0.022529103607039972, 2.2750159020901966 ], "joint_status_l": { "velocity": [ 0.86818667337063, -3.6619175870669096, 1.0515551518337496, 1.0895246158408867, -3.3418862956174773, 4.026618296777862, 7.049175838673261 ], "torque": [ -17.64404296875, 1.69189453125, -9.70458984375, -0.25634765625, -3.438720703125, 0.19775390625, 0.615234375 ] }, "joint_status_r": { "velocity": [ -2.6836678620107968, -1.9817489363265217, -1.481912497789395, 2.307040084795986, 22.350841527316145, -13.319967230633445, -19.492447556977986 ], "torque": [ 18.40576171875, 8.291015625, 11.42578125, 0.25634765625, 5.5645751953125, -1.1407470703125, -1.60491943359375 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.5, -7.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.4, -16.5, -7.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.9, -1.6, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -1.3, -17.9, -1.6, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 204, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 683, "motor_current": 1020, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.34863572086904643, -0.35579520989898084, -0.11133660696283545, -1.5093285528589726, -0.0040885934772526, -0.3796516284323153, 0.36587085634430105 ], "act_joint_pos_r": [ -0.537429095325686, -0.3092596048016196, 0.26063905506492685, -1.2972838156383046, 0.3485009834204109, 0.5444165935017841, -0.5522109428900207 ], "act_eef_pose_l": [ 479.9614875079823, 340.00069076978355, 95.99563144788802, 1.7383015026446693, -0.1759081082670159, 0.8574836026906654 ], "act_eef_pose_r": [ 484.4318644042035, -432.6899481268787, 96.1785433469197, 1.603164543573627, 0.03726100086351166, 2.087561380047433 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34133524209080646, -0.3097663747082768, -0.12452571597591508, -1.5540505659392545, 0.01241391321132078, -0.3817682435470146, 0.30766393932567204 ], "joint_pos_r": [ -0.5009017007048951, -0.2921347296788361, 0.27305799297277084, -1.3154133718445076, 0.10504925150039718, 0.6567565591446938, -0.31798430703854785 ], "eef_pose_l": [ 468.2365394214559, 345.16072603749916, 108.20086472663509, 1.7271529046310061, -0.14780155921502103, 0.8643083206853236 ], "eef_pose_r": [ 466.4675409528567, -408.2870573515303, 104.65897357413613, 1.6447498461230177, 0.024640203033010004, 2.24426855507961 ], "joint_status_l": { "velocity": [ 0.788428454595369, -4.97096758974358, 1.4243817635182232, 4.829834964303004, -1.7822181586510806, 0.22858769055389416, 6.286161637584442 ], "torque": [ -17.11669921875, 3.12744140625, -9.918212890625, 0.3173828125, -3.5137939453125, 0.322265625, 0.60150146484375 ] }, "joint_status_r": { "velocity": [ -3.9448422721415355, -1.8494319671802373, -1.3412057372985675, 1.9579343240838654, 26.292011605929645, -12.132358464649329, -25.295730614264045 ], "torque": [ 14.5166015625, 5.9326171875, 10.6201171875, -0.0732421875, 7.4139404296875, -0.44677734375, -0.90362548828125 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.2, -7.8, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.7, -16.2, -7.8, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.5, 1.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.5, 1.8, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 217, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 604, "motor_current": 1324, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.347926701684676, -0.37690177444946155, -0.10581766067855443, -1.4613289852570974, -0.010104618342245908, -0.4066103133801839, 0.39648228667202007 ], "act_joint_pos_r": [ -0.5554601121729918, -0.3164188183881866, 0.2561924517963547, -1.2916251666538643, 0.44111450811475184, 0.5291588508467597, -0.6376577763769545 ], "act_eef_pose_l": [ 487.3430875079823, 343.4742907697836, 91.78443144788805, 1.740529920237295, -0.19723321015458156, 0.8532646492315098 ], "act_eef_pose_r": [ 487.4174644042035, -438.0291481268787, 90.9625433469198, 1.5906595371839654, 0.03247811345826792, 2.050671070060902 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34269439450166655, -0.31908995782248223, -0.12186973318383601, -1.544180953684707, 0.0091169166955959, -0.3821631287235387, 0.3195699272328396 ], "joint_pos_r": [ -0.5095468465216082, -0.2960944614582852, 0.27024013425140975, -1.311359808013435, 0.16068111898573922, 0.6330666692535262, -0.37124442349164305 ], "eef_pose_l": [ 470.71203092870564, 344.3482102343098, 105.79056033762417, 1.7292504418620145, -0.15365840990031632, 0.8629855766522871 ], "eef_pose_r": [ 470.69530447363553, -413.01799989853015, 103.80163453738272, 1.629494962763758, 0.028336862017909064, 2.211512450263195 ], "joint_status_l": { "velocity": [ 0.5650725098420573, -6.243492053758626, 1.7335727015767022, 8.947748690442126, -2.075864559734422, -2.6402180738478442, 8.306289838508008 ], "torque": [ -18.08349609375, 4.4677734375, -11.236572265625, 0.775146484375, -3.52294921875, 0.1153564453125, 0.65643310546875 ] }, "joint_status_r": { "velocity": [ -4.9584864476086565, -2.1949658113729065, -1.5171049605271492, 2.13127840813776, 30.285912790682488, -11.221713421185164, -28.77179353292325 ], "torque": [ 17.490234375, 7.2509765625, 10.83984375, 0.08544921875, 5.3009033203125, -0.5035400390625, -1.94915771484375 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.8, -6.8, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -2.3, -16.8, -6.8, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.0, -2.1, 1.2, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.0, -2.1, 1.2, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 211, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 458, "motor_current": 2408, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3526590560360656, -0.3967766607614915, -0.10146687759554153, -1.4220101078180616, -0.08614436116058556, -0.4274799542958143, 0.47336849298530354 ], "act_joint_pos_r": [ -0.5660847848466819, -0.32066933476533355, 0.253470352109336, -1.2854918905226689, 0.48412891605577896, 0.5162659456376516, -0.6704803910758818 ], "act_eef_pose_l": [ 494.5830875079823, 345.6590907697836, 91.43483144788804, 1.7162542922339044, -0.20032389969804332, 0.8627185492353956 ], "act_eef_pose_r": [ 489.2254644042035, -442.47714812687866, 85.79054334691978, 1.593211033927111, 0.02267518456697422, 2.0258715657363484 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3438860840171996, -0.3313010991834964, -0.11851361341237913, -1.526361238397747, 0.0030093814926946015, -0.387694508394719, 0.33730313143369617 ], "joint_pos_r": [ -0.5166740862413943, -0.2992427412278362, 0.26806732775530945, -1.3082730754055814, 0.2038885169787426, 0.617102446345555, -0.4121722477892386 ], "eef_pose_l": [ 474.32856160874144, 344.3175671881817, 102.96474217565942, 1.7308233386382477, -0.1623002873028986, 0.8613205927898906 ], "eef_pose_r": [ 473.56261725353994, -416.4789962704897, 102.71768157369111, 1.6190333717171772, 0.029786095204635227, 2.1877480282082797 ], "joint_status_l": { "velocity": [ 0.9474530344038001, -7.071152097940292, 1.840993171027372, 11.269589723825746, -9.628320234428395, -4.29670143288341, 14.694625652756699 ], "torque": [ -17.98828125, 3.9697265625, -10.48583984375, 0.7080078125, -3.3013916015625, -1.875, 0.59600830078125 ] }, "joint_status_r": { "velocity": [ -5.336198066621556, -2.314003854154034, -1.576426875539827, 2.460295404821622, 30.26507047978022, -10.89002089245561, -27.89645671294627 ], "torque": [ 18.9697265625, 6.26953125, 11.42578125, -0.69580078125, 5.3485107421875, 0.8990478515625, -0.96954345703125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.1, -7.7, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.1, -16.1, -7.7, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.2, -0.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.2, -0.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 148, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 246, "motor_current": 2390, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3520269617230418, -0.4272635532420755, -0.09574731971989589, -1.3694766376136294, -0.11412686492139225, -0.4729224723385918, 0.5162717265245916 ], "act_joint_pos_r": [ -0.5799874632899632, -0.31952444774977695, 0.2546165206089081, -1.2903881755840296, 0.5587382982574653, 0.5076413585746112, -0.7340205671591503 ], "act_eef_pose_l": [ 501.8782875079823, 343.31589076978355, 89.83003144788798, 1.7002209741230179, -0.21272596064500823, 0.8451435806208814 ], "act_eef_pose_r": [ 489.4998644042035, -446.5267481268787, 84.53454334691969, 1.5809962987251152, 0.015186739036966605, 1.9993264564854167 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34540946596411515, -0.34421631185904245, -0.11524847952838962, -1.5056045028613527, -0.013982372878531752, -0.39672414681559504, 0.36324437642145496 ], "joint_pos_r": [ -0.5254103131498122, -0.30303114309831675, 0.2654864597445453, -1.3042451703972002, 0.2534373755124022, 0.5992737052894457, -0.45784329911501004 ], "eef_pose_l": [ 478.27358878212476, 344.50616722012063, 100.76723174345408, 1.7280610570844095, -0.16901973753138902, 0.8602255176984882 ], "eef_pose_r": [ 476.6998875337918, -420.69074462286767, 100.754250080741, 1.6094369336105887, 0.029327545226624323, 2.1599598035062173 ], "joint_status_l": { "velocity": [ 0.7146684639445233, -8.968837547643993, 2.1060631443052813, 14.701375852851584, -10.815286160814368, -8.229176449897846, 16.52646638906674 ], "torque": [ -16.845703125, 4.5556640625, -11.663818359375, 1.33056640625, -3.739013671875, -1.99951171875, 0.62347412109375 ] }, "joint_status_r": { "velocity": [ -4.392713387105562, -1.9048685189440029, -1.2977013509472002, 2.0252944935830186, 24.913951580960656, -8.964573646426999, -22.96412864100361 ], "torque": [ 17.55615234375, 8.408203125, 10.53466796875, -0.335693359375, 4.82666015625, 1.087646484375, -0.70770263671875 ] }, "eef_FT_l": { "raw_value": [ -2.7, -17.2, -7.0, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.2, -7.0, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.3, 2.6, 1.0, 0.2, -0.1 ], "actual_contact_FT": [ -2.7, -17.3, 2.6, 1.0, 0.2, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 225, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 27, "motor_current": -2202, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3521452197089065, -0.45925790979613723, -0.09029846095759961, -1.2989043105211153, -0.11244649642837962, -0.5427904450400751, 0.5312906554021591 ], "act_joint_pos_r": [ -0.5902905353995038, -0.3233172725051761, 0.251435997075233, -1.2755188234009163, 0.6170128656102719, 0.5077763658953514, -0.7954092174801946 ], "act_eef_pose_l": [ 508.2822875079823, 342.8342907697836, 85.91403144788804, 1.6925679289923434, -0.22342293913369035, 0.8155360027696058 ], "act_eef_pose_r": [ 491.2214644042035, -454.1059481268787, 81.04334334691976, 1.5748720094779858, 0.023378550168581196, 1.9699384018974468 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34659283941248537, -0.3625100958362033, -0.11118564592170392, -1.473572371223559, -0.03149914345999278, -0.4180807506652136, 0.3919956767560514 ], "joint_pos_r": [ -0.5309918946084752, -0.30472799614396856, 0.26435803174481354, -1.3026459944635094, 0.28466987380620445, 0.5901614808990122, -0.4862252674986221 ], "eef_pose_l": [ 483.3102999834596, 344.35794539138953, 98.1089414343444, 1.7236672782545954, -0.17683244050393523, 0.8531631671852109 ], "eef_pose_r": [ 478.2204364741247, -423.0970203320011, 99.77613325005646, 1.6031295725080938, 0.02856878526825219, 2.144247121433775 ], "joint_status_l": { "velocity": [ 0.5996393865950189, -10.448455746943086, 2.255749446349653, 18.86359420389283, -8.742056287417782, -13.46824976769101, 15.043414011999712 ], "torque": [ -17.841796875, 1.01806640625, -11.1572265625, 0.872802734375, -3.9056396484375, -2.7447509765625, 0.6591796875 ] }, "joint_status_r": { "velocity": [ -6.404064327650172, -2.0075826365255622, -1.3955385851043278, 2.9296480694096516, 35.891984537340434, -8.897330007674675, -33.39088178659377 ], "torque": [ 16.7431640625, 8.1298828125, 10.052490234375, 0.457763671875, 4.5721435546875, 0.985107421875, -0.93017578125 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.5, -10.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.2, -16.5, -10.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -16.7, 1.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -16.7, 1.3, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 194, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -202, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3541235870153247, -0.4714800050597472, -0.08903785557649956, -1.2728848869100735, -0.11831349907805976, -0.5594790749661481, 0.5390893698990664 ], "act_joint_pos_r": [ -0.5974334662768177, -0.323119240593476, 0.251267758304357, -1.2718148546979406, 0.672367890653537, 0.5091602059645822, -0.8410030419605021 ], "act_eef_pose_l": [ 511.6694875079823, 343.87029076978354, 83.8932314478878, 1.6898126548197088, -0.22423459776464447, 0.8143357762778215 ], "act_eef_pose_r": [ 491.8334644042035, -459.1403481268787, 81.28654334691987, 1.5626230004906467, 0.01903084675908456, 1.9477842671206675 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34763244216507966, -0.378411611806375, -0.10788968750403848, -1.4444705905988562, -0.044370116511906206, -0.43867100746695165, 0.4139156708037604 ], "joint_pos_r": [ -0.5425151599384355, -0.3082333636948419, 0.26190790122349655, -1.297355323742513, 0.34992548613600444, 0.5746483994371151, -0.5466743787927189 ], "eef_pose_l": [ 487.5917396946869, 344.3365331502058, 95.80854547300652, 1.7198620182052846, -0.18300120415891877, 0.8464744105993179 ], "eef_pose_r": [ 481.14987816140166, -428.62088328923556, 97.51389534863422, 1.5909871162222649, 0.028048615875923222, 2.1118794150157743 ], "joint_status_l": { "velocity": [ 0.7010229682591351, -10.05109003030924, 2.0359378013985463, 18.530709464327444, -7.985649792993654, -13.046886492564802, 13.518360799553264 ], "torque": [ -18.427734375, 3.0615234375, -10.406494140625, 0.030517578125, -3.9239501953125, -3.138427734375, 0.7379150390625 ] }, "joint_status_r": { "velocity": [ -5.931002158986676, -1.6076272906198064, -1.149101544328568, 2.7582893054187707, 34.82275264570367, -7.072516302315535, -31.78655812770126 ], "torque": [ 19.27734375, 9.0087890625, 11.541748046875, 0.28076171875, 4.4146728515625, 1.058349609375, -0.67840576171875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.6, -9.9, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -1.9, -16.6, -9.9, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.4, -16.7, -0.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.4, -16.7, -0.3, 1.0, 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": 209, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.35129188556169294, -0.5058225804361335, -0.0841371610759573, -1.1859824836486466, -0.10663297832739195, -0.6514070668805652, 0.5364548482321424 ], "act_joint_pos_r": [ -0.6069410581072563, -0.32107987193362725, 0.25210455328817627, -1.2677194010605524, 0.7428160194314137, 0.4998805256350268, -0.8997558010595361 ], "act_eef_pose_l": [ 517.3742875079823, 344.72309076978354, 80.99723144788784, 1.6811694700208044, -0.22821774924339847, 0.7769989874712516 ], "act_eef_pose_r": [ 492.6710644042035, -467.88674812687873, 80.1001433469196, 1.5565298284254963, 0.014806115886046158, 1.9103178545140942 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3482814152098608, -0.3899264647965274, -0.10561787348428242, -1.422545648315372, -0.05236964134710361, -0.4550142610947575, 0.4279629331234219 ], "joint_pos_r": [ -0.5542438716884414, -0.31107963468572736, 0.2598286721292167, -1.2919242523515773, 0.4198429574805873, 0.5608106843497709, -0.6100953673865095 ], "eef_pose_l": [ 490.6272663878783, 344.38897796997765, 94.19894177448194, 1.7170166777212201, -0.18706077526151677, 0.8411874902654708 ], "eef_pose_r": [ 483.80816430318555, -434.83389352514007, 95.38768558831774, 1.578763893090802, 0.026446799179696896, 2.077737080644051 ], "joint_status_l": { "velocity": [ 0.3251212090602529, -12.516411337257782, 2.3198485198244745, 25.548068284010128, -5.860267554518572, -21.209797475328696, 11.716781263749976 ], "torque": [ -17.1533203125, 3.61083984375, -10.174560546875, 1.251220703125, -3.8104248046875, -2.84912109375, 0.58868408203125 ] }, "joint_status_r": { "velocity": [ -5.691128282375502, -1.0799937700594064, -0.8341802320017688, 2.6140468422415353, 34.88006195825166, -6.580263066707559, -31.282404211492754 ], "torque": [ 18.80859375, 9.10400390625, 11.48681640625, 1.324462890625, 4.51904296875, 0.7598876953125, -1.3714599609375 ] }, "eef_FT_l": { "raw_value": [ -2.9, -15.6, -7.9, 1.3, -0.2, 0.0 ], "actual_contact_FT": [ -2.9, -15.6, -7.9, 1.3, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -18.0, -1.6, 1.3, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -18.0, -1.6, 1.3, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 188, "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": [ 0.35329769309130743, -0.5487869730559686, -0.07905389499122305, -1.100943330096143, -0.10964002204347975, -0.7245518949438616, 0.5473654005251206 ], "act_joint_pos_r": [ -0.6194714857797119, -0.3218126458231344, 0.25135688301375875, -1.2628807048129975, 0.7909238446034101, 0.48652771910892295, -0.936014893243536 ], "act_eef_pose_l": [ 525.0262875079823, 343.0134907697836, 75.90363144788792, 1.671683620934208, -0.2308644643276232, 0.7499991329406203 ], "act_eef_pose_r": [ 492.9182644042035, -474.5027481268787, 73.94974334691983, 1.566430704893005, 0.005542551335078162, 1.8805602218533781 ], "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.npz" }, "states": { "joint_pos_l": [ 0.348880302394834, -0.4124733724251512, -0.1014817094427848, -1.3765631653988142, -0.06267209429242396, -0.49322636417267135, 0.4486340062451754 ], "joint_pos_r": [ -0.5649337343447158, -0.31301263165834076, 0.25832508030610773, -1.2870674623646539, 0.4836923771161216, 0.5485166964001101, -0.6669589377473669 ], "eef_pose_l": [ 496.2134658063487, 344.5937843973323, 91.27782757097353, 1.711446970719135, -0.19353195991341024, 0.8278026109332248 ], "eef_pose_r": [ 485.94954498022094, -441.0427777244231, 93.21233424750855, 1.5697657960025688, 0.023982035226648386, 2.0453990150248575 ], "joint_status_l": { "velocity": [ 0.4770641249649543, -14.721434682621215, 2.422132523788423, 29.76606430955009, -5.072386595068201, -24.982420506181047, 10.662676103412316 ], "torque": [ -18.57421875, 3.896484375, -10.205078125, 1.5625, -4.0631103515625, -2.8326416015625, 0.72784423828125 ] }, "joint_status_r": { "velocity": [ -5.889903441563149, -0.9503735000295777, -0.7525431125010584, 2.612092776022479, 33.180019896249746, -6.694612100418773, -29.057186197688267 ], "torque": [ 16.142578125, 7.2216796875, 11.114501953125, 1.025390625, 6.15966796875, 1.552734375, -0.84869384765625 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.4, -7.2, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.4, -7.2, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.2, 0.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.0, -17.2, 0.0, 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": -223, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3583485985322939, -0.5885896767347636, -0.07542028000222205, -1.0232445279460347, -0.10577594328392684, -0.7779267293511273, 0.5474294213645433 ], "act_joint_pos_r": [ -0.6345029002501104, -0.3240048537420404, 0.2505681968078011, -1.2667195371037943, 0.834358104727646, 0.4730276681899267, -0.9672646102413114 ], "act_eef_pose_l": [ 532.5166875079823, 342.5550907697836, 68.34683144788785, 1.6727375163371132, -0.22754802676273592, 0.7345681986400627 ], "act_eef_pose_r": [ 492.3006644042035, -476.49714812687864, 66.23534334691976, 1.5798540718570377, -0.008692878750734155, 1.861831698137814 ], "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.npz" }, "states": { "joint_pos_l": [ 0.34991751914936103, -0.4410576393687227, -0.09686467847450195, -1.3188490856560935, -0.07200264681073963, -0.5413162570578222, 0.46848920695483226 ], "joint_pos_r": [ -0.5759033733990784, -0.3147724135416097, 0.25697320392907097, -1.282663819338396, 0.5436775771882345, 0.5362057367001641, -0.7191925658248808 ], "eef_pose_l": [ 502.89172213783246, 344.5436673135048, 87.56329061108681, 1.7048330994573153, -0.19931111305637203, 0.8108726489866578 ], "eef_pose_r": [ 487.70853063212274, -447.1679468614367, 90.20521697354377, 1.5648246998802273, 0.019859448335039002, 2.013949203862948 ], "joint_status_l": { "velocity": [ 0.9105297187184114, -15.932990117107693, 2.3159267303984876, 31.924350674293223, -3.647408444542477, -25.553177356996137, 8.52529171620997 ], "torque": [ -19.013671875, 4.66552734375, -10.33935546875, 2.1728515625, -3.8177490234375, -2.9132080078125, 0.73516845703125 ] }, "joint_status_r": { "velocity": [ -6.328562248945069, -0.9970741345171064, -0.6917203678955541, 1.7219316956769148, 31.392571099863265, -6.823030164587962, -26.790990638942525 ], "torque": [ 18.4423828125, 7.46337890625, 11.077880859375, -0.28076171875, 4.19677734375, 2.2283935546875, -0.87890625 ] }, "eef_FT_l": { "raw_value": [ -2.6, -17.0, -5.5, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.0, -5.5, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -18.5, 0.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -18.5, 0.9, 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": -263, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.35440094352031615, -0.6321556590445011, -0.07177661308165495, -0.9189362085834697, -0.06441796089455741, -0.8602458298148291, 0.5210184809490411 ], "act_joint_pos_r": [ -0.6414386999465895, -0.3267021867091745, 0.24900254891594065, -1.2644189093007423, 0.8581935327731594, 0.4647333202173495, -0.9829940788695766 ], "act_eef_pose_l": [ 539.0774875079824, 344.7518907697836, 60.29563144788797, 1.6923759753394734, -0.22848565986852137, 0.7009880220940601 ], "act_eef_pose_r": [ 492.4894644042035, -478.6803481268787, 61.45294334691971, 1.5890177625391226, -0.016757005560477146, 1.848439919585718 ], "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.npz" }, "states": { "joint_pos_l": [ 0.35134956167711223, -0.4677897250605741, -0.09301900115729467, -1.2650341942297545, -0.07735966864344987, -0.5843738440736695, 0.4820541608275213 ], "joint_pos_r": [ -0.5857413970747424, -0.3163697272317752, 0.2558740801203397, -1.2799748088416503, 0.5921670002352512, 0.5255749589281606, -0.7604383105321681 ], "eef_pose_l": [ 508.9437761783535, 344.559008572066, 83.76505098138418, 1.7001555137485316, -0.20314988157153632, 0.7964815689722512 ], "eef_pose_r": [ 488.8689595338019, -451.901592374572, 86.90098477822801, 1.5636396311634595, 0.01475622599478203, 1.9887238346016025 ], "joint_status_l": { "velocity": [ 0.32953951981751217, -17.750997332582674, 2.2941102510041222, 37.377480059952006, 1.3976632150073387, -29.793295753756333, 4.208022464135652 ], "torque": [ -20.5078125, 2.783203125, -10.80322265625, 2.44140625, -4.6380615234375, -3.3929443359375, 0.65460205078125 ] }, "joint_status_r": { "velocity": [ -6.015131303344745, -1.1158727126523438, -0.7421034829029338, 1.6799876018325222, 28.730018167501647, -6.570703188236493, -24.035314096742866 ], "torque": [ 19.27001953125, 8.84033203125, 11.993408203125, -0.15869140625, 3.9752197265625, 2.5140380859375, -0.88714599609375 ] }, "eef_FT_l": { "raw_value": [ -2.9, -18.4, -6.0, 1.7, -0.2, 0.0 ], "actual_contact_FT": [ -2.9, -18.4, -6.0, 1.7, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -19.0, -1.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -19.0, -1.3, 1.1, 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": 20, "motor_current": -246, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3537098725190473, -0.6889164321600204, -0.06730029482470239, -0.7728756467421252, -0.046203399032621835, -0.9999453431276429, 0.5155375430680439 ], "act_joint_pos_r": [ -0.64965830013278, -0.32447101182891946, 0.25027363446270884, -1.2655089844074616, 0.8886565581078383, 0.46014774725534735, -1.0013766288691504 ], "act_eef_pose_l": [ 542.9350875079823, 347.0686907697836, 53.733231447887945, 1.6922179035192402, -0.22740218577783414, 0.6485253085166661 ], "act_eef_pose_r": [ 491.5766644042035, -482.11634812687873, 58.984143346919836, 1.5925653703806104, -0.02664759463254561, 1.8332012732055187 ], "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.npz" }, "states": { "joint_pos_l": [ 0.35183929603395137, -0.5060140711844319, -0.08843928885217038, -1.1812020392162745, -0.07261777565872493, -0.6541290509356125, 0.4887291448903538 ], "joint_pos_r": [ -0.5950135381799696, -0.31771621954962054, 0.2549574442286865, -1.2777219242672782, 0.635578531738756, 0.5158833921743176, -0.7960496066955658 ], "eef_pose_l": [ 516.9828400176907, 345.57486165116217, 78.29304674070508, 1.6973592583086834, -0.20782809157244012, 0.7725041724568046 ], "eef_pose_r": [ 489.7128448485607, -456.2165121100175, 83.47360843772466, 1.5643808587442458, 0.00870157238358546, 1.9659570502499801 ], "joint_status_l": { "velocity": [ 0.20201630223803946, -19.75287240553314, 2.2829440231317832, 44.09794978770165, 2.85266854065791, -37.347058064140626, 2.895221613193666 ], "torque": [ -20.91064453125, -0.68115234375, -11.505126953125, 1.77001953125, -1.614990234375, -3.585205078125, 0.59783935546875 ] }, "joint_status_r": { "velocity": [ -5.9014602366378455, -0.7294960508281711, -0.5058365358745487, 1.3189586042567925, 27.331620744796226, -6.019272122307573, -22.17466438797988 ], "torque": [ 18.34716796875, 10.49560546875, 10.284423828125, 0.885009765625, 3.7225341796875, 2.186279296875, -0.8404541015625 ] }, "eef_FT_l": { "raw_value": [ -2.7, -18.2, -7.1, 1.5, -0.3, 0.0 ], "actual_contact_FT": [ -2.7, -18.2, -7.1, 1.5, -0.3, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.2, 2.5, 1.2, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -17.2, 2.5, 1.2, 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": -246, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.35866043279543375, -0.7047627648285008, -0.06731129338964185, -0.7409477780511711, -0.06107452915929019, -1.0112127036512615, 0.5190733907894359 ], "act_joint_pos_r": [ -0.6531841083419114, -0.3232668819005694, 0.2507649614833315, -1.2636684744556566, 0.8950028536233248, 0.4593697097422831, -1.0016142031624011 ], "act_eef_pose_l": [ 546.8302875079823, 348.30549076978355, 51.73003144788807, 1.6836550247660176, -0.22002671267390192, 0.659381715686667 ], "act_eef_pose_r": [ 491.0390644042035, -484.0403481268787, 57.693743346919746, 1.5952330088123614, -0.03155873345834564, 1.827452107220154 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3527054452829038, -0.5378705112474469, -0.08496537792877062, -1.1104722537533986, -0.0699534756390954, -0.712251077366747, 0.49353531556455404 ], "joint_pos_r": [ -0.6057412865183786, -0.3188572483310185, 0.2541274732398201, -1.2752055374501092, 0.684135796522014, 0.5052594927095547, -0.8348908357738446 ], "eef_pose_l": [ 523.1978660364524, 346.5388498086684, 73.77763724796509, 1.694824461453099, -0.21002798161463943, 0.7537661667488778 ], "eef_pose_r": [ 490.39289543381756, -461.2632392469293, 79.33032829564527, 1.5667622612481258, 0.0010857289833001319, 1.9402173222011325 ], "joint_status_l": { "velocity": [ 0.643119683551685, -18.023831802249646, 1.9065848985102551, 39.907466368036104, 0.9588979386360164, -32.28690338741291, 2.7580307805172843 ], "torque": [ -21.6796875, 2.92236328125, -10.205078125, 1.6845703125, -1.483154296875, -3.66943359375, 0.5767822265625 ] }, "joint_status_r": { "velocity": [ -5.123673642264848, -0.4762263799649169, -0.36314055944242085, 1.2459660555972363, 22.772970514078672, -4.955950392521835, -18.005592631396006 ], "torque": [ 18.02490234375, 9.74853515625, 10.382080078125, 0.3173828125, 3.358154296875, 2.67333984375, -0.83587646484375 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.2, -11.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -1.6, -16.2, -11.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.3, 0.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.3, 0.1, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 185, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -221, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.36493249905825664, -0.7309177922747759, -0.0663287751495915, -0.688629123714327, -0.06845009687165585, -1.029577268280652, 0.5289242023088396 ], "act_joint_pos_r": [ -0.6587036559959595, -0.31961743972525236, 0.25294824075403366, -1.2663992463474079, 0.900803062866557, 0.4556096098249819, -1.0075773497173641 ], "act_eef_pose_l": [ 552.3326875079823, 349.8070907697836, 46.345231447888025, 1.6838531225379842, -0.22175606914413912, 0.6681675721695994 ], "act_eef_pose_r": [ 489.7102644042035, -485.6235481268787, 56.19054334691964, 1.6004382760064142, -0.030942431027098417, 1.8223687397467945 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3544660948037291, -0.5703298718821883, -0.0817331172324618, -1.0392334351950674, -0.06921588314051426, -0.7671823155815064, 0.4991622553463278 ], "joint_pos_r": [ -0.6107025422775247, -0.31913561797548007, 0.2538888812071577, -1.2741779006884189, 0.7053643999501554, 0.5005299620554671, -0.8517358322131674 ], "eef_pose_l": [ 529.3685872104447, 347.6224604372676, 68.97643611193305, 1.6925389189961801, -0.21153557280046772, 0.738319049068025 ], "eef_pose_r": [ 490.56673991798596, -463.5809200094152, 77.36224107718627, 1.568516517651001, -0.00232986219509861, 1.9287505616975127 ], "joint_status_l": { "velocity": [ 1.1303383219423146, -17.342983898431363, 1.663619879104461, 37.86414889654299, 0.08270247785752138, -28.337819112207896, 3.2141954743227785 ], "torque": [ -21.14501953125, 1.7578125, -9.393310546875, 1.190185546875, -1.75048828125, -3.5101318359375, 0.5657958984375 ] }, "joint_status_r": { "velocity": [ -5.18396738864535, -0.05203521427876723, -0.10158617281330606, 0.8400698922912397, 21.106753084565, -4.851254960775542, -16.83038750470711 ], "torque": [ 18.22998046875, 10.2978515625, 10.70556640625, 0.128173828125, 3.526611328125, 2.4407958984375, -0.70587158203125 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.3, -11.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -1.2, -16.3, -11.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.0, -16.9, -0.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -16.9, -0.1, 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": -196, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.36947171939448153, -0.7471617013485783, -0.06604950499343865, -0.6611984162172018, -0.06569747895389634, -1.034811633993656, 0.5260419102799738 ], "act_joint_pos_r": [ -0.6603603173823211, -0.31850805950080535, 0.2535290010389889, -1.2661898848058548, 0.9087092573282547, 0.45284523984370934, -1.0151515632669874 ], "act_eef_pose_l": [ 555.4566875079823, 349.4998907697836, 41.44203144788783, 1.6906337696767475, -0.21677243918858818, 0.6719892990913822 ], "act_eef_pose_r": [ 489.4958644042035, -487.1459481268787, 55.648143346919824, 1.6023153007557769, -0.0300138233842804, 1.8167595064252984 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3559109265286097, -0.5893949962771973, -0.0799786194517172, -0.998076262299672, -0.06896951561986592, -0.79709587073522, 0.5023531880981859 ], "joint_pos_r": [ -0.6204742508188801, -0.31915251641047526, 0.2537416072079356, -1.2725986417114126, 0.7452340564351811, 0.4912978779134779, -0.8836191962698747 ], "eef_pose_l": [ 532.9077386790747, 348.2202891256822, 65.9709471337276, 1.6917893250165368, -0.21215568561819428, 0.7307623715156912 ], "eef_pose_r": [ 490.65495592004385, -468.1138055845615, 73.44745626227115, 1.5730427173432209, -0.00836779733031387, 1.9068380141370913 ], "joint_status_l": { "velocity": [ 1.464522435733251, -17.038301629864527, 1.5042999945373836, 36.38173435501013, 0.3533695378473145, -25.67254526066165, 2.5583065424146234 ], "torque": [ -21.76025390625, -0.19775390625, -10.064697265625, 5.1025390625, -1.89697265625, -3.2391357421875, 0.57586669921875 ] }, "joint_status_r": { "velocity": [ -4.307568143920193, 0.0695992935226819, -0.022960789054060626, 0.6921253326552801, 17.65480099593031, -4.152762432354518, -14.205076679346007 ], "torque": [ 19.02099609375, 15.0, 15.71044921875, -0.20751953125, 3.4130859375, 2.67333984375, -0.81939697265625 ] }, "eef_FT_l": { "raw_value": [ -2.2, -17.1, -6.5, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -2.2, -17.1, -6.5, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.4, -18.2, -0.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -18.2, -0.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "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": [ 0.3722541522702908, -0.7579910005735441, -0.06593062472091533, -0.6520016916617869, -0.05863707589214716, -1.031223088729536, 0.521716940318665 ], "act_joint_pos_r": [ -0.6619097148140094, -0.3207751816502412, 0.25201482641644307, -1.262773954838075, 0.9190254390826258, 0.45264897193526377, -1.0241428806542585 ], "act_eef_pose_l": [ 557.2958875079823, 346.81989076978357, 37.50763144788796, 1.6989888650366542, -0.21292750903459953, 0.6704568592843348 ], "act_eef_pose_r": [ 489.88786440420347, -488.15554812687867, 54.15934334691974, 1.6034903764951431, -0.030596350866458885, 1.8116792543988116 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3586361057785671, -0.6198480416293207, -0.07733859223349378, -0.933859438586687, -0.06794070086040882, -0.8418244346741138, 0.5065799118705855 ], "joint_pos_r": [ -0.628125910601332, -0.3191941536298194, 0.2535922421208855, -1.2711408545019944, 0.7768807456539062, 0.484014752271142, -0.909131980434484 ], "eef_pose_l": [ 538.3018698935545, 348.83267045872384, 60.89738554151279, 1.6917781503924996, -0.2126153043902332, 0.7197848087148224 ], "eef_pose_r": [ 490.65755349620906, -471.78620950051027, 70.22945968438154, 1.5773092010256766, -0.012763583137061094, 1.889332926736997 ], "joint_status_l": { "velocity": [ 1.4707056449614342, -14.918999553604095, 1.2320241547484345, 30.439738895780444, 1.0047618627052057, -20.45445136618973, 1.6347508579932502 ], "torque": [ -22.88818359375, 1.67724609375, -9.552001953125, 2.410888671875, -1.58935546875, -3.1787109375, 0.47882080078125 ] }, "joint_status_r": { "velocity": [ -3.648543246938196, -0.1707459903217412, -0.1703558717021103, 0.9035985134904223, 15.351174131621903, -3.3874043701236367, -12.420810891500267 ], "torque": [ 18.02490234375, 10.048828125, 10.6201171875, -0.421142578125, 3.2080078125, 2.5982666015625, -0.77362060546875 ] }, "eef_FT_l": { "raw_value": [ -2.2, -17.1, -6.7, 1.6, -0.2, 0.1 ], "actual_contact_FT": [ -2.2, -17.1, -6.7, 1.6, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.3, 0.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.3, 0.5, 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": -152, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.37307792514508503, -0.7633380141534959, -0.06610024594942343, -0.6432178312718175, -0.05451985256200092, -1.034413333201902, 0.5173100484480619 ], "act_joint_pos_r": [ -0.6657241676874204, -0.3208194336221901, 0.25240550728402916, -1.2675267416526375, 0.9299166926824104, 0.448663810941328, -1.0370169133186273 ], "act_eef_pose_l": [ 558.0166875079823, 346.36229076978356, 35.91803144788794, 1.7026697097265069, -0.20966344146569066, 0.6692791130760387 ], "act_eef_pose_r": [ 489.4158644042035, -487.39154812687866, 52.45374334691974, 1.6071369173653312, -0.03006192556514034, 1.8098716035237015 ], "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.npz" }, "states": { "joint_pos_l": [ 0.36142234755461583, -0.647937106881374, -0.07505448809981649, -0.8766719012817281, -0.06583063891953767, -0.8800948754388342, 0.5093676439488751 ], "joint_pos_r": [ -0.6347339593065473, -0.31949559802130145, 0.25331675444495816, -1.269835383649744, 0.8043842517114355, 0.4778538799244789, -0.9316214123455073 ], "eef_pose_l": [ 542.9290778755274, 348.81868059371743, 55.964119569946746, 1.6931562983019162, -0.21252126931984525, 0.7100027468829513 ], "eef_pose_r": [ 490.6305618843946, -474.84206258750544, 67.2825021898071, 1.581465482886834, -0.016309823504475494, 1.8744555157781886 ], "joint_status_l": { "velocity": [ 1.2587652544739925, -12.46293041090496, 0.967029631228078, 25.21229596414898, 1.2215288995449103, -16.665901903909486, 0.8577543877983373 ], "torque": [ -23.6572265625, 1.875, -9.70458984375, 2.728271484375, -1.878662109375, -3.343505859375, 0.56121826171875 ] }, "joint_status_r": { "velocity": [ -3.346843795252852, -0.1429700282202795, -0.09841179087999308, 0.24932598221028002, 13.557103779462842, -3.1524344740958554, -11.382378399790838 ], "torque": [ 17.431640625, 9.66064453125, 10.784912109375, -0.018310546875, 3.310546875, 2.8875732421875, -0.79833984375 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.8, -7.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.8, -7.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.3, 0.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.3, 0.7, 1.1, 0.2, 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": -206, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3758821447464414, -0.7744943396379559, -0.06565946620893595, -0.6161495959156619, -0.048774352098833566, -1.0463445342000508, 0.5117062478059049 ], "act_joint_pos_r": [ -0.6711428438160718, -0.3175790855063747, 0.2551678237126722, -1.2791043556588462, 0.9302274192081904, 0.4335419013059582, -1.0397866092498254 ], "act_eef_pose_l": [ 559.4942875079823, 347.8718907697836, 32.063631447888, 1.7103977561062809, -0.20487968194812814, 0.6703992639405036 ], "act_eef_pose_r": [ 487.9446644042035, -485.81634812687867, 49.375343346919635, 1.6213413342388123, -0.03103658847454711, 1.8095886168223416 ], "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.npz" }, "states": { "joint_pos_l": [ 0.363646104259642, -0.6689892491386134, -0.07344568919339488, -0.8338223297160735, -0.06349692700397506, -0.9080729956518155, 0.5104462921842338 ], "joint_pos_r": [ -0.640066521950723, -0.3195709569923381, 0.25328823423118907, -1.2699641900519654, 0.8250348425814619, 0.4723912135362451, -0.9490695497544527 ], "eef_pose_l": [ 546.1955318316694, 348.7507976162657, 52.11114391241463, 1.69505430398302, -0.21185915325314045, 0.7030150585240975 ], "eef_pose_r": [ 490.46923886748493, -476.8572668410668, 64.8446472052207, 1.5855867068652774, -0.018745964706172975, 1.8636898140111917 ], "joint_status_l": { "velocity": [ 1.321453398389405, -11.394213719558621, 0.8408872816769719, 23.507961920168796, 1.5899911954717072, -14.932885741286483, 0.13607119393510558 ], "torque": [ -25.048828125, -1.75048828125, -8.53271484375, 4.534912109375, -1.7523193359375, -4.12353515625, 0.5694580078125 ] }, "joint_status_r": { "velocity": [ -3.35614377728799, 0.2151157759837652, 0.20298967713960892, -0.987108772324774, 11.360463216734118, -4.195601978205232, -9.797153473903641 ], "torque": [ 17.841796875, 11.30859375, 13.24462890625, 0.213623046875, 2.750244140625, 2.7044677734375, -0.95489501953125 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.6, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -16.6, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.5, 0.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.5, 0.5, 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": -156, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3807222308106462, -0.7698421682337702, -0.06614672641605264, -0.6260513841635121, -0.060874611693747395, -1.031427234036594, 0.5180016286166437 ], "act_joint_pos_r": [ -0.670559325939887, -0.3227175269249618, 0.25103518961430205, -1.263288287521578, 0.9104686942854164, 0.437473961438268, -1.0137733545616505 ], "act_eef_pose_l": [ 559.8830875079823, 349.2310907697836, 31.330031447887976, 1.7061006211135503, -0.20324026636540277, 0.6835661779202024 ], "act_eef_pose_r": [ 488.7750644042035, -487.81954812687866, 46.20094334691976, 1.6275005325217755, -0.036427906462830895, 1.8086323741569619 ], "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.npz" }, "states": { "joint_pos_l": [ 0.36641949504044236, -0.6870571614921267, -0.07213042487883645, -0.7965838007616043, -0.062418747474291617, -0.9306406623395761, 0.511462417627282 ], "joint_pos_r": [ -0.645125208401481, -0.31968482206210924, 0.2532422951487144, -1.270108414060773, 0.8406310165409989, 0.4663422761466654, -0.9617488405484024 ], "eef_pose_l": [ 548.9869273556914, 348.97801679601275, 48.40795747236058, 1.6971010118935403, -0.21042681005114133, 0.6989936863264075 ], "eef_pose_r": [ 490.2211501609704, -478.536121502431, 62.1205331879265, 1.5914880494656554, -0.021371192936409183, 1.854552432190786 ], "joint_status_l": { "velocity": [ 1.5446499061684271, -8.940517041642337, 0.6462203747296114, 18.41695781345898, 0.16676174592406, -10.88462871831375, 0.706213958183266 ], "torque": [ -24.4189453125, 2.39501953125, -8.16650390625, 1.5625, -2.3052978515625, -3.211669921875, 0.63446044921875 ] }, "joint_status_r": { "velocity": [ -2.7468036815028185, -0.3275224654291087, -0.2383603676532342, 0.736551942795316, 7.542246749719261, -3.1176860372728044, -5.618481805167441 ], "torque": [ 17.8564453125, 9.7265625, 10.748291015625, -0.927734375, 2.6165771484375, 2.7447509765625, -0.63079833984375 ] }, "eef_FT_l": { "raw_value": [ -3.0, -16.9, -7.4, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -3.0, -16.9, -7.4, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.0, 0.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.0, 0.2, 1.0, 0.2, 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": -179, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3819401476147625, -0.7564164532130497, -0.06713045968954418, -0.6525675945140801, -0.05607333813409777, -1.0081895403387184, 0.5188495905359214 ], "act_joint_pos_r": [ -0.6756692113918589, -0.32431845276453114, 0.25026101074446444, -1.2639899327503663, 0.9178854857860657, 0.433696488816736, -1.016394612539579 ], "act_eef_pose_l": [ 558.5062875079823, 350.56309076978357, 30.776431447888015, 1.7136698169202584, -0.20691267447917222, 0.689924711831872 ], "act_eef_pose_r": [ 488.29506440420346, -487.6083481268787, 42.81694334691974, 1.6346239579075916, -0.042671837839539525, 1.805568014589898 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3687280132241923, -0.6981085231610086, -0.07133313609323193, -0.773689981877574, -0.06164256598597955, -0.94331736174123, 0.5125507241418993 ], "joint_pos_r": [ -0.6501987881077359, -0.3204016827694218, 0.2527646998057033, -1.2689817339805227, 0.853815836783399, 0.46081185473512, -0.9712430021461221 ], "eef_pose_l": [ 550.6722809118273, 349.26406281590096, 45.72852363947061, 1.699258593137722, -0.20975260525705824, 0.6974179037110072 ], "eef_pose_r": [ 490.00218603527543, -480.1790937178349, 58.98635273593743, 1.5983101795584957, -0.024903233579191608, 1.8460109372896507 ], "joint_status_l": { "velocity": [ 1.4268684309466373, -6.297070723446652, 0.45387566525112444, 13.080832036739487, 0.6014588689221556, -7.005988657938111, 0.6802575074313921 ], "torque": [ -24.58740234375, 4.07958984375, -7.65380859375, 1.77001953125, -2.1240234375, -3.1622314453125, 0.6463623046875 ] }, "joint_status_r": { "velocity": [ -2.750724586400466, -0.42299868379247485, -0.27039044387389133, 0.5390986329931735, 6.919318017911458, -2.9283731514362366, -4.876230105773871 ], "torque": [ 16.9189453125, 9.1552734375, 10.4248046875, 0.48828125, 2.391357421875, 2.51220703125, -0.56396484375 ] }, "eef_FT_l": { "raw_value": [ -2.3, -15.8, -8.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -15.8, -8.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.8, -16.7, 0.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -16.7, 0.3, 1.0, 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": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.38035314934841835, -0.7598259821340899, -0.06684535711148992, -0.6373318012849459, -0.04662399314933942, -1.0184766311067812, 0.5162662118769253 ], "act_joint_pos_r": [ -0.6742858930911306, -0.32984824520868394, 0.24758258268742409, -1.2657597181267555, 0.9255974670138558, 0.4239241738086487, -1.0264750813929702 ], "act_eef_pose_l": [ 558.7654875079824, 352.54549076978356, 29.694831447888035, 1.7209482044230493, -0.21040872147556097, 0.6871180701412466 ], "act_eef_pose_r": [ 489.56066440420346, -485.5139481268787, 40.20734334691974, 1.6417699655480251, -0.04275558675445614, 1.8043937914427735 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3708849482936895, -0.7088025962577301, -0.07055789579338008, -0.7505552755941826, -0.05959158891478857, -0.9559481326626715, 0.5133729009332633 ], "joint_pos_r": [ -0.6530321489207727, -0.3210067341529133, 0.2524031903853235, -1.2684706355012914, 0.861273060988303, 0.4574638975126361, -0.9766353074860213 ], "eef_pose_l": [ 552.248883070696, 349.794413820743, 42.94715646620915, 1.702528615269325, -0.20972348768046226, 0.6958411315437933 ], "eef_pose_r": [ 489.8979825690542, -480.9730191458883, 57.12088902986494, 1.6024209987169828, -0.026997841082665293, 1.8413626512926624 ], "joint_status_l": { "velocity": [ 1.0225355558364235, -5.510363155172726, 0.4009423524815592, 12.227774586463624, 1.4004590383370763, -6.752878666453022, 0.3124683661535066 ], "torque": [ -23.81103515625, 2.8271484375, -7.12890625, 0.6591796875, -2.3822021484375, -3.3416748046875, 0.6390380859375 ] }, "joint_status_r": { "velocity": [ -2.2953366730620317, -0.9548550320794824, -0.5206102767938425, 0.2927704416464394, 6.946830964932538, -3.622183329444084, -5.382536832511775 ], "torque": [ 18.87451171875, 10.7080078125, 11.02294921875, 1.40380859375, 2.6220703125, 3.3306884765625, -0.791015625 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.4, -8.9, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.0, -16.4, -8.9, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.6, 0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.6, 0.8, 1.1, 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": 20, "motor_current": -120, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.379640103244213, -0.7500862514979295, -0.06751688981941414, -0.656730148943648, -0.041853421587116614, -1.0124836258451495, 0.5147790546403497 ], "act_joint_pos_r": [ -0.6680859045219458, -0.3473893266736066, 0.2371413250685147, -1.239906364105849, 0.9138880320266676, 0.4279622879934265, -1.0214401348553832 ], "act_eef_pose_l": [ 556.4406875079824, 351.97349076978355, 30.65083144788794, 1.7229594576676068, -0.21156100652337975, 0.6819020581257313 ], "act_eef_pose_r": [ 493.68226440420347, -485.70594812687864, 35.130543346919694, 1.646792295478207, -0.03616746008872564, 1.803384277401371 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3720367122881825, -0.7146666772795165, -0.07012905791700444, -0.7374138928133288, -0.05768017334676352, -0.9634798291272704, 0.5136511025575572 ], "joint_pos_r": [ -0.6568589087483785, -0.3240493640188404, 0.2506810099330585, -1.2660614411124695, 0.8733634050191315, 0.4510107477250883, -0.9862942647096925 ], "eef_pose_l": [ 553.0154702487752, 350.14255415285453, 41.3272693744199, 1.7049002655214907, -0.2099540923118029, 0.6944790268168548 ], "eef_pose_r": [ 490.2144969790604, -481.9417743400335, 53.41160797296763, 1.610397756510073, -0.029845078869748385, 1.8337241904070027 ], "joint_status_l": { "velocity": [ 0.8211420049626383, -3.825201197309447, 0.2821058342730165, 8.713587344404417, 1.7092387787387975, -5.2922539588431405, 0.12181523219334522 ], "torque": [ -25.08544921875, 5.41259765625, -7.45849609375, -0.775146484375, -1.9134521484375, -3.01025390625, 0.596923828125 ] }, "joint_status_r": { "velocity": [ -1.2124797833656942, -2.5206416243634955, -1.4622428388237907, 2.8246650076741986, 4.376530637942189, -2.489160237162835, -3.7956420292566406 ], "torque": [ 18.49365234375, 11.0595703125, 10.26611328125, 1.446533203125, 2.4700927734375, 3.0523681640625, -0.83587646484375 ] }, "eef_FT_l": { "raw_value": [ -2.6, -16.4, -8.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.6, -16.4, -8.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.0, 1.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.0, 1.3, 1.0, 0.2, 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": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.37957645273854157, -0.7469913862775104, -0.06768780479821628, -0.6597915662284984, -0.03815504750726542, -1.014395973269448, 0.5129049242152333 ], "act_joint_pos_r": [ -0.6630094654401293, -0.3555423865256053, 0.23297383081589665, -1.2310677782887784, 0.9049968727861213, 0.42198450843362567, -1.0230630512873382 ], "act_eef_pose_l": [ 555.3214875079823, 352.37029076978354, 30.560431447887893, 1.7252616942025183, -0.21143821197434168, 0.6787077747185023 ], "act_eef_pose_r": [ 495.9806644042035, -485.01794812687865, 32.80174334691969, 1.6533100446630715, -0.026485684656199226, 1.803524354507178 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3735610439406116, -0.721565845000163, -0.06961611573622964, -0.7214104089915041, -0.054231006104720265, -0.9734715966793691, 0.513742787697103 ], "joint_pos_r": [ -0.6586152071018997, -0.32904933225581007, 0.2478210238321916, -1.2604798842604465, 0.8803829940109318, 0.4462227258618733, -0.9930551524556199 ], "eef_pose_l": [ 553.6959954954415, 350.56531402870706, 39.17376772979986, 1.7086182136905528, -0.21038968308810202, 0.6917638887471603 ], "eef_pose_r": [ 491.10255940990527, -482.64214120218736, 49.812086733648755, 1.6176128767002211, -0.030504987375211828, 1.8278714965941967 ], "joint_status_l": { "velocity": [ 0.6496449899211498, -2.7458774726261126, 0.2082514392576229, 6.654638750326569, 1.7361523234494802, -4.419702319575336, -0.09048658728305625 ], "torque": [ -25.94970703125, 0.5126953125, -7.330322265625, 1.141357421875, -2.2430419921875, -2.8948974609375, -0.0823974609375 ] }, "joint_status_r": { "velocity": [ -0.4745659039553374, -2.8611654755730243, -1.6034495545433902, 3.1764137616239196, 2.658220507696818, -2.6176502787826905, -3.240757492791957 ], "torque": [ 17.6220703125, 10.2099609375, 10.24169921875, 0.701904296875, 2.530517578125, 3.2025146484375, -0.81207275390625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.4, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.4, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.0, 2.4, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -17.0, 2.4, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 183, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -150, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3741816873554467, -0.7416082910797672, -0.06781193254330874, -0.6560760234013916, -0.01603164397175475, -1.021936139820858, 0.5034761764054668 ], "act_joint_pos_r": [ -0.6536026405612185, -0.36939326325303967, 0.22623620243373305, -1.2144805885300503, 0.8787435261619941, 0.4184054308944143, -1.0137605311985942 ], "act_eef_pose_l": [ 553.8182875079823, 355.5822907697835, 30.46683144788797, 1.7405702295092464, -0.21713268438045666, 0.6711915078878348 ], "act_eef_pose_r": [ 499.8510644042035, -483.06274812687866, 30.03454334691969, 1.6602146469055257, -0.011588914826242155, 1.8095088950131457 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37438469059137464, -0.7260594045510137, -0.06925880650559146, -0.7095462535446913, -0.04990646762038163, -0.9816459787512885, 0.5130364979216483 ], "joint_pos_r": [ -0.6589521939757012, -0.3351815354851638, 0.24444396737012997, -1.2536016996080672, 0.8838068771369019, 0.4411408264957415, -0.9985486960953412 ], "eef_pose_l": [ 553.9629151126733, 351.1007864024354, 37.54619026423134, 1.7125621221770961, -0.211069538346091, 0.6888917173952038 ], "eef_pose_r": [ 492.35890994563107, -483.0466960496913, 46.23297533738682, 1.6251259260721371, -0.02898535860381618, 1.8231620904629933 ], "joint_status_l": { "velocity": [ -0.021923702875348283, -1.6792302188575192, 0.15625777934968887, 5.774614542325196, 3.658373056106057, -4.351209063461425, -1.032484272251999 ], "torque": [ -28.9013671875, -0.234375, -7.50732421875, 1.0498046875, -1.4447021484375, -3.28125, -0.29937744140625 ] }, "joint_status_r": { "velocity": [ 0.5777347293891566, -3.694757627879408, -1.9663806178347176, 4.224955388028917, -0.5468257775262941, -2.455350308256943, -1.6428297384782908 ], "torque": [ 23.4375, 9.03076171875, 9.515380859375, 4.2724609375, 0.098876953125, 3.0084228515625, -0.67840576171875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.2, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.2, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.0, 1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.0, 1.4, 1.1, 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": 20, "motor_current": -127, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3764619880185189, -0.7295017874669024, -0.06855594824443889, -0.6758863019313176, -0.026523394782407058, -1.0076805919463627, 0.5081055126439276 ], "act_joint_pos_r": [ -0.6397901841164044, -0.3869212189276004, 0.2182263798519042, -1.1907035216316215, 0.8140693195210095, 0.4212238940312234, -0.9605328962245299 ], "act_eef_pose_l": [ 552.5670875079823, 357.5014907697836, 31.96443144788789, 1.734656861252266, -0.21691826076258422, 0.6812785386708212 ], "act_eef_pose_r": [ 504.5390644042035, -478.8683481268787, 27.430543346919876, 1.6683574514136348, -0.0050597078533143715, 1.8278539872017558 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3743851921183606, -0.7284357245028218, -0.06903199967267738, -0.7010502826385823, -0.04449346160383439, -0.9880577243793899, 0.5115335953457314 ], "joint_pos_r": [ -0.6579349713112557, -0.340635088868894, 0.24156113063650808, -1.2473100941911002, 0.8820775373520777, 0.4377315739754921, -1.0000670709947914 ], "eef_pose_l": [ 553.9530702669285, 351.8617733010719, 36.415084406470044, 1.7169702373203128, -0.2122391936001896, 0.6861576629613636 ], "eef_pose_r": [ 493.58978600253414, -483.01599596005155, 43.718470209702076, 1.630562740742116, -0.026361978625346602, 1.8212501006134039 ], "joint_status_l": { "velocity": [ 0.2242873422155789, -0.11513140450158943, 0.05141203793279647, 2.717629764179108, 1.9407099785329618, -2.119207194557049, -0.3702220126804434 ], "torque": [ -28.35205078125, 1.435546875, -7.31201171875, 1.153564453125, -2.35107421875, -2.9718017578125, -0.46234130859375 ] }, "joint_status_r": { "velocity": [ 1.9595792223441322, -4.998754615953338, -2.5200787589874096, 6.113329533407708, -7.344670906266337, -1.7827768537888034, 4.269564951101756 ], "torque": [ 27.685546875, 11.54296875, 10.711669921875, 1.13525390625, 0.421142578125, 2.8912353515625, -0.70220947265625 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.9, -8.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.5, -16.9, -8.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.8, 0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.8, 0.3, 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": -103, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.38035290671389704, -0.7098555365037278, -0.07001268082294271, -0.7190222617170687, -0.0360208150906856, -0.9671238279291307, 0.5158208972889807 ], "act_joint_pos_r": [ -0.6221641998353595, -0.40795138833183137, 0.20974490021978612, -1.165684108661033, 0.7339745098433643, 0.41945094231549857, -0.906239777237203 ], "act_eef_pose_l": [ 551.2782875079823, 358.83589076978353, 32.72923144788804, 1.7337624333078654, -0.22037154796989297, 0.6994772185573821 ], "act_eef_pose_r": [ 510.3454644042035, -472.99074812687866, 24.348943346919896, 1.6820675553428652, 0.013794348589886905, 1.8511368942376845 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37524272734642145, -0.7261483591252098, -0.06913140971824464, -0.7020371469976988, -0.042513083926680455, -0.9864161793113281, 0.5118997875217653 ], "joint_pos_r": [ -0.6529630870879924, -0.3506174164770225, 0.23676793232584956, -1.2351809764602077, 0.8618591790525619, 0.43481772350205833, -0.9874412482043333 ], "eef_pose_l": [ 553.55725398044, 353.02658593906096, 35.71920979618753, 1.7199739863913004, -0.2134958824280682, 0.6876067717840907 ], "eef_pose_r": [ 496.0489933043617, -481.676814838405, 40.64348839352422, 1.6380821430400336, -0.020921925975975916, 1.8250736606989348 ], "joint_status_l": { "velocity": [ 0.5518830947650599, 1.7595729472903443, -0.09517447228635234, -1.834338288775328, 0.7011443551401264, 2.0835124993610066, 0.42346736535670004 ], "torque": [ -24.7412109375, 11.7041015625, -13.555908203125, -2.7587890625, -2.1990966796875, -0.5950927734375, 0.37261962890625 ] }, "joint_status_r": { "velocity": [ 3.326181722798971, -6.19188634039336, -2.9184013938068354, 7.505440361180504, -13.811136936883628, -1.6595634219416233, 8.76950022186751 ], "torque": [ 30.03662109375, 10.52490234375, 9.3505859375, -0.5859375, -0.9320068359375, 2.8564453125, 0.75439453125 ] }, "eef_FT_l": { "raw_value": [ -1.9, -15.9, -6.7, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.9, -15.9, -6.7, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.0, -17.3, 0.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.0, -17.3, 0.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 169, "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": [ 0.3807762725901744, -0.6974759167610115, -0.07096673121984858, -0.7455295509071951, -0.036451988400999044, -0.9522338296897279, 0.515832175919233 ], "act_joint_pos_r": [ -0.6135188716130303, -0.4175678418629981, 0.2065643256047083, -1.152338120558846, 0.6899263911662232, 0.4224251062464817, -0.879964245290963 ], "act_eef_pose_l": [ 549.0382875079823, 358.3422907697836, 34.06123144788792, 1.7333820014293426, -0.22053756089952134, 0.7004217081755538 ], "act_eef_pose_r": [ 513.0110644042035, -470.2739481268787, 23.543343346919755, 1.6872413078705069, 0.028075138071259467, 1.8648865233699554 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3761305908029449, -0.7220729438274786, -0.06938394431825888, -0.7078205779950058, -0.041494440021609603, -0.9815643772770335, 0.5125456723931576 ], "joint_pos_r": [ -0.6491080647016935, -0.3575093717647692, 0.23357892812584816, -1.2267527735979753, 0.8454942984721979, 0.4332142786505949, -0.9771245695356955 ], "eef_pose_l": [ 552.9438763972659, 353.9330273126915, 35.3671697133839, 1.7221997941800422, -0.2146119991476065, 0.6896786890392841 ], "eef_pose_r": [ 497.78018059604784, -480.56930984943347, 38.74399046066674, 1.643015453090253, -0.016494641916958857, 1.8287309490709558 ], "joint_status_l": { "velocity": [ 0.5017188356144509, 2.6564005768312526, -0.17093594388550848, -4.07244896405512, 0.5445687138302957, 3.1676057158929183, 0.35493191265878465 ], "torque": [ -24.00146484375, 12.71484375, -14.447021484375, -3.86962890625, -2.490234375, -0.3314208984375, 0.46142578125 ] }, "joint_status_r": { "velocity": [ 3.843519495027259, -6.4861234726225625, -2.9174910254849973, 8.03654550298738, -16.800838474802404, -1.1651962540182303, 10.493005543775524 ], "torque": [ 31.39892578125, 11.572265625, 9.70458984375, 1.873779296875, -0.787353515625, 3.1146240234375, 0.87249755859375 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.6, -7.6, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -2.4, -16.6, -7.6, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.7, 0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -17.7, 0.8, 1.1, 0.3, 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": -87, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.37691626825103214, -0.706066259974833, -0.07011149964304114, -0.7160536877290258, -0.024669629578278833, -0.9811258034552158, 0.5112662293049335 ], "act_joint_pos_r": [ -0.6017573648616401, -0.43879382221274793, 0.19911337889197292, -1.1225786165420495, 0.6403208156639663, 0.4287354757778437, -0.8423873696580496 ], "act_eef_pose_l": [ 549.2278875079824, 360.06309076978357, 33.67643144788788, 1.738456493647396, -0.223461550729693, 0.6886203655789568 ], "act_eef_pose_r": [ 518.5142644042035, -467.1731481268787, 20.24894334691976, 1.6948439264692603, 0.03647787576747543, 1.8774067372351517 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3765164126114646, -0.7186933412367854, -0.0695672876032101, -0.711161701803963, -0.039273337548397354, -0.9796387417729799, 0.5126115195390878 ], "joint_pos_r": [ -0.6416969289627497, -0.37009608668446115, 0.22803919366000147, -1.2109563265611232, 0.813203626340704, 0.43154141923199263, -0.9565740814671672 ], "eef_pose_l": [ 552.2834294339481, 354.9100329730546, 35.0877976938028, 1.7247432222958115, -0.21598571626025606, 0.6902573540221969 ], "eef_pose_r": [ 500.9842139768869, -478.4293406914568, 35.658130267238704, 1.6511745094967305, -0.007745409369137759, 1.8364910797530618 ], "joint_status_l": { "velocity": [ 0.04318313545459418, 1.3636845565656586, -0.05877316687979972, -0.5283188979738895, 1.5771539451036598, -0.16059792509803827, -0.14528706027583382 ], "torque": [ -26.41845703125, 10.02685546875, -14.215087890625, -4.815673828125, -2.3822021484375, -2.21923828125, -0.234375 ] }, "joint_status_r": { "velocity": [ 4.313345707588567, -7.419136621316991, -3.123895860563719, 9.544511181749371, -18.67079288748652, -0.3030329555691047, 12.331801168351753 ], "torque": [ 33.49365234375, 6.61376953125, 9.173583984375, 6.04248046875, -2.845458984375, 3.204345703125, 0.8441162109375 ] }, "eef_FT_l": { "raw_value": [ -2.2, -17.3, -9.4, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -2.2, -17.3, -9.4, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.7, 3.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.7, 3.6, 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": -80, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3755304244777484, -0.7191990968137781, -0.0688896861368915, -0.6740972174766161, -0.02234431405736057, -1.0103994801224556, 0.5080639403855378 ], "act_joint_pos_r": [ -0.5943970121629555, -0.458783316928112, 0.19355021903344724, -1.1027195540064212, 0.6155450999486702, 0.43333716290310753, -0.8213683417767731 ], "act_eef_pose_l": [ 551.0590875079823, 363.73349076978354, 32.480431447887966, 1.739983017745256, -0.22186810621519654, 0.6875665181322764 ], "act_eef_pose_r": [ 523.3422644042034, -462.2347481268787, 17.324143346919755, 1.697807926097754, 0.03569531384340547, 1.8880470241747538 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3765006854378316, -0.7178450870279376, -0.06957505206310596, -0.7098715515201487, -0.037523316666898954, -0.9810918604824503, 0.5123191108219196 ], "joint_pos_r": [ -0.6336161761265962, -0.3845237834683562, 0.22217002857354057, -1.1928177892716911, 0.7787359923658477, 0.4313427815653745, -0.9334730503361595 ], "eef_pose_l": [ 552.0273649248284, 355.652765227822, 34.87566716269663, 1.7263415519688834, -0.21678253139715764, 0.6900330029075952 ], "eef_pose_r": [ 504.66090617321373, -475.9774893194731, 32.51354692524086, 1.6588162423722246, 0.00039023764813162637, 1.8451416005029653 ], "joint_status_l": { "velocity": [ -0.10478509321787399, -0.14622874408409814, 0.07401733700651558, 3.863514128443768, 1.639283933734914, -3.1651295706138782, -0.4595448535784641 ], "torque": [ -26.47705078125, 12.48046875, -8.69140625, -2.789306640625, -2.4041748046875, -1.966552734375, -0.24261474609375 ] }, "joint_status_r": { "velocity": [ 4.235544787357881, -8.019793082500115, -3.0908482706331064, 9.730322428129767, -17.624096586111193, 0.21538683198008002, 12.106951448968672 ], "torque": [ 31.494140625, 9.96826171875, 10.614013671875, 0.84228515625, -0.4833984375, 4.5281982421875, 1.0382080078125 ] }, "eef_FT_l": { "raw_value": [ -3.3, -15.7, -9.0, 1.4, -0.3, 0.1 ], "actual_contact_FT": [ -3.3, -15.7, -9.0, 1.4, -0.3, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.5, 2.1, 1.2, 0.2, 0.0 ], "actual_contact_FT": [ -1.6, -17.5, 2.1, 1.2, 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": -45, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3704871193313388, -0.7347129910392073, -0.06776462760814715, -0.6394762764529269, -0.008211890951649578, -1.026854829572573, 0.5059404380652823 ], "act_joint_pos_r": [ -0.5896685601481084, -0.4787585537177368, 0.18838446315535526, -1.0792379250101243, 0.6025092647542576, 0.44177107770029433, -0.8050271650251819 ], "act_eef_pose_l": [ 554.1510875079823, 364.89829076978356, 30.98683144788795, 1.750335248191791, -0.22939401371854415, 0.6835961151048722 ], "act_eef_pose_r": [ 527.9950644042035, -458.79074812687867, 14.25934334691965, 1.6976873275079012, 0.02969665090111446, 1.893798545997628 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37632913514311944, -0.718084487341213, -0.06945387360549013, -0.7035463485069604, -0.034839541395884834, -0.9862736940235225, 0.5115667609156127 ], "joint_pos_r": [ -0.6254550568277908, -0.40061695103316886, 0.2161148591993539, -1.173335955040577, 0.7451633903866242, 0.43223391290291546, -0.9099809945547921 ], "eef_pose_l": [ 551.8772591149665, 357.0819088543674, 34.45250469720409, 1.7287140406837291, -0.2177429953159829, 0.6896071983009079 ], "eef_pose_r": [ 508.7126729140256, -473.1015085385574, 29.24448184676504, 1.6658541484440157, 0.00696272256323828, 1.8541575479694135 ], "joint_status_l": { "velocity": [ -0.08625820781027471, -0.12037427278688284, 0.060930449561125144, 3.1804123500291936, 1.3494447528150932, -2.6055080533327057, -0.3782934600793375 ], "torque": [ -31.70654296875, 6.11572265625, -7.8369140625, 1.556396484375, -2.252197265625, -2.8271484375, -0.4156494140625 ] }, "joint_status_r": { "velocity": [ 3.8648276544073212, -8.439044193628842, -2.9947944460111398, 10.162287522639701, -15.406191186975171, 1.029983420379299, 11.334679290702532 ], "torque": [ 31.875, 6.2109375, 9.48486328125, 4.534912109375, -1.1224365234375, 5.3704833984375, 0.5255126953125 ] }, "eef_FT_l": { "raw_value": [ -2.6, -16.0, -7.7, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.6, -16.0, -7.7, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.5, 2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.5, 2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 194, "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": [ 0.3673745327273066, -0.7452501116619619, -0.06714958078317126, -0.622821956714787, -0.0024500556305265177, -1.0300090107012263, 0.5017627787152601 ], "act_joint_pos_r": [ -0.5884911868736397, -0.49488286034672285, 0.18468371174274417, -1.0601111755829455, 0.5972410036813272, 0.4462083087403158, -0.7940838749641568 ], "act_eef_pose_l": [ 556.8366875079823, 364.29989076978353, 30.402031447887865, 1.7544673590040012, -0.22989442949611902, 0.6843973389398358 ], "act_eef_pose_r": [ 531.4422644042036, -456.62994812687873, 10.57774334691976, 1.6998440899118947, 0.022063981472252286, 1.894783128557485 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37494840152728204, -0.7220882144620306, -0.06906714028982204, -0.6891712508488249, -0.028916142199188425, -0.9950540239470281, 0.5101851956057544 ], "joint_pos_r": [ -0.6186051913538116, -0.4165512020598736, 0.21060595548218777, -1.1541688662204892, 0.7178166203257487, 0.4343567227954136, -0.889351798835909 ], "eef_pose_l": [ 552.5331757829633, 358.7251247168713, 33.687898114244035, 1.73337759072128, -0.22043056426711813, 0.688391962874041 ], "eef_pose_r": [ 512.6433981220721, -470.38381600023695, 26.099039176071187, 1.6713605727687215, 0.01054440611698907, 1.861659699065844 ], "joint_status_l": { "velocity": [ -0.8179537061425712, -2.501411122414865, 0.20709031891585905, 7.165512430983512, 2.8582530497479333, -3.7750272309766686, -0.9095941971266619 ], "torque": [ -36.97265625, 3.22998046875, -7.11669921875, 1.513671875, -1.929931640625, -2.666015625, -0.4962158203125 ] }, "joint_status_r": { "velocity": [ 3.2522165648583012, -8.459569593310956, -2.799519756438329, 10.157930996694375, -13.021782540651117, 1.2799335324276129, 10.288632331159064 ], "torque": [ 31.8896484375, 11.14013671875, 9.9609375, -0.714111328125, -0.52001953125, 5.291748046875, 1.1553955078125 ] }, "eef_FT_l": { "raw_value": [ -2.8, -15.6, -8.3, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.8, -15.6, -8.3, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.9, -16.8, 3.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -16.8, 3.5, 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": -61, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.36648087785326566, -0.7474060552324445, -0.06700458300603158, -0.6177094590760738, -0.0008521675277518401, -1.0207159866657856, 0.5003311155329889 ], "act_joint_pos_r": [ -0.5895245321536664, -0.5131144677497719, 0.1809468890426298, -1.0432904351421763, 0.606808292971547, 0.4469850096096116, -0.7956865571250202 ], "act_eef_pose_l": [ 558.9454875079823, 366.16709076978356, 29.750831447888075, 1.7587332813643257, -0.23169539890110724, 0.694799496554929 ], "act_eef_pose_r": [ 535.1878644042035, -453.5843481268787, 6.004143346919818, 1.701292667052283, 0.011990757653961655, 1.8924959690511303 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3735960024321494, -0.7262154595720041, -0.06872594567782042, -0.6773641906963069, -0.024212978653644888, -1.0010963097820578, 0.5086747738558686 ], "joint_pos_r": [ -0.6144191991316952, -0.42743968129052873, 0.2070026382699397, -1.14109439245868, 0.7010560266364312, 0.43600415054344877, -0.8761090968031421 ], "eef_pose_l": [ 553.3654721930483, 359.7448853373908, 33.09235709628277, 1.737087210345545, -0.22225747584053485, 0.6878524836735862 ], "eef_pose_r": [ 515.2848684426267, -468.57652568566886, 23.90592937384193, 1.6749364320832627, 0.012038271047530308, 1.8662054060439608 ], "joint_status_l": { "velocity": [ -0.7684107914549543, -2.2885168351312046, 0.1859016856760598, 6.44252100298548, 2.522893192839187, -2.1188626109296393, -0.9010885226858889 ], "torque": [ -38.48876953125, 2.4609375, -6.8359375, 1.922607421875, -2.24853515625, -2.7099609375, -0.59783935546875 ] }, "joint_status_r": { "velocity": [ 2.800142738074385, -7.283648518338737, -2.410372974786412, 8.745929475178826, -11.21169180797743, 1.1020165830197826, 8.858462692218794 ], "torque": [ 31.94091796875, 9.49951171875, 9.8876953125, 1.45263671875, -0.3863525390625, 5.0225830078125, 0.84869384765625 ] }, "eef_FT_l": { "raw_value": [ -3.2, -16.2, -7.6, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -3.2, -16.2, -7.6, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.4, 1.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.5, -17.4, 1.7, 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": -61, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3663408120407151, -0.7486951676506695, -0.06691396479710587, -0.6142065060809312, -0.0026722763429754557, -1.0201647904709321, 0.5005537205405439 ], "act_joint_pos_r": [ -0.5907038583340253, -0.5214352201961696, 0.17939708547108488, -1.0352124686263913, 0.6049748143688375, 0.44922211745955326, -0.7936102058633155 ], "act_eef_pose_l": [ 559.6206875079823, 366.7798907697836, 29.840431447887866, 1.757918386691033, -0.23158324387761514, 0.6981403508422835 ], "act_eef_pose_r": [ 536.5398644042035, -451.7187481268787, 3.4625433469198015, 1.7031532965443368, 0.009675825849456265, 1.894625413814238 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3723298493955717, -0.7300370450795468, -0.06841632848131955, -0.6666131767832039, -0.020188356984940647, -1.0045332037049288, 0.5072124804485518 ], "joint_pos_r": [ -0.6100047857329004, -0.44236139357205895, 0.20244214820051293, -1.124010627608519, 0.6842734755471195, 0.43793601749948435, -0.8618698214700384 ], "eef_pose_l": [ 554.4253376445073, 360.9187594226962, 32.49576373666207, 1.7408299562881298, -0.22398723362111683, 0.6892768879994944 ], "eef_pose_r": [ 518.8018087016899, -466.13073081117, 20.726110016602888, 1.6792699745226005, 0.011973679512218983, 1.8707725968083224 ], "joint_status_l": { "velocity": [ -0.6467969580681299, -2.015017807908137, 0.16225049257262425, 5.659753510339094, 1.8916809171859172, -1.688161581063774, -0.7191248606108758 ], "torque": [ -40.10009765625, 3.43505859375, -6.87255859375, 0.5859375, -2.3822021484375, -2.6678466796875, -0.59967041015625 ] }, "joint_status_r": { "velocity": [ 2.2118021529395904, -7.64110664879869, -2.3214195224425804, 8.71752367674894, -8.365992976388625, 0.9772623250818846, 7.147581742607656 ], "torque": [ 32.70263671875, 11.4111328125, 9.173583984375, 0.714111328125, -0.3826904296875, 4.881591796875, 0.7342529296875 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.8, -7.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.8, -7.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -16.9, 1.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -16.9, 1.9, 1.0, 0.2, 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": -64, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.36935887744911766, -0.747543766993434, -0.0670635388599148, -0.6204708631010742, -0.01432160318775755, -1.0083990894308332, 0.510528761422648 ], "act_joint_pos_r": [ -0.5896713764128618, -0.542622501559384, 0.17471098076337652, -1.0036162081827957, 0.5680975471664125, 0.45913810786995357, -0.7751886591846244 ], "act_eef_pose_l": [ 560.5918875079824, 366.91749076978357, 29.835631447887934, 1.752062973938642, -0.23504198879779442, 0.7077240767320503 ], "act_eef_pose_r": [ 540.1214644042035, -448.9795481268786, -3.2286566530801792, 1.7145900823730604, 0.023144764342049942, 1.9054519980615081 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3716858466070481, -0.7329744261137147, -0.06818622525772691, -0.6587046522603301, -0.01862333794776413, -1.0057752887448208, 0.5072434231498543 ], "joint_pos_r": [ -0.6067291072582648, -0.45746815913162514, 0.19818754300751987, -1.1062698959451636, 0.6675691406117124, 0.4407776956954128, -0.8488159561289973 ], "eef_pose_l": [ 555.4112606899199, 361.8991758931669, 32.04979167057826, 1.742971888614103, -0.22563639222349918, 0.6918226534811432 ], "eef_pose_r": [ 522.1508342915556, -463.68220996561064, 17.173842901049625, 1.6839376325773638, 0.012804506763473405, 1.8755808581995304 ], "joint_status_l": { "velocity": [ -0.2513052572044039, -1.5734424088060806, 0.12124655498779724, 4.129127447095371, 0.46457365221325153, -0.2833621167699363, 0.35480606901572287 ], "torque": [ -39.609375, 3.4130859375, -6.243896484375, 0.830078125, -2.156982421875, -2.7081298828125, 0.1739501953125 ] }, "joint_status_r": { "velocity": [ 1.8421805990911366, -9.196397748944651, -2.5353939449204166, 11.086271306242068, -10.742615255591836, 1.982866033342745, 7.951513552636236 ], "torque": [ 32.783203125, 7.43408203125, 9.5947265625, 1.007080078125, -0.765380859375, 5.0244140625, 0.52093505859375 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.4, -8.0, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -1.7, -16.4, -8.0, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.1, 2.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.1, 2.0, 1.0, 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": -74, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3705217974748848, -0.7551079927278725, -0.06657361105000213, -0.6045235236068981, -0.02186294303287762, -1.0153266538455463, 0.5139247380216072 ], "act_joint_pos_r": [ -0.5942412318150727, -0.556123051560678, 0.17276555595101276, -0.9955892348322545, 0.5749983844390338, 0.45717808071804905, -0.7844462014199136 ], "act_eef_pose_l": [ 562.1862875079823, 367.40309076978355, 29.49563144788779, 1.7472908018644124, -0.2339268008821703, 0.7120157152316974 ], "act_eef_pose_r": [ 541.9150644042035, -445.0907481268787, -8.3966566530803, 1.7192183789475557, 0.0213245125341275, 1.9070697612166905 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3714056460761287, -0.7364039766535491, -0.06793244002689458, -0.6501450540931852, -0.018713741157280847, -1.007020924691617, 0.5082075101636138 ], "joint_pos_r": [ -0.6047801106189656, -0.46879222195610304, 0.19514356888768664, -1.0929808630044744, 0.6553365535668949, 0.4430054477685914, -0.8399437871490245 ], "eef_pose_l": [ 556.5308528017979, 362.8455744494925, 31.610493065243332, 1.7440417288324381, -0.2271589560127951, 0.6951254238685861 ], "eef_pose_r": [ 524.5616857871554, -461.80394929336296, 14.344031669480387, 1.6877212544101035, 0.013944036016610532, 1.8792598387891293 ], "joint_status_l": { "velocity": [ -0.09545283370382407, -2.019974160073268, 0.14674920136803493, 4.926979979012813, -0.3401037717398747, -0.8969922932502428, 0.6174423981728516 ], "torque": [ -40.29052734375, 1.93359375, -5.908203125, 1.483154296875, -4.522705078125, -2.9498291015625, 0.38909912109375 ] }, "joint_status_r": { "velocity": [ 1.1381653424278326, -9.431451431503035, -2.416754118808262, 10.517985631196325, -8.67626637301111, 1.5305992159300175, 5.993562488067816 ], "torque": [ 33.44970703125, 10.62744140625, 10.48583984375, 1.33056640625, -0.3936767578125, 4.74609375, 0.59417724609375 ] }, "eef_FT_l": { "raw_value": [ -2.0, -15.9, -7.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -15.9, -7.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.6, 1.6, 1.1, 0.4, -0.1 ], "actual_contact_FT": [ -0.1, -17.6, 1.6, 1.1, 0.4, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 221, "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": [ 0.371836314930324, -0.7573625917004124, -0.06645862621189721, -0.6011878536888154, -0.020092974099006247, -1.0177738318037157, 0.5136320268573451 ], "act_joint_pos_r": [ -0.5931903844482886, -0.5675268490062404, 0.17106756758077024, -0.988018155090933, 0.5576452056643308, 0.4602443264527003, -0.7746070835247878 ], "act_eef_pose_l": [ 562.0830875079823, 366.9262907697836, 28.29323144788789, 1.749382686851827, -0.2330792228395389, 0.7097276883638226 ], "act_eef_pose_r": [ 543.7086644042035, -440.1235481268787, -10.999056653080288, 1.7229318198275392, 0.02325610860849903, 1.9185922857576636 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3713754501958478, -0.7383633677093739, -0.06779223520688069, -0.6454608406041724, -0.018949263427851484, -1.0079545035635686, 0.5087633233714722 ], "joint_pos_r": [ -0.6027268072384937, -0.4859636591169887, 0.19081462494740298, -1.074130280271955, 0.63914127124613, 0.44586277978507527, -0.8288809366200633 ], "eef_pose_l": [ 557.1016746141324, 363.28150724238543, 31.342745247586294, 1.7444559244074078, -0.22778588585013868, 0.6967084953459918 ], "eef_pose_r": [ 528.0511830283767, -458.55994628699546, 9.842310675178226, 1.6935996120178758, 0.01533198045476057, 1.884973619677087 ], "joint_status_l": { "velocity": [ 0.04977192337873859, -2.051855674783276, 0.1440255236524468, 4.7813415687274485, -0.12351710954228157, -1.0604561734526285, 0.5258044687002084 ], "torque": [ -39.43359375, 3.8671875, -6.036376953125, 0.9521484375, -4.976806640625, -2.6165771484375, 0.43853759765625 ] }, "joint_status_r": { "velocity": [ 1.0299032859686363, -8.80856471331004, -2.1326192973523117, 9.299835235572651, -8.80131550190999, 1.5531612320613952, 5.861403261441467 ], "torque": [ 34.66552734375, 6.49658203125, 10.2783203125, 2.740478515625, -0.875244140625, 5.3759765625, 0.8404541015625 ] }, "eef_FT_l": { "raw_value": [ -3.4, -16.6, -7.4, 1.5, -0.3, 0.1 ], "actual_contact_FT": [ -3.4, -16.6, -7.4, 1.5, -0.3, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.7, 3.0, 1.2, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.7, 3.0, 1.2, 0.3, 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": -91, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3742244915284366, -0.7530646019059568, -0.0667747992604466, -0.6122774900084671, -0.02260773159652267, -1.0125028875709956, 0.5152376493968303 ], "act_joint_pos_r": [ -0.5928461504877274, -0.5725588203349049, 0.1706514741118202, -0.9833298420732188, 0.5487882150876513, 0.4670144606416618, -0.7775219898273349 ], "act_eef_pose_l": [ 560.9734875079823, 366.17349076978354, 27.92043144788802, 1.7482323616949567, -0.23168835916303132, 0.7090958837366652 ], "act_eef_pose_r": [ 544.3534644042036, -437.6371481268787, -11.519856653080296, 1.7214714200452912, 0.03210756885222578, 1.927847174068587 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37149241178572384, -0.7416587427583743, -0.06756113873739598, -0.6377977430311439, -0.019188838304020052, -1.0096123424401382, 0.5096480029156717 ], "joint_pos_r": [ -0.600784364452002, -0.5027275330136212, 0.18681380478394993, -1.056476466218525, 0.6221151044039159, 0.44924281854865256, -0.8181774980018027 ], "eef_pose_l": [ 557.9835576122335, 363.9204017149606, 30.79250930088233, 1.7453061971078865, -0.22868930606698157, 0.6990072585436244 ], "eef_pose_r": [ 531.3474163951395, -454.84905289636043, 5.576894931160439, 1.6990959016177043, 0.017502216660123932, 1.892194062320507 ], "joint_status_l": { "velocity": [ 0.29505591000411613, -1.2317964580441654, 0.08492215886535259, 2.7561060394472037, -0.36922958574575615, -0.3121696671799512, 0.6036640158466611 ], "torque": [ -36.95068359375, 3.662109375, -6.0791015625, 1.434326171875, -5.185546875, -2.640380859375, 0.52642822265625 ] }, "joint_status_r": { "velocity": [ 0.8573018233759555, -7.541556604376165, -1.7454802324023966, 7.899602421374219, -7.919070485657542, 1.9192807398851208, 4.390665387089321 ], "torque": [ 34.658203125, 9.0673828125, 9.48486328125, -0.15869140625, -0.12451171875, 5.0390625, 0.59051513671875 ] }, "eef_FT_l": { "raw_value": [ -3.0, -16.1, -7.8, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -3.0, -16.1, -7.8, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.5, 3.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.5, 3.0, 1.1, 0.2, 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": -68, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3751870607531288, -0.7541952087484012, -0.0667163055925494, -0.6104870324262144, -0.022897198742127575, -1.0169264853388815, 0.5153678778157162 ], "act_joint_pos_r": [ -0.5922440997033216, -0.5792813064642365, 0.17000202567488787, -0.9814074479149956, 0.5367601013451351, 0.47590783341528814, -0.782718952496903 ], "act_eef_pose_l": [ 560.5014875079823, 365.54549076978356, 27.511631447888092, 1.747580710109189, -0.23031176100552872, 0.7057558207741922 ], "act_eef_pose_r": [ 544.9926644042034, -432.51474812687866, -11.939856653080142, 1.7187401298398561, 0.04383373679697714, 1.9442925006298604 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37205608871362983, -0.7439690749722677, -0.06740214944293325, -0.6326394285314518, -0.019880623447838534, -1.0102592984924674, 0.5107739264705848 ], "joint_pos_r": [ -0.5990504958556457, -0.5180829583614716, 0.1833251754496989, -1.040761127810663, 0.6056327380891451, 0.4536685555596271, -0.8098945304720166 ], "eef_pose_l": [ 558.585707145141, 364.3658446150812, 30.20786566852223, 1.7458808655237046, -0.22926216577075043, 0.7009897641417109 ], "eef_pose_r": [ 534.2544754011838, -450.95351443232755, 1.8889455719283603, 1.7033710667149282, 0.02145517627895589, 1.90075340787762 ], "joint_status_l": { "velocity": [ 0.33813500750667913, -1.1043898755840331, 0.07406895129458135, 2.392388219647046, -0.3257805234002653, -0.7200349431162323, 0.4961321126395468 ], "torque": [ -28.10302734375, 3.046875, -5.6640625, 0.7568359375, -5.3173828125, -2.74658203125, 0.56121826171875 ] }, "joint_status_r": { "velocity": [ 0.7350691047465219, -6.609226666377754, -1.4388577388388946, 6.410008375641318, -7.438025395519965, 2.4017711719568346, 2.9348758617757653 ], "torque": [ 35.244140625, 8.9794921875, 9.503173828125, 1.019287109375, -0.3900146484375, 5.0665283203125, 0.63629150390625 ] }, "eef_FT_l": { "raw_value": [ -2.7, -16.2, -8.1, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.7, -16.2, -8.1, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.2, 2.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -17.2, 2.6, 1.1, 0.2, 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": -103, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.37695396257121233, -0.758550791231545, -0.06642281041706188, -0.6004872219498049, -0.02847115025861833, -1.0245531445838205, 0.5162153903841538 ], "act_joint_pos_r": [ -0.5980001721759023, -0.5889606442901443, 0.16859500950486916, -0.9740717498496895, 0.5888807614344516, 0.4964622910716235, -0.8456900654493118 ], "act_eef_pose_l": [ 560.8454875079824, 365.6318907697836, 27.067631447887905, 1.743618538662966, -0.2268485372966663, 0.7064311350470832 ], "act_eef_pose_r": [ 546.4502644042035, -429.8723481268787, -10.800656653080296, 1.6935270046064517, 0.056789633601137146, 1.945213853794723 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3726479585226024, -0.7459021934314094, -0.06727249952476368, -0.6284518042774839, -0.02045086803024281, -1.011519644019476, 0.5116423536142232 ], "joint_pos_r": [ -0.5981898814640594, -0.5267336130940886, 0.1814522917140576, -1.0324017061045987, 0.5968333711838009, 0.45706526319472457, -0.8070524419372109 ], "eef_pose_l": [ 558.9817160406269, 364.60657005129207, 29.658086398166887, 1.7461625905342486, -0.22941370335521058, 0.7019590496226008 ], "eef_pose_r": [ 535.8239169301248, -448.42498559758036, -0.023638336902507717, 1.7049739791445484, 0.02476423020991626, 1.9066976981065349 ], "joint_status_l": { "velocity": [ 0.27421495335877566, -0.8956192393574369, 0.060067173092592796, 1.9401381386217054, -0.264195924841254, -0.5839216406471337, 0.40234474723721547 ], "torque": [ -26.75537109375, 3.3544921875, -5.792236328125, 1.47705078125, -5.4949951171875, -2.7685546875, 0.67291259765625 ] }, "joint_status_r": { "velocity": [ 0.020487998860119205, -6.720321163895981, -1.3885455256312795, 6.299449483199382, -0.8588565223108802, 4.254753523457833, -4.172740270910857 ], "torque": [ 35.9619140625, 8.5400390625, 9.6923828125, 1.57470703125, 0.0091552734375, 4.7882080078125, 0.72784423828125 ] }, "eef_FT_l": { "raw_value": [ -3.0, -16.3, -7.1, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -3.0, -16.3, -7.1, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.3, 2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.3, 2.7, 1.1, 0.3, 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": -87, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3877888113800417, -0.7578325816680764, -0.06660910024315048, -0.6101333497736304, -0.04791114617739251, -1.020281865375999, 0.5182511825356997 ], "act_joint_pos_r": [ -0.5993144780841657, -0.600228265257303, 0.1665682434712979, -0.9597656413226623, 0.6252097016646894, 0.5306493466022407, -0.8991572525224965 ], "act_eef_pose_l": [ 559.4710875079822, 363.40309076978355, 24.501231447887747, 1.7329040725856424, -0.21110915412129494, 0.7104777670541497 ], "act_eef_pose_r": [ 548.4502644042035, -426.6915481268787, -7.035856653080145, 1.6609455192143652, 0.07683588061660276, 1.9532909616706577 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37403890697616027, -0.7480968368555636, -0.06713309260898241, -0.624067965440243, -0.022998575342273245, -1.0135758733742828, 0.512569204405292 ], "joint_pos_r": [ -0.5981610845262582, -0.5361793706753281, 0.17950061944933166, -1.0235475053510348, 0.5956262040992281, 0.46304553844799917, -0.8129174433392647 ], "eef_pose_l": [ 559.2139375389711, 364.6446575210992, 29.08168603778188, 1.7451197754402936, -0.22806001344632496, 0.7029221866596114 ], "eef_pose_r": [ 537.4930761598775, -445.68330074679585, -1.6913240954953892, 1.7032352531909836, 0.029543310627821843, 1.912545118545353 ], "joint_status_l": { "velocity": [ 1.4849458794814474, -1.0514294294976523, 0.0565895064916222, 1.504894107515753, -2.6904782987771103, -0.7242257762873905, 0.613635539870927 ], "torque": [ -26.0302734375, 4.50439453125, -5.596923828125, -0.506591796875, -6.5057373046875, -2.6568603515625, 0.6646728515625 ] }, "joint_status_r": { "velocity": [ 0.017378021301972524, -5.700209431709791, -1.1777711374991728, 5.343224004176861, -0.7284863222407623, 3.608902844451478, -3.5393388006674797 ], "torque": [ 33.20068359375, 9.76318359375, 9.55810546875, 0.30517578125, 0.05126953125, 4.7259521484375, -0.53741455078125 ] }, "eef_FT_l": { "raw_value": [ -2.7, -16.4, -7.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.7, -16.4, -7.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -16.9, 2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -16.9, 2.1, 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": -62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3941538886818725, -0.7628792969470904, -0.06642693039638278, -0.607668927775849, -0.05958244664113081, -1.0240280125116987, 0.5204339129016762 ], "act_joint_pos_r": [ -0.5959635900171669, -0.6077214441646253, 0.16568964922590565, -0.958715965418542, 0.635073052015513, 0.5431858657395369, -0.9085489277454167 ], "act_eef_pose_l": [ 559.2086875079824, 360.99749076978355, 22.63323144788781, 1.725571662535956, -0.20187504621927235, 0.709666333546894 ], "act_eef_pose_r": [ 550.2198644042035, -421.72674812687865, -3.859056653080188, 1.6446517164119971, 0.07530390304481328, 1.9624183606164478 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3771882589633671, -0.7503876839872308, -0.0670198897936751, -0.6213261159062095, -0.028720349801625054, -1.015184274956708, 0.513820131364086 ], "joint_pos_r": [ -0.5981244068922471, -0.5442806953524584, 0.17788610677651776, -1.0158434377782466, 0.5988226657327042, 0.4712076362588965, -0.8227779887706648 ], "eef_pose_l": [ 559.2358027321698, 364.1423373454039, 28.06037840563991, 1.7421225269324359, -0.22399842089083022, 0.7041436531787828 ], "eef_pose_r": [ 538.9564208055925, -443.17800234847067, -2.387215726457896, 1.6982052694435519, 0.03466618030053725, 1.918240878622341 ], "joint_status_l": { "velocity": [ 1.8322339707457225, -1.3490544114320713, 0.06403772621577097, 1.4749328172607434, -3.333008156845646, -0.9550954869030903, 0.7142673398701227 ], "torque": [ -25.10009765625, 3.02490234375, -6.1279296875, 0.323486328125, -5.8941650390625, -2.84912109375, 0.5584716796875 ] }, "joint_status_r": { "velocity": [ 0.2333613398839418, -6.851398800507891, -1.3171785673609104, 6.169585052663962, 3.9149262539650564, 7.7734195191552224, -9.26298821203897 ], "torque": [ 30.98876953125, 6.3427734375, 9.259033203125, -0.909423828125, 2.1368408203125, 5.123291015625, -0.84228515625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.0, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.0, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -16.9, 2.4, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.9, 2.4, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 179, "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": [ 0.3921044861502102, -0.7816107601001485, -0.06530986812979293, -0.5704704995243471, -0.045953236313875004, -1.0527632874132626, 0.5098283953742708 ], "act_joint_pos_r": [ -0.5913680353847611, -0.618017201708437, 0.1640216097256344, -0.9470466480835333, 0.6204212322684649, 0.5615138661474877, -0.9073608479146782 ], "act_eef_pose_l": [ 560.4390875079823, 359.24629076978357, 20.13723144788794, 1.7327486029840276, -0.19700031771313803, 0.6955880625066885 ], "act_eef_pose_r": [ 552.0486644042035, -416.90514812687866, -2.1822566530802305, 1.6345016980077298, 0.08636409339409289, 1.9790488553966692 ], "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.npz" }, "states": { "joint_pos_l": [ 0.37995666455961064, -0.7547100173623597, -0.06678899712725168, -0.6147138345621838, -0.03263906940714633, -1.0199904916542406, 0.5137927470013787 ], "joint_pos_r": [ -0.5974488856891025, -0.5568716334610677, 0.17548359464912933, -1.0043661257450596, 0.6048239187717993, 0.48587922668335504, -0.8389228374790961 ], "eef_pose_l": [ 559.3909684635493, 363.3918440702385, 26.810742669381455, 1.7400324143882264, -0.21948931865045135, 0.7035152650959897 ], "eef_pose_r": [ 541.2931574691471, -438.8570091087126, -2.675442459625856, 1.6877537386358874, 0.04256563299479413, 1.9282410500687586 ], "joint_status_l": { "velocity": [ 1.3119260385940912, -2.9051945315483607, 0.15974122041012562, 4.778139260401382, -1.4378876176982802, -3.539357554203093, -0.42813734849156404 ], "torque": [ -24.54345703125, 0.966796875, -5.767822265625, 0.6103515625, -5.3961181640625, -3.211669921875, -0.28564453125 ] }, "joint_status_r": { "velocity": [ 0.6567124641705391, -6.603526610109434, -1.237857863071401, 6.190321013685995, 1.6844601771426326, 8.168300150991126, -7.391087138580055 ], "torque": [ 36.37939453125, 8.3056640625, 8.82568359375, 2.33154296875, 2.3968505859375, 5.6085205078125, -0.633544921875 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.7, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.5, -16.7, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.3, 3.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -17.3, 3.3, 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": -5, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.39033149609465306, -0.7870858005300497, -0.06501562140335843, -0.560373100936547, -0.04218909738265027, -1.0588272511762598, 0.5074062382665261 ], "act_joint_pos_r": [ -0.5879157951811225, -0.6198710821257424, 0.16402216984964782, -0.9477018122356367, 0.6140729501129942, 0.5625504135707785, -0.9037262632414143 ], "act_eef_pose_l": [ 561.2694875079824, 358.7630907697836, 20.006831447887933, 1.7344651541954084, -0.19713770492640112, 0.6930073869022418 ], "act_eef_pose_r": [ 552.7950644042035, -414.9779481268787, -0.737456653080244, 1.632308343513786, 0.08808960231847765, 1.9842625355005372 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3812751740749448, -0.7579070304998892, -0.06661341078325285, -0.6094235223247303, -0.03403047420956791, -1.023867491014145, 0.5132739696502165 ], "joint_pos_r": [ -0.5959772108730642, -0.5693007025408853, 0.17317881220619727, -0.992887329116556, 0.6075025681475453, 0.5011628863521747, -0.8524225727436817 ], "eef_pose_l": [ 559.5502530321573, 362.9167546667825, 26.04709643956653, 1.7392834977006306, -0.21692484483536922, 0.7025391924905665 ], "eef_pose_r": [ 543.618684748919, -434.3361566409894, -2.5599314761343237, 1.6770415867609028, 0.05112502201195061, 1.9393492975564162 ], "joint_status_l": { "velocity": [ 0.9780539319694803, -3.15121422316178, 0.17255616375660976, 5.2972892747282785, -0.8811053158807036, -3.775542743826854, -0.633696299565667 ], "torque": [ -25.04150390625, 2.86376953125, -6.23779296875, 1.361083984375, -5.66162109375, -2.7484130859375, -0.322265625 ] }, "joint_status_r": { "velocity": [ 0.8706072175428403, -5.46143991860415, -0.9888882088087136, 4.87989189842164, 0.7095803243144516, 6.629657408315559, -5.540635161455754 ], "torque": [ 35.302734375, 8.876953125, 9.14306640625, -0.28076171875, 2.7557373046875, 5.306396484375, -0.57220458984375 ] }, "eef_FT_l": { "raw_value": [ -3.2, -15.9, -7.2, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -3.2, -15.9, -7.2, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.5, 1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.5, 1.8, 1.1, 0.3, 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": -83, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.38602672304040603, -0.7991845120506118, -0.06436085380492654, -0.5374505208472181, -0.043383668899883196, -1.0759165658577063, 0.5062993086517916 ], "act_joint_pos_r": [ -0.5808733480118567, -0.6290524138867376, 0.1623728044334083, -0.9308734841053072, 0.5756713678589978, 0.5782752138310643, -0.8698769393487945 ], "act_eef_pose_l": [ 563.2310875079822, 357.5382907697836, 21.735631447888025, 1.7290215672525395, -0.1975725965519993, 0.6887557114800313 ], "act_eef_pose_r": [ 554.4342644042035, -411.5003481268787, -0.237456653080244, 1.6330301673573184, 0.08942599720292314, 2.0031203099454666 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3828602082093757, -0.7637796875023971, -0.06629206043655146, -0.5994751936023265, -0.03560798407605679, -1.0309801409663686, 0.5121321078107017 ], "joint_pos_r": [ -0.5940440693050698, -0.5793939046014173, 0.1713520230109966, -0.9833677004560716, 0.6065131062654463, 0.5136811699543132, -0.8601538955990033 ], "eef_pose_l": [ 559.9625092239208, 362.1109211743607, 24.94451024615222, 1.7382378216226966, -0.21315701365816198, 0.7006106303009478 ], "eef_pose_r": [ 545.5401708477307, -430.5181326310721, -2.2300174027577953, 1.6686059071849992, 0.05796220556196821, 1.949150785230791 ], "joint_status_l": { "velocity": [ 0.3419735157814685, -3.8236082799087967, 0.20856416494424712, 6.6984670968261995, -0.8397491938946788, -4.852990756952558, -0.6299237305551486 ], "torque": [ -25.166015625, 3.55224609375, -6.231689453125, 2.117919921875, -5.731201171875, -2.589111328125, -0.41290283203125 ] }, "joint_status_r": { "velocity": [ 1.4223959483414816, -5.362960830740171, -0.969727005810439, 5.669208161525496, -3.330809510921462, 6.975950994012159, -1.050057755178635 ], "torque": [ 36.62841796875, 5.45654296875, 8.892822265625, 2.825927734375, 0.12451171875, 5.672607421875, -0.76995849609375 ] }, "eef_FT_l": { "raw_value": [ -2.8, -16.3, -7.5, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.8, -16.3, -7.5, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -16.7, 2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -16.7, 2.2, 1.1, 0.3, 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": -72, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3827893817936395, -0.8038873082141402, -0.06415690715967168, -0.5307253674838237, -0.04284870089210459, -1.080705909717205, 0.5067445819197377 ], "act_joint_pos_r": [ -0.5748231832096407, -0.6364665220248883, 0.16124478392800726, -0.9219558701245834, 0.537569975066992, 0.5865029608534779, -0.8395457165830413 ], "act_eef_pose_l": [ 564.3022875079823, 356.5006907697836, 23.13963144788802, 1.7266862723635767, -0.2001089148629682, 0.6863767138025673 ], "act_eef_pose_r": [ 555.4630644042036, -406.9555481268787, -0.5814566530802949, 1.6387674773240444, 0.09168469755749721, 2.022697955990987 ], "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.npz" }, "states": { "joint_pos_l": [ 0.38318075509159477, -0.7708764158055794, -0.0659094746431265, -0.5871726350647158, -0.03703193063624318, -1.039886128380375, 0.5110677351718292 ], "joint_pos_r": [ -0.5908760231770194, -0.590016207884919, 0.1694495639885085, -0.9720460517025785, 0.5970389524775703, 0.5273766517211401, -0.8595040219145141 ], "eef_pose_l": [ 560.7106422410554, 361.180332962107, 24.4386564020854, 1.7363132780936992, -0.21037245384810027, 0.6981778093496305 ], "eef_pose_r": [ 547.5386508400813, -426.38697599736315, -1.842246264344567, 1.661565599905336, 0.0643702223519798, 1.9615548032021313 ], "joint_status_l": { "velocity": [ -0.042267069578993954, -3.565071233968986, 0.18927170594257303, 6.096125103137062, -0.6281926600809062, -4.408406365381978, -0.4668867811363775 ], "torque": [ -29.4140625, 2.75390625, -6.16455078125, 1.873779296875, -5.771484375, -2.5286865234375, -0.50445556640625 ] }, "joint_status_r": { "velocity": [ 1.7336555850384627, -5.016485973770912, -0.8860901127032417, 5.409580063388653, -6.422460140006692, 6.38545305742122, 2.1554334046891555 ], "torque": [ 36.29150390625, 6.9287109375, 8.721923828125, 0.3173828125, 0.0146484375, 4.9072265625, 0.43487548828125 ] }, "eef_FT_l": { "raw_value": [ -3.2, -16.0, -7.2, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -3.2, -16.0, -7.2, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -16.9, 1.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -16.9, 1.2, 1.1, 0.3, 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": -72, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3828843460940853, -0.7965201726277135, -0.06465531053837177, -0.5501207876336932, -0.04436834883649457, -1.070198714554856, 0.5092031918525617 ], "act_joint_pos_r": [ -0.5691348725966782, -0.6437001838866134, 0.16047396051587448, -0.9205930651278004, 0.5146454046806705, 0.5856904474574123, -0.8217651767887726 ], "act_eef_pose_l": [ 563.2998875079822, 355.34709076978356, 24.16043144788803, 1.7248015354104596, -0.20169210267995982, 0.6854836336293929 ], "act_eef_pose_r": [ 556.9718644042034, -401.81554812687864, -0.4974566530802349, 1.642975893286679, 0.09193163518889085, 2.0361961256121 ], "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.npz" }, "states": { "joint_pos_l": [ 0.38311492711699685, -0.7764839657191872, -0.06562098020725496, -0.5781678007907708, -0.03826203216331509, -1.0467001611352764, 0.5104616587335197 ], "joint_pos_r": [ -0.5890645753928669, -0.5952577924763683, 0.16852371344179812, -0.9663937341929265, 0.5903283051668697, 0.5340486313758629, -0.8572518703923157 ], "eef_pose_l": [ 561.3262287753414, 360.20956479863133, 24.267741369833175, 1.734342655608322, -0.20852966287989597, 0.695879492576616 ], "eef_pose_r": [ 548.4975088237273, -424.23834311828955, -1.6765769850344725, 1.658723001972971, 0.06743156685077609, 1.9683321595593184 ], "joint_status_l": { "velocity": [ -0.024902016028782725, -2.163846526878288, 0.1042892483924529, 3.0289880857363727, -0.6594627508892392, -2.537768921820671, -0.13591041468030696 ], "torque": [ -30.88623046875, 2.42431640625, -5.841064453125, 1.055908203125, -5.8154296875, -3.046875, -0.50628662109375 ] }, "joint_status_r": { "velocity": [ 1.5380249941658874, -4.450411533367671, -0.7861012026737502, 4.799147776084034, -5.69773160517606, 5.664900506272996, 1.9122082138354202 ], "torque": [ 36.30615234375, 8.22509765625, 8.856201171875, 0.140380859375, 0.19775390625, 4.9383544921875, 0.7525634765625 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.6, -7.4, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.5, -16.6, -7.4, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -16.9, 1.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -16.9, 1.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 196, "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": [ 0.38729249764230667, -0.7867570077405941, -0.06520435637326055, -0.5687675974765721, -0.05462423924448343, -1.0599460079444643, 0.5153160626763924 ], "act_joint_pos_r": [ -0.5624143057360906, -0.6502226246700933, 0.15972393686900302, -0.9191327127351814, 0.5012368572055417, 0.5846794056797455, -0.8063582231211573 ], "act_eef_pose_l": [ 561.6606875079824, 355.98069076978356, 24.34203144788792, 1.7191229785254358, -0.20055202415619594, 0.6904367949806388 ], "act_eef_pose_r": [ 558.9606644042035, -397.7971481268787, 1.0121433469198564, 1.6426974452778442, 0.08785898778755381, 2.0444346025243068 ], "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.npz" }, "states": { "joint_pos_l": [ 0.383333177411904, -0.7792104892776738, -0.06549413355281443, -0.5746405647453089, -0.039861849735375966, -1.049967431148489, 0.5106099902580777 ], "joint_pos_r": [ -0.5853163669758603, -0.6040194023029869, 0.1670770865718459, -0.9582485880008826, 0.576642769535964, 0.543145032753457, -0.8505217651623487 ], "eef_pose_l": [ 561.5616345305408, 359.44800131787645, 24.255802082695993, 1.7324531511709862, -0.20732037803857972, 0.6944586008239899 ], "eef_pose_r": [ 550.1693901381348, -420.2206545624304, -1.3644383842325851, 1.6553830321558292, 0.07155589935880688, 1.9803247027321773 ], "joint_status_l": { "velocity": [ 0.4275939736735346, -0.8149999568560773, 0.03129501239479415, 0.6342617584733645, -1.5942910458826565, -1.0776545102437751, 0.5082408314156517 ], "torque": [ -26.396484375, 5.09765625, -9.2041015625, -2.215576171875, -6.2347412109375, -2.5396728515625, -0.50079345703125 ] }, "joint_status_r": { "velocity": [ 2.4733496663467136, -4.9898008493372, -0.7941167466856136, 4.224389936974937, -8.14359834909073, 4.485579980928911, 4.769521870921167 ], "torque": [ 36.884765625, 7.705078125, 9.33837890625, 0.32958984375, 0.1629638671875, 4.8486328125, 0.46966552734375 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.4, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.2, -16.4, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.0, 0.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.0, 0.7, 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": -34, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3885998271025548, -0.7850580518912716, -0.06529418148408303, -0.5715345827655209, -0.05675946714386048, -1.058168295922631, 0.5168081420365039 ], "act_joint_pos_r": [ -0.560620136155494, -0.6518539410733613, 0.15974808227106285, -0.9222274266048827, 0.5021142110748804, 0.5826909250565079, -0.8077027160278187 ], "act_eef_pose_l": [ 561.3278875079823, 356.26789076978355, 24.10443144788799, 1.7183569798428695, -0.20027941887394318, 0.6917583881398081 ], "act_eef_pose_r": [ 559.5278644042035, -395.9339481268787, 1.9193433469197316, 1.640765336165799, 0.08762439987610804, 2.046665227515937 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3841807412618828, -0.780353062210659, -0.06545303463042669, -0.5739144091903255, -0.042712909452361635, -1.0515311253721764, 0.5116104338731216 ], "joint_pos_r": [ -0.5826791241775944, -0.60928121141573, 0.16624804844012175, -0.9539259044271019, 0.5681596264088035, 0.5477732489337569, -0.8455778751024146 ], "eef_pose_l": [ 561.5424953130291, 358.8632160117807, 24.241880369461995, 1.7300177475586407, -0.20608305254677386, 0.693889128234171 ], "eef_pose_r": [ 551.239128275219, -417.6651561950687, -1.0548112879453697, 1.653615235607202, 0.07335321105170427, 1.9875215347739321 ], "joint_status_l": { "velocity": [ 0.47724719513864144, -0.5081238991921921, 0.017155633826759775, 0.257013673666151, -1.516983489645407, -0.716793278760619, 0.5613359259268869 ], "torque": [ -26.4697265625, 2.52685546875, -9.0087890625, 1.18408203125, -5.782470703125, -2.8546142578125, 0.46600341796875 ] }, "joint_status_r": { "velocity": [ 2.3823004441911877, -4.597719200544859, -0.7019756425936663, 3.423334638942066, -7.132694488484859, 3.7709978016216006, 4.090396540259 ], "torque": [ 35.96923828125, 7.72705078125, 9.075927734375, 0.347900390625, -0.1336669921875, 5.2349853515625, 0.76812744140625 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.2, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.2, -16.2, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.1, 1.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.1, 1.1, 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": -38, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3942051374242117, -0.7768127978733459, -0.0657801714951816, -0.5881827995649391, -0.06660064636256587, -1.046413535573044, 0.5222440240967008 ], "act_joint_pos_r": [ -0.5589309787091069, -0.659190207732385, 0.158979724495078, -0.9223260352112786, 0.49479072589589856, 0.5852180779250807, -0.8030667580356763 ], "act_eef_pose_l": [ 559.9550875079823, 356.90869076978356, 23.261231447887965, 1.7146591626798742, -0.19769432421665253, 0.6982078420920829 ], "act_eef_pose_r": [ 560.4014644042035, -390.69634812687866, 1.6689433469196047, 1.639535540254331, 0.08614181046834879, 2.0577632362688756 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3856684636187702, -0.7801458628754484, -0.06548619335414851, -0.5755916727314117, -0.046436661240380386, -1.0512232778460726, 0.5132144715621727 ], "joint_pos_r": [ -0.5778365406495337, -0.6189772470263993, 0.16479787564219212, -0.9471841147026614, 0.5534661298096638, 0.5554260896162985, -0.8371141155464017 ], "eef_pose_l": [ 561.3330627047485, 358.47938731275985, 24.11096954752017, 1.7274772889743193, -0.20474845965839097, 0.6943124819072195 ], "eef_pose_r": [ 553.178465331655, -412.6283024212263, -0.4363788649745288, 1.6504028452175148, 0.07617597061263078, 2.0009340739003143 ], "joint_status_l": { "velocity": [ 0.9219335800101369, 0.3599604037622939, -0.03174870285360676, -1.3598015928169005, -2.1776461669554825, 0.5194368455168075, 0.9751629128360584 ], "torque": [ -25.87646484375, 11.1474609375, -8.82568359375, -3.167724609375, -5.76416015625, -1.197509765625, 0.596923828125 ] }, "joint_status_r": { "velocity": [ 2.0417404716503995, -4.3428716700928405, -0.6283417919379364, 2.6845934072197153, -6.336756730037418, 3.2174398440325547, 3.677006163658625 ], "torque": [ 37.470703125, 6.48193359375, 8.740234375, 0.732421875, 0.1702880859375, 4.8028564453125, 0.71319580078125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.2, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.2, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -16.8, -2.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.5, -16.8, -2.3, 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": [ 0.3980402404566336, -0.7685058689478816, -0.06628428669927668, -0.6050787067133605, -0.07382560743715581, -1.0368279567030185, 0.5269413674661323 ], "act_joint_pos_r": [ -0.5550967396398954, -0.6742274672785011, 0.1571326395769652, -0.9142610059503212, 0.4827861088215335, 0.5848360895566169, -0.7906417044533568 ], "act_eef_pose_l": [ 558.4198875079824, 357.1454907697836, 23.138831447887767, 1.711356473312198, -0.1964316090716037, 0.7016146707836906 ], "act_eef_pose_r": [ 563.2550644042035, -384.17874812687865, 0.18574334691970762, 1.6416706180083056, 0.08098967778069814, 2.0678908161553715 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3864016431773125, -0.7798595997262955, -0.06551144191917233, -0.5766730724690324, -0.048168462413445814, -1.0508101890017736, 0.5139899824335006 ], "joint_pos_r": [ -0.5740398816334588, -0.6274527995813433, 0.16359069563590942, -0.9420163588463007, 0.5416767171210686, 0.5610356828036018, -0.8299558853376725 ], "eef_pose_l": [ 561.2154519745042, 358.3419377472776, 24.03807343959261, 1.726368553456585, -0.20415307178439673, 0.6946412282216899 ], "eef_pose_r": [ 554.7911343222082, -408.1360766555096, -0.13197776385570137, 1.6482241731651954, 0.07768027447406968, 2.012170537829437 ], "joint_status_l": { "velocity": [ 0.8427525230079169, 0.32904489545781956, -0.029021938252660195, -1.2430138656238654, -1.990617156390262, 0.4748245661012618, 0.8914102088866116 ], "torque": [ -26.94580078125, 11.1328125, -8.990478515625, -3.216552734375, -5.950927734375, -0.9796142578125, 0.596923828125 ] }, "joint_status_r": { "velocity": [ 2.0457989976883084, -5.051515124817385, -0.6974494841929246, 2.9974897065327966, -6.359998118232291, 2.570368120370148, 4.245806312142442 ], "torque": [ 36.80419921875, 6.2109375, 8.636474609375, 1.544189453125, -0.2197265625, 4.76806640625, 0.87158203125 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.9, -8.1, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -2.5, -16.9, -8.1, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.7, -16.8, 0.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -16.8, 0.9, 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": -103, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3989849994292248, -0.7685350695758335, -0.06625106289471912, -0.6031259166037087, -0.07606630164950795, -1.0384254337927603, 0.5281992601838804 ], "act_joint_pos_r": [ -0.5488211268701786, -0.6876412404065217, 0.15575439536858088, -0.9130670719263274, 0.47057213544151955, 0.5806671278759912, -0.7819190939762635 ], "act_eef_pose_l": [ 558.3246875079824, 357.66709076978356, 22.97003144788785, 1.7101963638463318, -0.19612492013208832, 0.7027412177887613 ], "act_eef_pose_r": [ 566.1190644042035, -376.40674812687865, 0.4785433469196505, 1.6422410612252545, 0.07971232968295694, 2.0800193541253336 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3888624528892216, -0.7775412465991435, -0.06566905824598968, -0.5824640044515195, -0.05361253766955213, -1.047993513949507, 0.5167293542233851 ], "joint_pos_r": [ -0.5696917307390099, -0.6380104945765084, 0.16217371161127755, -0.9363326568672832, 0.5287857450446568, 0.5654635111275884, -0.8213012800894919 ], "eef_pose_l": [ 560.6423829276495, 358.0941799490494, 23.842951305878728, 1.723131411467894, -0.20257266572643257, 0.6961007768836102 ], "eef_pose_r": [ 556.8332237850377, -402.6926239867213, -0.07957491935835037, 1.6467418335481923, 0.07811244254643004, 2.0243417733409355 ], "joint_status_l": { "velocity": [ 1.0932027840278025, 0.9726384320805082, -0.06285464826399911, -2.231420700200104, -2.424934990200689, 1.0333221807199422, 1.2387133098368253 ], "torque": [ -25.99365234375, 9.95361328125, -13.28125, -4.241943359375, -6.0552978515625, -0.728759765625, 0.60791015625 ] }, "joint_status_r": { "velocity": [ 2.253958740874751, -5.359962465997903, -0.6932657074321114, 2.5126090681801827, -6.286884415394933, 1.6419421823306024, 4.253150660255223 ], "torque": [ 37.3828125, 5.56640625, 9.075927734375, 0.823974609375, 0.1959228515625, 4.3341064453125, 0.7159423828125 ] }, "eef_FT_l": { "raw_value": [ -2.6, -16.7, -8.0, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.6, -16.7, -8.0, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -16.6, 1.0, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.5, -16.6, 1.0, 1.0, 0.4, 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": -97, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.39892660992615725, -0.7740098259413822, -0.06596007578877695, -0.5944278253058047, -0.07550042943460931, -1.0423583879318927, 0.5277202622558669 ], "act_joint_pos_r": [ -0.5449826659402399, -0.7061394970955356, 0.1540491882315191, -0.9149746139079332, 0.45055921964504453, 0.5795015898682734, -0.7665195212381113 ], "act_eef_pose_l": [ 559.1998875079823, 357.0358907697836, 22.345231447888025, 1.7105292105084804, -0.1956871340650781, 0.7018939667651604 ], "act_eef_pose_r": [ 568.1454644042035, -363.4331481268787, -1.0278566530803346, 1.6443208722214062, 0.07370349407790579, 2.104505239311681 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3907742676300574, -0.7760001942018722, -0.06577049757818548, -0.586113367745834, -0.05784044421636841, -1.0463007737181083, 0.5188834662312602 ], "joint_pos_r": [ -0.5670045603243525, -0.6445398415846048, 0.16133940717323023, -0.9334290248233802, 0.5211522702529213, 0.5673621827144398, -0.8161095057260448 ], "eef_pose_l": [ 560.233072376026, 357.99024820433243, 23.65954223107775, 1.7206687080872425, -0.20137279588386, 0.6973171003798009 ], "eef_pose_r": [ 558.095907501326, -399.2113522689018, -0.0649732730754522, 1.6461022241917092, 0.07812902511923453, 2.031692777690147 ], "joint_status_l": { "velocity": [ 0.8804270011721904, 0.21495343242072806, -0.0204738429001039, -0.8979349333007036, -1.9072221530593847, 0.4257651076411406, 0.9543458237319946 ], "torque": [ -26.0595703125, 11.279296875, -8.58154296875, -4.144287109375, -5.8062744140625, -0.6756591796875, 0.51544189453125 ] }, "joint_status_r": { "velocity": [ 2.3782944494383784, -6.652566588216224, -0.7873204249302379, 1.9930175979574472, -7.623824612962959, 1.3110173062251818, 5.355560370887247 ], "torque": [ 37.81494140625, 7.3681640625, 9.014892578125, 0.482177734375, 0.4193115234375, 4.5098876953125, 0.633544921875 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.8, -8.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.4, -16.8, -8.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.2, 1.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -17.2, 1.2, 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": -112, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3990125209511264, -0.7741025741478597, -0.06601025301127673, -0.5975768859473346, -0.07479527811848412, -1.040730840810574, 0.5278374870505149 ], "act_joint_pos_r": [ -0.5433840144349222, -0.715313793571844, 0.15303942560763487, -0.9097910693134507, 0.42450742528587476, 0.5871471649875052, -0.7416182687945496 ], "act_eef_pose_l": [ 559.0910875079824, 356.04549076978356, 22.249231447887794, 1.710712023623227, -0.1956381245444412, 0.7000984481177492 ], "act_eef_pose_r": [ 568.2742644042034, -357.3307481268787, -2.8358566530803273, 1.6492826764100375, 0.06779804637495518, 2.123056997648937 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3922253647272385, -0.7756587463298974, -0.0658096787390522, -0.587938782635539, -0.060883306804808426, -1.0454200697552776, 0.5204591140360132 ], "joint_pos_r": [ -0.5629518940632947, -0.6563437018060374, 0.15994999893139245, -0.9296505475131711, 0.5060795784210492, 0.5702690006349379, -0.8048647714416257 ], "eef_pose_l": [ 560.114303719753, 357.70745395212487, 23.27136845889254, 1.7196706980618994, -0.2006284862255248, 0.6978024580912062 ], "eef_pose_r": [ 560.0464961178394, -392.3128185211274, -0.4840155764414362, 1.6460754260063115, 0.07656945037338093, 2.046381714935049 ], "joint_status_l": { "velocity": [ 0.7329912537583638, 0.1680616389467815, -0.021661382531901197, -1.040884458427982, -1.5024485895244744, 0.5064217899164447, 0.7968407840035496 ], "torque": [ -25.52490234375, 11.71142578125, -8.587646484375, -3.77197265625, -6.0772705078125, -0.6024169921875, 0.49163818359375 ] }, "joint_status_r": { "velocity": [ 2.1132686723364102, -6.3685820794194825, -0.7463199074368987, 2.144760389243494, -8.809532715320145, 1.8227879898189414, 6.830420833391138 ], "torque": [ 37.39013671875, 7.44140625, 9.356689453125, 0.62255859375, -0.0146484375, 4.552001953125, 0.91094970703125 ] }, "eef_FT_l": { "raw_value": [ -2.3, -17.2, -7.5, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -2.3, -17.2, -7.5, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.7, -17.1, 1.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -17.1, 1.5, 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": [ 0.39910983651680554, -0.7753782382915678, -0.06597579575651279, -0.597570636742008, -0.07546139706012482, -1.046302365665908, 0.5293183880133483 ], "act_joint_pos_r": [ -0.5431245078070464, -0.7342522915373257, 0.15110265869951364, -0.900954846812006, 0.40255376574276847, 0.5915122743920662, -0.7217292197862297 ], "act_eef_pose_l": [ 558.4910875079822, 354.5606907697836, 22.593231447888073, 1.708036054276911, -0.19575201180910656, 0.6942495060185697 ], "act_eef_pose_r": [ 569.7302644042036, -347.40994812687865, -6.779056653080261, 1.6552287734541187, 0.05987372219181772, 2.1431308790047354 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3933521229204751, -0.7755468684242441, -0.06583876396007955, -0.589522536692954, -0.06324553674977232, -1.0452778889807004, 0.521839193194891 ], "joint_pos_r": [ -0.5594628449775687, -0.6689071833706918, 0.15850960122464888, -0.9251421205146162, 0.4891796230459265, 0.5737457732562384, -0.7914379216180606 ], "eef_pose_l": [ 559.8172781919723, 357.26272330982476, 23.262610909500637, 1.7172383050186526, -0.19961764430794326, 0.6976032633539108 ], "eef_pose_r": [ 561.8507978964445, -385.04253126135364, -1.4045700204201808, 1.6470622725579338, 0.07398336212088341, 2.062187168547249 ], "joint_status_l": { "velocity": [ 0.621814728958725, 0.018211517209820727, -0.014798997541698444, -0.8691691705235982, -1.3192740036112038, -0.11064021884354958, 0.8077292176933426 ], "torque": [ -25.7373046875, 7.97607421875, -8.935546875, -3.61328125, -5.8758544921875, -2.2412109375, 0.60699462890625 ] }, "joint_status_r": { "velocity": [ 1.7644883736140926, -7.057063545032882, -0.7999262001525675, 2.6121485186800797, -9.355316668425484, 1.9187255328843023, 7.528317761973824 ], "torque": [ 37.24365234375, 2.080078125, 8.3740234375, -0.579833984375, 0.0201416015625, 5.0921630859375, 0.80841064453125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -17.1, -8.7, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -17.1, -8.7, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.6, -16.6, 0.0, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.6, -16.6, 0.0, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 194, "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": [ 0.4001667163977351, -0.7807713938246389, -0.0656390216209902, -0.5857291607895304, -0.0793095364809923, -1.0539969826335671, 0.5323206499722657 ], "act_joint_pos_r": [ -0.5425813443260745, -0.748900429442265, 0.14990791696411693, -0.9010898835242312, 0.40059909607382593, 0.5915605295293469, -0.7140373765777294 ], "act_eef_pose_l": [ 559.1510875079823, 354.6966907697836, 22.15083144788794, 1.7051959807130121, -0.1961576863837553, 0.6945722625913746 ], "act_eef_pose_r": [ 571.0734644042035, -338.28674812687865, -7.928656653080225, 1.652496286363878, 0.047788267443501634, 2.156269588147187 ], "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.npz" }, "states": { "joint_pos_l": [ 0.39404824382833525, -0.7757646361103253, -0.0658394403287079, -0.589910785302293, -0.06479296853633955, -1.0457313400944872, 0.5228149864726903 ], "joint_pos_r": [ -0.5565127975089492, -0.6821136850874073, 0.15706517348559493, -0.9208808451058047, 0.4736428727683496, 0.5768924852656918, -0.778244867790032 ], "eef_pose_l": [ 559.6972491028598, 356.9615939092461, 23.16645993405521, 1.7160788495912773, -0.19919777474760647, 0.6972304999688375 ], "eef_pose_r": [ 563.7235624065027, -376.8239328225869, -2.651302861113976, 1.6480917196336293, 0.06963242505733903, 2.0791261063044635 ], "joint_status_l": { "velocity": [ 0.6607755489618228, -0.5407138856421412, 0.021644582060720285, 0.45160212808603717, -1.5677430999113673, -0.8926630665309077, 1.0265813805543367 ], "torque": [ -25.4736328125, 7.75634765625, -8.89892578125, -2.679443359375, -5.7183837890625, -2.2064208984375, 0.64453125 ] }, "joint_status_r": { "velocity": [ 1.5045525693446749, -7.21275566146673, -0.7729609070561416, 2.137360812723088, -7.888495224278369, 1.5841020598816868, 6.9342045374982675 ], "torque": [ 39.404296875, 4.24072265625, 8.48388671875, -0.35400390625, 0.3314208984375, 4.4586181640625, 0.68756103515625 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.1, -8.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.5, -16.1, -8.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.0, 0.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.6, -17.0, 0.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 185, "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": [ 0.4024494696235997, -0.7770175646847324, -0.06580095497328413, -0.5895899241099033, -0.07943176026946477, -1.0530405094469288, 0.5344481801755994 ], "act_joint_pos_r": [ -0.5399535362535497, -0.7666661333709546, 0.14811930149311878, -0.8878998114135193, 0.380574992425677, 0.5958564598597897, -0.6881245112742144 ], "act_eef_pose_l": [ 558.0510875079823, 355.6566907697836, 21.27563144788799, 1.706791710287044, -0.19681232627746648, 0.6947998800678657 ], "act_eef_pose_r": [ 573.2590644042035, -330.81474812687867, -10.530256653080414, 1.6572487985731885, 0.03546005004383816, 2.1698544882491486 ], "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.npz" }, "states": { "joint_pos_l": [ 0.39533751231085995, -0.7764929647591117, -0.06581096367393434, -0.5893446513460253, -0.06754424053670575, -1.047238272565197, 0.5247355396583805 ], "joint_pos_r": [ -0.5543867886019455, -0.692678303779878, 0.15594131792128524, -0.9171787784953137, 0.46204566175961836, 0.5792411584258723, -0.7674513531741376 ], "eef_pose_l": [ 559.5085048770468, 356.5716068507336, 22.89672513264597, 1.7140150032062458, -0.19862388971405578, 0.6966949279323486 ], "eef_pose_r": [ 564.9540141772574, -371.4655834907706, -3.5648843028727697, 1.648877575335318, 0.06588816664711916, 2.0898242900969235 ], "joint_status_l": { "velocity": [ 0.7680687367992434, -0.056655121013271525, 0.0010809077906070996, -0.02648867725696391, -1.2838142670600905, -0.6266231019660395, 1.0489342391979406 ], "torque": [ -25.4150390625, 3.8525390625, -8.489990234375, -0.689697265625, -5.7952880859375, -2.7520751953125, 0.6500244140625 ] }, "joint_status_r": { "velocity": [ 1.558745280892282, -7.99044993011222, -0.8447528595882936, 3.1620351855909945, -8.798572788032644, 1.7943996318745548, 8.567046253669552 ], "torque": [ 38.31298828125, 5.14892578125, 8.0322265625, -0.78125, 0.17578125, 4.5794677734375, 1.3311767578125 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.2, -9.1, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.4, -16.2, -9.1, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -16.3, 1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.5, -16.3, 1.5, 1.0, 0.2, 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": [ 0.40272050324748176, -0.7684662016053764, -0.06631684206675408, -0.6067900665968846, -0.08099422702744961, -1.0391484466244258, 0.5365033725751889 ], "act_joint_pos_r": [ -0.5342626618648949, -0.7864693148476835, 0.1461857998110497, -0.8727389195795493, 0.36536219690541083, 0.6031694794539203, -0.6698988498408549 ], "act_eef_pose_l": [ 557.4294875079823, 356.3902907697836, 21.95883144788793, 1.7073480795962774, -0.19857208874746274, 0.699861536115298 ], "act_eef_pose_r": [ 576.3942644042035, -322.6283481268787, -10.876656653080317, 1.6558914183294717, 0.028254979975711806, 2.184305113138278 ], "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.npz" }, "states": { "joint_pos_l": [ 0.39687529682309997, -0.7758702382784958, -0.065853139705587, -0.5908741317107951, -0.07020990714783532, -1.0472807396064374, 0.5269803792426655 ], "joint_pos_r": [ -0.5497892423802656, -0.7148240431988679, 0.15362436535455543, -0.9073033319135362, 0.43866100457179025, 0.5846494067618553, -0.744163938730262 ], "eef_pose_l": [ 559.1633920237547, 356.4489795851916, 22.62787999355507, 1.7126081440326542, -0.1984143328042495, 0.6967370688275398 ], "eef_pose_r": [ 567.8693249662657, -359.79968429000985, -5.537969742692212, 1.6505346912918135, 0.056726636521242026, 2.112697063729661 ], "joint_status_l": { "velocity": [ 0.6312636757064283, 0.7996123773912345, -0.05007837802317727, -1.71887027232831, -1.1646721968280316, 0.8782617391123182, 1.028452947314129 ], "torque": [ -25.83251953125, 9.95361328125, -9.08203125, -3.607177734375, -5.7275390625, -1.5380859375, 0.648193359375 ] }, "joint_status_r": { "velocity": [ 1.6768212404612015, -7.737461133853429, -0.8033413854111604, 3.7328464376509274, -7.916037756915628, 2.000108860685579, 8.02039305120772 ], "torque": [ 38.28369140625, 6.6943359375, 8.45947265625, -0.677490234375, 0.3460693359375, 5.0518798828125, 0.7379150390625 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.9, -9.6, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.9, -9.6, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.3, 1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -17.3, 1.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "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": [ 0.40338337759844595, -0.7658967704799068, -0.06648458606637109, -0.6125392093530706, -0.08366669553317915, -1.0333268850687563, 0.5384068356390265 ], "act_joint_pos_r": [ -0.5316259385632072, -0.7978793439974503, 0.14517989078692128, -0.8611577869609509, 0.3604743257164045, 0.6101496806761019, -0.6641576227678035 ], "act_eef_pose_l": [ 557.4198875079824, 356.6670907697836, 22.12683144788805, 1.706463278833678, -0.19902761890279028, 0.703187663106486 ], "act_eef_pose_r": [ 578.2742644042034, -318.7995481268787, -10.964656653080283, 1.653137985728713, 0.02605119082511039, 2.191046030274797 ], "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.npz" }, "states": { "joint_pos_l": [ 0.397928326434678, -0.7744853705594212, -0.0659400729039937, -0.5938577433806664, -0.07219547589870702, -1.045671205652464, 0.52872025710533 ], "joint_pos_r": [ -0.5482057188600313, -0.7221197528883762, 0.15286954394885918, -0.9036933356409161, 0.4312977135187503, 0.586595201802388, -0.7366918595508759 ], "eef_pose_l": [ 558.8588255096139, 356.44669892573546, 22.514165484661675, 1.7116411683464596, -0.19846826367559653, 0.697382385738557 ], "eef_pose_r": [ 568.8387052034643, -356.07878593462385, -6.10823299301299, 1.6509157316413314, 0.053798350924752915, 2.119903032511135 ], "joint_status_l": { "velocity": [ 0.5891281502807821, 0.927541452215408, -0.058805687155716324, -2.017538820892284, -1.2388551824424887, 1.3331473039626118, 1.0461196279898388 ], "torque": [ -25.6640625, 10.80322265625, -9.698486328125, -4.034423828125, -5.8575439453125, -0.7598876953125, 0.63720703125 ] }, "joint_status_r": { "velocity": [ 1.790563462210848, -8.181794530648823, -0.8304580484386204, 4.593703773386082, -7.648700296296607, 2.543808692734295, 7.833466536826705 ], "torque": [ 39.0234375, 5.38330078125, 8.45947265625, -0.030517578125, 0.0860595703125, 4.16748046875, 0.83587646484375 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.7, -9.1, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.5, -16.7, -9.1, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.1, 1.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -17.1, 1.1, 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": -78, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.40429605896781245, -0.7636912020586263, -0.06661267587047877, -0.6164365581807016, -0.08933010526515792, -1.028518338374471, 0.5410783266512889 ], "act_joint_pos_r": [ -0.5271358406181359, -0.813396248026014, 0.14393682443195446, -0.8561881641319323, 0.3591147284578944, 0.6143659797905059, -0.6594400707824242 ], "act_eef_pose_l": [ 557.6030875079823, 357.3326907697836, 22.578831447887822, 1.7034193091007366, -0.19881802249744207, 0.7083314241426254 ], "act_eef_pose_r": [ 580.4782644042035, -310.41234812687867, -9.582256653080321, 1.6457806893748796, 0.019934179126740035, 2.2037821046535244 ], "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.npz" }, "states": { "joint_pos_l": [ 0.3989281009478711, -0.7728245621931955, -0.06604404234358442, -0.5973686771072241, -0.07472036605221596, -1.0430992469334892, 0.5306141440294107 ], "joint_pos_r": [ -0.5450771283311193, -0.7361959836402513, 0.15145536951455696, -0.8959544926324857, 0.4187158475325892, 0.5909449560359905, -0.7236600639200576 ], "eef_pose_l": [ 558.6469902097657, 356.55745332977114, 22.502955907024784, 1.710422549898912, -0.19856298045066972, 0.6989125292253492 ], "eef_pose_r": [ 570.7738937519698, -349.19182575112325, -6.978426507803505, 1.6507760367806283, 0.048502050200515935, 2.132963337563643 ], "joint_status_l": { "velocity": [ 0.5797223681560659, 0.986373802994045, -0.06141060969544476, -2.059270421000292, -1.5778053001178627, 1.574691681325291, 1.1300983926920694 ], "torque": [ -24.3896484375, 11.52099609375, -13.3544921875, -4.315185546875, -5.7403564453125, -0.589599609375, 0.63079833984375 ] }, "joint_status_r": { "velocity": [ 1.937601926488064, -8.337382655704495, -0.8119789208829165, 4.294636814518249, -6.436731018833797, 2.5293959649408393, 6.935554705613356 ], "torque": [ 40.08544921875, 7.09716796875, 8.6181640625, 0.54931640625, 0.3094482421875, 4.0704345703125, 0.56671142578125 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.3, -8.8, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.3, -16.3, -8.8, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.2, 0.2, 1.1, 0.3, -0.1 ], "actual_contact_FT": [ -0.4, -17.2, 0.2, 1.1, 0.3, -0.1 ] }, "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": -66, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.40783734547477274, -0.7602120650803414, -0.06684448069081943, -0.6242489789608189, -0.09441623464532033, -1.0235098725149305, 0.5443170695457843 ], "act_joint_pos_r": [ -0.5203855883213411, -0.8339689415096714, 0.14224220144477243, -0.8425589140116453, 0.32960775999992764, 0.6209304929648998, -0.6390853378895339 ], "act_eef_pose_l": [ 556.7454875079823, 357.3462907697836, 21.76283144788779, 1.701838872384688, -0.19700964336677318, 0.710641050164704 ], "act_eef_pose_r": [ 582.8638644042035, -300.3851481268787, -10.408656653080243, 1.6502472080311146, 0.022047698777672386, 2.2255614662051517 ], "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.npz" }, "states": { "joint_pos_l": [ 0.40027680982175406, -0.7708171116980495, -0.06617073904201827, -0.6016216144021626, -0.07787742396792872, -1.0399560502907041, 0.532829768381393 ], "joint_pos_r": [ -0.5415479130899841, -0.7506542505091719, 0.1500738116170047, -0.8882465338372619, 0.4063834701996756, 0.5953590619626087, -0.711354412840898 ], "eef_pose_l": [ 558.3712121310297, 356.69516762717535, 22.426243148334635, 1.708971157681935, -0.1984400870364835, 0.7008330127019207 ], "eef_pose_r": [ 572.7738204042918, -342.0348271971555, -7.566380334890596, 1.6500924719138437, 0.04382001100415267, 2.1463810195640827 ], "joint_status_l": { "velocity": [ 0.8165137687394797, 1.1453112555628309, -0.07276195207145397, -2.4436832997478675, -1.7861388738080741, 1.776134815487218, 1.2405919364506524 ], "torque": [ -24.58740234375, 12.7734375, -13.63525390625, -3.72314453125, -5.9564208984375, -0.2783203125, 0.516357421875 ] }, "joint_status_r": { "velocity": [ 2.285463668865617, -8.997721254449864, -0.8457889533894924, 4.934117417152883, -8.291532155904058, 2.761633098232963, 7.8048299035939905 ], "torque": [ 39.66796875, 4.18212890625, 8.392333984375, 0.042724609375, 0.4486083984375, 4.2425537109375, 0.80841064453125 ] }, "eef_FT_l": { "raw_value": [ -2.9, -15.9, -8.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.9, -15.9, -8.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.7, -16.9, -0.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -16.9, -0.7, 1.1, 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": -89, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.40962620286874185, -0.7667551582741982, -0.06645999297792102, -0.6122769867183534, -0.09574333218336381, -1.0302638233923107, 0.5442848446183525 ], "act_joint_pos_r": [ -0.5155625095808389, -0.8526742590177796, 0.14090341279037064, -0.8348583420685185, 0.31173931398112575, 0.6265450287682541, -0.6337288717852028 ], "act_eef_pose_l": [ 557.4214875079823, 356.9486907697835, 20.342831447887946, 1.701555045576244, -0.19485188036220605, 0.7099509149258252 ], "act_eef_pose_r": [ 584.4998644042034, -289.9651481268787, -10.538256653080225, 1.6498898329950056, 0.028123770814828003, 2.2465947283815035 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4012589417566139, -0.7700921767564559, -0.06621904371546186, -0.6033117485289534, -0.07983939611202452, -1.0385871888255533, 0.5341237044034446 ], "joint_pos_r": [ -0.537589197087296, -0.7662113253559303, 0.14865316854380836, -0.8799697632604387, 0.39198461289323266, 0.600121336904706, -0.6989409319715996 ], "eef_pose_l": [ 558.2385930341187, 356.73836153404454, 22.250356852677072, 1.7081279808279264, -0.1981386947296291, 0.701885067010832 ], "eef_pose_r": [ 574.832061385492, -334.2314377040597, -8.142421220671622, 1.649759168303613, 0.04065576546482252, 2.161406119291727 ], "joint_status_l": { "velocity": [ 0.9036375487450066, 0.36038736702703744, -0.026021752875027282, -0.9682171684159968, -1.717574438554359, 0.8988969552419235, 1.097370777988882 ], "torque": [ -23.291015625, 11.24267578125, -8.88671875, -3.460693359375, -5.76416015625, -0.750732421875, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ 2.3788120913850186, -9.337721434106605, -0.8369489368820204, 4.871889800018181, -8.666236685519024, 2.853674556630992, 7.042694786950854 ], "torque": [ 39.0380859375, 4.82666015625, 8.7890625, -1.77001953125, 0.1190185546875, 4.2095947265625, 0.72601318359375 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.7, -8.0, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -2.2, -16.7, -8.0, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -16.9, 1.2, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -16.9, 1.2, 1.0, 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": -32, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.40977134421599226, -0.7700172885277315, -0.0662552720133065, -0.6053737559714539, -0.09619646805570257, -1.035320672494456, 0.5432581611026059 ], "act_joint_pos_r": [ -0.5101535125583028, -0.8672841600633677, 0.13991029852091816, -0.8275390144833638, 0.2886818362124762, 0.6327512796076589, -0.6095648818817432 ], "act_eef_pose_l": [ 557.7446875079823, 356.8526907697836, 20.0812314478879, 1.7007678956773862, -0.19343434435336257, 0.70908012144131 ], "act_eef_pose_r": [ 585.5950644042035, -281.6387481268787, -10.451056653080286, 1.6522927327608448, 0.021361660681281227, 2.2653887857837263 ], "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.npz" }, "states": { "joint_pos_l": [ 0.40285112930192546, -0.76969656182504, -0.06624983132072769, -0.6045087759619437, -0.08287850162126824, -1.0373783717984548, 0.535970510992931 ], "joint_pos_r": [ -0.5345758641797066, -0.7777490071865987, 0.14763292651650267, -0.8739633760180203, 0.38085958171578094, 0.6037237927407083, -0.6896618319001546 ], "eef_pose_l": [ 558.1087788929829, 356.76816731529163, 21.872587732760223, 1.7068114451907943, -0.1974267228613707, 0.7033389937790371 ], "eef_pose_r": [ 576.2814996554808, -328.339298096892, -8.50840319197161, 1.6496133848271683, 0.03863769975129083, 2.172914054464977 ], "joint_status_l": { "velocity": [ 0.7473611684796211, -0.034637462313469314, -0.0005875774687913449, -0.09341508589599812, -1.4382979545882746, 0.22222497065715885, 0.78704299925203 ], "torque": [ -22.58056640625, 8.525390625, -9.47265625, -3.106689453125, -5.8612060546875, -0.8917236328125, 0.59051513671875 ] }, "joint_status_r": { "velocity": [ 2.637536185140288, -9.669511323698643, -0.8340192254410184, 5.013683175063122, -9.954902910190189, 3.1348761234015754, 8.65021547752054 ], "torque": [ 41.38916015625, 4.5849609375, 8.795166015625, -0.970458984375, 0.43212890625, 4.1143798828125, 0.7562255859375 ] }, "eef_FT_l": { "raw_value": [ -2.6, -16.5, -8.4, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.6, -16.5, -8.4, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.2, 1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -17.2, 1.8, 1.1, 0.3, 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": 20, "motor_current": -51, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4123253693103437, -0.764961213822552, -0.06667334954710358, -0.6220404012779203, -0.10030692371540964, -1.0241238311359686, 0.5466986665985013 ], "act_joint_pos_r": [ -0.5110580785057466, -0.8707261560376006, 0.13993099769172038, -0.8348560715290602, 0.29590956772883015, 0.6259363320050484, -0.6113594981122102 ], "act_eef_pose_l": [ 556.8694875079823, 355.4062907697836, 19.840431447887866, 1.6991564299077735, -0.1923785121992912, 0.7100409823897751 ], "act_eef_pose_r": [ 585.6270644042036, -277.9923481268787, -10.36385665308012, 1.649658428876326, 0.014321640053517043, 2.266652925729387 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4044967110571631, -0.7692581513667662, -0.06629250952414607, -0.6063404609372872, -0.08596538011255474, -1.0358509051060296, 0.5377781520737148 ], "joint_pos_r": [ -0.5297174819166155, -0.7959531157360504, 0.14608123170387793, -0.8650533680536904, 0.36274410540087054, 0.609164743433787, -0.6736598942114683 ], "eef_pose_l": [ 557.9510679058361, 356.6388049937603, 21.489992349754914, 1.7054165407798685, -0.1965364683779877, 0.7045819193421263 ], "eef_pose_r": [ 578.4256644882635, -318.7982239184089, -8.991909442887021, 1.649611726894054, 0.03453956873674088, 2.1915290292788785 ], "joint_status_l": { "velocity": [ 0.8454701555340449, 0.4640555681874048, -0.04112950942936067, -1.695543549404377, -1.5488410284839604, 1.2664866357399163, 0.9633871550915885 ], "torque": [ -21.9140625, 11.30859375, -10.369873046875, -4.06494140625, -5.8502197265625, -0.81298828125, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ 2.015156134520968, -8.075250185793692, -0.6642056836136945, 3.2612118403578805, -7.217917187492429, 1.8112781449026727, 6.728244339760714 ], "torque": [ 40.3857421875, 4.0576171875, 8.38623046875, -0.68359375, 0.75439453125, 4.2095947265625, 0.74432373046875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.5, -7.9, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.9, -16.5, -7.9, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.1, 1.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.1, 1.4, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "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": [ 0.4170529990530449, -0.7579062696313427, -0.06718203975877939, -0.6402363248997609, -0.10912901993265979, -1.0119577039417944, 0.553368792861957 ], "act_joint_pos_r": [ -0.5181807701555998, -0.8748262740407846, 0.1401338003888148, -0.8517978903788982, 0.32202517798225916, 0.6131851261492139, -0.6266563922849628 ], "act_eef_pose_l": [ 555.5550875079823, 354.8254907697835, 19.302031447887956, 1.6956854187845476, -0.19093782137841392, 0.7139895928735492 ], "act_eef_pose_r": [ 584.4470644042035, -272.02114812687864, -11.743056653080203, 1.642710953517404, -0.00047252870655734627, 2.265907248697415 ], "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.npz" }, "states": { "joint_pos_l": [ 0.40622175402264, -0.7679897428726153, -0.06639652269564868, -0.6104283002881234, -0.08913717415374052, -1.032900260795118, 0.5398363018029118 ], "joint_pos_r": [ -0.526731077366294, -0.8093536410789747, 0.1450027230500201, -0.8604580937929092, 0.35207385103555683, 0.6115702362090322, -0.6633162986203811 ], "eef_pose_l": [ 557.6716335126546, 356.3774099116519, 21.16153070028716, 1.7040228592236657, -0.19573708652684774, 0.7058253293280978 ], "eef_pose_r": [ 579.8304248949311, -311.3589049998904, -9.385525374998025, 1.6492091645102716, 0.030140913245597274, 2.2047452027225067 ], "joint_status_l": { "velocity": [ 1.1697399636476646, 1.0889829922211547, -0.08483334079245619, -3.219171713662483, -2.159055666180132, 2.2617294340152583, 1.4614659307428113 ], "torque": [ -22.46337890625, 9.111328125, -13.580322265625, -5.352783203125, -6.1688232421875, -0.758056640625, 0.73150634765625 ] }, "joint_status_r": { "velocity": [ 0.9234059443525844, -7.070835816720411, -0.5258281389382002, 0.9352743842701017, -3.245160978849526, 0.17440296979831516, 3.9591531152458614 ], "torque": [ 41.66748046875, 3.24462890625, 7.8369140625, -0.72021484375, 0.7891845703125, 3.885498046875, 0.44769287109375 ] }, "eef_FT_l": { "raw_value": [ -2.5, -17.1, -7.8, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -2.5, -17.1, -7.8, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.0, 0.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.0, 0.5, 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": -80, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4171739344285453, -0.7600233269594985, -0.0670369419373738, -0.6352302290233077, -0.10912591149595077, -1.0140490029748663, 0.5519699140247712 ], "act_joint_pos_r": [ -0.5196949418658381, -0.883701412749774, 0.1395472814884529, -0.8486321904663635, 0.32480856785577433, 0.6071859512510408, -0.6248192153456924 ], "act_eef_pose_l": [ 555.9662875079823, 355.11429076978357, 18.94923144788784, 1.6959978630776604, -0.18966239170923171, 0.7148479294024497 ], "act_eef_pose_r": [ 585.5270644042034, -268.5563481268787, -13.819856653080251, 1.644936830766119, -0.007655395206068042, 2.264895607140152 ], "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.npz" }, "states": { "joint_pos_l": [ 0.40800767008162353, -0.7664250201831982, -0.06651928725142181, -0.6151087986969166, -0.09242360388252069, -1.0295492244380247, 0.5419995598804402 ], "joint_pos_r": [ -0.525181234752482, -0.8221200756172937, 0.1440565639437925, -0.8586819983739313, 0.34651574748982994, 0.611612105508135, -0.6563055523845779 ], "eef_pose_l": [ 557.3495272754071, 356.1335888673267, 20.842536471536476, 1.7026233607163161, -0.194937384277605, 0.7071991905951116 ], "eef_pose_r": [ 580.9196838509812, -303.8051859772026, -10.024870756709618, 1.64813856269033, 0.023887601187687593, 2.2162186183428134 ], "joint_status_l": { "velocity": [ 0.9899273531206454, 0.6913624775135574, -0.05590505725122652, -2.173050384554287, -1.8037960221304328, 1.6739745467813094, 1.0767664900575014 ], "torque": [ -21.95068359375, 10.43701171875, -14.09912109375, -3.570556640625, -6.024169921875, -0.611572265625, 0.57952880859375 ] }, "joint_status_r": { "velocity": [ 0.5925021568407018, -6.650588261691404, -0.4869881422291389, 1.085347243411583, -2.34430625886084, -0.4780105615989072, 3.400424110051148 ], "torque": [ 42.60498046875, 4.53369140625, 8.099365234375, -0.76904296875, 0.6939697265625, 3.90380859375, 0.6610107421875 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.8, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.2, -16.8, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.0, 0.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -17.0, 0.9, 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": -72, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4188303569555695, -0.7570459902982276, -0.06717661130990231, -0.6382408245090561, -0.11121653189371525, -1.012538580412847, 0.5529228936979556 ], "act_joint_pos_r": [ -0.5198822765035689, -0.8863861946299632, 0.1396843298325736, -0.8624691578455882, 0.33420122875372243, 0.5916979435800438, -0.629991441996036 ], "act_eef_pose_l": [ 555.3318875079824, 356.03509076978355, 18.62443144788797, 1.6958304343221473, -0.18874312483462075, 0.7168781436880551 ], "act_eef_pose_r": [ 585.6350644042035, -264.1907481268787, -13.432656653080358, 1.6442447461486456, -0.013697118948950983, 2.2639333395333985 ], "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.npz" }, "states": { "joint_pos_l": [ 0.40983708788915246, -0.7649179379252223, -0.06662841432590218, -0.6190458371504264, -0.0956401758560064, -1.0266183089290812, 0.5438824984481191 ], "joint_pos_r": [ -0.5243004531576818, -0.8325467186133014, 0.1433307238600859, -0.8585912592882562, 0.3440070827675958, 0.609136755877326, -0.6517129940757755 ], "eef_pose_l": [ 557.0303541840823, 356.06772993415035, 20.46881063003636, 1.7013943688353217, -0.19392222805450063, 0.7088031407416072 ], "eef_pose_r": [ 581.8283808383395, -297.5502281281858, -10.692316057082365, 1.6475937668340883, 0.017913994351247988, 2.2240795127549937 ], "joint_status_l": { "velocity": [ 0.971244413849881, 0.850145270021585, -0.05920352815724783, -2.072997494939166, -1.68219683832882, 1.5205658330623706, 0.9763338915531605 ], "torque": [ -21.89208984375, 12.4365234375, -13.885498046875, -3.387451171875, -5.672607421875, -0.5621337890625, 0.5511474609375 ] }, "joint_status_r": { "velocity": [ 0.4771490058868011, -5.814491920527409, -0.39379894049251796, -0.4188006923255827, -1.0590009999331684, -1.883336182075368, 2.3458584372155755 ], "torque": [ 41.806640625, 4.29931640625, 8.14208984375, -4.412841796875, 0.758056640625, 2.325439453125, 0.69488525390625 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.7, -8.4, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.3, -16.7, -8.4, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.0, 0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.7, -17.0, 0.8, 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": -55, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4197883982759691, -0.7557839090239935, -0.06721645165217925, -0.6383083267767391, -0.11276030299894829, -1.012372550430142, 0.5531628266645647 ], "act_joint_pos_r": [ -0.5199128860576612, -0.8893177667199974, 0.13950687250606314, -0.8615906019615751, 0.332685319053883, 0.592570500845494, -0.6287056371941201 ], "act_eef_pose_l": [ 555.0990875079824, 356.8182907697836, 18.411631447887956, 1.6956099820486865, -0.18788201870308852, 0.7187066152154943 ], "act_eef_pose_r": [ 585.6670644042035, -262.4899481268787, -13.693456653080148, 1.6439572975499328, -0.014710848667003592, 2.2669571703970908 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41142364746934956, -0.7634814096333851, -0.06672303105015844, -0.6222090206992885, -0.09837505963546515, -1.0242849319324177, 0.5453957719790006 ], "joint_pos_r": [ -0.5235223269671951, -0.8423575800132235, 0.142668359911869, -0.8591895186154378, 0.3421225450745282, 0.6061402163407098, -0.6477445482199087 ], "eef_pose_l": [ 556.7286306889582, 356.14944911507416, 20.142806731997297, 1.700426363110048, -0.19299664660096652, 0.7103341064798158 ], "eef_pose_r": [ 582.623240479786, -291.50750983397813, -11.276917288857874, 1.647025581069494, 0.012135590157733384, 2.231398237448475 ], "joint_status_l": { "velocity": [ 0.9033664437456679, 0.8313055477673359, -0.053287853376993155, -1.7386737769227167, -1.5535604634395739, 1.2864992589785018, 0.8388171664508448 ], "torque": [ -21.18896484375, 11.66015625, -8.917236328125, -4.486083984375, -5.8209228515625, -0.9521484375, 0.450439453125 ] }, "joint_status_r": { "velocity": [ 0.3898081214539495, -5.071550586942308, -0.3414305698705711, -0.2593093534617452, -1.0191903508172118, -1.465486051282383, 2.0561417481257394 ], "torque": [ 42.4365234375, 3.1640625, 8.111572265625, -5.45654296875, 0.7562255859375, 2.2833251953125, 0.791015625 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.6, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.9, -16.6, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.0, 2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.0, 2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 202, "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": [ 0.42172961524560615, -0.7518123283196927, -0.06746340835288121, -0.6458028377523658, -0.11481330921501155, -1.0084462294295573, 0.5537389701084943 ], "act_joint_pos_r": [ -0.5181118764386903, -0.8940488322946208, 0.13912991320618956, -0.8567442238537331, 0.317783677673205, 0.5940984477815691, -0.6224697305799726 ], "act_eef_pose_l": [ 554.1886875079823, 357.01669076978357, 18.087631447887887, 1.69537749349499, -0.1860117610918272, 0.7197872113154806 ], "act_eef_pose_r": [ 585.9998644042034, -260.4147481268787, -14.556656653080154, 1.64889421491629, -0.008461367362511192, 2.273405760931155 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41261775286312274, -0.7622249994794552, -0.06680301877138803, -0.6247782502337779, -0.10033593803644408, -1.0225006185566847, 0.5464161304934753 ], "joint_pos_r": [ -0.5226809164596501, -0.8511944026132993, 0.1420668452082725, -0.8590671713483622, 0.338772420890028, 0.603913394406903, -0.6436746313824359 ], "eef_pose_l": [ 556.4608621546606, 356.24768182185915, 19.901602321171794, 1.6997810123467, -0.1922341347646156, 0.7114658899204745 ], "eef_pose_r": [ 583.2899082439958, -286.1602061262233, -11.86056689082227, 1.6470876751380559, 0.008012839811783268, 2.238409321770549 ], "joint_status_l": { "velocity": [ 0.9840521142421288, 1.1245353188584772, -0.07131997133114076, -2.2705884845795055, -1.563509974023547, 1.5178292597486376, 0.7908433537435755 ], "torque": [ -20.9619140625, 11.05224609375, -13.494873046875, -3.924560546875, -5.701904296875, -0.7177734375, 0.46234130859375 ] }, "joint_status_r": { "velocity": [ 0.49344176897703207, -4.628141905834049, -0.31717930152153073, 0.2508709303779, -2.266717414160624, -1.0599829730102428, 2.290061744905536 ], "torque": [ 40.61279296875, 2.30712890625, 7.867431640625, -2.11181640625, 0.60791015625, 2.0489501953125, 0.9173583984375 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.4, -8.1, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.4, -8.1, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -16.9, 1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.9, 1.4, 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": -53, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4238972414591112, -0.7528659042326601, -0.067411640449625, -0.6445689897963365, -0.11566760505675704, -1.0092304741163092, 0.5535674928445126 ], "act_joint_pos_r": [ -0.5155454904573014, -0.8968957491113513, 0.13905755347365656, -0.8616403343204087, 0.324713101051548, 0.586307292878684, -0.629161802061028 ], "act_eef_pose_l": [ 553.9342875079824, 356.7630907697836, 16.93883144788795, 1.6959462111313575, -0.18368775071456372, 0.7194620686055522 ], "act_eef_pose_r": [ 587.0750644042034, -258.14514812687867, -12.884656653080356, 1.6458820642329874, -0.007483083097595791, 2.271891590327737 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41452640115098666, -0.7603471058099592, -0.06692341075810265, -0.6286467067558178, -0.1031460699283271, -1.0199111734162838, 0.5477856912327097 ], "joint_pos_r": [ -0.5219200772760957, -0.856800259088058, 0.14169151073245795, -0.8591274476431064, 0.33662700698156084, 0.6021147420927394, -0.6414848634371463 ], "eef_pose_l": [ 556.0140619649699, 356.3709713696598, 19.459893974242902, 1.698969186487779, -0.1908793757416521, 0.7130091773953544 ], "eef_pose_r": [ 583.7634967523268, -282.76273617345294, -12.116561959022903, 1.6471239969277356, 0.005951713052657195, 2.242708240810143 ], "joint_status_l": { "velocity": [ 1.0120209053163798, 0.8079459412568823, -0.05272725157723368, -1.7195558527864918, -1.3522859103294316, 1.1534815042786306, 0.6244161579043173 ], "torque": [ -19.6875, 12.16552734375, -9.130859375, -3.594970703125, -5.7110595703125, -0.69580078125, 0.5859375 ] }, "joint_status_r": { "velocity": [ 0.6884350721225729, -4.330185210529081, -0.2844589942809783, -0.27138375711199814, -1.2866638923187956, -1.707154165297986, 1.3308513772578578 ], "torque": [ 42.29736328125, 1.23046875, 7.861328125, -5.56640625, 0.8990478515625, 2.0709228515625, 0.655517578125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -15.8, -7.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -15.8, -7.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.7, 0.3, 1.2, 0.1, 0.0 ], "actual_contact_FT": [ -2.9, -17.7, 0.3, 1.2, 0.1, 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": 20, "motor_current": -70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4254639634739563, -0.7530659311246463, -0.06748119829144977, -0.6489844155967667, -0.11578378822490329, -1.0089210791179162, 0.5535462856135879 ], "act_joint_pos_r": [ -0.5173353859726801, -0.8950371116478321, 0.13956139201536072, -0.8818740898802485, 0.343219495691506, 0.5733811615388935, -0.6470691226557475 ], "act_eef_pose_l": [ 553.2694875079824, 355.0854907697836, 16.327631447887896, 1.695509671061937, -0.18151016550192212, 0.7156064175765637 ], "act_eef_pose_r": [ 585.8702644042035, -254.35154812687867, -11.407056653080417, 1.6399880020358226, -0.009362035873544979, 2.2722139375330928 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4162520343018781, -0.7590331490243449, -0.0670127879367388, -0.6316557676247629, -0.10536508384250418, -1.0180091514326408, 0.5488070312228216 ], "joint_pos_r": [ -0.5207936326494502, -0.8642981865185018, 0.1412157171012436, -0.8604908765532463, 0.3351873942072877, 0.5985590025589997, -0.6399416016676202 ], "eef_pose_l": [ 555.7532649863227, 356.43407448775173, 18.998333478700687, 1.6990039497377867, -0.19007485550007902, 0.7139247898742771 ], "eef_pose_r": [ 584.4077573945382, -277.95389610493015, -12.240379473186493, 1.6466456576455923, 0.0032701941688772587, 2.248222668777872 ], "joint_status_l": { "velocity": [ 0.9948590087862641, 0.6444405264103281, -0.05058682633007905, -1.8714387858391746, -1.125186887685703, 0.9814828627012773, 0.5118243787496368 ], "torque": [ -21.10107421875, 11.8212890625, -10.16845703125, -4.3701171875, -5.5755615234375, -0.673828125, 0.57861328125 ] }, "joint_status_r": { "velocity": [ 0.3734796258987316, -3.319706004472067, -0.17866183992620854, -2.309318929594184, 0.8674413764797606, -2.7191266338180142, -0.7697495641671992 ], "torque": [ 41.27197265625, 2.84912109375, 7.77587890625, -5.4931640625, 0.6719970703125, 1.8072509765625, 0.72235107421875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.2, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.2, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.2, 1.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -17.2, 1.5, 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": -97, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4242891605583991, -0.7583693631351299, -0.06715212806616862, -0.6388243987394105, -0.11483585587266829, -1.0156876299877786, 0.5509535557886843 ], "act_joint_pos_r": [ -0.5164425493968361, -0.8999667788190316, 0.1392756240569469, -0.8835974284711676, 0.3494912861358581, 0.5716378077133567, -0.6538639052398701 ], "act_eef_pose_l": [ 554.1158875079823, 354.7190907697836, 16.35963144788805, 1.6947462970840244, -0.1801654280317194, 0.7139647205398972 ], "act_eef_pose_r": [ 586.3694644042034, -251.13874812687868, -10.524656653080228, 1.635769410530094, -0.009280440685689471, 2.274856179532644 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41792516293998994, -0.7582133048775535, -0.06708221266188011, -0.6343411282240037, -0.10727952114116932, -1.0166843716057345, 0.5495522630565077 ], "joint_pos_r": [ -0.5200880132573306, -0.8703954450390298, 0.14088638240450016, -0.8646332395769432, 0.3370702116063097, 0.5936981511190833, -0.6416838107728009 ], "eef_pose_l": [ 555.2283374100933, 356.10233589684117, 18.484634955276505, 1.6977984696977106, -0.18794327424868915, 0.7141874232916748 ], "eef_pose_r": [ 584.7876434144885, -273.30972746903717, -12.06320864240169, 1.6451161210448555, 0.0008667260200741786, 2.252873370981078 ], "joint_status_l": { "velocity": [ 0.6872914722095835, -0.016853794741145123, -0.0075506409689118925, -0.48417893556962355, -0.8160600825962705, 0.10764491992176772, 0.1513351516830852 ], "torque": [ -20.9912109375, 9.8291015625, -11.4013671875, -2.728271484375, -5.5499267578125, -0.8367919921875, 0.5181884765625 ] }, "joint_status_r": { "velocity": [ 0.39369848541737085, -3.1936098577522998, -0.1739567709551082, -2.0480719959214966, 1.3414364856370042, -2.3824468213060612, -1.3154114064573008 ], "torque": [ 42.86865234375, 2.2119140625, 7.84912109375, -5.792236328125, 3.3966064453125, 2.0562744140625, -0.59600830078125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.4, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.4, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.2, 0.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -17.2, 0.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 202, "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": [ 0.4250506908661796, -0.7602452707915179, -0.06704435980689791, -0.635664914161108, -0.11813202629019567, -1.0174734327660042, 0.5511222789325705 ], "act_joint_pos_r": [ -0.5114411424691956, -0.9061977988373362, 0.13869537246716301, -0.8737892162742995, 0.338021053058307, 0.5798555339131949, -0.64215195619408 ], "act_eef_pose_l": [ 554.4294875079822, 354.6118907697836, 16.283631447888027, 1.6924037581911358, -0.17815838912474194, 0.7151214291003851 ], "act_eef_pose_r": [ 587.6902644042035, -249.25074812687868, -8.959056653080324, 1.6338780006873366, -0.008657301819647748, 2.2818155119955774 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41912611698747143, -0.7584274848249803, -0.06708385510137044, -0.6348195493675379, -0.10894339890678971, -1.0166857645436147, 0.5498168054739296 ], "joint_pos_r": [ -0.5192238686541921, -0.8758974898205619, 0.14057610977662596, -0.8675556200573793, 0.33876274038379406, 0.5901585112865594, -0.6433231192663571 ], "eef_pose_l": [ 555.0636605214536, 355.84586593634816, 18.101011866339718, 1.6970239407701626, -0.18637066007074626, 0.7142607262549537 ], "eef_pose_r": [ 585.1838296536399, -269.3107047075655, -11.748240022665271, 1.6433584502357974, -0.0009206073338737654, 2.25703583257351 ], "joint_status_l": { "velocity": [ 0.6398351079721643, -0.19631509438156058, 0.00426536600278693, -0.09129670505370058, -0.9923424898304889, -0.08506565913979358, 0.14098697534459248 ], "torque": [ -20.06103515625, 5.60302734375, -11.968994140625, -4.351806640625, -5.6817626953125, -2.2100830078125, 0.53558349609375 ] }, "joint_status_r": { "velocity": [ 0.8405096384733746, -3.272336861393832, -0.20311363890535006, -0.673208536202452, -0.08009986873336317, -1.112688739323353, 0.12648188142261318 ], "torque": [ 41.43310546875, 2.18994140625, 8.06884765625, -5.438232421875, 3.3709716796875, 1.761474609375, -0.63812255859375 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.3, -9.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.9, -16.3, -9.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.2, 1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.2, 1.4, 1.1, 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": -93, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4261338126988521, -0.7622827969712808, -0.0669446696161881, -0.6332632408146838, -0.12253813707069881, -1.0168128813758206, 0.5528600308395818 ], "act_joint_pos_r": [ -0.5073831510473825, -0.9121563326317887, 0.13820363333546343, -0.8673306404770669, 0.3351800256796808, 0.5840034044320909, -0.6382827356707057 ], "act_eef_pose_l": [ 555.0174875079823, 354.49429076978356, 16.063631447888, 1.6900225046498765, -0.17700238104059227, 0.7179239312639821 ], "act_eef_pose_r": [ 589.0942644042035, -247.21954812687866, -7.278256653080234, 1.6303579552406018, -0.008357181912842529, 2.2855327612429868 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4202078222355505, -0.7589289833150136, -0.06706744655411494, -0.6347196404705836, -0.11089222109818027, -1.016749551647943, 0.5502042650680898 ], "joint_pos_r": [ -0.5176939649828987, -0.8810086816382177, 0.14024838965662104, -0.8679471490070979, 0.33840615181664285, 0.5889508133657362, -0.6428130311401403 ], "eef_pose_l": [ 555.0185245056657, 355.62968491169505, 17.78070706417529, 1.6960235259104928, -0.18490744447280047, 0.714678698118178 ], "eef_pose_r": [ 585.7270109150752, -266.0968485065297, -11.206628085623663, 1.641615311286299, -0.002116103775799054, 2.2610971154058843 ], "joint_status_l": { "velocity": [ 0.639988094596422, -0.36220119232321935, 0.013259518227504152, 0.15728652391988618, -1.2577218305094284, -0.006839408892567178, 0.2868142441867505 ], "torque": [ -19.4970703125, 5.35400390625, -12.6708984375, -0.9521484375, -5.830078125, -1.3641357421875, 0.57220458984375 ] }, "joint_status_r": { "velocity": [ 1.1135350630748775, -3.3638470959385103, -0.22082716973592653, 0.06658095754374926, -0.34841134694874043, -0.5343044063677027, 0.48925748082062626 ], "torque": [ 43.67431640625, 1.640625, 8.447265625, -3.253173828125, 1.688232421875, 1.7742919921875, 0.560302734375 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.6, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.6, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.2, 1.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.2, 1.9, 1.0, 0.2, 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": -57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4280672280692002, -0.7602267525165636, -0.06710649498997803, -0.6393718850339748, -0.12421754916806176, -1.0122965870323142, 0.5545157227037727 ], "act_joint_pos_r": [ -0.5072707915905905, -0.915057490686114, 0.13800848802015026, -0.8662573642669713, 0.3354986254917067, 0.5848232227197715, -0.6370271672188182 ], "act_eef_pose_l": [ 554.5166875079824, 354.14309076978356, 15.430831447887911, 1.6902635542707765, -0.17616795371794725, 0.7187303302862976 ], "act_eef_pose_r": [ 589.2438644042035, -245.69874812687868, -7.300656653080296, 1.6292675168094115, -0.010620497442496287, 2.287638345304728 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42147375921820673, -0.7592899559037698, -0.06706399939136809, -0.6351514534278255, -0.11314082655173946, -1.0162511174715974, 0.5508606597279682 ], "joint_pos_r": [ -0.5156064645950725, -0.8876375876690079, 0.1398126291411463, -0.8676879228388026, 0.33779757966751317, 0.5880592830413776, -0.6417438318982964 ], "eef_pose_l": [ 554.9629182886824, 355.3875012369814, 17.406666156851912, 1.6949812529244865, -0.18342183160368267, 0.7153406573730292 ], "eef_pose_r": [ 586.4688162990611, -262.11660861940766, -10.44863613314405, 1.6392106653550713, -0.003711044914677662, 2.266251978703246 ], "joint_status_l": { "velocity": [ 0.7120736344177203, -0.10117105030005291, -0.004589389293041535, -0.4557931705635454, -1.196250761032469, 0.42707669148978056, 0.39473515929522307 ], "torque": [ -21.0205078125, 5.76416015625, -13.311767578125, -4.4189453125, -6.0369873046875, -0.6829833984375, 0.47882080078125 ] }, "joint_status_r": { "velocity": [ 0.9002261337336392, -2.9612621880872325, -0.19484149452497768, 0.1544957691486104, -0.24827972836805046, -0.34948420724845164, 0.5093847618828917 ], "torque": [ 42.2900390625, 1.54541015625, 8.099365234375, -2.874755859375, 1.45751953125, 1.6717529296875, 0.4888916015625 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.4, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.4, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.4, 0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.4, 0.8, 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": -53, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4293373884333276, -0.7588528512814243, -0.06716239774854753, -0.6402817678735561, -0.12377369995066077, -1.010331035347313, 0.5543369488986671 ], "act_joint_pos_r": [ -0.5067992205868581, -0.9191266035647159, 0.13774756617774375, -0.8654282017079615, 0.3327491362166532, 0.5861109063320671, -0.6331927584625368 ], "act_eef_pose_l": [ 554.2502875079823, 354.87349076978353, 14.654031447887817, 1.6923076131417887, -0.17564057773660696, 0.7204638284161 ], "act_eef_pose_r": [ 589.2478644042035, -243.1475481268787, -7.331056653080168, 1.6285760586536895, -0.013221032570189724, 2.292403033074411 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42237848822742385, -0.7593281755153644, -0.06707260325694885, -0.6357361925602095, -0.11451094216796265, -1.0156385429708408, 0.5513108885312088 ], "joint_pos_r": [ -0.5148766416687378, -0.8901125665556937, 0.13964998442153792, -0.8675406063208005, 0.3375190503614463, 0.5878193246442415, -0.6412256614845385 ], "eef_pose_l": [ 554.892148941691, 355.2721502071885, 17.11322605513419, 1.6944987059496546, -0.182481686181516, 0.7158668845532704 ], "eef_pose_r": [ 586.7242432005722, -260.6338761765763, -10.18977564919146, 1.638335606797676, -0.004401212080965536, 2.2682198907722735 ], "joint_status_l": { "velocity": [ 0.7515390567776059, 0.0513335032650275, -0.009697519079587824, -0.49090765529413716, -1.000348336834156, 0.5731939178907908, 0.3268048810904922 ], "torque": [ -20.85205078125, 8.02734375, -13.665771484375, -4.72412109375, -5.80810546875, -0.6298828125, 0.5126953125 ] }, "joint_status_r": { "velocity": [ 0.8723357486757344, -3.133423581585859, -0.20545511075509282, 0.22813296976487152, -0.5151355345276443, -0.18450373606881953, 0.8675279400076619 ], "torque": [ 43.4326171875, 2.900390625, 8.154296875, -2.337646484375, 1.3641357421875, 1.4337158203125, 0.574951171875 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.3, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.3, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.1, 1.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -17.1, 1.0, 1.1, 0.2, 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": [ 0.4309876693393318, -0.7542402355806055, -0.06742732852583753, -0.6478449563916806, -0.1264714810320823, -1.0059127289908454, 0.5562718955813077 ], "act_joint_pos_r": [ -0.5048039846522152, -0.92303855658138, 0.13741991254796082, -0.8602566970892938, 0.3150971243105461, 0.5965651240190665, -0.6198819798857371 ], "act_eef_pose_l": [ 553.4198875079824, 355.51429076978354, 14.60203144788791, 1.691779026659416, -0.17520559921725357, 0.7226656253979714 ], "act_eef_pose_r": [ 588.5710644042035, -240.43394812687868, -7.224656653080274, 1.6296146541884997, -0.011560522129115791, 2.305563102955454 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4238129665347409, -0.7589057439531965, -0.06710867971764138, -0.6371407939568032, -0.11645646157641734, -1.0143166596186965, 0.5520224391832909 ], "joint_pos_r": [ -0.5131364580545595, -0.8961741505874466, 0.1392483984946575, -0.866815320334967, 0.3355341418868621, 0.5880832812439917, -0.6388368859913339 ], "eef_pose_l": [ 554.7126979745768, 355.24203810780097, 16.645362310239136, 1.6940341635388876, -0.18116436817071377, 0.716892965229312 ], "eef_pose_r": [ 587.2315493178609, -256.9635814207649, -9.629773997353396, 1.636423563294184, -0.006125721643079214, 2.2738270565465033 ], "joint_status_l": { "velocity": [ 0.7748450500626447, 0.5038600436826357, -0.034413056326343394, -1.156015448113834, -1.0815902014139622, 0.9075977396433288, 0.4589277556350524 ], "torque": [ -21.46728515625, 10.94970703125, -14.56298828125, -3.7841796875, -5.7550048828125, -0.6207275390625, 0.55206298828125 ] }, "joint_status_r": { "velocity": [ 0.899880586894497, -2.9012702789517064, -0.19747065815756137, 0.7083104200331647, -2.2071328023396397, 0.9160120033779862, 2.047069484317099 ], "torque": [ 43.02978515625, 1.904296875, 7.958984375, -1.20849609375, 0.205078125, 3.1842041015625, 0.70587158203125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.3, 2.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.5, -17.3, 2.1, 1.1, 0.1, 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": -41, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43246896255780803, -0.7490772227925463, -0.06776546853603674, -0.6584966493273662, -0.12793316114741166, -0.999141610285713, 0.5594997465012107 ], "act_joint_pos_r": [ -0.5053045385141464, -0.9211900025812714, 0.13758079754070807, -0.8625150523999651, 0.3081900299641047, 0.5958869591189508, -0.6167243772238963 ], "act_eef_pose_l": [ 552.4990875079823, 355.6302907697835, 14.50443144788808, 1.6922063299756849, -0.17650913850655606, 0.7239097786463997 ], "act_eef_pose_r": [ 587.8342644042035, -240.54034812687868, -7.9094566530802695, 1.6331731687806963, -0.00931642696077161, 2.307778807435662 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42536248896346995, -0.7575953221894339, -0.06719713540983553, -0.6400612364243494, -0.11857571236039176, -1.0121385533624172, 0.5531096709591894 ], "joint_pos_r": [ -0.511583289356689, -0.9011713552731078, 0.13890981080290518, -0.8656746545863516, 0.3313675191325187, 0.5896568879533605, -0.6351150655703679 ], "eef_pose_l": [ 554.3893984418968, 355.3050773706874, 16.22757260861377, 1.6935941702079587, -0.18007181659287813, 0.7181429078409074 ], "eef_pose_r": [ 587.4838915477504, -253.84266651611003, -9.216107031103292, 1.635265893174337, -0.0070930974163160776, 2.2799119541818373 ], "joint_status_l": { "velocity": [ 0.767476512678833, 0.9199276030500414, -0.06137816737744606, -1.9909658731256386, -1.010574663691588, 1.403628454475836, 0.6901078048962006 ], "torque": [ -24.2724609375, 11.14013671875, -13.28125, -3.82080078125, -6.1834716796875, -1.0675048828125, 0.61798095703125 ] }, "joint_status_r": { "velocity": [ 0.6780850919438919, -2.161950145969982, -0.14352919914994988, 0.34122697217853215, -2.503095005347955, 0.6728278418863809, 1.986135763475616 ], "torque": [ 41.54296875, 2.0361328125, 7.733154296875, -1.055908203125, 0.487060546875, 3.6895751953125, 0.53192138671875 ] }, "eef_FT_l": { "raw_value": [ -2.4, -17.3, -9.3, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.3, -9.3, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -16.8, 1.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -16.8, 1.1, 1.0, 0.2, 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": -59, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4334298020044542, -0.7529176485967524, -0.06751559648782571, -0.6506468365151348, -0.13135663217876012, -1.0018412129882768, 0.5601913890574777 ], "act_joint_pos_r": [ -0.5068500093113619, -0.9184580996833159, 0.13785602683620604, -0.8683542444863358, 0.31120217683576623, 0.5908881222292865, -0.6189616433854072 ], "act_eef_pose_l": [ 553.3326875079823, 355.96549076978357, 13.977231447888087, 1.6905780523199059, -0.1751250196594986, 0.72662744527785 ], "act_eef_pose_r": [ 587.2438644042035, -240.89314812687869, -8.354256653080256, 1.6344575182998844, -0.010677899522031126, 2.305523797606739 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42657294749840274, -0.7563636073137412, -0.06727959563463946, -0.6427472718982192, -0.12026434707609712, -1.0101204475427867, 0.5541905374121151 ], "joint_pos_r": [ -0.5104419481294246, -0.9048750588512406, 0.13866669445105786, -0.8652495687240366, 0.3270749416306044, 0.5906871881374626, -0.6317045199031774 ], "eef_pose_l": [ 554.11810207225, 355.37341020454795, 15.921285956112854, 1.6932792146973406, -0.17943563290962047, 0.71921009472402 ], "eef_pose_r": [ 587.552677753703, -251.33523473118822, -8.987541396486591, 1.6348878221692487, -0.007576419056079184, 2.285112575617599 ], "joint_status_l": { "velocity": [ 0.7405184462290215, 0.3721525653821445, -0.025487340435170758, -0.8531278169670031, -1.1979314599877, 0.8941309609040715, 0.6480728638114108 ], "torque": [ -25.3857421875, 11.3525390625, -8.82568359375, -3.961181640625, -5.77880859375, -0.8843994140625, 0.54290771484375 ] }, "joint_status_r": { "velocity": [ 0.3879179513228692, -1.4669251452188448, -0.08754952026890361, -0.33529509332730356, -1.714208039979237, 0.021700241902955497, 1.3761900753630485 ], "torque": [ 41.53564453125, 2.14599609375, 7.769775390625, -1.59912109375, 0.714111328125, 3.87451171875, 0.6463623046875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.7, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.7, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -16.9, 0.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -16.9, 0.7, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 202, "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": [ 0.4332347144704869, -0.7547856484220319, -0.0674328690522494, -0.6490653788249761, -0.13123455675686074, -1.0004924453229789, 0.5607873268234156 ], "act_joint_pos_r": [ -0.5078344531063976, -0.920303501590422, 0.13773544246654965, -0.8679304498735865, 0.31123373889879474, 0.5903061683869975, -0.6205954373393328 ], "act_eef_pose_l": [ 553.9062875079824, 355.6182907697836, 13.745231447887889, 1.6910559922336896, -0.17586460135473284, 0.7274152723771502 ], "act_eef_pose_r": [ 587.1558644042035, -239.96274812687867, -9.102256653080303, 1.6351736983962664, -0.010257405342977846, 2.306415571044323 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42776071175461877, -0.7559897413871295, -0.06731089711609337, -0.6439446833210944, -0.12221017218069458, -1.0084866352536108, 0.5553266395323627 ], "joint_pos_r": [ -0.5098640689665126, -0.9073838905712519, 0.138516354469659, -0.8657738748858457, 0.3242703374374843, 0.5906888977613595, -0.6295464116214319 ], "eef_pose_l": [ 554.0531950679401, 355.4330498911503, 15.55009147373434, 1.6928473173004954, -0.17877471423482147, 0.7206197462260019 ], "eef_pose_r": [ 587.5047653834687, -249.43206769939596, -8.924213449315545, 1.634853407438393, -0.008115101802897507, 2.288776098664417 ], "joint_status_l": { "velocity": [ 0.5911748575435638, 0.13003820495960383, -0.013172580600351314, -0.5530188040010486, -0.9746047897940535, 0.8633470494485707, 0.5897368340757048 ], "torque": [ -24.89501953125, 10.99365234375, -9.149169921875, -4.437255859375, -5.7476806640625, -0.7635498046875, 0.552978515625 ] }, "joint_status_r": { "velocity": [ 0.21919204816889248, -1.395276838579207, -0.08433600897828075, -0.23290322956182052, -1.4079111180600457, -0.04133355336310984, 0.9666767118607922 ], "torque": [ 43.388671875, 0.4541015625, 7.75146484375, -5.1513671875, 0.8258056640625, 3.1219482421875, 0.51727294921875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.5, -8.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.9, -16.5, -8.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.5, 0.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.5, 0.9, 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": -89, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43246898582625704, -0.7503075464308104, -0.06787152819347192, -0.6670272403106785, -0.12887446061910787, -0.9879092076247015, 0.5628662862586771 ], "act_joint_pos_r": [ -0.5082049530141957, -0.921960013902738, 0.1376666158442623, -0.8699854532368325, 0.3080430202078612, 0.5918929376806451, -0.6205573434297821 ], "act_eef_pose_l": [ 553.3574875079823, 353.33669076978356, 14.266831447887924, 1.6926303512208243, -0.17840198068127858, 0.7251415705461491 ], "act_eef_pose_r": [ 586.4358644042035, -237.82594812687867, -9.218256653080289, 1.6347336791803684, -0.009107646101670122, 2.3122478350686713 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42850523148810765, -0.7553016443195879, -0.06737891139265792, -0.6467488468999479, -0.12331370950630105, -1.0058532284334993, 0.5563901406841322 ], "joint_pos_r": [ -0.5095928350999959, -0.9095097893761911, 0.13839097001067568, -0.8663056336989052, 0.32197408035329045, 0.5907886296524995, -0.6281839086878417 ], "eef_pose_l": [ 553.9733253068085, 355.2042833085023, 15.335403015364278, 1.6927402941645393, -0.1786288998617317, 0.7213967533293442 ], "eef_pose_r": [ 587.391174426787, -247.77928761593668, -8.967480336947972, 1.634860907001236, -0.008336388738737092, 2.292035686863077 ], "joint_status_l": { "velocity": [ 0.42807284318602257, 0.5393466648087042, -0.05320104540690318, -2.1900018977056845, -0.6005434081020056, 1.9378970921311023, 0.6994030942588658 ], "torque": [ -23.43017578125, 11.71142578125, -8.544921875, -4.730224609375, -5.6982421875, -0.78369140625, 0.54840087890625 ] }, "joint_status_r": { "velocity": [ 0.14988684459060764, -1.3445845924637823, -0.07822794276279854, -0.3974087891505107, -1.5045101225523716, 0.11926174960219527, 0.8236447557665727 ], "torque": [ 43.36669921875, 2.74658203125, 7.9345703125, -5.2490234375, 0.7012939453125, 3.8800048828125, 0.5621337890625 ] }, "eef_FT_l": { "raw_value": [ -1.7, -15.9, -7.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -15.9, -7.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.2, 0.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -17.2, 0.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -72, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.430753559208944, -0.7512278846043807, -0.06776656130057325, -0.6624486040727143, -0.12735991821586282, -0.9906514946355205, 0.5619077521866467 ], "act_joint_pos_r": [ -0.5079606447115497, -0.9238961435973353, 0.13747546825933796, -0.8657112057275723, 0.30676387246488496, 0.5933620344062308, -0.6182805591164449 ], "act_eef_pose_l": [ 553.8046875079824, 354.0502907697836, 14.836431447887733, 1.6928635523689102, -0.17989773198101147, 0.7254991973724934 ], "act_eef_pose_r": [ 586.9422644042035, -237.92514812687867, -9.58785665308028, 1.6353345414908267, -0.009959135592175372, 2.3116637470930543 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4289019252778151, -0.754765236723643, -0.06743140421959855, -0.6489020953904681, -0.12389653693895453, -1.003909243724104, 0.557092660339096 ], "joint_pos_r": [ -0.5093231457044495, -0.9119036712740878, 0.13824388557111658, -0.8665311178339994, 0.31938372111167634, 0.5911300045995441, -0.6266090070203005 ], "eef_pose_l": [ 553.9198812378116, 355.01514746107455, 15.231683037928065, 1.6927275600484033, -0.17865311194280664, 0.7218315327440508 ], "eef_pose_r": [ 587.2829073478648, -246.02709854702573, -9.052491600408842, 1.63489842222049, -0.008565642230765577, 2.2955524278479746 ], "joint_status_l": { "velocity": [ 0.19997056674503355, 0.38202276172150107, -0.036195897204327476, -1.4629797893999097, -0.374034146358615, 1.431794673040443, 0.5200145825248192 ], "torque": [ -23.81103515625, 11.9970703125, -8.709716796875, -4.071044921875, -5.8612060546875, -0.5694580078125, 0.494384765625 ] }, "joint_status_r": { "velocity": [ 0.14714576740093577, -1.295148812538116, -0.08298662211259078, 0.08854789591428158, -1.3629034571649434, 0.24105210966940405, 0.8994458458788657 ], "torque": [ 42.86865234375, 1.5087890625, 7.666015625, -2.392578125, 0.4705810546875, 4.010009765625, 0.4541015625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.7, -8.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.7, -8.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.1, 0.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.1, 0.2, 1.0, 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": -99, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4317258389774148, -0.7491666276143971, -0.06784446448335184, -0.6632296128546668, -0.1287073199210461, -0.9912565337651492, 0.5623177708187285 ], "act_joint_pos_r": [ -0.5086396647920526, -0.9263653957951687, 0.13728455366496395, -0.8633622540993638, 0.30856277924100795, 0.5933446205834034, -0.6181014924461337 ], "act_eef_pose_l": [ 553.2966875079824, 354.9374907697836, 14.736431447887824, 1.69255545895768, -0.17927342118014186, 0.7266226336630652 ], "act_eef_pose_r": [ 587.2470644042035, -237.31234812687867, -10.175056653080219, 1.635236877304012, -0.012374783474113311, 2.3110571477991204 ], "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.npz" }, "states": { "joint_pos_l": [ 0.429379739775708, -0.7538349171800867, -0.06750946742025413, -0.6518539310658704, -0.12474979415906577, -1.001137941938043, 0.5581532592731201 ], "joint_pos_r": [ -0.5091435555038919, -0.9146584046741264, 0.13806283102215652, -0.8660397309193428, 0.31709612704705287, 0.5915764096805797, -0.6249093975042919 ], "eef_pose_l": [ 553.854116136834, 354.8863724989816, 15.139074522721927, 1.6927231200969242, -0.17886959639038455, 0.7227108326694941 ], "eef_pose_r": [ 587.265429322205, -244.20858435015128, -9.259220108350661, 1.6349767946450502, -0.00923405363595568, 2.298891248304551 ], "joint_status_l": { "velocity": [ 0.2533712409991118, 0.5041604036781777, -0.03617861578325554, -1.2285373994158633, -0.42740017679943065, 1.0671606084526886, 0.4497539821408658 ], "torque": [ -23.79638671875, 12.4365234375, -9.515380859375, -3.89404296875, -5.6982421875, -0.8074951171875, 0.4486083984375 ] }, "joint_status_r": { "velocity": [ 0.05441859188826115, -1.264317752013966, -0.08405147561107995, 0.2891589682700868, -0.9215743826693767, 0.1909611454067317, 0.7352320617712849 ], "torque": [ 39.3310546875, 1.7431640625, 7.794189453125, -1.67236328125, 0.7122802734375, 3.9697265625, 0.68023681640625 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.5, -8.7, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.0, -16.5, -8.7, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.1, 0.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.1, 0.7, 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": -68, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4317924623483521, -0.7541074570195636, -0.06746645143363529, -0.6497796437388696, -0.1270527380380737, -0.9992972329444125, 0.5604886607876074 ], "act_joint_pos_r": [ -0.5073953482680365, -0.9298781337351902, 0.13696334244245906, -0.8568469578331137, 0.3051055459851528, 0.5971770743844032, -0.6134722704264916 ], "act_eef_pose_l": [ 553.9670875079823, 355.79589076978357, 13.883631447887936, 1.6938501546826703, -0.1788239453799688, 0.7264511406510756 ], "act_eef_pose_r": [ 587.9726644042034, -236.83794812687867, -10.186256653080136, 1.6351070247700368, -0.013306074898637544, 2.3124714909730484 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4298563066645523, -0.7532524408517478, -0.0675495745985953, -0.6531716334161918, -0.1254262913859212, -0.9997306964199595, 0.5588587942636456 ], "joint_pos_r": [ -0.5091002784175137, -0.9156638696570469, 0.1379959880031804, -0.8658097735240362, 0.31636323314482395, 0.5917282739919834, -0.6243246947337631 ], "eef_pose_l": [ 553.7915325262146, 354.95874285857525, 14.996686115730768, 1.6927789939916913, -0.178920414986871, 0.72348588423302 ], "eef_pose_r": [ 587.2663963933841, -243.7114399932644, -9.3262395260723, 1.6349958499105333, -0.009461672117858005, 2.299768340074318 ], "joint_status_l": { "velocity": [ 0.20909864681506463, -0.09233902273031447, 0.008977037052160242, 0.36632408099990243, -0.17565105788142077, 0.04681267469397454, 0.17602039314379425 ], "torque": [ -23.63525390625, 6.7529296875, -10.21728515625, -0.7080078125, -5.606689453125, -1.5380859375, 0.46875 ] }, "joint_status_r": { "velocity": [ 0.04974480440544937, -1.1557307364613578, -0.07683264246971522, 0.26432430203637836, -0.8424241756390671, 0.1745602834928306, 0.6720860249469496 ], "torque": [ 40.02685546875, 2.0947265625, 7.8369140625, -1.556396484375, 0.7232666015625, 4.010009765625, 0.64910888671875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.5, -6.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.5, -6.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.2, 0.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.2, 0.6, 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": -95, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43126081341044786, -0.7573472180056283, -0.06723779061784523, -0.6419372404103264, -0.1254945363619457, -1.0028144437842283, 0.558117884288632 ], "act_joint_pos_r": [ -0.5072221680155216, -0.9328584434840818, 0.13676577850498356, -0.8558316743217672, 0.30321363708614557, 0.5995499305551076, -0.6109692460446594 ], "act_eef_pose_l": [ 554.6262875079824, 356.22149076978354, 13.501231447887974, 1.6950169142268443, -0.17799179902339757, 0.7269641576723951 ], "act_eef_pose_r": [ 587.8278644042034, -234.94594812687868, -10.176656653080272, 1.6340155769198375, -0.015100818947161357, 2.3167317287758156 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43015125860752684, -0.7535352491710003, -0.06752586976538612, -0.6522696710289427, -0.1256252559275002, -0.9998138666396601, 0.5590226434280967 ], "joint_pos_r": [ -0.5087548714602665, -0.9185664051242369, 0.13778540455750352, -0.8639924116355462, 0.3140713866696415, 0.5928591903128212, -0.6221052619312135 ], "eef_pose_l": [ 553.8499582972219, 355.1150642128967, 14.79682350871144, 1.693005763294495, -0.1788671476660563, 0.7239960460678322 ], "eef_pose_r": [ 587.4128548160724, -242.30284238592364, -9.50060812965637, 1.634994342592301, -0.01026282739523623, 2.3023833866954844 ], "joint_status_l": { "velocity": [ 0.11982838456603417, -0.4116804922729145, 0.031111630345914687, 1.1158695959965215, 0.014117296712523597, -0.32405277418767753, -0.09771110522738269 ], "torque": [ -23.35693359375, 6.37939453125, -11.053466796875, 0.689697265625, -5.56640625, -1.614990234375, 0.51910400390625 ] }, "joint_status_r": { "velocity": [ 0.16552709007244815, -1.5434946199226474, -0.1101163659635862, 0.8813336363422408, -1.1726023709592859, 0.722578634849036, 1.2026542453567046 ], "torque": [ 42.451171875, 1.7431640625, 7.843017578125, -1.55029296875, 0.6610107421875, 4.03564453125, 0.81207275390625 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.6, -8.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.8, -16.6, -8.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.2, 0.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.2, 0.6, 1.1, 0.2, 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": -93, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43231971843699263, -0.7572102008283971, -0.06725206213725517, -0.642543521079364, -0.12832240779319543, -0.9999165714128467, 0.5596948596679979 ], "act_joint_pos_r": [ -0.5084428241999412, -0.9320588276757302, 0.13684471276534546, -0.8575299644357864, 0.3075444883468603, 0.5979839720158016, -0.6142171264450306 ], "act_eef_pose_l": [ 554.8854875079824, 356.55589076978356, 13.190031447887876, 1.694428797025419, -0.17762454905551608, 0.7301759145039886 ], "act_eef_pose_r": [ 587.6654644042035, -235.22434812687868, -10.453456653080366, 1.6334394547773023, -0.016198186730916827, 2.314831852719316 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4303786640313298, -0.7542051967107253, -0.06747535581325291, -0.6504606894746588, -0.12568553672975788, -1.0002589364765, 0.5589091789592379 ], "joint_pos_r": [ -0.5084651336780023, -0.9212681303096294, 0.1375926574267992, -0.8624497296907528, 0.31201886940318624, 0.5941239883049884, -0.6200001420156268 ], "eef_pose_l": [ 553.9960649998833, 355.32073412637, 14.55832541505788, 1.6933434353258174, -0.1787003708352578, 0.7246156746830511 ], "eef_pose_r": [ 587.4981877057971, -240.91328210200663, -9.629915943281873, 1.6348023188031011, -0.01117921446093855, 2.3050919761918145 ], "joint_status_l": { "velocity": [ 0.20962769317289798, -0.3245308731818497, 0.024115005773706066, 0.8550289689601698, -0.28477367590051816, 0.03697433637483982, 0.08485101399902106 ], "torque": [ -23.53271484375, 5.00244140625, -11.3525390625, 0.79345703125, -4.6435546875, -2.7484130859375, -0.30487060546875 ] }, "joint_status_r": { "velocity": [ 0.13423633245945865, -1.2517169054238053, -0.08930028978482163, 0.7147289000490886, -0.9509370438514075, 0.5859844803248748, 0.9753079996928093 ], "torque": [ 43.14697265625, 2.607421875, 8.062744140625, -1.617431640625, 0.8367919921875, 4.156494140625, 0.69305419921875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.3, -8.7, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.1, -16.3, -8.7, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.0, 0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.0, 0.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 196, "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": [ 0.4355707483053271, -0.7472519563271327, -0.0679360834303745, -0.6650370244191699, -0.13556817208923982, -0.9817336201419239, 0.565747625271174 ], "act_joint_pos_r": [ -0.5083242046324385, -0.9322238559580458, 0.13654355937496457, -0.8396895372346721, 0.3212194212593809, 0.604583512682368, -0.6200811110327642 ], "act_eef_pose_l": [ 553.7678875079823, 356.89989076978355, 13.19883144788794, 1.6933814532493858, -0.1775785375094166, 0.7375012796134798 ], "act_eef_pose_r": [ 590.4046644042035, -241.44594812687868, -10.481456653080386, 1.6298170573629562, -0.017483122863178727, 2.2994150039061783 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4310646197121814, -0.7535754889484895, -0.06751583426821364, -0.6516973743367689, -0.12693665853529743, -0.9981508376990965, 0.5597213523631204 ], "joint_pos_r": [ -0.5084540234018428, -0.9233175619788055, 0.13743376819386202, -0.8604830082442596, 0.3119676928922315, 0.5952371662416422, -0.6192476925289586 ], "eef_pose_l": [ 554.019262452493, 355.5620404516197, 14.33587843857157, 1.6933887594426351, -0.1785260837757397, 0.7263591471563462 ], "eef_pose_r": [ 587.6932323463998, -240.19957081413918, -9.78956252672046, 1.634336908285544, -0.012207730219381334, 2.3060367919601483 ], "joint_status_l": { "velocity": [ 0.4866475351574806, 0.6829213814176782, -0.04538557093747286, -1.4406397195019238, -0.9321759707651145, 1.7730072041235445, 0.6508182792099859 ], "torque": [ -23.76708984375, 11.015625, -11.87744140625, -3.2470703125, -5.7275390625, -0.85693359375, 0.5401611328125 ] }, "joint_status_r": { "velocity": [ 0.014020013597626502, -0.9618513814677598, -0.09613971695165979, 2.245628637759012, 0.9991571950855871, 1.009375645654842, -0.09000654381008388 ], "torque": [ 40.5322265625, 1.14990234375, 8.697509765625, 1.385498046875, 2.74658203125, 4.60693359375, 0.7379150390625 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.5, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.9, -16.5, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.3, -0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.3, -0.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 183, "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": [ 0.43843320229963245, -0.7345699229548012, -0.06884214134306196, -0.6939297793593643, -0.14653191170347624, -0.9620467727400921, 0.5738308444217636 ], "act_joint_pos_r": [ -0.5147242905319325, -0.9080379776925205, 0.13838294289842312, -0.8600192161689711, 0.35533746764831825, 0.5896398217469876, -0.657208023482402 ], "act_eef_pose_l": [ 552.1494875079824, 356.79589076978357, 14.469231447887822, 1.6886429374639158, -0.1773087863293013, 0.7446297595510977 ], "act_eef_pose_r": [ 588.8646644042035, -252.77874812687867, -9.828656653080316, 1.6273548381549183, -0.007607700281012697, 2.273069332000902 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43169878527807626, -0.7523050957362912, -0.06760303850480713, -0.6544712475177611, -0.12839204599277007, -0.9954338853721817, 0.5607562825759969 ], "joint_pos_r": [ -0.5092376201637628, -0.9218443237318045, 0.13750817405990517, -0.8593685287975258, 0.3179030910212247, 0.5950064492822538, -0.6240738451676344 ], "eef_pose_l": [ 553.9261170475969, 355.7092218787661, 14.26542109670973, 1.6931516422871857, -0.17842945768948612, 0.7279343832122537 ], "eef_pose_r": [ 587.9924443325252, -241.83827658596942, -9.82645485776365, 1.6331839751169817, -0.011905251262436594, 2.3015689172982072 ], "joint_status_l": { "velocity": [ 0.7272955878909748, 1.9153421704034557, -0.13381915974636227, -4.261395755743358, -1.959047717732254, 3.6057018197750423, 1.4120110343034398 ], "torque": [ -23.92822265625, 11.24267578125, -12.97607421875, -3.6376953125, -5.7586669921875, -0.9027099609375, 0.60333251953125 ] }, "joint_status_r": { "velocity": [ -0.592542923642636, 1.491041396326942, 0.09447224824987721, -0.07027216354948962, 4.042793439907211, -0.5795786800497638, -3.5783857191491464 ], "torque": [ 29.47998046875, 8.4375, 13.4033203125, -4.1259765625, 3.4735107421875, 2.508544921875, -0.52734375 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.7, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -16.7, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -16.1, 1.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -16.1, 1.9, 1.0, 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": -74, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4393191705441452, -0.7366538793890113, -0.06869228941978539, -0.6891575949404187, -0.15185990174168973, -0.963560333391465, 0.5762029118127262 ], "act_joint_pos_r": [ -0.515771504229638, -0.894694518483746, 0.13933688295842708, -0.8652431479133356, 0.3688142913248877, 0.5823430221878066, -0.6691540313342245 ], "act_eef_pose_l": [ 552.7854875079823, 357.28709076978356, 14.46683144788797, 1.68553167178309, -0.1765630980405466, 0.7480301358344709 ], "act_eef_pose_r": [ 588.9798644042035, -260.8547481268787, -9.067056653080272, 1.6283551579025068, -0.003338395556263694, 2.2555191753783266 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43303571966060006, -0.7491027473797999, -0.06782647030031833, -0.6615862902802248, -0.13220531061926966, -0.9892316134913691, 0.5633988897638863 ], "joint_pos_r": [ -0.5102577737344548, -0.9180689112214713, 0.13775962726695642, -0.8600649819736328, 0.3255778907895925, 0.5933008092802868, -0.630868970808582 ], "eef_pose_l": [ 553.6517964855318, 355.9518980520735, 14.30986806352675, 1.6919987530347222, -0.17823007873142377, 0.7313463341895916 ], "eef_pose_r": [ 588.1797676500235, -244.5359750384086, -9.736813240870276, 1.6322624573383862, -0.010725426121806145, 2.2949205446620042 ], "joint_status_l": { "velocity": [ 0.6785926814014687, 1.3444380909231057, -0.0935057070989842, -2.97761308329747, -2.122633237500393, 2.7724164827374054, 1.3827935979575656 ], "torque": [ -23.92822265625, 12.41455078125, -13.916015625, -3.961181640625, -5.60302734375, -0.5694580078125, 0.6060791015625 ] }, "joint_status_r": { "velocity": [ -0.5954653311683877, 2.5243599636572966, 0.17033859081061475, -0.559225428015786, 4.669393541410827, -1.1834061032907073, -4.13466459135492 ], "torque": [ 29.296875, 12.9345703125, 14.78271484375, -4.3212890625, 3.80859375, 2.0123291015625, -0.750732421875 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.9, -7.9, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.9, -7.9, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.6, 2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.6, 2.2, 1.1, 0.3, 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": -51, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4414208804920943, -0.7391626145370263, -0.06857103264027367, -0.6866811802253326, -0.15772645167462035, -0.9620653327306871, 0.5785529400340197 ], "act_joint_pos_r": [ -0.5188287867207304, -0.8605234382805875, 0.14171593607395164, -0.8693399914111988, 0.3749684165675267, 0.6016270366211237, -0.6794327556845123 ], "act_eef_pose_l": [ 553.4150875079823, 357.11749076978356, 13.75723144788806, 1.6831661109451095, -0.17428495138452965, 0.7517731228405756 ], "act_eef_pose_r": [ 585.1766644042035, -278.61954812687867, -5.888656653080261, 1.623094169869581, 0.011024788610000568, 2.241841617333667 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43445075863721677, -0.7467803622564207, -0.06799182992581582, -0.6669518872071794, -0.13658052473337892, -0.9839617352847819, 0.5661430160531596 ], "joint_pos_r": [ -0.5118569115120911, -0.9083413388132835, 0.1384262071335006, -0.8617371645659327, 0.33564062813980383, 0.5936478962702736, -0.6404506489069192 ], "eef_pose_l": [ 553.5331280073174, 356.2055908195837, 14.298697715796294, 1.6904565415038073, -0.177792771428361, 0.7349763331094413 ], "eef_pose_r": [ 587.9191466557121, -250.48252671133693, -9.204277364692956, 1.6306960823354317, -0.0072549134805697385, 2.284682343798804 ], "joint_status_l": { "velocity": [ 0.7527509591236381, 0.8226924896765908, -0.0625520482873676, -2.1307008042992237, -2.2836927557364772, 2.3647417315135755, 1.340232261894947 ], "torque": [ -23.31298828125, 11.4111328125, -14.068603515625, -3.40576171875, -5.5810546875, -0.6646728515625, 0.66925048828125 ] }, "joint_status_r": { "velocity": [ -0.752940315745132, 5.164180948156627, 0.3552802471378236, -0.8210810827966597, 4.2472758834875, 0.8617217427673296, -4.209943366337399 ], "torque": [ 27.97119140625, 11.6748046875, 14.48974609375, -4.364013671875, 3.4954833984375, 3.27392578125, -0.81207275390625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.3, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.3, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -16.5, 1.6, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.8, -16.5, 1.6, 1.0, 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": -87, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4398012057268803, -0.748695301277896, -0.06792383436603802, -0.6665163886628301, -0.15155159944313606, -0.9738931684092998, 0.5718555021967706 ], "act_joint_pos_r": [ -0.526362345900107, -0.8104362444588615, 0.14637466910066924, -0.910695878914654, 0.37775451364774965, 0.5931821577101072, -0.6999046837403776 ], "act_eef_pose_l": [ 554.8782875079823, 357.0774907697836, 12.722031447887801, 1.6859641780718542, -0.17254910311030425, 0.7486724282198797 ], "act_eef_pose_r": [ 576.8158644042035, -295.4235481268787, -3.5870566530802535, 1.630224770974131, 0.03353658824759991, 2.2277500336890586 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4355890158261241, -0.7459874227964923, -0.06805662928236512, -0.6692684203698075, -0.1399604830530992, -0.9807775802214774, 0.567948008268724 ], "joint_pos_r": [ -0.5125676094944501, -0.9034904023161646, 0.13877795471785362, -0.863004489671997, 0.3390597170288599, 0.5942077412619273, -0.6441027751080358 ], "eef_pose_l": [ 553.6023599560622, 356.3612602068026, 14.149043103186784, 1.6892864500705032, -0.17710639801693875, 0.7377679524907871 ], "eef_pose_r": [ 587.6133084592418, -253.16245464851718, -8.920511578907337, 1.630159076540752, -0.005407681949851944, 2.2808092075555892 ], "joint_status_l": { "velocity": [ 0.4549030926321862, -0.2924422508678859, 0.014341427985564703, 0.29721065859344975, -1.251803650148764, 0.7434945475157662, 0.4219968980958555 ], "torque": [ -24.0380859375, 6.2109375, -9.43603515625, -1.30615234375, -5.3558349609375, -1.16455078125, 0.538330078125 ] }, "joint_status_r": { "velocity": [ -1.4897875928743254, 10.049552652877658, 0.8204209563213993, -5.150518131793902, 4.17891478433674, -0.11075975691277051, -6.0264283922881745 ], "torque": [ 27.34130859375, 6.474609375, 14.581298828125, -7.14111328125, 3.4039306640625, 4.2425537109375, -0.86334228515625 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.1, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.1, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.3, -0.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.3, -0.3, 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": -57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43642254232995914, -0.7642935975841447, -0.066870775698131, -0.6316059493729635, -0.1571314567667287, -0.9992500865037872, 0.57372097302683 ], "act_joint_pos_r": [ -0.5340875417156421, -0.7512757443316667, 0.15265196308830642, -0.9562926949830094, 0.32499005483715715, 0.6109408778661441, -0.6673493511680536 ], "act_eef_pose_l": [ 557.6574875079823, 357.35909076978356, 14.25483144788798, 1.6762786760709643, -0.17495039851366856, 0.7468702015503054 ], "act_eef_pose_r": [ 561.8510644042035, -309.2891481268787, -1.455056653080419, 1.6470025986848307, 0.04903191675778413, 2.2492889589304785 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4361854199984685, -0.7471510702883906, -0.06798691355231277, -0.667249031154457, -0.1422548837481286, -0.9806737003370903, 0.5687207929640737 ], "joint_pos_r": [ -0.5155693253535678, -0.8830340652500461, 0.14049064873625008, -0.8739391064416806, 0.34528461625315043, 0.5945252123074266, -0.6543636037730362 ], "eef_pose_l": [ 553.9540978459179, 356.4998150998607, 13.963445880657616, 1.6882683976325248, -0.17639956227486162, 0.739615087242195 ], "eef_pose_r": [ 585.2474791072966, -262.23095598626463, -7.956690770032878, 1.6306159558981792, 0.0026651412435089615, 2.2706867229847316 ], "joint_status_l": { "velocity": [ 0.025608456519776723, -1.8513383456353338, 0.12053933313405096, 3.849339302207433, -1.6066225012110191, -2.0061905365764687, 0.5400035202249853 ], "torque": [ -25.6494140625, 6.1962890625, -8.770751953125, -0.091552734375, -5.7183837890625, -1.3623046875, 0.54656982421875 ] }, "joint_status_r": { "velocity": [ -1.999908382959159, 14.22947898313609, 1.3133832138547685, -8.893925250158752, -2.1917479907758164, 1.7728395932330443, -1.40241935651364 ], "torque": [ 28.49853515625, 8.07861328125, 15.17333984375, -8.30078125, 3.18603515625, 3.006591796875, -0.8331298828125 ] }, "eef_FT_l": { "raw_value": [ -1.5, -17.1, -8.5, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.5, -17.1, -8.5, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.2, -18.0, 0.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.2, -18.0, 0.1, 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": -70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4336267691692442, -0.7666677497204343, -0.06675745963119116, -0.6288112692098802, -0.15561409551839375, -0.9998862207857956, 0.5755631608964581 ], "act_joint_pos_r": [ -0.54107453386891, -0.6957134968565837, 0.16001471997652011, -1.0075434290618233, 0.2906502715207769, 0.6229387001543215, -0.6501498883601302 ], "act_eef_pose_l": [ 558.5870875079822, 356.83349076978357, 15.301231447887929, 1.6755795636086463, -0.17944854233064017, 0.7460447529533959 ], "act_eef_pose_r": [ 547.4654644042034, -319.8683481268787, 3.160943346919794, 1.6558974142792104, 0.06317138828817274, 2.2680567303336496 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43591186228335466, -0.7504499192612892, -0.06777678409141866, -0.6606316750447667, -0.14471396359769195, -0.984029944771152, 0.5698127445158936 ], "joint_pos_r": [ -0.5190196463737883, -0.8581449015027571, 0.14291776032065195, -0.8904558214767965, 0.3399528075705201, 0.5979210620441594, -0.6554989429935552 ], "eef_pose_l": [ 554.7242067282685, 356.5967294682935, 14.123975955497627, 1.6860835579363953, -0.17661888477091608, 0.7407961672410234 ], "eef_pose_r": [ 580.9263640094283, -270.9595520675246, -6.882557690384175, 1.633555890413857, 0.010854012603970413, 2.26795719774861 ], "joint_status_l": { "velocity": [ -0.2467827778551701, -1.7514740326216582, 0.11008379495663911, 3.4365024759459573, -1.1771795283814779, -1.712427304237707, 0.6210266528983155 ], "torque": [ -34.29931640625, 4.78271484375, -7.049560546875, 0.13427734375, -5.4638671875, -3.4716796875, 0.5401611328125 ] }, "joint_status_r": { "velocity": [ -2.3818576003380443, 17.54207432596111, 1.846417185669802, -12.6450886722278, -5.324516855142125, 2.701825229822319, 0.5776808626238861 ], "torque": [ 27.07763671875, 18.28857421875, 16.375732421875, -13.96484375, -0.743408203125, 4.9749755859375, -0.64361572265625 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.7, -10.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -1.2, -16.7, -10.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -16.3, 1.9, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.7, -16.3, 1.9, 1.0, 0.1, 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": -106, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42807703435347894, -0.7705724735977839, -0.0665911643916463, -0.6251739177023221, -0.14678291643339847, -0.9968716539743065, 0.5731470655864058 ], "act_joint_pos_r": [ -0.5466796603095054, -0.6466042776868468, 0.16824490992055183, -1.0626304567771045, 0.2650739415670653, 0.6299109638037752, -0.6374177452889151 ], "act_eef_pose_l": [ 560.3758875079823, 355.95989076978356, 16.31643144788798, 1.6800116689562594, -0.18538924984359756, 0.7447270996560609 ], "act_eef_pose_r": [ 533.9134644042035, -325.70674812687867, 9.466543346919707, 1.6591544911271139, 0.07325032515613315, 2.2884035287385562 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43555194500568367, -0.7519579507446481, -0.06768433453596553, -0.6577914877151797, -0.1453897018379115, -0.9853028759355159, 0.5702353740032274 ], "joint_pos_r": [ -0.5234766509362628, -0.8245410051580271, 0.1467592640336982, -0.9166371372358744, 0.32869174986508437, 0.6030378884029308, -0.6532867799720701 ], "eef_pose_l": [ 555.1132399307965, 356.59397729933, 14.25075024267116, 1.6853159284645447, -0.17702861426144137, 0.7412050709801169 ], "eef_pose_r": [ 574.1933755254394, -280.84550873524046, -4.846378829588218, 1.6371921814501853, 0.020701784022075703, 2.269509141304064 ], "joint_status_l": { "velocity": [ -0.8072665413840774, -2.010309177237879, 0.11805889362559441, 3.5225936680429726, -0.15046273865126913, -1.249391179365844, 0.3144534166752422 ], "torque": [ -36.07177734375, 4.130859375, -7.147216796875, 1.019287109375, -5.6011962890625, -3.116455078125, 0.50628662109375 ] }, "joint_status_r": { "velocity": [ -2.5058511061821775, 19.216599803572265, 2.320381319791398, -15.766813493145904, -6.870520661010904, 2.902206547283903, 1.7138051997989123 ], "torque": [ 26.923828125, 13.4033203125, 16.69921875, -6.97021484375, 0.5218505859375, 4.1253662109375, 0.4852294921875 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.8, -8.2, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.8, -8.2, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.1, -2.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.3, -17.1, -2.5, 1.1, 0.1, 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": 20, "motor_current": -78, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4261183623835991, -0.7746501118753449, -0.06631272708440808, -0.6149697257402644, -0.14450342420154158, -1.003809960615957, 0.5725266687203038 ], "act_joint_pos_r": [ -0.5464632383033972, -0.6277819094755912, 0.17242041091196808, -1.0819213564594368, 0.2373255427430729, 0.6324974247580981, -0.6226556505976437 ], "act_eef_pose_l": [ 561.1318875079824, 356.24389076978355, 16.71083144788811, 1.6799714260027654, -0.1877264723608696, 0.7432362068077786 ], "act_eef_pose_r": [ 528.6246644042035, -327.8075481268787, 11.548143346919687, 1.6677062189613032, 0.08344752618411422, 2.3007465455328115 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4339350413782115, -0.7559379858518693, -0.06744833547816195, -0.6506396498682714, -0.14553739432554158, -0.9880323566697584, 0.5707848177322599 ], "joint_pos_r": [ -0.527835606180909, -0.7885323387856221, 0.15134705157671385, -0.9466663602181882, 0.31316872435409765, 0.6084438463316318, -0.6484265994937418 ], "eef_pose_l": [ 556.2265318739524, 356.4914864231673, 14.678335332248793, 1.684246442286575, -0.17884190101528913, 0.7418241111921434 ], "eef_pose_r": [ 566.4383718741659, -290.28355042300535, -2.2021921404167415, 1.6415807270322387, 0.03150440584121112, 2.274122357244554 ], "joint_status_l": { "velocity": [ -0.8441764337652202, -2.0208500087495196, 0.12264208939039012, 3.852238190132695, 0.1116654799948602, -1.703930971431511, 0.1881143585720224 ], "torque": [ -37.6611328125, 3.017578125, -6.951904296875, 3.35693359375, -3.8507080078125, -3.8360595703125, 0.51361083984375 ] }, "joint_status_r": { "velocity": [ -2.0117249365734224, 17.36053434389273, 2.2758556854320933, -14.607108780409384, -8.19082203860777, 2.5977098547009803, 2.783180395260487 ], "torque": [ 27.39990234375, 12.56103515625, 17.4560546875, -6.475830078125, 0.5859375, 4.2919921875, 0.69488525390625 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.9, -9.9, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.9, -9.9, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.6, 0.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.6, 0.6, 1.1, 0.3, 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": -95, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42216894490630263, -0.7838662099558805, -0.06575120925646746, -0.5953086628649011, -0.14045142843223413, -1.0173811144359706, 0.5704099372566509 ], "act_joint_pos_r": [ -0.5474400699300732, -0.5972053070458506, 0.1791259025394932, -1.108745282435742, 0.1872032668672179, 0.6620116929729861, -0.6102733201069092 ], "act_eef_pose_l": [ 562.7414875079824, 355.9486907697836, 17.56603144788808, 1.6790823872283291, -0.19083264909778586, 0.7393032039259587 ], "act_eef_pose_r": [ 517.1382644042035, -329.18274812687866, 15.558543346919805, 1.6758434553193995, 0.11321807818661911, 2.3411360990779784 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4323795803985002, -0.7596510967367038, -0.06722289589687513, -0.6434696523760758, -0.14517666940821652, -0.9914178360915712, 0.5709998526530268 ], "joint_pos_r": [ -0.5309950627843144, -0.7590644099341893, 0.1554783766566522, -0.9715696980512174, 0.2957150366702676, 0.6153337851206316, -0.6429583646691872 ], "eef_pose_l": [ 557.1780022558933, 356.444175470663, 15.06492371137466, 1.6834423776508676, -0.18054942657300438, 0.74190153000187 ], "eef_pose_r": [ 559.5135581285213, -297.13260120996915, 0.30839268616830395, 1.6455323677152693, 0.04281179491359152, 2.281987052029371 ], "joint_status_l": { "velocity": [ -1.1027161102843408, -2.615155097793753, 0.15893746955397692, 5.201233465026434, 0.5103109745885348, -2.8039513630702118, -0.06370898381291568 ], "torque": [ -37.68310546875, 5.1708984375, -6.756591796875, 0.372314453125, -3.306884765625, -3.4222412109375, 0.5712890625 ] }, "joint_status_r": { "velocity": [ -1.7760083911739777, 17.48026755900778, 2.553857473346799, -14.814526182433951, -11.71892550749698, 5.04106536977833, 3.52988070445992 ], "torque": [ 25.6787109375, 11.87255859375, 17.61474609375, -6.500244140625, 0.4669189453125, 4.2645263671875, 0.84503173828125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.6, -8.8, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.6, -16.6, -8.8, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.8, -0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.8, -0.8, 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": -122, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42134542218997095, -0.786758114739039, -0.06558334763798915, -0.5892305407650499, -0.13911763670053798, -1.0227761297661542, 0.5715628549810642 ], "act_joint_pos_r": [ -0.5557943956018518, -0.5648342353102612, 0.18766179906201613, -1.1574401497768365, 0.16426115774055505, 0.6705314594995297, -0.6029909650401708 ], "act_eef_pose_l": [ 562.9926875079823, 355.66229076978357, 17.685231447887944, 1.678733814034372, -0.193203112626811, 0.7367325979451185 ], "act_eef_pose_r": [ 504.5054644042035, -327.2243481268787, 19.520943346919694, 1.6778012499134443, 0.12080949001928686, 2.3712389616415686 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43025565507810665, -0.7647687445118322, -0.06691254618612498, -0.6332632188041946, -0.1441119447699657, -0.9971019938615241, 0.570980249379837 ], "joint_pos_r": [ -0.5330971304967864, -0.7398451581299278, 0.15839855139090225, -0.9884849760058081, 0.2827937059605916, 0.6208522975093853, -0.6390553373906964 ], "eef_pose_l": [ 558.3409385161082, 356.3348197985276, 15.564293562945835, 1.6825088184652202, -0.18282737149367065, 0.741163070676799 ], "eef_pose_r": [ 553.946675322736, -301.4884940525505, 2.327674618967791, 1.6483924767842544, 0.051887969769687764, 2.290314538059187 ], "joint_status_l": { "velocity": [ -0.9622767710824043, -2.3747819440886886, 0.14354920944109617, 4.75538897552763, 0.5393693636490671, -2.7727249005495835, 0.06291954921966436 ], "torque": [ -39.10400390625, 4.1162109375, -6.146240234375, 1.46484375, -2.5689697265625, -3.2391357421875, 0.35614013671875 ] }, "joint_status_r": { "velocity": [ -2.4512323361136623, 18.900622220470176, 3.160337539306779, -18.24662061196225, -12.801137658390527, 5.365191257077129, 3.8948373417699855 ], "torque": [ 24.2724609375, 12.451171875, 16.259765625, -6.4453125, 0.479736328125, 4.112548828125, 0.633544921875 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.2, -7.9, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.0, -16.2, -7.9, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -16.8, 1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.8, 1.5, 1.0, 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": -95, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4197578011169273, -0.7895670935299762, -0.06543111560792497, -0.5836878021143284, -0.1381429387328164, -1.0265071755203277, 0.5714918109700863 ], "act_joint_pos_r": [ -0.5622341853859041, -0.5383444228022168, 0.19564565029542105, -1.2049453085713024, 0.11994485843091862, 0.6785402354756219, -0.5700421513545809 ], "act_eef_pose_l": [ 563.5774875079824, 355.46549076978357, 18.20683144788775, 1.678025154658436, -0.1948114251206262, 0.7356139388769573 ], "act_eef_pose_r": [ 491.5478644042035, -321.8715481268787, 21.444943346919672, 1.6898894320572124, 0.11847698333798833, 2.4112816065053764 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42861054357990314, -0.7687799833986367, -0.0666708486817429, -0.6252345070372981, -0.14318611321405564, -1.0018052153392354, 0.571080139630472 ], "joint_pos_r": [ -0.5374834195314028, -0.706368093131571, 0.16404899192572833, -1.0211294669708044, 0.25972833197959533, 0.6303624731153956, -0.6317483727133715 ], "eef_pose_l": [ 559.2057018259184, 356.21791239676486, 15.952903589208034, 1.6817880036634445, -0.184738255651605, 0.7403344714196213 ], "eef_pose_r": [ 545.4437233818027, -306.4913060791524, 5.295832480555845, 1.6523203304604221, 0.06379179103824004, 2.3046109907384755 ], "joint_status_l": { "velocity": [ -0.9560679882834044, -2.2449416831689106, 0.13388722317980717, 4.4869117972918815, 0.5446467804757216, -2.667733018978602, 0.04445919342366267 ], "torque": [ -39.52880859375, 3.59619140625, -6.38427734375, 1.654052734375, -2.274169921875, -3.24462890625, 0.0164794921875 ] }, "joint_status_r": { "velocity": [ -2.6730038762505792, 18.146021207282814, 3.412338462383424, -19.851525403408843, -15.096169905525647, 5.203044879298346, 6.664075360352406 ], "torque": [ 24.6533203125, 12.29736328125, 17.17529296875, -6.939697265625, 0.4779052734375, 3.9093017578125, 0.70770263671875 ] }, "eef_FT_l": { "raw_value": [ -2.0, -15.6, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -15.6, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.1, -16.9, 0.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.9, 0.9, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 181, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -154, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4183137335047365, -0.7941766282381312, -0.06514814761977418, -0.5728894864744792, -0.1380185268288279, -1.034068940908441, 0.5709020702907194 ], "act_joint_pos_r": [ -0.5676128023182678, -0.5233272312854007, 0.20145187626275876, -1.2307224200814106, 0.07768989368783386, 0.7116585200791918, -0.5381731276930515 ], "act_eef_pose_l": [ 564.3374875079824, 355.6078907697836, 18.656431447887897, 1.6764619332262514, -0.19566120648530314, 0.734686900666501 ], "act_eef_pose_r": [ 479.41346440420347, -315.29874812687865, 22.43054334691965, 1.695664134359776, 0.11282061769771098, 2.462608586723426 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42715519400538604, -0.7721972873597086, -0.06646704234613092, -0.6184044225086791, -0.14235703884911377, -1.0058661023908615, 0.5711478164787984 ], "joint_pos_r": [ -0.5421622320130953, -0.6746053892791599, 0.17002193193206833, -1.0558774767523647, 0.23330407243875265, 0.6394698565877359, -0.6200836088677261 ], "eef_pose_l": [ 559.9376673762636, 356.10257125021616, 16.31612125352848, 1.6811509038813544, -0.1863991881747246, 0.7395614577623506 ], "eef_pose_r": [ 535.6950568890347, -309.85601026794666, 8.299492682697206, 1.6577271042026744, 0.07388200943489355, 2.324225452752539 ], "joint_status_l": { "velocity": [ -0.798894869808997, -1.8758837401557926, 0.11187678809682078, 3.749284423356869, 0.45510938982618043, -2.2291701521233165, 0.037150309368350065 ], "torque": [ -40.49560546875, 4.453125, -6.488037109375, 0.5126953125, -2.376708984375, -3.2208251953125, 0.0970458984375 ] }, "joint_status_r": { "velocity": [ -2.1677070311616475, 14.715750361653512, 2.7672799666820236, -16.098851026214334, -12.242434041554784, 4.21947647308496, 5.404318019579968 ], "torque": [ 23.76708984375, 15.00732421875, 17.67578125, -7.9345703125, 0.611572265625, 3.929443359375, 0.692138671875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.2, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.2, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.1, 2.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.3, -17.1, 2.1, 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": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41714081460676183, -0.7997810616229079, -0.06480416406211997, -0.5595919783174329, -0.13695650924590438, -1.0420287710827574, 0.5693623919862312 ], "act_joint_pos_r": [ -0.5702569340259522, -0.5190270158314307, 0.20406906576314554, -1.2382189038840907, 0.060658490751020366, 0.7252002016715419, -0.5171023727982735 ], "act_eef_pose_l": [ 565.2518875079824, 355.9710907697836, 18.63483144788809, 1.6762235304737159, -0.19600801388425113, 0.7342837453883847 ], "act_eef_pose_r": [ 474.9430644042035, -312.87474812687867, 22.224943346919645, 1.6987474635846458, 0.10173472152072273, 2.4812708418069054 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42560096198635294, -0.7762919300680883, -0.06622067888086643, -0.6097799113879302, -0.14155259541457446, -1.0111861543620744, 0.5709751803585613 ], "joint_pos_r": [ -0.5464622825305973, -0.6495471567711699, 0.175303780706421, -1.0849503168861943, 0.2069740322008569, 0.6519319085704189, -0.6056927576234824 ], "eef_pose_l": [ 560.7609429111046, 356.0652041332157, 16.688367820512354, 1.6803340545135526, -0.1879567117389649, 0.7387320599521008 ], "eef_pose_r": [ 526.6788057479179, -310.8735427761127, 10.723336280031305, 1.6620452389367555, 0.07990256999063412, 2.3472971076139033 ], "joint_status_l": { "velocity": [ -0.9136689697699651, -2.5367513904370753, 0.1529790885475557, 5.420136913220297, 0.4963626667819909, -3.3309043660603166, -0.17417600716473913 ], "torque": [ -41.5576171875, 2.724609375, -6.195068359375, 1.35498046875, -2.3712158203125, -3.028564453125, -0.25634765625 ] }, "joint_status_r": { "velocity": [ -2.569746570874276, 14.095759489287651, 3.10655916306124, -16.552519205314198, -15.801612432935652, 7.912742281061647, 9.567479383401967 ], "torque": [ 23.701171875, 14.443359375, 17.718505859375, -5.09033203125, 0.9136962890625, 3.973388671875, 1.00616455078125 ] }, "eef_FT_l": { "raw_value": [ -2.4, -15.9, -10.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.4, -15.9, -10.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.1, 2.0, 1.1, 0.4, -0.1 ], "actual_contact_FT": [ 0.3, -17.1, 2.0, 1.1, 0.4, -0.1 ] }, "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": -158, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41593894981775337, -0.8035577317146707, -0.06459448545472053, -0.5515528468471592, -0.13473761104322177, -1.0466802616852762, 0.5691804861939483 ], "act_joint_pos_r": [ -0.5699985364900679, -0.5160173756901275, 0.20635982660147376, -1.2476799382251813, 0.0295614673035014, 0.7488278655770216, -0.4873489340594069 ], "act_eef_pose_l": [ 565.8702875079823, 355.92549076978355, 18.614031447887854, 1.6770223707690712, -0.19794060721391565, 0.7329954246390941 ], "act_eef_pose_r": [ 468.49986440420344, -307.6835481268787, 22.390543346919685, 1.7042943698589819, 0.09187567484353393, 2.5161814305125936 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4245935249922309, -0.7791083316178924, -0.0660516290255792, -0.6037635905104943, -0.1409365352793846, -1.0148707545384126, 0.5707852018577367 ], "joint_pos_r": [ -0.5509311956391004, -0.6245343942783964, 0.18099998209248003, -1.1149913727108358, 0.17580589370121277, 0.6684485449895909, -0.5855884280124672 ], "eef_pose_l": [ 561.3106404994151, 356.06193149649766, 16.899739737340525, 1.6798857743919806, -0.18895606403204648, 0.7381790949342639 ], "eef_pose_r": [ 516.630392770993, -310.73920077212495, 13.15199039364677, 1.6671601748251814, 0.08331177963173107, 2.376155914996546 ], "joint_status_l": { "velocity": [ -0.9346665523271014, -2.6404573343254967, 0.15736686436518266, 5.63859401419986, 0.6694640727182843, -3.4353254523527, -0.1733041803557711 ], "torque": [ -40.99365234375, 2.38037109375, -6.585693359375, 1.190185546875, -2.4407958984375, -3.387451171875, -0.4559326171875 ] }, "joint_status_r": { "velocity": [ -2.059212078690642, 11.719492359581807, 2.73878243090131, -14.329942436487997, -15.793932233821417, 8.680710599568542, 10.609552434908132 ], "torque": [ 23.6279296875, 14.8388671875, 18.060302734375, -6.451416015625, 0.494384765625, 3.5211181640625, 0.75531005859375 ] }, "eef_FT_l": { "raw_value": [ -2.6, -16.4, -8.9, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.6, -16.4, -8.9, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.5, 1.2, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.5, -17.5, 1.2, 1.1, 0.4, 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": 20, "motor_current": -196, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4117875436713945, -0.8046585763276113, -0.06455285318382432, -0.5502337575813155, -0.11993445235167079, -1.041379306878466, 0.568299372200975 ], "act_joint_pos_r": [ -0.5714283026746022, -0.5198277073932248, 0.20690268719672214, -1.2550364767318025, 0.013105800016337987, 0.7628290384320704, -0.4880183011600955 ], "act_eef_pose_l": [ 566.7926875079824, 356.02149076978355, 18.030031447887794, 1.6885759928897022, -0.20724729277260648, 0.730545957281698 ], "act_eef_pose_r": [ 464.31586440420347, -301.3307481268787, 21.563343346919737, 1.705486438194755, 0.09897012350976797, 2.544900890327084 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4223500038850411, -0.7846801128746533, -0.06572128886067811, -0.5919396571207324, -0.13847665117690627, -1.0216343579686586, 0.5703611824232544 ], "joint_pos_r": [ -0.5554315888111445, -0.6007350983251298, 0.1867793198764912, -1.145915735110361, 0.14045508689093314, 0.6886305777800112, -0.563621132216975 ], "eef_pose_l": [ 562.4274176930522, 356.0522247703496, 17.231744274605035, 1.6800261737145876, -0.1916796462906748, 0.7368504313136816 ], "eef_pose_r": [ 505.63306408768204, -308.98798880041056, 15.40464187790542, 1.6732140105267186, 0.08691275394328456, 2.4116212741236582 ], "joint_status_l": { "velocity": [ -1.1407120595703368, -2.157610417601319, 0.12618733140384863, 4.504104308801438, 2.0024984125918133, -2.132391590730087, -0.22266893673705823 ], "torque": [ -40.99365234375, 3.5888671875, -5.731201171875, 0.634765625, -2.354736328125, -3.1292724609375, -0.44219970703125 ] }, "joint_status_r": { "velocity": [ -1.727594144587563, 8.737740514765058, 2.1732595737200544, -11.78469252418779, -13.753317350043703, 8.013197413797357, 8.164864944324002 ], "torque": [ 22.0166015625, 14.8681640625, 18.1884765625, -6.597900390625, 0.9814453125, 3.848876953125, 0.7470703125 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.5, -8.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.9, -16.5, -8.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.7, 1.7, 1.1, 0.4, -0.1 ], "actual_contact_FT": [ 0.0, -17.7, 1.7, 1.1, 0.4, -0.1 ] }, "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": -160, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41058216359370925, -0.8060744044638205, -0.06450386443685985, -0.5486782607308619, -0.11801678155343828, -1.034253362830265, 0.5660885203080347 ], "act_joint_pos_r": [ -0.5728271412025912, -0.5300928404523205, 0.20546487569848082, -1.257378979482622, 0.012761620559183395, 0.7741389243978105, -0.483272927814759 ], "act_eef_pose_l": [ 568.1654875079823, 356.6566907697836, 17.729231447887813, 1.691961212906323, -0.20746125840839927, 0.7361845998585055 ], "act_eef_pose_r": [ 462.3070644042035, -294.0723481268787, 21.075343346919908, 1.6977441103657394, 0.0879617541933046, 2.565224807325338 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42026639724728254, -0.7885588669342091, -0.06549687901893829, -0.5839435416493621, -0.13483322065391076, -1.0248530924109256, 0.5698120175540075 ], "joint_pos_r": [ -0.5561339538761042, -0.5971827109177744, 0.18766287323099423, -1.1507068814315111, 0.13486358285380817, 0.6918883972972337, -0.5603016512410908 ], "eef_pose_l": [ 563.365216065953, 356.0970540011471, 17.354062312155946, 1.6818446818676231, -0.19468365836641172, 0.7360729831238021 ], "eef_pose_r": [ 503.8888916618186, -308.62695793524455, 15.724638869627256, 1.6742455402714929, 0.08754776972617907, 2.4174198651189776 ], "joint_status_l": { "velocity": [ -1.0458663884058694, -1.8916222627813895, 0.10724241191867323, 3.8085380123735746, 1.8161218591999928, -1.0151992635867302, -0.4021258424975471 ], "torque": [ -40.576171875, 2.67333984375, -5.572509765625, 1.446533203125, -2.28515625, -3.1292724609375, -0.56488037109375 ] }, "joint_status_r": { "velocity": [ -1.6517409547422979, 8.354093989820122, 2.077838625724082, -11.267263982242426, -13.14945272406931, 7.661363282730704, 7.806371572125492 ], "torque": [ 22.8662109375, 13.1103515625, 17.822265625, -5.596923828125, 0.75439453125, 3.3160400390625, 0.64544677734375 ] }, "eef_FT_l": { "raw_value": [ -2.6, -15.7, -9.3, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.6, -15.7, -9.3, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -16.8, 0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -16.8, 0.3, 1.1, 0.3, 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": -166, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41124964945821885, -0.8079168078837029, -0.0643375039826078, -0.5405193265969461, -0.12128199632018721, -1.0370169078531886, 0.5664357960198453 ], "act_joint_pos_r": [ -0.5759329459156146, -0.5404994866352725, 0.20357680846554368, -1.2655216012842068, 0.010257504996390665, 0.7997819790197419, -0.4732779160408762 ], "act_eef_pose_l": [ 568.7446875079823, 358.2334907697836, 17.517231447887823, 1.6907799619553576, -0.20674022071679854, 0.7408603974023675 ], "act_eef_pose_r": [ 456.3510644042035, -283.3139481268787, 21.23614334691979, 1.6845381064689162, 0.06945330019855701, 2.6040730119931457 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4187036615900949, -0.7915192337188098, -0.06532632769185208, -0.5777878609634111, -0.13221204173607715, -1.0265197915413748, 0.5692151397491202 ], "joint_pos_r": [ -0.5590680858532998, -0.5851932359738512, 0.19082826458415075, -1.1695383275054876, 0.1132792017346739, 0.70629059155381, -0.5467412300146784 ], "eef_pose_l": [ 564.1893169647426, 356.2611996975001, 17.39930007020041, 1.683438904208609, -0.19677701495623387, 0.7362981790874515 ], "eef_pose_r": [ 496.8340097019793, -305.9766728344191, 16.841733744669654, 1.6772769349059795, 0.08811674826981006, 2.443135206012045 ], "joint_status_l": { "velocity": [ -0.8050095677547553, -1.7708857803242495, 0.10678981100126217, 4.024883003999058, 1.1804100905815629, -1.133655126304589, -0.30016027000723255 ], "torque": [ -40.15869140625, 4.04296875, -5.462646484375, 0.96435546875, -2.164306640625, -3.3837890625, -0.56121826171875 ] }, "joint_status_r": { "velocity": [ -1.4859341524378067, 5.950667210778526, 1.580707379875257, -9.486510623855082, -10.855578598776505, 7.327403836927537, 6.854374478622471 ], "torque": [ 22.17041015625, 14.8095703125, 17.822265625, -6.884765625, 0.6829833984375, 3.350830078125, 0.73974609375 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.3, -8.4, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.0, -16.3, -8.4, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.2, 1.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.5, -17.2, 1.8, 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": -164, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41156851953862883, -0.8089134586977971, -0.06429019472835017, -0.5387520919763683, -0.1225807159460713, -1.038959885624774, 0.5674020723918874 ], "act_joint_pos_r": [ -0.5791365117271017, -0.5471595905945716, 0.20266276597293675, -1.2711195942100415, 0.009590201022932733, 0.8072189970654039, -0.4687541949135066 ], "act_eef_pose_l": [ 568.7622875079824, 358.04709076978355, 17.529231447887994, 1.689516809632996, -0.20678099500605265, 0.7403876068153653 ], "act_eef_pose_r": [ 453.58626440420346, -277.40034812687867, 20.428143346919796, 1.6790213807595162, 0.05899209301515021, 2.621209116510325 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4175056431893809, -0.7943005166492043, -0.0651597064896969, -0.5715093072596801, -0.13052673489401068, -1.0284123428217649, 0.5688412180777733 ], "joint_pos_r": [ -0.5628977751074777, -0.5761241083630615, 0.19348699869072755, -1.1903623228002187, 0.09131291754958788, 0.7265341845199106, -0.5308271574562355 ], "eef_pose_l": [ 564.9502088708076, 356.5735578155375, 17.413054309678756, 1.6845276471533757, -0.19843459753464202, 0.7370097001445812 ], "eef_pose_r": [ 488.4300349229862, -300.42032732612023, 17.828804858072004, 1.677547279618559, 0.0837687264684474, 2.4782226129613734 ], "joint_status_l": { "velocity": [ -0.6411904433800686, -1.578151196166111, 0.09390450066026901, 3.5376749124536033, 0.8581447367513872, -1.139101026735645, -0.15542315011529695 ], "torque": [ -41.66015625, 3.55224609375, -5.9326171875, 1.043701171875, -2.3291015625, -3.021240234375, -0.55206298828125 ] }, "joint_status_r": { "velocity": [ -1.7537318313634032, 3.128075661336993, 0.9909536398631236, -8.721528084539187, -8.825793082026024, 8.713702757987996, 6.703682240075892 ], "torque": [ 21.02783203125, 14.5751953125, 17.877197265625, -7.67822265625, 1.0418701171875, 3.6767578125, 0.65643310546875 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.7, -7.8, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.5, -16.7, -7.8, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.0, 0.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.0, 0.9, 1.1, 0.3, 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": -160, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4119412485688188, -0.8113024585786385, -0.06418716601278698, -0.5354345337703381, -0.12464265332386826, -1.0408393756450278, 0.5683696562237741 ], "act_joint_pos_r": [ -0.5819740526366792, -0.5651567089558864, 0.19876761557103897, -1.2662149578980564, 0.010936975193299949, 0.8360299939190244, -0.4539147998265637 ], "act_eef_pose_l": [ 569.1118875079824, 357.61749076978356, 17.462831447888064, 1.687776830876545, -0.2063946927689752, 0.7405013121512551 ], "act_eef_pose_r": [ 449.62306440420343, -267.2515481268787, 19.1953433469198, 1.6641452536219425, 0.031939553857103904, 2.656482656120706 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41641018109121875, -0.797235155599251, -0.06498790797557946, -0.5650777772167626, -0.12917331197223814, -1.0305417340213563, 0.5686389306671062 ], "joint_pos_r": [ -0.5659338091534724, -0.5720487468000127, 0.19488300513347753, -1.2043558799479375, 0.07694191498381066, 0.7424741385333152, -0.5189898217708073 ], "eef_pose_l": [ 565.7053188916972, 356.8256678296235, 17.424544633991218, 1.6853376709402406, -0.1999954511356967, 0.7376588854434172 ], "eef_pose_r": [ 482.32340836993956, -295.4607683366475, 18.258052451648638, 1.6765148831152636, 0.0779647617761257, 2.5054075998279672 ], "joint_status_l": { "velocity": [ -0.48263047799412817, -1.5192239146593067, 0.08647758146168583, 3.201375872680323, 0.4892967029892503, -1.1121124953517025, -0.029080782188550813 ], "torque": [ -41.98974609375, 3.5595703125, -5.82275390625, 2.142333984375, -2.3419189453125, -2.98095703125, -0.09246826171875 ] }, "joint_status_r": { "velocity": [ -1.7322952048699491, 0.7443181346760142, 0.41952555401159053, -6.680583385337613, -7.128323258718705, 10.103734387939767, 7.027895093292713 ], "torque": [ 19.9365234375, 11.337890625, 17.266845703125, -5.5419921875, 1.0125732421875, 4.4842529296875, 0.76080322265625 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.5, -8.6, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.5, -8.6, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.2, 2.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.8, -17.2, 2.4, 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": -158, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4122321892128341, -0.8081450545480423, -0.06441132777529401, -0.5449647394377141, -0.12454472754356982, -1.0329874533721617, 0.5688846357913125 ], "act_joint_pos_r": [ -0.5828096017526877, -0.5835362421906151, 0.1950676601011805, -1.2646850662944575, 0.002309331691968452, 0.8592025493400347, -0.44312893416144394 ], "act_eef_pose_l": [ 568.9262875079824, 357.12469076978357, 17.436431447888097, 1.6887736330332561, -0.20639445109770388, 0.741575128723565 ], "act_eef_pose_r": [ 445.4694644042035, -256.42594812687867, 17.666543346919752, 1.6553519500334684, 0.01760964132042998, 2.6945690168135505 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4159228006265217, -0.7986390737137866, -0.06491057598362615, -0.5622865481385405, -0.12865636921281548, -1.0312474754587648, 0.5686384703307398 ], "joint_pos_r": [ -0.5686074366920656, -0.5717227150409895, 0.1953591636410802, -1.2144580511745846, 0.06571219819483705, 0.7588717183949415, -0.5078182184359865 ], "eef_pose_l": [ 566.082253216005, 356.8882129424272, 17.424925401779888, 1.6856691958461183, -0.20072006801565684, 0.7380428453754827 ], "eef_pose_r": [ 477.05116096302663, -290.01536547970534, 18.346832089401858, 1.6739054820155348, 0.06983831451345632, 2.5317379344870488 ], "joint_status_l": { "velocity": [ -0.39857427735867645, -1.0266156516891556, 0.053917216296606174, 1.8707001663376133, 0.44404420389487775, -0.1879120724757044, 0.02658508565644979 ], "torque": [ -41.19873046875, 4.06494140625, -9.765625, 0.69580078125, -2.3455810546875, -2.76123046875, 0.0 ] }, "joint_status_r": { "velocity": [ -1.5337885898709658, -1.2758233037617472, -0.03148145381337564, -5.4243576500692114, -6.8473076317662755, 10.835410168729354, 6.9862366536148635 ], "torque": [ 21.5771484375, 9.2724609375, 17.2607421875, -6.671142578125, 1.2249755859375, 3.1805419921875, 0.70037841796875 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.1, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -16.1, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.2, 2.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.3, -17.2, 2.4, 1.1, 0.4, 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": -181, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41444332563576464, -0.7949142112762227, -0.06521248402172132, -0.5755363390426302, -0.12629731512078973, -1.0153024869473157, 0.5727673268907809 ], "act_joint_pos_r": [ -0.5823426411070529, -0.5995623642247194, 0.19202472656488703, -1.2647779239208954, -0.010077848793996314, 0.8728205660798275, -0.4292034675532766 ], "act_eef_pose_l": [ 566.7734875079823, 356.4062907697836, 17.710031447887857, 1.689364515325193, -0.20683227377387955, 0.7419179218818349 ], "act_eef_pose_r": [ 442.38786440420347, -247.19394812687867, 15.969743346919813, 1.6524297597866504, 0.00540935766970142, 2.7246868121186445 ], "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.npz" }, "states": { "joint_pos_l": [ 0.415384565027279, -0.7994820896297505, -0.06487396432681762, -0.5612163498048606, -0.12800548111029825, -1.0303012787990296, 0.5689649535476873 ], "joint_pos_r": [ -0.5715669084016708, -0.5764661394220797, 0.19487410486337398, -1.2251669093829507, 0.05048854386754079, 0.7821303541087957, -0.49210678947781017 ], "eef_pose_l": [ 566.4673492698054, 356.8821134639441, 17.444673356357413, 1.686298783867931, -0.20182334745661507, 0.7387366210082618 ], "eef_pose_r": [ 470.3395567921058, -281.05156551785757, 17.930796728732872, 1.6694398441569045, 0.05701386297028939, 2.570326288603803 ], "joint_status_l": { "velocity": [ -0.10165085625191139, 0.4933163125944162, -0.03655904879806826, -1.5465132257093117, 0.18447648602382127, 1.619821745896921, 0.4106442097500107 ], "torque": [ -42.83203125, 5.9033203125, -8.7646484375, -2.25830078125, -2.57080078125, -1.6571044921875, 0.2325439453125 ] }, "joint_status_r": { "velocity": [ -1.1637448093626546, -2.494318712686905, -0.3077237804087751, -4.277863401259907, -6.540977491627076, 9.79425402678924, 6.793358408453631 ], "torque": [ 21.67236328125, 4.69482421875, 10.943603515625, -8.02001953125, 1.4300537109375, 3.369140625, 0.875244140625 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.9, -8.1, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ -1.6, -16.9, -8.1, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.1, 0.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -17.1, 0.3, 1.0, 0.3, 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": -160, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41487657062609523, -0.7936905866478104, -0.06528834864846488, -0.5783347276988932, -0.12834514655591, -1.0127133255239518, 0.5740612773009298 ], "act_joint_pos_r": [ -0.5814786228795259, -0.6100128231632685, 0.18997619774386643, -1.2607861845201793, -0.012548433872135778, 0.8765921097663736, -0.42452119105567004 ], "act_eef_pose_l": [ 566.7582875079822, 356.5342907697836, 17.83963144788784, 1.6884124048882445, -0.20684408568271306, 0.7436423773742065 ], "act_eef_pose_r": [ 442.4830644042035, -242.93314812687868, 14.946543346919725, 1.650227785701576, -0.0004179374309288545, 2.7343904417135287 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41523787360335773, -0.7985303657730207, -0.06494342707338785, -0.5641251274577865, -0.12783022662827664, -1.0272792679320362, 0.5697770391850665 ], "joint_pos_r": [ -0.5733746502792149, -0.5817290054283717, 0.19413914904971333, -1.2317200306185478, 0.03950110866876599, 0.7985907376543759, -0.48045659203473223 ], "eef_pose_l": [ 566.5266804597069, 356.80188919566933, 17.50318784259491, 1.6868090284997945, -0.20276822079995363, 0.7394646801856187 ], "eef_pose_r": [ 465.7028077183867, -274.233197586575, 17.432774297639128, 1.6661468670271624, 0.047188901200532256, 2.598528915838058 ], "joint_status_l": { "velocity": [ -0.039019570723830554, 0.5226807298788216, -0.03725043146551865, -1.5345915656803655, -0.05560971206353127, 1.5730753846954215, 0.46268407037519665 ], "torque": [ -40.3564453125, 9.3310546875, -9.2041015625, -3.45458984375, -4.3011474609375, -0.732421875, 0.380859375 ] }, "joint_status_r": { "velocity": [ -0.8752032280936461, -3.0545622258717486, -0.4495854812165412, -3.1390520399838806, -5.621184806433588, 8.423899738453144, 6.040845140535378 ], "torque": [ 20.50048828125, 3.11279296875, 10.125732421875, -7.562255859375, 1.3165283203125, 3.4771728515625, 0.9136962890625 ] }, "eef_FT_l": { "raw_value": [ -3.1, -16.9, -7.8, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -3.1, -16.9, -7.8, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -16.8, 0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -16.8, 0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 196, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -154, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4154701256207104, -0.7969982435388884, -0.06502737307628643, -0.5670578078908224, -0.12886845451184617, -1.0164378737463904, 0.5738823270824889 ], "act_joint_pos_r": [ -0.5828207494143056, -0.6346335221541112, 0.18545111295339306, -1.2521231741338024, -0.0015637381223623237, 0.8745090753240825, -0.43013946282789556 ], "act_eef_pose_l": [ 567.5286875079823, 358.17429076978357, 17.015631447887998, 1.6896902005276522, -0.20706882467831927, 0.7475370901858738 ], "act_eef_pose_r": [ 444.6862644042035, -233.74834812687868, 12.773743346919673, 1.6386406794711281, -0.009949805194126233, 2.743120819587849 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4152084835527663, -0.7978668593672791, -0.06498924687316304, -0.5659822048522369, -0.12795167811333347, -1.024920319555901, 0.5705241297427157 ], "joint_pos_r": [ -0.5739589608738234, -0.5837683181424663, 0.19383899298147156, -1.2338157511382102, 0.03574824564081923, 0.8042147729722309, -0.4764235518188119 ], "eef_pose_l": [ 566.6142098748196, 356.8499132282164, 17.514416851666823, 1.6871653059149887, -0.20350139193028274, 0.7404315397784591 ], "eef_pose_r": [ 464.124892612959, -271.8610026209553, 17.240059279338055, 1.664991645368518, 0.04373634928264822, 2.6082632060129822 ], "joint_status_l": { "velocity": [ 0.028256509956747777, 0.09380774275502546, -0.004117508497880618, -0.11616170216122157, -0.09900893092695817, 0.916077129176962, 0.36267461617889296 ], "torque": [ -40.6640625, 8.994140625, -9.490966796875, -1.7822265625, -4.354248046875, -1.1883544921875, 0.45501708984375 ] }, "joint_status_r": { "velocity": [ -0.8120995450191515, -2.8343229483596133, -0.41716958190241016, -2.9127208991415188, -5.215887553018828, 7.816521837778367, 5.605289643238809 ], "torque": [ 21.2109375, 5.82275390625, 11.138916015625, -6.0546875, 1.81640625, 3.255615234375, 0.57861328125 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.7, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.3, -16.7, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.5, 2.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.5, 2.1, 1.1, 0.3, 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": -200, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.41642537475404157, -0.8037688076475615, -0.06451723000086647, -0.5450938700051516, -0.1285659808090744, -1.0275270925952655, 0.571924327146431 ], "act_joint_pos_r": [ -0.5866592857117321, -0.6580404353501048, 0.18150361453317584, -1.2459998312608676, 0.02545993434460625, 0.8524557216179504, -0.4442687199116302 ], "act_eef_pose_l": [ 568.4846875079822, 360.58869076978357, 15.587631447887887, 1.6915937103861527, -0.20622821721883297, 0.751084454619036 ], "act_eef_pose_r": [ 450.1054644042035, -226.15874812687866, 10.531343346919812, 1.6251563236650508, -0.02195332465249924, 2.7296814808205574 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4153465103373076, -0.7983974985082948, -0.06494477315868563, -0.5639743814390504, -0.12807230626950009, -1.0246288364261507, 0.5708814488630463 ], "joint_pos_r": [ -0.576001522137819, -0.5953875749910479, 0.19192221595945116, -1.2371599423335664, 0.030061520538582773, 0.8167848479002336, -0.4680676185677023 ], "eef_pose_l": [ 566.8634148371897, 357.3074552776854, 17.28926267816925, 1.6877692242413826, -0.2040006339343566, 0.7419543231117084 ], "eef_pose_r": [ 460.8641659642195, -263.53781516646916, 16.065410385793, 1.6591742151117883, 0.031926645824548905, 2.634097635020505 ], "joint_status_l": { "velocity": [ 0.11651392061295951, -0.5800842783685312, 0.046173299235841014, 2.039035096736086, -0.05331527782381773, -0.313002434750409, 0.11262753283425297 ], "torque": [ -36.6796875, 2.6953125, -9.552001953125, 0.0732421875, -3.519287109375, -2.314453125, 0.5145263671875 ] }, "joint_status_r": { "velocity": [ -1.1510045189186968, -6.766309357151279, -1.1251757687524844, -0.9546798473714091, -0.4969566519965052, 3.8523407427959455, 2.5702052507039497 ], "torque": [ 20.29541015625, 2.71728515625, 10.552978515625, -5.902099609375, 2.1990966796875, 2.5048828125, 0.63995361328125 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.2, -9.4, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.5, -16.2, -9.4, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.4, -0.7, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.2, -17.4, -0.7, 1.1, 0.4, 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": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4183338884411129, -0.8013751200354639, -0.0646569524979638, -0.5503405530677035, -0.13293811646939557, -1.0198753195817936, 0.5725564436186151 ], "act_joint_pos_r": [ -0.5875803607728578, -0.677559576804335, 0.1783522291993029, -1.2349822329688134, 0.039153458918342654, 0.835357482461714, -0.45532217966264976 ], "act_eef_pose_l": [ 568.6246875079823, 361.30709076978354, 15.09163144788802, 1.6911443294680706, -0.20376875082190465, 0.7571381247481527 ], "act_eef_pose_r": [ 455.50706440420345, -221.25634812687866, 7.7073433469197425, 1.6216189585227554, -0.0249901071235716, 2.717463251248972 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4156481659566422, -0.7992080944475912, -0.064877299178332, -0.5609410319152807, -0.12841365594261736, -1.024696629596024, 0.5711025706634477 ], "joint_pos_r": [ -0.5780697581071491, -0.6083655418259584, 0.18976958765299215, -1.2381907788451467, 0.029987377897405038, 0.8225343906703001, -0.4642110584530064 ], "eef_pose_l": [ 567.1629720127829, 357.9286003782922, 16.958505358125365, 1.6884177648296859, -0.20424614778544398, 0.7439219944571144 ], "eef_pose_r": [ 459.35714904357667, -256.1109630551606, 14.709433743845011, 1.6528577842003989, 0.021327201387628374, 2.6512924025588274 ], "joint_status_l": { "velocity": [ 0.29004947377053725, -0.23403186108872376, 0.02379673963248674, 1.1448179509381262, -0.48862732559940003, 0.5206861247213368, 0.15701364828757391 ], "torque": [ -31.669921875, 3.69873046875, -8.77685546875, -0.18310546875, -4.925537109375, -1.61865234375, 0.5364990234375 ] }, "joint_status_r": { "velocity": [ -1.027114794764472, -7.472735381115925, -1.2330383464764783, 0.3465127347972441, 0.9899075544985425, 1.3848530694149375, 0.9599705965395167 ], "torque": [ 21.8408203125, 1.8603515625, 9.649658203125, -4.736328125, 3.310546875, 3.1201171875, 0.64453125 ] }, "eef_FT_l": { "raw_value": [ -2.5, -16.9, -9.0, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.5, -16.9, -9.0, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.2, -0.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.2, -0.9, 1.1, 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": 20, "motor_current": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42458554892452305, -0.7920753897960362, -0.06527129961502721, -0.5746524667329281, -0.14183075967708497, -1.0038098667230124, 0.5796356963525294 ], "act_joint_pos_r": [ -0.5903440290249597, -0.6942469581411119, 0.17594290125329687, -1.2293564184343613, 0.04893790553388744, 0.8117088793520905, -0.4654768425599461 ], "act_eef_pose_l": [ 566.8198875079822, 360.5014907697836, 13.726031447887934, 1.6892694397126629, -0.2010116754757497, 0.7609003703345494 ], "act_eef_pose_r": [ 460.1294644042035, -216.56994812687867, 3.872943346919783, 1.623464740935244, -0.027324787317002146, 2.7030634053894547 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4159512304644318, -0.7994526277331234, -0.064852434636811, -0.5597448439536226, -0.12892420884243883, -1.024152579361938, 0.5712666297924507 ], "joint_pos_r": [ -0.5798726565379476, -0.621332319010619, 0.1876451167299166, -1.237376469253442, 0.032037622157286214, 0.8237632858043838, -0.4630852890554118 ], "eef_pose_l": [ 567.3303662100486, 358.30867563485253, 16.747799691326264, 1.6887233217019555, -0.20418848556487462, 0.7454140661386376 ], "eef_pose_r": [ 459.048344613712, -249.75144469893823, 13.195639498345514, 1.647575846560488, 0.012906091197662633, 2.662247762248347 ], "joint_status_l": { "velocity": [ 0.2573194722490513, -0.20762304513777252, 0.02111144834665568, 1.0156334611721718, -0.4334892386296252, 0.4619304323458806, 0.13929578491556072 ], "torque": [ -30.16845703125, 4.03564453125, -8.758544921875, 1.068115234375, -5.09765625, -1.0821533203125, 0.52276611328125 ] }, "joint_status_r": { "velocity": [ -1.1308748752254516, -7.874548778691093, -1.263801997627434, 0.866139943028088, 1.8251767739614344, -1.3018375012032735, -0.25828016092344086 ], "torque": [ 21.83349609375, 3.6767578125, 9.564208984375, -2.8564453125, 4.1876220703125, 2.9388427734375, 0.61065673828125 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.5, -8.8, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.5, -8.8, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.0, 1.6, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.0, 1.6, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 177, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -164, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4283741310018301, -0.7841849846643819, -0.06584820307281733, -0.5979560058836172, -0.14561946721838692, -0.9891364199949391, 0.5844028129228913 ], "act_joint_pos_r": [ -0.6047581357452141, -0.7109864074683584, 0.17382627024284672, -1.230947206720114, 0.08811746307401824, 0.7676297383029355, -0.5456938089190118 ], "act_eef_pose_l": [ 565.2342875079823, 358.8390907697835, 12.922831447887873, 1.6892938954999848, -0.1997287301648018, 0.7610239308450838 ], "act_eef_pose_r": [ 465.6094644042035, -212.1219481268787, -2.7022566530802123, 1.6197735851508386, 0.00968424191214894, 2.6698051134502103 ], "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.npz" }, "states": { "joint_pos_l": [ 0.41788530410913993, -0.797512304504562, -0.06497085642103885, -0.5641298697272146, -0.1316855535478382, -1.019197543015094, 0.5732079495332918 ], "joint_pos_r": [ -0.5836686246794709, -0.6372254235526653, 0.18516622262421428, -1.2360608561432602, 0.04016987746076168, 0.8159296269955177, -0.4736464611490287 ], "eef_pose_l": [ 567.1465501370585, 358.639323554237, 16.102303225700695, 1.6888055749116757, -0.203518292990763, 0.7485000430644103 ], "eef_pose_r": [ 460.16878136479494, -242.99935575616695, 10.579823135828548, 1.6422345284741593, 0.010146501262986626, 2.6658253840798154 ], "joint_status_l": { "velocity": [ 1.1327598954431473, 1.43930809261672, -0.0947506438711554, -3.653114962024695, -1.5048182941760357, 3.2465055356150074, 1.2090095882442142 ], "torque": [ -28.798828125, 6.9873046875, -12.3291015625, -4.150390625, -5.5792236328125, -0.8880615234375, 0.64453125 ] }, "joint_status_r": { "velocity": [ -2.2776000208777347, -7.965951319719444, -1.2246787372189871, 0.5522578497263453, 5.178186523783824, -5.216234134197251, -7.780884074248817 ], "torque": [ 20.44921875, 2.99560546875, 9.686279296875, -2.740478515625, 4.7076416015625, 1.1883544921875, -0.65643310546875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -17.5, -8.6, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -1.9, -17.5, -8.6, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.0, -16.9, 1.4, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -16.9, 1.4, 1.0, 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": -164, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42790414473045185, -0.7834530285692128, -0.06591618431667166, -0.6008673423794109, -0.14594639332336556, -0.9869404055134827, 0.5839236571106964 ], "act_joint_pos_r": [ -0.6087202417426393, -0.7198294688825603, 0.1727666629470916, -1.2275189677105427, 0.10372310095035829, 0.7506816601151145, -0.562136480882429 ], "act_eef_pose_l": [ 565.2942875079823, 358.52309076978355, 13.290831447888038, 1.6887958969652337, -0.19921308698078258, 0.761310098564532 ], "act_eef_pose_r": [ 468.8062644042035, -210.45154812687866, -5.299856653080269, 1.6191455138836492, 0.00986484943678592, 2.6546456275470995 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4199540751647635, -0.7947695278204181, -0.06515311550321791, -0.5711818102305055, -0.13451552025304137, -1.01296412280432, 0.5754179057628064 ], "joint_pos_r": [ -0.5871555836056448, -0.6490595786747521, 0.18336847403311687, -1.235037447259884, 0.048573279142980375, 0.8073759551431385, -0.48576843993302454 ], "eef_pose_l": [ 566.7824947384632, 358.6552794101576, 15.49690851103881, 1.6888016106665407, -0.20275098598554894, 0.7510538155216083 ], "eef_pose_r": [ 461.3942267074238, -238.2545146797669, 8.403845549774672, 1.6383437490937172, 0.010331381846106612, 2.6654044874387632 ], "joint_status_l": { "velocity": [ 0.858582190566004, 1.2221458738643776, -0.08240900132944207, -3.205942917849036, -1.234497882026231, 2.8104785767766316, 0.9185940530880288 ], "torque": [ -26.49169921875, 10.9716796875, -13.397216796875, -5.26123046875, -5.6854248046875, -0.6024169921875, 0.63720703125 ] }, "joint_status_r": { "velocity": [ -2.32891439113736, -7.642922726486923, -1.144961828446922, 0.8119718435004586, 5.956005092216444, -6.122803280597111, -8.247505175372982 ], "torque": [ 20.33203125, 3.3984375, 10.0341796875, -2.83203125, 4.6527099609375, 1.182861328125, -1.17095947265625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.9, -8.8, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.9, -8.8, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.3, -0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -17.3, -0.3, 1.1, 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": -125, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42776300438707143, -0.7894709872444927, -0.0655246641030553, -0.586087971997613, -0.14783195708006666, -0.9951614658184433, 0.582975296353057 ], "act_joint_pos_r": [ -0.6096205083480278, -0.7354091684691885, 0.1705451161743801, -1.2135071651832616, 0.12321960338544578, 0.7321458931778291, -0.5739300799502633 ], "act_eef_pose_l": [ 566.3518875079824, 359.26149076978356, 13.04603144788787, 1.687079368250223, -0.19819621974829715, 0.763000059569415 ], "act_eef_pose_r": [ 475.13106440420347, -208.7331481268787, -8.271056653080223, 1.6187219203834506, 0.004120698054185056, 2.633124475047398 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4213515126650517, -0.7931183779012929, -0.0652652813290192, -0.575571635841574, -0.13664616441598781, -1.0088406348549597, 0.5768666850688924 ], "joint_pos_r": [ -0.5893005167009184, -0.6560987201576028, 0.18231396274321846, -1.234289620166633, 0.05405876735436825, 0.8017368455896134, -0.49336440261478776 ], "eef_pose_l": [ 566.5888362168844, 358.6757480950516, 15.094705887321993, 1.6886666350665605, -0.2020889601752742, 0.7529710647478347 ], "eef_pose_r": [ 462.22979549777557, -235.52518581183423, 7.068899333306092, 1.6361271888817717, 0.010446468821727067, 2.6643629388363115 ], "joint_status_l": { "velocity": [ 0.692420684121231, 0.3939065732811997, -0.028012513411002082, -1.1357308082624584, -1.208029978780778, 1.4773066851123673, 0.6597105615666621 ], "torque": [ -26.30126953125, 9.76318359375, -8.9599609375, -1.62353515625, -5.73486328125, -1.04736328125, 0.66741943359375 ] }, "joint_status_r": { "velocity": [ -2.0972684488791415, -6.882717867382482, -1.0310779679627569, 0.7312088994044785, 5.3635898377405455, -5.513797410483967, -7.427165400370583 ], "torque": [ 21.89208984375, 4.3798828125, 10.015869140625, -3.28369140625, 4.6307373046875, 1.4996337890625, -0.7818603515625 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.6, -9.2, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.6, -9.2, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.9, 1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -17.9, 1.4, 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": -148, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4269811423086881, -0.7923732975989007, -0.06536164008260724, -0.580441631822745, -0.14688924515452947, -0.997829692325441, 0.5830330183721664 ], "act_joint_pos_r": [ -0.6100744236351243, -0.7466747034589025, 0.16903089029017607, -1.2058219361665596, 0.1419885562861687, 0.715663415435735, -0.5917632225548046 ], "act_eef_pose_l": [ 566.9358875079823, 359.1894907697836, 13.0332314478879, 1.6872699819063934, -0.19943746605259477, 0.7626907950497744 ], "act_eef_pose_r": [ 479.9094644042035, -207.17394812687868, -9.819056653080224, 1.6167301140821473, 0.005708032575035736, 2.61578136471627 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42231730447860966, -0.7928462687821228, -0.0652895265566557, -0.5766633234940219, -0.138378678287705, -1.006892933472977, 0.5778774257909773 ], "joint_pos_r": [ -0.593379891025635, -0.6721298276582507, 0.1799409493645755, -1.230178087669991, 0.06834126866840948, 0.7874654731043859, -0.5101684662879603 ], "eef_pose_l": [ 566.6178860861196, 358.7626813340931, 14.758789832431603, 1.6884115407777749, -0.2015975710240953, 0.754585802703302 ], "eef_pose_r": [ 465.0858871360351, -230.1937424360676, 4.13176968977038, 1.6315570896861071, 0.009902592514027975, 2.657831539518179 ], "joint_status_l": { "velocity": [ 0.5036796304116464, 0.05107938128290357, -0.007788031107014426, -0.40804526485072046, -0.9191141137951941, 0.9788011757372317, 0.5567875771959052 ], "torque": [ -25.40771484375, 8.95751953125, -8.392333984375, -3.594970703125, -5.4840087890625, -0.853271484375, 0.62347412109375 ] }, "joint_status_r": { "velocity": [ -1.802956346470097, -8.050609146445176, -1.1782516293610268, 2.630386783259553, 7.953672481687379, -7.754393524602499, -8.811973781544857 ], "torque": [ 20.6982421875, 2.75390625, 9.710693359375, -0.4150390625, 5.394287109375, 0.8331298828125, -0.9228515625 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.4, -9.0, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.4, -16.4, -9.0, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.3, 0.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.3, 0.7, 1.1, 0.2, 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": -143, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42805513195047235, -0.7908963174207742, -0.0655125784083318, -0.5875616257022062, -0.1505578255000785, -0.9918381996416348, 0.5855983232354712 ], "act_joint_pos_r": [ -0.6105106106252812, -0.7570432020154266, 0.16783288477289346, -1.2005207488786194, 0.16517538156648603, 0.7015852854302994, -0.6149156181200411 ], "act_eef_pose_l": [ 566.9150875079823, 358.41349076978355, 13.051631447888056, 1.6855582517161078, -0.19883796966310616, 0.764417341616075 ], "act_eef_pose_r": [ 484.1190644042035, -205.32034812687868, -10.237456653080244, 1.6106995740515733, 0.009036819743870083, 2.6001847402988014 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42324873481332537, -0.792615735367693, -0.06531728994548225, -0.5780395518059978, -0.1402483141460879, -1.0046945312085882, 0.5790441364708367 ], "joint_pos_r": [ -0.5965672265511264, -0.6869691601143445, 0.17779216537219472, -1.2251916470597761, 0.08393514744636188, 0.7728771640624547, -0.527262228882617 ], "eef_pose_l": [ 566.6743538071995, 358.75979025875216, 14.458162839216044, 1.6880223348990995, -0.20116782580035217, 0.7561915531247536 ], "eef_pose_r": [ 468.3923067968594, -225.7740802925692, 1.6325348676314775, 1.6271893027046624, 0.009827430637408919, 2.6486858016862382 ], "joint_status_l": { "velocity": [ 0.519075581495887, 0.18569166158499684, -0.021090531955703096, -1.0283536511206393, -1.1133943884187314, 1.3884428592980669, 0.7078312942123688 ], "torque": [ -25.1953125, 11.6455078125, -8.770751953125, -3.50341796875, -5.7421875, -0.7818603515625, 0.64727783203125 ] }, "joint_status_r": { "velocity": [ -1.505841067600322, -7.567773325773075, -1.075570582466101, 2.6643784219242406, 8.77368651892163, -7.6992958136816725, -9.466286844435512 ], "torque": [ 21.7822265625, 4.013671875, 10.198974609375, -2.6123046875, 4.727783203125, 0.7489013671875, -1.1334228515625 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.7, -9.1, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.7, -9.1, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.6, -1.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.6, -1.3, 1.1, 0.3, 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": -116, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4286657134122629, -0.7953421816080961, -0.06523278927069016, -0.5770298090149292, -0.14932056254529472, -1.000282690736743, 0.5847109861203792 ], "act_joint_pos_r": [ -0.6080927442157664, -0.7673220461937537, 0.1665863680959712, -1.1920734714909322, 0.1743434289873003, 0.6933796123109615, -0.6218995949800016 ], "act_eef_pose_l": [ 567.0510875079824, 358.39349076978357, 12.263631447888045, 1.6858587925671455, -0.19837902209534458, 0.7618512970688113 ], "act_eef_pose_r": [ 487.85506440420346, -203.47474812687867, -10.67185665308034, 1.6092198610328246, 0.009211426980199505, 2.5915872864609883 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4237911022362567, -0.7924217113921029, -0.0653393268469911, -0.5791140495082655, -0.14141166851427622, -1.0032437864570913, 0.5797837294098959 ], "joint_pos_r": [ -0.5990625414509848, -0.700813053741011, 0.17583705724176124, -1.220037063055007, 0.09982531727335608, 0.7589235256623476, -0.5442378069493471 ], "eef_pose_l": [ 566.7030127133519, 358.72007846034836, 14.301085993525618, 1.68773333029882, -0.2009133191529731, 0.7571204720337191 ], "eef_pose_r": [ 471.7570619346186, -221.85196409744177, -0.4737705130404777, 1.6229129649562377, 0.010139869235844635, 2.638933642560366 ], "joint_status_l": { "velocity": [ 0.4605016273657725, 0.1647376902251807, -0.01871061678460073, -0.9123113217617274, -0.9877558221658145, 1.2317670470425313, 0.6279576125427511 ], "torque": [ -25.36376953125, 11.97509765625, -9.02099609375, -3.3203125, -5.5865478515625, -0.5218505859375, 0.66009521484375 ] }, "joint_status_r": { "velocity": [ -0.9752331356329691, -7.182759340732758, -0.9990449624892594, 3.0199788194078536, 8.047718710330166, -7.078533871752946, -8.387225739309834 ], "torque": [ 23.3642578125, -0.65185546875, 8.97216796875, -1.72119140625, 4.60693359375, 0.9283447265625, -0.9649658203125 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.2, -9.3, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.2, -9.3, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -16.6, -0.5, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -16.6, -0.5, 1.0, 0.3, 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": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.42884845439912184, -0.7964093619758817, -0.06516269924726495, -0.5742816852392356, -0.1499888157964666, -1.0023012534719038, 0.5846531577576747 ], "act_joint_pos_r": [ -0.6071408042284343, -0.7715790388133905, 0.16619717164739012, -1.1910756909047422, 0.17772356464774844, 0.6883703495035349, -0.6260181647835675 ], "act_eef_pose_l": [ 567.1494875079823, 358.5014907697836, 12.193231447887754, 1.6852564915712207, -0.1979802450338848, 0.7619227649435605 ], "act_eef_pose_r": [ 489.0606644042035, -202.06754812687868, -10.675056653080446, 1.6085683080917865, 0.010490381100256857, 2.5890810053357054 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4247870038641234, -0.7931006271952523, -0.06531188409338097, -0.5784589169317697, -0.14305941479201803, -1.0028217232068095, 0.5807695557121346 ], "joint_pos_r": [ -0.6007966133898808, -0.7145525695523445, 0.17394346434501184, -1.2143283343989353, 0.11510002994492216, 0.7453134625347444, -0.5602080839683797 ], "eef_pose_l": [ 566.7825147560654, 358.66301417985034, 13.886303358238564, 1.6872996981564252, -0.20036987251723057, 0.7580758766428976 ], "eef_pose_r": [ 475.25144307684116, -218.0875901510857, -2.390667694601973, 1.6191840321877329, 0.010436119451144768, 2.6290871534426112 ], "joint_status_l": { "velocity": [ 0.4386237212643529, -0.3573328173400725, 0.016111488197578794, 0.451127717492561, -0.7483532369816359, 0.056209073571622525, 0.4194166508852959 ], "torque": [ -26.05224609375, 5.830078125, -9.11865234375, 0.47607421875, -5.584716796875, -0.732421875, 0.68023681640625 ] }, "joint_status_r": { "velocity": [ -0.6851524030739853, -6.1586770397230595, -0.8365749378844711, 2.5112114331520274, 6.763142279685996, -6.149674832406582, -7.107279110047493 ], "torque": [ 22.78564453125, 3.44970703125, 9.429931640625, -3.271484375, 4.464111328125, 1.600341796875, -0.76812744140625 ] }, "eef_FT_l": { "raw_value": [ -2.8, -16.3, -7.9, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.8, -16.3, -7.9, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.3, 0.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.3, 0.7, 1.0, 0.2, 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": -114, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4325585710339833, -0.7952528402322898, -0.06525062867301533, -0.5780069894261237, -0.1588779436484504, -0.9998697391163225, 0.5890003015462479 ], "act_joint_pos_r": [ -0.6082129060867394, -0.7754529739280086, 0.16605989367026955, -1.2005102668175056, 0.1981372386623903, 0.6744395364185711, -0.6813636515618636 ], "act_eef_pose_l": [ 566.7582875079822, 358.4662907697836, 11.59163144788802, 1.6808782267620306, -0.19504748495711938, 0.7655122737809466 ], "act_eef_pose_r": [ 489.9190644042035, -199.06994812687867, -9.257456653080226, 1.6008133765057857, 0.04709289676727076, 2.582897678043076 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42555476861001557, -0.7937261007535746, -0.0652836826258308, -0.5776692652540463, -0.1443693285175513, -1.0027233351283829, 0.5815037004990636 ], "joint_pos_r": [ -0.601678486590215, -0.7224795244991259, 0.17286669220719014, -1.2110961045281308, 0.12380500404958031, 0.7373980945069328, -0.5693560033894121 ], "eef_pose_l": [ 566.8525797941103, 358.63206005644383, 13.566731581033139, 1.6869108865342077, -0.19991752145611816, 0.7588015257304822 ], "eef_pose_r": [ 477.25153326625923, -215.88897159009275, -3.475149247723124, 1.617237679351154, 0.010631862837060874, 2.623458523727092 ], "joint_status_l": { "velocity": [ 0.35570757418890153, -0.289783665296639, 0.013065819529367584, 0.36584785149340604, -0.6068867269555245, 0.04558347448657685, 0.340131352291273 ], "torque": [ -26.6748046875, 4.98046875, -8.978271484375, 0.714111328125, -5.5206298828125, -1.7413330078125, 0.52734375 ] }, "joint_status_r": { "velocity": [ -0.5899129063768882, -5.302591154374703, -0.720286976729767, 2.162140902388643, 5.823032803429773, -5.294840297399794, -6.119332950491163 ], "torque": [ 22.55859375, 4.775390625, 9.234619140625, -2.64892578125, 4.281005859375, 1.42822265625, -0.89263916015625 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.1, -8.1, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.1, -8.1, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.0, 0.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -17.0, 0.5, 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": -68, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43425437512068776, -0.8101086759819783, -0.06430961868575502, -0.5407994540843079, -0.15909301136490708, -1.0229873241047127, 0.5852308434701842 ], "act_joint_pos_r": [ -0.6038657913724319, -0.7819304970874885, 0.16528705417237663, -1.1966261134779648, 0.19465490930373705, 0.6738499741755782, -0.6933840433943665 ], "act_eef_pose_l": [ 568.2526875079823, 359.9486907697836, 9.387631447887841, 1.680657907825532, -0.19200442319508107, 0.7654376352395428 ], "act_eef_pose_r": [ 491.3342644042035, -196.69074812687867, -8.337456653080153, 1.5999509905602107, 0.06388491439512016, 2.5863163951065085 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42678061845403337, -0.7946293623223056, -0.06523693194055509, -0.5760911204439032, -0.14676392012405956, -1.0032692372257896, 0.5825706017782903 ], "joint_pos_r": [ -0.6026703793627276, -0.7305206338358506, 0.17183345363468733, -1.209489226377477, 0.135088272030215, 0.7278412947378188, -0.5863582140291638 ], "eef_pose_l": [ 566.9069073207089, 358.669177135414, 13.144785233376439, 1.6859040952230435, -0.19897560959869748, 0.7598959325297778 ], "eef_pose_r": [ 479.265537271264, -213.3518498286528, -4.258390690965285, 1.6141145594264792, 0.016471244042337133, 2.617298728511331 ], "joint_status_l": { "velocity": [ 0.8071419146200576, -1.671716570600168, 0.10014687784415388, 3.8113875559702137, -1.3315025834419458, -2.1294905769559946, 0.28729762933377145 ], "torque": [ -26.66015625, 6.0791015625, -8.172607421875, -0.543212890625, -5.6707763671875, -0.926513671875, 0.5731201171875 ] }, "joint_status_r": { "velocity": [ -0.5985752321606697, -4.852549611652712, -0.6235260862383907, 0.9696990327334731, 6.809087572971717, -5.767219803423984, -10.260284642612305 ], "torque": [ 22.94677734375, 3.36181640625, 9.50927734375, -3.18603515625, 4.2169189453125, 1.7742919921875, -0.92376708984375 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.4, -8.3, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.4, -8.3, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.3, 1.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.3, 1.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 202, "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": [ 0.4361642086642096, -0.7974292233961131, -0.06517805389609962, -0.5767877533353613, -0.16148651736416011, -0.9973831620767837, 0.5900413161577177 ], "act_joint_pos_r": [ -0.5998987536725395, -0.7893056713903563, 0.16436375676996248, -1.189708871677804, 0.20346365481672193, 0.6695396407900652, -0.7049494814113586 ], "act_eef_pose_l": [ 566.8270875079824, 358.0382907697836, 9.557231447888014, 1.6821191972477056, -0.19208765919645657, 0.7675636554622192 ], "act_eef_pose_r": [ 494.5742644042035, -195.54034812687868, -7.294256653080311, 1.5963753736572188, 0.07064068394294533, 2.5798592547495907 ], "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.npz" }, "states": { "joint_pos_l": [ 0.42831755247357156, -0.7959354498838086, -0.06517097184219968, -0.5739122784288302, -0.14921389708050523, -1.0038663148237825, 0.5835837821935727 ], "joint_pos_r": [ -0.6026225961957242, -0.7414529227259286, 0.1704412438778226, -1.2062646026599828, 0.14818794123342552, 0.7165197391924666, -0.6087434691905307 ], "eef_pose_l": [ 566.9903154201861, 358.6797797785464, 12.499419709839003, 1.6851326393682986, -0.19774423643922978, 0.761110924971682 ], "eef_pose_r": [ 482.1069817310384, -209.99276370857828, -4.919537831301653, 1.6102865427165978, 0.026445668271842082, 2.6102254735119486 ], "joint_status_l": { "velocity": [ 0.8474138754523963, -0.16132278136726796, -0.0007648392634229673, -0.31054213095416117, -1.325403899936184, 0.7001598465654624, 0.6973930996174715 ], "torque": [ -26.1328125, 5.5810546875, -10.577392578125, -2.52685546875, -5.592041015625, -1.204833984375, 0.5364990234375 ] }, "joint_status_r": { "velocity": [ 0.2941663165323405, -5.167944435384264, -0.6563492496625134, 1.7879662128326146, 5.969601003025682, -5.073700986647722, -10.389942884863501 ], "torque": [ 31.11328125, 2.548828125, 9.661865234375, -2.8564453125, 3.9056396484375, 1.73583984375, -1.036376953125 ] }, "eef_FT_l": { "raw_value": [ -2.6, -17.0, -9.2, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.0, -9.2, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.0, -0.6, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.0, -0.6, 1.0, 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": -49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43631182902367455, -0.790030445351708, -0.06558383807330048, -0.5904891922430917, -0.159570597670258, -0.9922448452563141, 0.5912184115934244 ], "act_joint_pos_r": [ -0.5979282316447603, -0.7914259714647727, 0.16417935854954707, -1.1889729202008912, 0.21418288584903508, 0.6670615748716126, -0.7165187363619395 ], "act_eef_pose_l": [ 565.3206875079823, 358.10389076978356, 10.04843144788795, 1.6834408711766196, -0.19360241466662956, 0.7653321950023113 ], "act_eef_pose_r": [ 496.12546440420346, -195.25074812687868, -5.679856653080151, 1.5909359863284274, 0.07502255872378816, 2.5747677845452173 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4298213813839575, -0.795189362544543, -0.06522871657555526, -0.5763604160598719, -0.15126755527056257, -1.0019265076838804, 0.5849681175088487 ], "joint_pos_r": [ -0.6022651492625543, -0.746305701741218, 0.1698286490479129, -1.2045855702205066, 0.1541565987966056, 0.7117380501468448, -0.618820589068381 ], "eef_pose_l": [ 566.7532406431668, 358.56726492529936, 12.01220219285679, 1.6847313070070757, -0.19689662000577554, 0.7620188378780273 ], "eef_pose_r": [ 483.45777990468156, -208.5571272960189, -5.054015574858653, 1.6084021921892706, 0.031166740237896152, 2.606996654773739 ], "joint_status_l": { "velocity": [ 0.7009476717425578, 0.5571466246649948, -0.03835199062496297, -1.5258628248684403, -0.8967021323513791, 1.0455887041871392, 0.6750118527234505 ], "torque": [ -25.869140625, 9.6826171875, -11.517333984375, -3.265380859375, -5.478515625, -0.7196044921875, 0.6646728515625 ] }, "joint_status_r": { "velocity": [ 0.46837328879067996, -4.872845413250282, -0.610105379727166, 1.68611647277217, 6.48264780618546, -4.824917026404307, -10.551088719976676 ], "torque": [ 32.71728515625, 2.4462890625, 9.710693359375, -2.2216796875, 4.2681884765625, 0.9686279296875, -0.7342529296875 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.4, -8.6, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.4, -8.6, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.4, 1.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.4, 1.4, 1.1, 0.3, 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": -133, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4362990004029976, -0.7916327211287416, -0.0654421226828071, -0.5841438815930864, -0.1591933357423219, -0.9950248116648069, 0.590969769692329 ], "act_joint_pos_r": [ -0.5971279890598972, -0.7927861725369278, 0.16401925922148872, -1.187046057041756, 0.21818763351499681, 0.6645587357138218, -0.7229936617241424 ], "act_eef_pose_l": [ 565.6702875079823, 359.07429076978354, 9.738831447887904, 1.6842482539637957, -0.19427070370097463, 0.7668781189407404 ], "act_eef_pose_r": [ 497.26306440420353, -195.48754812687866, -5.519856653080296, 1.5903921415986655, 0.07892396262714112, 2.5707988386298215 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43046639181069196, -0.7947465806566885, -0.06525781653318485, -0.5774871351451936, -0.1520768546898879, -1.0010855786913766, 0.5855788871988845 ], "joint_pos_r": [ -0.6012838944684858, -0.7560122327859383, 0.16861407708351975, -1.2011218927245617, 0.16722807462139627, 0.7020436398774019, -0.6400924724257192 ], "eef_pose_l": [ 566.6272805157068, 358.56371982848714, 11.80336429444796, 1.684632726196563, -0.19660206444895081, 0.7624158317803199 ], "eef_pose_r": [ 486.3087710553505, -205.7612041486728, -5.118176788837019, 1.6041761112921213, 0.041033880548670555, 2.5998849559793067 ], "joint_status_l": { "velocity": [ 0.6299031499685803, 0.33628691076614814, -0.01990447710803478, -0.718907413331138, -0.7685572862772272, 0.654543534140295, 0.5821981382752028 ], "torque": [ -25.36376953125, 11.044921875, -11.871337890625, -3.021240234375, -5.6085205078125, -0.8917236328125, 0.7049560546875 ] }, "joint_status_r": { "velocity": [ 0.4488245467557661, -3.9714683609082257, -0.4962256937048881, 1.520145419450003, 5.503470044336378, -4.048250252907337, -8.953064387710263 ], "torque": [ 33.72802734375, 2.28515625, 9.912109375, -2.67333984375, 4.10888671875, 1.527099609375, -0.89813232421875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.4, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.4, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.3, 0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -17.3, 0.3, 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": -41, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4379152568289836, -0.7839790925206963, -0.06590425571994536, -0.6005836659107852, -0.15861531912660676, -0.9835278282347484, 0.5925392849367334 ], "act_joint_pos_r": [ -0.5964106909042136, -0.795441944131507, 0.16366385375182355, -1.1813591993542356, 0.22534230013386347, 0.6577225999323253, -0.729400167273719 ], "act_eef_pose_l": [ 564.4614875079824, 359.2054907697836, 9.302031447887956, 1.6872362532427914, -0.19453033786741078, 0.7683311490907748 ], "act_eef_pose_r": [ 499.91506440420346, -196.70434812687867, -6.25425665308012, 1.5922348662021717, 0.08040977699596456, 2.560192759917431 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43161663404243084, -0.7939322424263902, -0.06530628540056714, -0.5792303115914017, -0.15340508793642155, -0.9996008262398601, 0.5866442484350608 ], "joint_pos_r": [ -0.6004465557979363, -0.7631553567177769, 0.16771986078025358, -1.1980510054787483, 0.177377184758399, 0.694464705742275, -0.6562257913536558 ], "eef_pose_l": [ 566.4127035338266, 358.66418962893766, 11.400185655441305, 1.684639583363464, -0.1961725006729402, 0.7633023383045581 ], "eef_pose_r": [ 488.61871610222215, -203.9179097536156, -5.204195793499991, 1.6013791285685208, 0.04846743273999777, 2.593621233456908 ], "joint_status_l": { "velocity": [ 0.6802311986007226, 1.0749084870838033, -0.06457888984029436, -2.3060942518791094, -0.5626883729334953, 1.7358325889071935, 0.6366451653354588 ], "torque": [ -25.48828125, 10.77392578125, -12.713623046875, -3.25927734375, -5.4693603515625, -1.06201171875, 0.67474365234375 ] }, "joint_status_r": { "velocity": [ 0.43586055350175457, -3.486848601579773, -0.438035839894102, 1.802661894776847, 5.180079682266525, -3.9680303966740382, -7.902599524652665 ], "torque": [ 35.712890625, 4.0869140625, 9.844970703125, -2.569580078125, 4.189453125, 1.9775390625, -0.8001708984375 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.6, -8.8, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.6, -8.8, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.1, 0.2, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -17.1, 0.2, 1.0, 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": -83, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43798527258535724, -0.7860138405501028, -0.0657310075026429, -0.5931073351673171, -0.15778841538625216, -0.9868679020962573, 0.5910576636174416 ], "act_joint_pos_r": [ -0.5967380583979546, -0.7958713173494633, 0.1636072405616511, -1.1794445081815437, 0.23338611577592738, 0.649818813923992, -0.7347146129316374 ], "act_eef_pose_l": [ 564.8470875079823, 360.2438907697836, 8.822031447887937, 1.6884566359076827, -0.19421555656854614, 0.7698962888458915 ], "act_eef_pose_r": [ 501.7950644042035, -198.11394812687868, -6.912656653080148, 1.594034553230859, 0.07942389356521654, 2.549756847815389 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43273533176198054, -0.792319150737841, -0.06539952008076164, -0.5824667076331254, -0.15426667940762734, -0.9969998102327718, 0.5875797129602435 ], "joint_pos_r": [ -0.5997072314556504, -0.7692896774551528, 0.16694904314894052, -1.194757582623226, 0.18702434323860176, 0.6869492085900661, -0.6704416424642615 ], "eef_pose_l": [ 566.0995252792057, 358.8361613885425, 10.993595539324332, 1.685175663128834, -0.19586229884995396, 0.7643074908321107 ], "eef_pose_r": [ 490.931962122917, -202.65973161859318, -5.405993157373189, 1.5994835623265538, 0.05457220129827409, 2.586507576204239 ], "joint_status_l": { "velocity": [ 0.5669768868350467, 0.6809534166283271, -0.035799585710816206, -1.1491538812107294, -0.3803362682728295, 1.0942138066329932, 0.3756075930230196 ], "torque": [ -24.755859375, 12.333984375, -7.958984375, -4.168701171875, -5.4290771484375, -0.8404541015625, 0.63446044921875 ] }, "joint_status_r": { "velocity": [ 0.32066123283325254, -2.8707324408578927, -0.3609040351317816, 1.6537632645619027, 5.006923762708393, -4.00996435636003, -6.941276088481274 ], "torque": [ 35.66162109375, 4.0869140625, 9.65576171875, -2.96630859375, 4.083251953125, 1.2725830078125, -0.9649658203125 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.5, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.2, -16.5, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.7, -17.2, 0.0, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -17.2, 0.0, 1.0, 0.3, 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": 20, "motor_current": -38, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4373455407800437, -0.7934186153177227, -0.06526705984276988, -0.5758867655532832, -0.1576643654053538, -0.9963829801996856, 0.5879167239058797 ], "act_joint_pos_r": [ -0.5964444260275328, -0.7982485707026302, 0.16334675168710233, -1.1782747673837934, 0.23887866487030607, 0.6415022696333351, -0.7414546526552466 ], "act_eef_pose_l": [ 566.0790875079823, 360.79589076978357, 8.420431447887793, 1.6878005596911037, -0.19247629539728156, 0.7706645358555773 ], "act_eef_pose_r": [ 503.4526644042035, -198.16514812687868, -7.5046566530802465, 1.5959937723588054, 0.08159875893988872, 2.5424130791278756 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43373606742927284, -0.7916872186030042, -0.06542633038487325, -0.5831273651520698, -0.15496419034942963, -0.9957796553383242, 0.5880093112059229 ], "joint_pos_r": [ -0.5990497208193122, -0.7751544671030053, 0.166215026813008, -1.1913961663991803, 0.19736891438779305, 0.6783279378974726, -0.6847075834153759 ], "eef_pose_l": [ 565.9557542504591, 359.16678519617454, 10.522060895926188, 1.6857738318790219, -0.1953797635814794, 0.7654983573772596 ], "eef_pose_r": [ 493.43076376130125, -201.69429967733367, -5.728254114692248, 1.5981869094839725, 0.06018170862256953, 2.577972929151068 ], "joint_status_l": { "velocity": [ 0.38981162500384414, -0.18698533035177434, 0.017200711239340194, 0.781961693941291, -0.29161030545354905, -0.06515716331900734, -0.009999133496307877 ], "torque": [ -23.9794921875, 7.03125, -8.4716796875, -0.81787109375, -5.386962890625, -2.2943115234375, 0.04669189453125 ] }, "joint_status_r": { "velocity": [ 0.28136353913854606, -2.494089629517582, -0.3097645775800295, 1.4170692994373013, 4.482920835428894, -3.977054875563546, -6.128502727380081 ], "torque": [ 36.6064453125, 3.15673828125, 9.796142578125, -2.5146484375, 3.8946533203125, 1.6552734375, -0.79376220703125 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.5, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.5, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.2, 0.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.2, 0.4, 1.1, 0.3, 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": 1, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4375018193230093, -0.7941419956329576, -0.06532134184275463, -0.580433916728505, -0.15805407582622213, -0.9932888254255141, 0.5897994897771752 ], "act_joint_pos_r": [ -0.5975766467277435, -0.8001677280239008, 0.16317855490613672, -1.1795128160927852, 0.2522147148539049, 0.6311381183679498, -0.7528432606027949 ], "act_eef_pose_l": [ 566.1710875079823, 359.13109076978355, 8.369231447887913, 1.6871673708101103, -0.19307818531274004, 0.7687200740946732 ], "act_eef_pose_r": [ 505.03346440420347, -198.22514812687868, -7.951056653080286, 1.5955160369535097, 0.08079626327831596, 2.5320939193701015 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4343742526624776, -0.7919933440979923, -0.06539817001404426, -0.5818471662713918, -0.15544160399964815, -0.9958863282459552, 0.5879929409928946 ], "joint_pos_r": [ -0.5987905846444497, -0.7774515268014167, 0.16592973324587498, -1.1900910437848722, 0.20149769013841595, 0.6746650653347109, -0.6903519421665856 ], "eef_pose_l": [ 565.97890879428, 359.4546478706318, 10.150354362827272, 1.686130737670275, -0.19486344363630606, 0.7664115297508707 ], "eef_pose_r": [ 494.44560233469923, -201.34215958621505, -5.884530276711303, 1.5978450255356809, 0.06236252591982011, 2.574396785085027 ], "joint_status_l": { "velocity": [ 0.32088965256260593, -0.15392475196307487, 0.014159480886066778, 0.6437042925124814, -0.24005115188585613, -0.053636829068892666, -0.008231202631492351 ], "torque": [ -24.67529296875, 6.46728515625, -8.41064453125, -0.06103515625, -5.3192138671875, -1.56005859375, 0.0274658203125 ] }, "joint_status_r": { "velocity": [ 0.2533776576525426, -2.2460144986737873, -0.27895378104547675, 1.2761202141629013, 4.0370262053206485, -3.581476305751785, -5.518929960636854 ], "torque": [ 37.19970703125, 2.86376953125, 9.43603515625, -3.338623046875, 4.05029296875, 1.710205078125, -0.589599609375 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.4, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.4, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.2, 0.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.2, 0.3, 1.0, 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": [ 0.43974162238904824, -0.7950449373040814, -0.06528652403503563, -0.5796710034130129, -0.166463509882626, -1.0016503419553104, 0.5960363329946753 ], "act_joint_pos_r": [ -0.5955270379409919, -0.8025328931108662, 0.16279995182930332, -1.1727615056229994, 0.25236519092365883, 0.626141113192548, -0.7568869149521515 ], "act_eef_pose_l": [ 565.3118875079823, 357.9998907697836, 8.970031447888076, 1.6788300326163017, -0.19270667872918085, 0.765077812669799 ], "act_eef_pose_r": [ 507.4742644042035, -199.52994812687868, -8.673456653080393, 1.599647063399808, 0.08678679356326252, 2.524746830151513 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4351760693978237, -0.7924570400968356, -0.06537929943467849, -0.5813974632288053, -0.15684270731134398, -0.9964480001276416, 0.5889690427766315 ], "joint_pos_r": [ -0.598300593070368, -0.7818849630053702, 0.16538041595913267, -1.1873579036998978, 0.2104328229737433, 0.6664583720326022, -0.7019975237574481 ], "eef_pose_l": [ 565.9140738660004, 359.31005595079586, 9.903827793227265, 1.6853916253752401, -0.19448755592584577, 0.7664509000659202 ], "eef_pose_r": [ 496.65299616155266, -200.87199132480126, -6.275646829073821, 1.5975566961035161, 0.06658898208100907, 2.5660773719574523 ], "joint_status_l": { "velocity": [ 0.4930651808718878, -0.2794846554232677, 0.010019447653664137, 0.1864521609933334, -1.039016033558715, -0.561836346910205, 0.7632448328456221 ], "torque": [ -25.11474609375, 6.38671875, -8.343505859375, 0.274658203125, -5.401611328125, -2.7374267578125, 0.63446044921875 ] }, "joint_status_r": { "velocity": [ 0.2995351196561913, -2.2299106836936033, -0.2786819067381874, 1.5763644999200466, 4.528562175788897, -4.354135536363657, -5.927879415570381 ], "torque": [ 36.48193359375, 1.14990234375, 9.881591796875, -2.398681640625, 3.6932373046875, 2.0361328125, -0.78277587890625 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.4, -9.2, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.4, -9.2, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.3, 0.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.3, 0.4, 1.1, 0.3, 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": -7, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4461021791158755, -0.7864950985490757, -0.06586564431294552, -0.60224659578312, -0.1766752297127373, -0.9867479471165866, 0.604822585792216 ], "act_joint_pos_r": [ -0.5902796949325979, -0.805890821056285, 0.16219646751028396, -1.1592896794314551, 0.24885029392822844, 0.6264972155561273, -0.7530275492311942 ], "act_eef_pose_l": [ 563.5462875079822, 357.27669076978356, 7.674031447887799, 1.6764452081885146, -0.19044473417301017, 0.7692766143700812 ], "act_eef_pose_r": [ 511.0910644042035, -201.77794812687867, -8.514256653080338, 1.602959477708921, 0.09108026120954216, 2.517718739787369 ], "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.npz" }, "states": { "joint_pos_l": [ 0.43678486582674636, -0.7918371367225374, -0.06543587769562684, -0.5839372255238306, -0.15983064455078777, -0.995489792519071, 0.5913258577622151 ], "joint_pos_r": [ -0.597536712891316, -0.7849972375978536, 0.16497820669408167, -1.1843575915700675, 0.21600819463990797, 0.6608797537254233, -0.7093491475036265 ], "eef_pose_l": [ 565.588487031994, 358.98459995999843, 9.575251582507263, 1.683914165722449, -0.19390737515705356, 0.7667236055660068 ], "eef_pose_r": [ 498.44785318006245, -200.83893275936106, -6.574343632864355, 1.5979346151622265, 0.06975492391761642, 2.559747236804413 ], "joint_status_l": { "velocity": [ 1.0062401577588531, 0.5769231072969561, -0.04641342577954566, -1.9773536690737004, -1.8191615441887077, 0.9440914589795568, 1.4576036375180124 ], "torque": [ -26.27197265625, 11.806640625, -8.9111328125, -4.16259765625, -5.3009033203125, -0.90087890625, 0.68756103515625 ] }, "joint_status_r": { "velocity": [ 0.783734824518767, -2.2564404633564905, -0.30041897146615426, 2.707254664761294, 3.546842114622084, -3.7132046071688407, -4.71712826231574 ], "torque": [ 36.52587890625, 3.47900390625, 9.46044921875, -2.301025390625, 3.709716796875, 1.4044189453125, -0.5987548828125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.6, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.6, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -16.7, -2.6, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -16.7, -2.6, 1.0, 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": 9, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45411753054815257, -0.7791114415744275, -0.06640139960539965, -0.6232309327016254, -0.19464999083571197, -0.9731019925941086, 0.6145899223861574 ], "act_joint_pos_r": [ -0.5856997784845612, -0.8122709418673943, 0.16134264609846774, -1.149050658828245, 0.251019478137116, 0.6218788088670562, -0.7561326034120806 ], "act_eef_pose_l": [ 561.9446875079823, 356.55509076978353, 6.5620314478879465, 1.66914070267077, -0.1837101720158808, 0.7766559575884758 ], "act_eef_pose_r": [ 514.7358644042035, -202.02754812687868, -8.31025665308016, 1.6044880614548604, 0.09578619219116268, 2.5100946662031727 ], "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.npz" }, "states": { "joint_pos_l": [ 0.438777109056583, -0.7904938669975672, -0.06553974304984095, -0.5882295053493622, -0.16368358151858348, -0.9931789261587057, 0.5940788368076138 ], "joint_pos_r": [ -0.5960525214739772, -0.7889715297126199, 0.1644488832250955, -1.179475810977372, 0.22191019590874733, 0.6545978523063765, -0.7172081892321448 ], "eef_pose_l": [ 565.1709134031756, 358.66917480106054, 9.208695797702177, 1.6822019603150695, -0.19294915248244748, 0.7676272191442425 ], "eef_pose_r": [ 500.875566905017, -201.005069165873, -6.89666745771504, 1.5987747136600405, 0.07376512341403808, 2.5519026088342347 ], "joint_status_l": { "velocity": [ 1.6567166588434823, 1.229265690446013, -0.09305616345545165, -3.7800426676453114, -3.344273572173151, 2.168244876012082, 2.2151319106589185 ], "torque": [ -25.6787109375, 10.27587890625, -13.519287109375, -4.559326171875, -5.423583984375, -0.941162109375, 0.81756591796875 ] }, "joint_status_r": { "velocity": [ 1.1180632673442048, -2.516262299526062, -0.33546371570247757, 3.285819522039546, 3.1437097619004817, -3.5335524748871805, -4.203712749553112 ], "torque": [ 36.533203125, 3.0615234375, 10.07080078125, -2.264404296875, 3.49365234375, 1.9482421875, -0.81939697265625 ] }, "eef_FT_l": { "raw_value": [ -1.4, -16.2, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -1.4, -16.2, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.4, 0.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.4, 0.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 202, "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": [ 0.45831820671868345, -0.7834298395119709, -0.06601806258804786, -0.6065658369012397, -0.19889414568301836, -0.9847283190871237, 0.6132443687800376 ], "act_joint_pos_r": [ -0.583509371677255, -0.8185156162716867, 0.16059425644854866, -1.142752337941677, 0.24986711851105256, 0.6158953004718349, -0.7583772110543869 ], "act_eef_pose_l": [ 561.7934875079823, 358.6686907697836, 4.518831447887877, 1.6682047538217535, -0.1790354390243238, 0.7794129685108019 ], "act_eef_pose_r": [ 516.9918644042035, -201.08514812687866, -9.16705665308018, 1.6080420315517467, 0.09978362414200789, 2.506178661114545 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4407103353070225, -0.7890594342061479, -0.06564833048813161, -0.5926404453093526, -0.16758602157908864, -0.9906487965259085, 0.5966636790224932 ], "joint_pos_r": [ -0.5938434654829192, -0.7940195475342668, 0.16378077959167117, -1.1729918028148159, 0.22769664611894044, 0.6476708727832452, -0.7251657033753506 ], "eef_pose_l": [ 564.7731450599642, 358.3984460213189, 8.87822909351371, 1.680495200103791, -0.19184487317594295, 0.7687506283786945 ], "eef_pose_r": [ 503.82906572947627, -201.1464327148338, -7.230133547460412, 1.6000394376854739, 0.07844877796856348, 2.5431854610047577 ], "joint_status_l": { "velocity": [ 1.4479343814999268, 1.074351517922345, -0.08132906599234158, -3.3036752016739612, -2.922822475674325, 1.8949989346284113, 1.9359771846803042 ], "torque": [ -26.72607421875, 11.66748046875, -13.568115234375, -3.656005859375, -5.6890869140625, -0.831298828125, 0.56304931640625 ] }, "joint_status_r": { "velocity": [ 1.116049214900272, -2.6454973988663255, -0.3441343497572191, 3.265765887682903, 2.394340401052464, -3.4316605982134263, -3.5867370441806656 ], "torque": [ 36.2841796875, 2.17529296875, 9.6923828125, -1.641845703125, 3.702392578125, 1.3568115234375, -0.67108154296875 ] }, "eef_FT_l": { "raw_value": [ -2.0, -17.0, -8.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -17.0, -8.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.2, 0.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -17.2, 0.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 156, "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": [ 0.4597253345041305, -0.7868312829627437, -0.0657119172225284, -0.5929856257615047, -0.2029854382558138, -0.9920358796731886, 0.6116730021667591 ], "act_joint_pos_r": [ -0.5817774947356589, -0.8212444751518466, 0.16029300406090966, -1.140558008393456, 0.24808380137316455, 0.610744414317, -0.7593393792959486 ], "act_eef_pose_l": [ 562.3638875079823, 360.7806907697836, 3.922831447887873, 1.6664478231660835, -0.1761534217317979, 0.7841984381027118 ], "act_eef_pose_r": [ 518.2838644042035, -200.69634812687866, -9.475056653080173, 1.6110107001288572, 0.10314819813455665, 2.5035836222181573 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44437185051668415, -0.7882195481606454, -0.06569638417411736, -0.5942742719385228, -0.17423297145627353, -0.9900858988114578, 0.5998628337936153 ], "joint_pos_r": [ -0.5916166998772212, -0.7991796876572698, 0.16311414715941822, -1.1667226656064378, 0.23200161370186798, 0.6408389224033249, -0.7319266458805781 ], "eef_pose_l": [ 564.2268143821761, 358.62064602078254, 7.951097812025722, 1.6778224725349156, -0.1890345471198125, 0.7712710542785683 ], "eef_pose_r": [ 506.6173644999557, -201.09534245193305, -7.651686985844407, 1.6018415620421986, 0.08303477680295976, 2.535442402322614 ], "joint_status_l": { "velocity": [ 1.6581273667917173, 0.14992821947679147, -0.001677519752607548, 0.1391696825283617, -3.1051748321140327, -0.21059172199500154, 1.2754605666005503 ], "torque": [ -26.07421875, 10.8837890625, -9.075927734375, -0.86669921875, -5.665283203125, -2.30712890625, 0.63079833984375 ] }, "joint_status_r": { "velocity": [ 1.0626028154945288, -2.3829267687460742, -0.30467446874604676, 2.825699639446455, 1.736825043583634, -3.2501110164231406, -2.9604878939366586 ], "torque": [ 37.12646484375, 3.03955078125, 9.820556640625, -2.08740234375, 3.5577392578125, 1.80908203125, -0.97412109375 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.5, -7.3, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -2.4, -16.5, -7.3, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.1, 0.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.1, 0.4, 1.0, 0.3, 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": 20, "motor_current": 51, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46476957999124885, -0.7769501683037856, -0.06636941481595435, -0.6173343312802182, -0.21350627269003403, -0.9776015681489543, 0.6203535710057793 ], "act_joint_pos_r": [ -0.5799601438619946, -0.8230207989577069, 0.1601192564165816, -1.139972648833231, 0.24990493662200386, 0.6032840874255148, -0.7602689729062775 ], "act_eef_pose_l": [ 560.4926875079823, 360.1782907697836, 3.6164314478879334, 1.6630173020512824, -0.17402956641810316, 0.7880482677132993 ], "act_eef_pose_r": [ 519.7998644042034, -200.70434812687867, -9.414256653080429, 1.6132916709337808, 0.10378309433195303, 2.498293115468052 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4472742282831028, -0.7879571145626697, -0.06569932049621792, -0.5940306700292739, -0.17966825379589785, -0.990454517497786, 0.602095393526109 ], "joint_pos_r": [ -0.5903767463548496, -0.8019603300547634, 0.16275862186324014, -1.1634253505890044, 0.23402831859962683, 0.6370463608326705, -0.7353812456035396 ], "eef_pose_l": [ 563.8769384562993, 359.01863759193014, 7.189400889566116, 1.6756437250254208, -0.1865911989102051, 0.7736910839813439 ], "eef_pose_r": [ 508.10255682017527, -201.0424835987291, -7.885501839508578, 1.6029704304983543, 0.08557050091444415, 2.5313869629461956 ], "joint_status_l": { "velocity": [ 1.3446798126599546, 0.12158622679780962, -0.0013604063184846638, 0.1128614522487581, -2.518181651872897, -0.1707820779950353, 1.0343512266306476 ], "torque": [ -26.77001953125, 11.5283203125, -9.747314453125, -0.91552734375, -5.7513427734375, -2.735595703125, 0.54107666015625 ] }, "joint_status_r": { "velocity": [ 0.9286917845727771, -2.0826262467066314, -0.2662788691765172, 2.4696001201576223, 1.5179473700774881, -2.8405264468434055, -2.587402127432803 ], "torque": [ 36.46728515625, 1.70654296875, 9.686279296875, -2.996826171875, 3.4039306640625, 1.8255615234375, -0.68572998046875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.6, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.6, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.2, -0.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -17.2, -0.2, 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": 83, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46687196032209466, -0.7745642490132539, -0.06660047151672485, -0.6275183949031045, -0.21587257047297592, -0.9685482594365531, 0.6212113618351819 ], "act_joint_pos_r": [ -0.5787988102126341, -0.8252138630880558, 0.1599556805656728, -1.1427644612342989, 0.2530176064479872, 0.5968944104026968, -0.7644908092367687 ], "act_eef_pose_l": [ 560.1374875079823, 359.20149076978356, 2.8028314478877547, 1.66397372479121, -0.1710389918826529, 0.7898059489427458 ], "act_eef_pose_r": [ 520.3878644042036, -199.32354812687868, -8.931856653080104, 1.6131017486875792, 0.1053710614581626, 2.496589240843365 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4506047920804785, -0.7857417600599194, -0.06584387189588115, -0.5993001517440034, -0.18591811973473174, -0.9871604070829041, 0.605420388339743 ], "joint_pos_r": [ -0.5884265141989117, -0.8059094199270963, 0.1622756582441098, -1.159601017855163, 0.23716407471114376, 0.6304484834249492, -0.7402464698413436 ], "eef_pose_l": [ 563.2488418884099, 359.10469598704606, 6.471665643964656, 1.6734159458712978, -0.18410587299021056, 0.7764100861700725 ], "eef_pose_r": [ 510.24185295164307, -200.82296409605974, -8.105319499899025, 1.6046945922471605, 0.08897208404194329, 2.5253424204696735 ], "joint_status_l": { "velocity": [ 1.7568023559784152, 1.207135590479247, -0.08171034913317943, -3.0474803805526918, -3.2349852689397274, 2.010052662472006, 1.7053748401645308 ], "torque": [ -24.82177734375, 12.099609375, -13.75732421875, -4.3212890625, -5.606689453125, -0.9503173828125, 0.5145263671875 ] }, "joint_status_r": { "velocity": [ 1.0397613643959858, -2.0848183729516023, -0.25055019968833747, 1.818294487323513, 1.712130930976441, -3.6237330101114296, -2.618311431737297 ], "torque": [ 37.27294921875, 2.51953125, 9.844970703125, -3.62548828125, 3.6785888671875, 2.039794921875, -0.7489013671875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.7, -8.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.7, -8.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.2, 0.2, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -17.2, 0.2, 1.0, 0.3, 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": 34, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46872339194240514, -0.7747859553824004, -0.06661790756867084, -0.6288522247791538, -0.2172642451174776, -0.9683842570360548, 0.6217634791479228 ], "act_joint_pos_r": [ -0.5768788850207418, -0.8315901826724358, 0.15918845666294662, -1.1348995575450713, 0.2505477735482944, 0.596664483131299, -0.762379511373504 ], "act_eef_pose_l": [ 559.7510875079822, 358.65989076978354, 2.03083144788782, 1.6638105839541388, -0.16916371939436278, 0.7890900522859975 ], "act_eef_pose_r": [ 522.0894644042035, -198.17714812687868, -9.54465665308021, 1.6144788469654796, 0.10596728297173372, 2.496081342184523 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4537142847744796, -0.7837934219549318, -0.06597984239076572, -0.6044574658955733, -0.19138969967958477, -0.9838489550429376, 0.6082819439797559 ], "joint_pos_r": [ -0.5872557990617825, -0.8083677518033536, 0.1619801790400771, -1.157355810248077, 0.23884458944797476, 0.6266520517127744, -0.7428895691427024 ], "eef_pose_l": [ 562.6600578094916, 359.04742558228145, 5.730473871638537, 1.6716392063758143, -0.18162273160834477, 0.7786762792474703 ], "eef_pose_r": [ 511.4745661849748, -200.6029712556301, -8.22862351241676, 1.6056768567418902, 0.09085317004954882, 2.5220397934055763 ], "joint_status_l": { "velocity": [ 1.620935767190801, 0.9727776992889403, -0.06890900685119217, -2.6345562573428793, -2.7943684917990375, 1.6701381266521764, 1.4559628568333594 ], "torque": [ -24.814453125, 12.7880859375, -13.57421875, -3.61328125, -5.4180908203125, -0.9942626953125, 0.465087890625 ] }, "joint_status_r": { "velocity": [ 1.120673663930205, -2.5079485658707767, -0.30149712454785593, 2.42520376436417, 1.263906605901699, -3.2385618905221847, -2.1048516816444263 ], "torque": [ 36.943359375, 2.01416015625, 9.808349609375, -3.69873046875, 3.7078857421875, 1.805419921875, -0.84320068359375 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.8, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.8, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.2, 0.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.4, -17.2, 0.4, 1.1, 0.4, 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": 53, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46894745502871876, -0.7770810391426143, -0.06655339176740356, -0.6287718817374507, -0.21773856775934286, -0.9692867673386826, 0.620639977596402 ], "act_joint_pos_r": [ -0.5740767302266931, -0.8367937162517204, 0.15860756249397964, -1.1306227695728905, 0.24593459446812815, 0.5916741288168067, -0.756665600533567 ], "act_eef_pose_l": [ 559.8918875079823, 357.2126907697836, 1.8940314478880538, 1.662539191071895, -0.16685424531591325, 0.7867964428282337 ], "act_eef_pose_r": [ 523.7670644042034, -196.93074812687868, -9.880656653080223, 1.6179826232829833, 0.10535469927444269, 2.494785809954653 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45620699590640823, -0.7825716201896367, -0.06607745718511525, -0.608458784350919, -0.19569687818493187, -0.9814084726236955, 0.6103714664007048 ], "joint_pos_r": [ -0.58496712646556, -0.8134125970942877, 0.16137692459594463, -1.1525318511765665, 0.24086529531623613, 0.6202622154466159, -0.7463967035133382 ], "eef_pose_l": [ 562.2046980303888, 358.8157201130043, 5.10979219845396, 1.670153734457819, -0.17935811253291542, 0.78012027060806 ], "eef_pose_r": [ 513.7497172694294, -200.0277093362142, -8.53017283486372, 1.6076763321770966, 0.09384227194137967, 2.516682175986447 ], "joint_status_l": { "velocity": [ 1.3759290043524608, 0.5929652645031425, -0.051399418942277286, -2.193749816552959, -2.380432266939403, 1.3091055607779012, 1.1089665019170525 ], "torque": [ -24.06005859375, 11.94580078125, -9.1064453125, -4.5166015625, -5.2862548828125, -0.9686279296875, 0.52093505859375 ] }, "joint_status_r": { "velocity": [ 1.1761281057536266, -2.525086395560372, -0.29908228605179943, 2.3661110284827203, 0.5474681616939314, -3.087422297366693, -1.1090081697364695 ], "torque": [ 36.43798828125, 0.5419921875, 9.7412109375, -2.777099609375, 3.5540771484375, 2.0635986328125, -0.56854248046875 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.4, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.4, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.0, -0.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.3, -17.0, -0.1, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 173, "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": [ 0.46914552895688433, -0.7799391736799841, -0.06636203566541181, -0.6217545356650572, -0.21641168907849997, -0.9736759162462321, 0.6173774466518581 ], "act_joint_pos_r": [ -0.5711542977209779, -0.8432031842718757, 0.1578390037582018, -1.121261236669209, 0.2423174914715216, 0.5920612872917136, -0.7502990704996901 ], "act_eef_pose_l": [ 560.1654875079823, 357.4254907697836, 1.3332314478878544, 1.663237714365409, -0.16469903088789942, 0.7862862289768142 ], "act_eef_pose_r": [ 525.8574644042035, -196.1339481268787, -10.196656653080254, 1.6195079158693242, 0.10367648831083207, 2.493703924424105 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45764466528410613, -0.7819520475226474, -0.06613116298709415, -0.6107509716102998, -0.19818412466715385, -0.9800406251759342, 0.6115301941952752 ], "joint_pos_r": [ -0.5827386158454828, -0.8182049483750921, 0.16080875169025224, -1.1478462257188344, 0.2416133917425251, 0.6148805047499587, -0.7479679481183221 ], "eef_pose_l": [ 561.9957298733749, 358.6876170104781, 4.6159711031622805, 1.6702544679376015, -0.17848837832212605, 0.7804898170870689 ], "eef_pose_r": [ 515.7796986497291, -199.39956735851575, -8.820592041214269, 1.6097113563109822, 0.09590668456215176, 2.512457852488539 ], "joint_status_l": { "velocity": [ 1.2206652908193227, 0.5260533899287267, -0.045599363392045955, -1.9462008936050879, -2.111817569226515, 1.1613823932812295, 0.9838275908782279 ], "torque": [ -24.462890625, 12.1875, -9.7900390625, -3.7353515625, -5.6011962890625, -0.8038330078125, 0.611572265625 ] }, "joint_status_r": { "velocity": [ 1.2510694591254534, -2.6997298525763824, -0.32072331743293603, 2.8710941389640254, 0.07604052803600325, -2.4644028018148134, -0.25175379210562454 ], "torque": [ 38.82568359375, 1.03271484375, 9.649658203125, -1.37939453125, 3.270263671875, 1.8695068359375, -0.556640625 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.4, -9.1, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.4, -9.1, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.1, 0.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.8, -17.1, 0.3, 1.0, 0.3, 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": 114, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4688426968031341, -0.7799564824026436, -0.06632904842728649, -0.6197044056421853, -0.2126790480203393, -0.973310425764004, 0.6136766345519137 ], "act_joint_pos_r": [ -0.5686888467800375, -0.8496984198696829, 0.15705097949777613, -1.110508693586251, 0.2413736438899825, 0.5901212115926283, -0.7482076693484753 ], "act_eef_pose_l": [ 560.2254875079823, 358.0598907697836, 0.7788314478878675, 1.6666655030737578, -0.16369770828546876, 0.7867062500729598 ], "act_eef_pose_r": [ 528.5606644042035, -196.07874812687868, -10.99345665308033, 1.6221104993642497, 0.10404192681274257, 2.488919491760471 ], "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.npz" }, "states": { "joint_pos_l": [ 0.46008486842575863, -0.7815239121518223, -0.0661793550346742, -0.6130337464173085, -0.20195564906769473, -0.9786744685544483, 0.6126662432503077 ], "joint_pos_r": [ -0.5804405000383558, -0.8232157271038709, 0.1602127595649981, -1.1423485669145308, 0.24170505133929535, 0.6104816439529107, -0.7483167898804288 ], "eef_pose_l": [ 561.5729084973093, 358.39040474340277, 4.006100324077266, 1.6680590624678997, -0.17513177111588005, 0.7820281684429804 ], "eef_pose_r": [ 517.8166854171452, -198.7849283143097, -9.135903804178923, 1.6116860315850334, 0.09737372407637407, 2.508694219311646 ], "joint_status_l": { "velocity": [ 0.9458175693581872, 0.16927742034056337, -0.01616640959933857, -0.7204099489310778, -1.1580929307604126, 0.5792995358424591, 0.10911904227928204 ], "torque": [ -23.00537109375, 13.9306640625, -10.723876953125, -3.86962890625, -5.4620361328125, -0.765380859375, 0.51727294921875 ] }, "joint_status_r": { "velocity": [ 1.2691411205825176, -2.8600464661465708, -0.3414621763715431, 3.4386049032235633, -0.03579094892836032, -2.198861842947153, 0.011784669881720333 ], "torque": [ 37.9541015625, 1.4794921875, 9.906005859375, -2.7099609375, 3.4478759765625, 1.7852783203125, -0.501708984375 ] }, "eef_FT_l": { "raw_value": [ -2.2, -16.5, -9.3, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.5, -9.3, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.2, 0.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -17.2, 0.5, 1.1, 0.3, 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": 101, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.47150666325017027, -0.7713279035351227, -0.06686190957478756, -0.6376847560680817, -0.21404186706661033, -0.9633366984223447, 0.6161110611029778 ], "act_joint_pos_r": [ -0.5648905311316512, -0.8554741297706645, 0.15647701206099687, -1.107607707714573, 0.24944123899459392, 0.5822992428548723, -0.7567693016038421 ], "act_eef_pose_l": [ 558.3990875079824, 358.02869076978357, 0.3492314478879308, 1.668416786406247, -0.1624969643085703, 0.7871660972234618 ], "act_eef_pose_r": [ 531.2206644042035, -194.82034812687868, -9.755856653080173, 1.620234244290718, 0.10788111089529645, 2.4824183196163556 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4616728998522809, -0.7811185981685387, -0.0662137378414975, -0.6144802766697719, -0.2038718810973884, -0.9775778990237912, 0.6128810528092088 ], "joint_pos_r": [ -0.5786002320941691, -0.8273214690421778, 0.1597242904877873, -1.1374723358770686, 0.24177459101964974, 0.6072748334871224, -0.7484274106411009 ], "eef_pose_l": [ 561.3099145307764, 358.3307133954153, 3.4293751158807027, 1.6678263279888579, -0.17309824823970632, 0.7828598684380901 ], "eef_pose_r": [ 519.4987713336197, -198.3598113159241, -9.416948358963396, 1.6132480257695236, 0.09842851590116489, 2.5055901264021654 ], "joint_status_l": { "velocity": [ 1.0620151245102072, 1.0573638351303316, -0.07000048264144132, -2.506009864206682, -1.0983260912793558, 1.5380043039439073, 0.34883060751855766 ], "torque": [ -22.529296875, 13.33740234375, -11.56005859375, -3.399658203125, -5.537109375, -0.78369140625, 0.4888916015625 ] }, "joint_status_r": { "velocity": [ 1.4806040358710248, -3.0403976869397553, -0.35069572687573825, 3.22528471686212, 0.8279735615190909, -2.697284236137243, -0.9008976534197188 ], "torque": [ 39.08935546875, 2.39501953125, 9.912109375, -1.959228515625, 2.3748779296875, 2.3529052734375, 0.1043701171875 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.9, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -16.9, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.2, 0.0, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.5, -17.2, 0.0, 1.1, 0.4, 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": 64, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4714296117675633, -0.7736359822483093, -0.0667010351456884, -0.6318099208884446, -0.2136964365882223, -0.9670876686348575, 0.6149869125657991 ], "act_joint_pos_r": [ -0.5625008281251067, -0.8603144317643057, 0.15594694161585906, -1.1018137524367622, 0.25320063353473365, 0.582438835181465, -0.7600835116812326 ], "act_eef_pose_l": [ 558.7134875079823, 358.28389076978357, 0.13803144788796828, 1.6682644448500308, -0.1620773611609126, 0.7870407926786588 ], "act_eef_pose_r": [ 532.9502644042035, -194.05074812687866, -9.096656653080345, 1.617903860176253, 0.1093859715356904, 2.480187920002958 ], "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.npz" }, "states": { "joint_pos_l": [ 0.46352736831610286, -0.779401915811356, -0.06632691795416593, -0.6185253982658571, -0.20577431264820586, -0.9751037521331946, 0.613426320112351 ], "joint_pos_r": [ -0.5761762417067442, -0.8322990961379708, 0.15915014436210967, -1.1321920185464551, 0.24313011883501462, 0.6028589390939229, -0.7499023270934654 ], "eef_pose_l": [ 560.7832860731068, 358.2897953139646, 2.833169464123557, 1.6679096737317585, -0.17108167725708848, 0.7836660744930147 ], "eef_pose_r": [ 521.588083972807, -197.74081748485605, -9.496036003854442, 1.61447809014604, 0.10009512318642184, 2.501472920174333 ], "joint_status_l": { "velocity": [ 0.8534171225647036, 0.6227024591822783, -0.04040346504785575, -1.4346861294338709, -0.8555641520058277, 0.8657114850256775, 0.1685390141794585 ], "torque": [ -22.4267578125, 11.630859375, -9.46044921875, -3.424072265625, -5.4071044921875, -1.259765625, 0.5126953125 ] }, "joint_status_r": { "velocity": [ 1.218820794912645, -2.50282981531047, -0.288689774070372, 2.655027264001575, 0.6815808750813002, -2.220381707160435, -0.7416113744618258 ], "torque": [ 38.0126953125, 2.57080078125, 9.7900390625, -3.387451171875, 3.4625244140625, 2.135009765625, -0.61065673828125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.7, -9.6, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.7, -9.6, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.3, 0.6, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.3, -17.3, 0.6, 1.1, 0.4, 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": 89, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.47161137016143745, -0.7858111588964771, -0.06594075385539541, -0.6052430368010673, -0.21382983139047002, -0.9829614594107794, 0.6117760243509968 ], "act_joint_pos_r": [ -0.558323265950551, -0.8717038754633569, 0.15462509785214318, -1.0827803995211542, 0.2605988427028998, 0.5861803340138505, -0.7673216615704538 ], "act_eef_pose_l": [ 560.4070875079824, 358.59349076978356, -1.0531685521120124, 1.666682110253899, -0.16033787366505145, 0.7865315415956831 ], "act_eef_pose_r": [ 537.2710644042036, -193.58914812687868, -8.811056653080186, 1.6142122172659972, 0.11326404110516758, 2.4735618887198942 ], "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.npz" }, "states": { "joint_pos_l": [ 0.46484697041627926, -0.7798279045314295, -0.06630262878837698, -0.6177114296230725, -0.2070917255237602, -0.9755771887584261, 0.6133205485420776 ], "joint_pos_r": [ -0.573399520102701, -0.8382306351511806, 0.15847026350084104, -1.1251861898532802, 0.24554607204238574, 0.5995698348899998, -0.7523241008388593 ], "eef_pose_l": [ 560.6371809661699, 358.3239093904078, 2.2547958252510796, 1.6677868389743316, -0.16940076466264223, 0.7841607113209458 ], "eef_pose_r": [ 523.9911686482995, -197.06195905590133, -9.427717022530544, 1.6147561529027907, 0.10207162391352911, 2.49711910565806 ], "joint_status_l": { "velocity": [ 0.7305336265392981, -0.6461724135879976, 0.03908134011954001, 1.3465467105042705, -0.7276939714182529, -0.7974777101056318, -0.16680369302513043 ], "torque": [ -21.77490234375, 5.28076171875, -8.489990234375, -0.18310546875, -5.23681640625, -3.28857421875, -0.2471923828125 ] }, "joint_status_r": { "velocity": [ 1.628187427611394, -3.6150033348905097, -0.4152656424540879, 4.579690285124727, 1.6256512853136673, -1.4460234464426236, -1.6196887888444422 ], "torque": [ 38.232421875, 1.5673828125, 9.954833984375, -2.264404296875, 3.526611328125, 1.2103271484375, -0.908203125 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.8, -9.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.8, -9.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -16.4, -0.2, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 0.7, -16.4, -0.2, 1.0, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 194, "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": [ 0.47181336460542816, -0.7908389589035727, -0.06563836357353067, -0.5945003452789706, -0.21254751067773886, -0.9899601679678414, 0.6098539674893668 ], "act_joint_pos_r": [ -0.5552623970840731, -0.8756415450227449, 0.15414532452945287, -1.0729644881515696, 0.26764274775378727, 0.5819019521203365, -0.7729878968293596 ], "act_eef_pose_l": [ 560.9014875079822, 358.50629076978356, -1.7555685521121376, 1.6668718437415586, -0.15952586041022046, 0.7850782824985109 ], "act_eef_pose_r": [ 540.7102644042035, -195.26514812687867, -8.595056653080292, 1.6147329390464, 0.11613184093998113, 2.462649062119806 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4659790976056971, -0.7813116147924616, -0.06621306092634968, -0.6145931600007378, -0.2080718924140801, -0.9774872563818499, 0.6128754581926694 ], "joint_pos_r": [ -0.5716080088709611, -0.8421239708435911, 0.15802221577474126, -1.1201115323260133, 0.24745239192950025, 0.5979327575489137, -0.7541835635932413 ], "eef_pose_l": [ 560.6530888537669, 358.3607490039225, 1.6398072656141665, 1.6676254965186768, -0.16782101428663773, 0.7844040216120628 ], "eef_pose_r": [ 525.6083074455588, -196.72782208020666, -9.37126630652125, 1.6147041379133769, 0.1034202248679247, 2.4941262911571846 ], "joint_status_l": { "velocity": [ 0.6300822526883465, -1.0289228175439646, 0.062065483580897585, 2.1699599904030364, -0.48335251675468704, -1.3470347226212098, -0.32631137191696524 ], "torque": [ -20.51513671875, 4.47509765625, -6.75048828125, 0.47607421875, -5.218505859375, -3.4991455078125, -0.27740478515625 ] }, "joint_status_r": { "velocity": [ 1.7652740090099428, -3.6197912513120656, -0.4186919058335459, 5.091730598273614, 2.1804941187866245, -1.7312759250325271, -2.0308080940170115 ], "torque": [ 38.04931640625, 2.28515625, 9.771728515625, -2.740478515625, 3.519287109375, 1.7999267578125, -0.79925537109375 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.7, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.7, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.4, 0.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.4, 0.1, 1.1, 0.4, 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": 118, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.47627953019412106, -0.7755720610673614, -0.06673008387364056, -0.6368962647250442, -0.21981775135355255, -0.962041052311185, 0.6183990470053434 ], "act_joint_pos_r": [ -0.5528440256324298, -0.8764357168487094, 0.1540690589652064, -1.0715028312067718, 0.27123972625210113, 0.5782290631673321, -0.7759422096154412 ], "act_eef_pose_l": [ 558.4070875079824, 356.20629076978355, -1.9115685521120866, 1.6671069144840593, -0.15731764991578814, 0.7876063577670274 ], "act_eef_pose_r": [ 542.1678644042036, -195.82034812687868, -7.648656653080252, 1.6142404147536538, 0.11812964113608351, 2.4578822890015353 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4674548731259378, -0.7814776042378813, -0.06622003778396897, -0.6152575001642495, -0.20958635531289826, -0.976915591508575, 0.6131911713018413 ], "joint_pos_r": [ -0.5684118991286741, -0.8484949047344451, 0.15728599099839677, -1.1111348160795687, 0.2514270497586635, 0.5947410759890124, -0.7578679943438844 ], "eef_pose_l": [ 560.4554968212952, 358.1590189621881, 1.0231215136269043, 1.6675017884362058, -0.16614246708714472, 0.7847744333268748 ], "eef_pose_r": [ 528.5576418004898, -196.4828863830703, -9.214555979706489, 1.6146804313156795, 0.10591893884940339, 2.487945103356962 ], "joint_status_l": { "velocity": [ 0.9530348551027856, 0.6377798521048916, -0.055083353087848064, -2.336917648863235, -1.1049581833910693, 1.6064028549989118, 0.5624339878744777 ], "torque": [ -21.2841796875, 12.15087890625, -11.529541015625, -2.703857421875, -5.2239990234375, -1.3018798828125, 0.28564453125 ] }, "joint_status_r": { "velocity": [ 1.6812807508692629, -3.017518711383005, -0.3474184130263236, 4.280128130631056, 2.139705954037563, -1.7832447907473181, -1.951957679413141 ], "torque": [ 38.90625, 2.021484375, 9.68017578125, -3.076171875, 3.6328125, 2.17529296875, -0.74798583984375 ] }, "eef_FT_l": { "raw_value": [ -1.4, -16.2, -7.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.4, -16.2, -7.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.1, 0.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.4, -17.1, 0.3, 1.0, 0.4, 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": 95, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4774375339690424, -0.7732778593328496, -0.06688538923452052, -0.642417998619314, -0.22093574544431946, -0.9579678902854698, 0.6191553203863793 ], "act_joint_pos_r": [ -0.5516637735761281, -0.880868691309048, 0.15360409383252552, -1.0648559302828047, 0.2738601145566708, 0.5791382549491857, -0.7774269810728303 ], "act_eef_pose_l": [ 557.9678875079824, 356.1502907697835, -2.2411685521121143, 1.6677319625319635, -0.15629847739540753, 0.7886065293526208 ], "act_eef_pose_r": [ 543.6326644042035, -195.43714812687867, -7.715856653080209, 1.6131526294422416, 0.11806387629316056, 2.455594976777222 ], "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.npz" }, "states": { "joint_pos_l": [ 0.46848482154471033, -0.7807435507197563, -0.06628217273546029, -0.6178621138049828, -0.21077386425484038, -0.9751169901258453, 0.6138011449855922 ], "joint_pos_r": [ -0.5650115888553701, -0.8547645857851193, 0.1565674136262086, -1.1022158467565895, 0.25583513627210797, 0.5912903617764662, -0.7618239918527618 ], "eef_pose_l": [ 560.2158369376989, 357.93769159793254, 0.6820089899398738, 1.667460939040126, -0.16512807704167062, 0.7851240277396869 ], "eef_pose_r": [ 531.5895693183736, -196.3186439726734, -8.914205404405493, 1.6145019469961808, 0.1085278951933985, 2.4813593246415913 ], "joint_status_l": { "velocity": [ 0.9668644256857206, 0.8062708900968829, -0.06514546053582038, -2.651957344646405, -1.0974508008825268, 1.8520481595203364, 0.5782338891879846 ], "torque": [ -24.0380859375, 12.83935546875, -9.295654296875, -3.271484375, -5.44921875, -1.2615966796875, 0.49713134765625 ] }, "joint_status_r": { "velocity": [ 1.4415215347538535, -2.819160249897479, -0.3200290989640031, 4.03475198052039, 1.9466402416477013, -1.3123888305077713, -1.6850731371915728 ], "torque": [ 38.88427734375, 1.04736328125, 8.97216796875, -2.05078125, 3.544921875, 1.973876953125, -0.809326171875 ] }, "eef_FT_l": { "raw_value": [ -1.6, -17.1, -8.6, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -17.1, -8.6, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.3, 0.0, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.3, 0.0, 1.1, 0.4, 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": 103, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4776738736643292, -0.7805249157119244, -0.06630649244046907, -0.6190076165293927, -0.21844629438175578, -0.9715247007531618, 0.613867376981774 ], "act_joint_pos_r": [ -0.5514727751280373, -0.8849593946496217, 0.15319770055157794, -1.0600752740942396, 0.28301175664732714, 0.5766057503128628, -0.7825826506616644 ], "act_eef_pose_l": [ 558.9670875079823, 358.4694907697836, -3.5315685521119775, 1.6694972500684213, -0.1548424134077234, 0.7903444745990376 ], "act_eef_pose_r": [ 545.2782644042036, -195.26434812687867, -7.895056653080246, 1.6113077714476767, 0.11541831528294345, 2.4495898893666976 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4703982904388866, -0.779367429355212, -0.06639355748111621, -0.6224009766425068, -0.21286444543932237, -0.9718648390162651, 0.6147853881758767 ], "joint_pos_r": [ -0.5624772579643196, -0.8599369395374493, 0.15598362088180912, -1.0948756343680048, 0.25977432547355106, 0.5888459996968776, -0.7650731302120761 ], "eef_pose_l": [ 559.7740020708636, 357.62678973008013, 0.02093792454627419, 1.6675470848862937, -0.16322090810034243, 0.7859180084182048 ], "eef_pose_r": [ 533.9831050583259, -196.14606641442123, -8.717048343102817, 1.6141278045967424, 0.1101859529662097, 2.476126129306498 ], "joint_status_l": { "velocity": [ 0.7857398141903893, -0.12500483970345755, 0.0094027470707303, 0.3664720836997759, -0.60282190650085, 0.03673384900881871, -0.09914228491769705 ], "torque": [ -22.49267578125, 12.9345703125, -9.063720703125, -4.644775390625, -5.394287109375, -1.1572265625, 0.48614501953125 ] }, "joint_status_r": { "velocity": [ 1.1884490948856907, -2.7023454506949207, -0.30087052196337005, 3.758328063605987, 2.509568550999708, -1.3219079458828276, -1.8909724373044057 ], "torque": [ 37.75634765625, 0.66650390625, 9.405517578125, -1.81884765625, 3.84521484375, 1.7559814453125, -0.8038330078125 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.8, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.8, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.6, 0.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.4, -17.6, 0.4, 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": 148, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.47660891795352295, -0.7841650630907192, -0.06600480048327141, -0.6062669749857023, -0.2177136721347759, -0.9783496276916567, 0.6113871542227686 ], "act_joint_pos_r": [ -0.551465537511548, -0.8868092845020161, 0.15303265862135115, -1.0586044233721201, 0.28941552719005376, 0.5723624570158447, -0.7863296715816777 ], "act_eef_pose_l": [ 559.8182875079824, 360.0070907697836, -3.4915685521122413, 1.6694931697608277, -0.1551016281004178, 0.7924206534907978 ], "act_eef_pose_r": [ 546.3558644042034, -195.3803481268787, -8.112656653080194, 1.6112114597611824, 0.11366318429698681, 2.444361219691723 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4717422402007133, -0.7796935841011181, -0.06636820215053854, -0.6213837878802028, -0.21389801703846073, -0.9720018054176318, 0.6145387089607909 ], "joint_pos_r": [ -0.560806724024409, -0.8637627057503939, 0.15555828013423517, -1.0895712608959451, 0.26339678261151495, 0.5869249550315623, -0.7677866521112293 ], "eef_pose_l": [ 559.6490039534036, 357.8311538398062, -0.6496693826381659, 1.6679121465683815, -0.1616404093129702, 0.7868131918303135 ], "eef_pose_r": [ 535.7295749691076, -196.01630342112946, -8.605208073938542, 1.6136782653459847, 0.11096340747229219, 2.4720077378271372 ], "joint_status_l": { "velocity": [ 0.5255856959816008, -0.48290548834017955, 0.03924622255940813, 1.632567642597671, -0.41207859679359693, -0.6855445865374676, -0.34035787338826395 ], "torque": [ -22.5146484375, 6.93603515625, -9.735107421875, -0.579833984375, -5.3814697265625, -1.8603515625, -0.27923583984375 ] }, "joint_status_r": { "velocity": [ 1.0088183898817604, -2.488957097308564, -0.27275907879253936, 3.3443198171330124, 2.809941539686278, -1.572703401290454, -2.0025870396604972 ], "torque": [ 38.3056640625, 1.98486328125, 9.649658203125, -3.125, 3.731689453125, 1.6717529296875, -0.882568359375 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.7, -9.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.7, -16.7, -9.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.4, 0.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.4, 0.3, 1.1, 0.4, 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": 124, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4767225494398509, -0.7701712117635615, -0.06692686613806223, -0.6393157802278194, -0.21969827700061606, -0.95555664598712, 0.615885121669953 ], "act_joint_pos_r": [ -0.5518147515562348, -0.8876440781671935, 0.15298582429443724, -1.0594838933599104, 0.2938837433557353, 0.5705222139401509, -0.7895937821123861 ], "act_eef_pose_l": [ 558.2534875079823, 359.43269076978356, -2.2243685521122387, 1.671175138940414, -0.15622657792093497, 0.7956131389266923 ], "act_eef_pose_r": [ 546.5310644042034, -194.97554812687866, -8.03185665308024, 1.6100353413078718, 0.11257171515734467, 2.442779315458334 ], "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.npz" }, "states": { "joint_pos_l": [ 0.47254728852546735, -0.7798142486819899, -0.0663489455951498, -0.6203497227559946, -0.2146124306582809, -0.9720445901243192, 0.6142180995711097 ], "joint_pos_r": [ -0.5590460810539573, -0.8681317647031095, 0.155080148287538, -1.0837304450812755, 0.2683816663123493, 0.5841447657720956, -0.7713404593491026 ], "eef_pose_l": [ 559.6117578155661, 358.1643372024809, -1.0619576334075305, 1.6682413170783175, -0.16061073654202723, 0.7878753763808294 ], "eef_pose_r": [ 537.7590197517382, -195.89123085464126, -8.515993846616198, 1.6131562473805492, 0.11147312324875128, 2.4667380499719864 ], "joint_status_l": { "velocity": [ 0.45091487972959143, 1.0414172722299497, -0.06241357784442236, -2.0482737963503084, -0.5492552055557098, 1.78064544948775, 0.1800330768828573 ], "torque": [ -21.328125, 6.884765625, -11.572265625, -0.64697265625, -5.3704833984375, -3.021240234375, -0.28472900390625 ] }, "joint_status_r": { "velocity": [ 0.7809605525537222, -2.1072677035816056, -0.22618032042287517, 2.618550355893312, 2.754143091577177, -1.4711922073553652, -1.9713007180275355 ], "torque": [ 39.14794921875, 1.9921875, 9.4482421875, -2.6123046875, 3.5614013671875, 2.0672607421875, -0.6646728515625 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.4, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.4, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.3, 0.5, 1.0, 0.4, -0.1 ], "actual_contact_FT": [ -0.1, -17.3, 0.5, 1.0, 0.4, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 127, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4786759130081134, -0.7591462140002909, -0.06763224327373377, -0.6623536013654054, -0.2221070050953765, -0.942222314202348, 0.6200642799533264 ], "act_joint_pos_r": [ -0.553246334459482, -0.8859466838321501, 0.15325315663117986, -1.066746877350571, 0.2939742485361418, 0.5680476709237546, -0.7867083734700362 ], "act_eef_pose_l": [ 556.2902875079824, 359.4438907697836, -1.8851685521121198, 1.6722415825446635, -0.15640462433185792, 0.7970098088296211 ], "act_eef_pose_r": [ 545.1214644042035, -193.82034812687868, -8.009456653080179, 1.6099096004065745, 0.10779706345012945, 2.4456175597927228 ], "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.npz" }, "states": { "joint_pos_l": [ 0.473427973651185, -0.7771323747461006, -0.06651411351702757, -0.6257591157045664, -0.21568810470665478, -0.9680077469873296, 0.6149078310559547 ], "joint_pos_r": [ -0.5581638440174009, -0.8706982884457765, 0.15481198719381517, -1.080983844776742, 0.27193435143748285, 0.5820386369518822, -0.7736299436685187 ], "eef_pose_l": [ 559.2034543054983, 358.3796105918037, -1.2216902387422408, 1.668805973689598, -0.15991437317264362, 0.7892949495228848 ], "eef_pose_r": [ 538.866941645928, -195.66594334288678, -8.444756461321248, 1.6126740359615088, 0.11123156738571023, 2.4636339092856763 ], "joint_status_l": { "velocity": [ 0.5667607348338599, 1.9424480711043302, -0.12075445226206183, -3.9520878907683965, -0.6932207965273385, 2.784744609126477, 0.5568800566173593 ], "torque": [ -22.67578125, 12.1875, -13.73291015625, -3.692626953125, -5.2093505859375, -1.0418701171875, 0.45135498046875 ] }, "joint_status_r": { "velocity": [ 0.5310753690248582, -1.646778132602833, -0.168348735584134, 1.5375471344976077, 2.3802386852675994, -1.5109797670724845, -1.4124287612045094 ], "torque": [ 40.20263671875, 1.201171875, 9.417724609375, -2.83203125, 3.189697265625, 2.4481201171875, -0.59600830078125 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.3, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.1, -16.3, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.3, 0.2, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.3, 0.2, 1.1, 0.4, 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": 167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.48153835584984045, -0.7557198640486071, -0.06786755818411012, -0.6699732811330409, -0.22916786283271287, -0.9362123643660456, 0.6252885561048149 ], "act_joint_pos_r": [ -0.5553716460457436, -0.879350843538886, 0.1538547967830279, -1.0686049569987803, 0.26421879377944757, 0.5804540209573325, -0.755267174902859 ], "act_eef_pose_l": [ 555.7342875079823, 359.8030907697836, -2.2459685521120463, 1.6703214726838311, -0.1554028650258933, 0.8012909021111025 ], "act_eef_pose_r": [ 541.4158644042035, -194.55954812687867, -9.808656653080106, 1.6176690369970703, 0.10073592162161206, 2.4616786774818102 ], "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.npz" }, "states": { "joint_pos_l": [ 0.47478075873903036, -0.7733005289524237, -0.06675513628920607, -0.6336370755082933, -0.217791336299983, -0.9623759598959689, 0.6165409633426912 ], "joint_pos_r": [ -0.5576374467249445, -0.8723303149416316, 0.15464195680480747, -1.0792712600970946, 0.2734053892830091, 0.580820194950684, -0.773897626347432 ], "eef_pose_l": [ 558.5988908293831, 358.6345754409324, -1.3945963477779344, 1.669164540491027, -0.15914779796061193, 0.7913081840417876 ], "eef_pose_r": [ 539.4968648225887, -195.46657093089047, -8.467386991089569, 1.6126462591531923, 0.11049707853965207, 2.462062377434076 ], "joint_status_l": { "velocity": [ 0.7297989636971813, 1.8986558117530805, -0.12013802136812135, -3.9241944695440623, -1.2286286290701387, 2.8255849810578937, 0.9447121555137272 ], "torque": [ -21.708984375, 12.70751953125, -13.592529296875, -4.241943359375, -5.244140625, -1.2396240234375, 0.59967041015625 ] }, "joint_status_r": { "velocity": [ 0.24469925633496814, -0.7581947267443212, -0.08501077509359689, 1.1519267603548045, -0.9921230532794478, -0.03954562494623559, 2.0120294143790574 ], "torque": [ 40.08544921875, 2.71728515625, 9.051513671875, -2.06298828125, 3.369140625, 2.0928955078125, -0.54840087890625 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.5, -10.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.0, -16.5, -10.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.2, 0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -17.2, 0.3, 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": 206, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.48121395393090255, -0.7595835292680094, -0.06759432204840327, -0.6602659962233789, -0.22949633263796182, -0.9406890869308231, 0.6239491465706218 ], "act_joint_pos_r": [ -0.5566542574379394, -0.870606397441236, 0.1546976104916107, -1.0733390902702553, 0.24420696037031453, 0.5949020604090802, -0.7320648794497466 ], "act_eef_pose_l": [ 556.5918875079824, 360.49189076978354, -2.5203685521120605, 1.669958334510416, -0.15506003201789936, 0.8029352838424909 ], "act_eef_pose_r": [ 537.6342644042035, -195.79634812687868, -9.686256653080363, 1.6194810120290972, 0.09442510918516037, 2.4761896576752664 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4754386610449104, -0.7717215058606907, -0.06685378662486517, -0.6368250474203172, -0.21893732688822484, -0.959970151276027, 0.6173522351984566 ], "joint_pos_r": [ -0.5572836586553409, -0.8731493172764633, 0.1545421300971278, -1.0775300327826374, 0.2705058987610769, 0.5815905469580503, -0.7690274998191717 ], "eef_pose_l": [ 558.3576852603226, 358.7838079564824, -1.4913360676741263, 1.6692411521476642, -0.15877175393472054, 0.7923795225737007 ], "eef_pose_r": [ 539.6419988760462, -195.36605711621746, -8.710065747802474, 1.6136782789764563, 0.10829571754513269, 2.4628410605326 ], "joint_status_l": { "velocity": [ 0.6237132362487685, 1.310862810178115, -0.07997546699173297, -2.531547806719381, -1.1403389884707682, 2.0822935353175254, 0.712445415739893 ], "torque": [ -23.95751953125, 12.041015625, -13.9404296875, -4.3701171875, -5.2313232421875, -1.226806640625, 0.58319091796875 ] }, "joint_status_r": { "velocity": [ 0.06797332671348855, 0.2746272425069307, 0.016791387368542132, 0.4526084423650545, -2.840201578934387, 1.4376010529346672, 3.991845266715366 ], "torque": [ 40.72265625, 5.67626953125, 12.92724609375, -2.911376953125, 0.1007080078125, 4.031982421875, 0.77178955078125 ] }, "eef_FT_l": { "raw_value": [ -1.4, -17.0, -9.2, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.4, -17.0, -9.2, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.6, 1.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.8, -17.6, 1.3, 1.1, 0.3, 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": 131, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.48146485735928474, -0.7696792466006284, -0.06678172312548392, -0.6287671470999381, -0.22921649967504695, -0.9613764953505819, 0.6194687744079818 ], "act_joint_pos_r": [ -0.565497876725689, -0.8460668597696493, 0.15721626311056516, -1.0903854606836043, 0.20273767022559497, 0.6156916509629986, -0.690886676197228 ], "act_eef_pose_l": [ 557.9190875079823, 363.2414907697836, -3.5635685521121303, 1.6686682214559954, -0.15399996662425278, 0.8044149638216919 ], "act_eef_pose_r": [ 528.1150644042034, -200.67794812687868, -12.81025665308016, 1.6328447630951648, 0.08390626381998195, 2.5009749858468977 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4765378046132124, -0.7697246980390337, -0.06696981196824718, -0.640327363853069, -0.2209251182988481, -0.956935380953588, 0.6184671711603346 ], "joint_pos_r": [ -0.5576785793050882, -0.8712426238748465, 0.15471788001950193, -1.0777283501752026, 0.26312465272140284, 0.5853149952207863, -0.7596473374829881 ], "eef_pose_l": [ 558.0690771784482, 359.1894406806476, -1.7161254590787678, 1.669314133299842, -0.15804868980764358, 0.7944242821932499 ], "eef_pose_r": [ 538.7256532216552, -195.7275965303245, -9.052044700731386, 1.6154064540097457, 0.10514132636104336, 2.4668006801706728 ], "joint_status_l": { "velocity": [ 0.5321060029479519, 0.004908610575782291, 0.02031299591864766, 1.2484665877838808, -0.8954427789562569, -0.4796262090556169, 0.10816996044304972 ], "torque": [ -24.22119140625, 13.51318359375, -14.617919921875, -3.125, -5.064697265625, -1.0491943359375, 0.5291748046875 ] }, "joint_status_r": { "velocity": [ -0.8444592154313035, 2.7189023336235962, 0.2698174159954103, -1.3669276195313884, -6.521601765185014, 3.2805820645620543, 7.425932402693292 ], "torque": [ 31.5966796875, 14.14306640625, 15.887451171875, -6.097412109375, -1.1114501953125, 5.29541015625, 0.7525634765625 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.5, -8.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.7, -16.5, -8.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.2, 2.6, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.2, 2.6, 1.0, 0.3, 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": 20, "motor_current": 166, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4828072980578865, -0.7642400676200011, -0.06718606223486018, -0.6437097713054359, -0.2317020507060442, -0.9485421369250157, 0.6218578717056648 ], "act_joint_pos_r": [ -0.5786191001883018, -0.8185506110327674, 0.16036676320415408, -1.1165386287861103, 0.16761055799141736, 0.634187816924361, -0.6546550055834828 ], "act_eef_pose_l": [ 557.3998875079824, 362.85589076978357, -3.769968552112161, 1.6701671224991206, -0.15295672820607376, 0.8078156888743173 ], "act_eef_pose_r": [ 516.2894644042035, -204.71874812687867, -16.383056653080303, 1.6451605442191297, 0.06865242939471956, 2.5269951068407304 ], "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.npz" }, "states": { "joint_pos_l": [ 0.47758749886134144, -0.769476741347585, -0.06694974354439438, -0.6386588714909754, -0.22270151587011955, -0.9572649023600489, 0.6187734753389337 ], "joint_pos_r": [ -0.5601969787802672, -0.8641962085665404, 0.15544742167992487, -1.0821591828969834, 0.2484490649749095, 0.5927568633605032, -0.7432082955512505 ], "eef_pose_l": [ 558.0197622121386, 359.9861693573222, -2.097814112788086, 1.6692452249719536, -0.15717943364500542, 0.7965819815630462 ], "eef_pose_r": [ 535.8028428823803, -197.01253002313967, -10.01446897704028, 1.6193862269182526, 0.10001931942473312, 2.47553363289881 ], "joint_status_l": { "velocity": [ 0.5637216871439144, 0.565544082747671, -0.025521665848959874, -0.5454810918568143, -0.9720290938139975, 0.9420308832686075, 0.33310498320027193 ], "torque": [ -24.11865234375, 9.73388671875, -10.15625, 0.201416015625, -5.0372314453125, -3.0706787109375, 0.49713134765625 ] }, "joint_status_r": { "velocity": [ -1.989530434003406, 4.929579143482243, 0.5312732155509092, -3.7128706507587594, -8.730301267744878, 4.474411019197433, 9.563473256952726 ], "torque": [ 24.7265625, 11.1767578125, 16.314697265625, -8.050537109375, 0.1959228515625, 4.7113037109375, 1.387939453125 ] }, "eef_FT_l": { "raw_value": [ -1.5, -15.8, -8.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.5, -15.8, -8.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -16.8, 3.5, 1.0, 0.2, -0.1 ], "actual_contact_FT": [ -2.3, -16.8, 3.5, 1.0, 0.2, -0.1 ] }, "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": 169, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.48229309735656706, -0.7536298604486736, -0.06798328238186087, -0.6724590746822151, -0.23251514317112365, -0.9332613115244234, 0.6239385633560314 ], "act_joint_pos_r": [ -0.5889220431647342, -0.7862482545422845, 0.1642688760045365, -1.1411904857296853, 0.14741972932539404, 0.649143309516665, -0.6268331034836467 ], "act_eef_pose_l": [ 555.6590875079823, 360.6838907697836, -2.1323685521121405, 1.6695047387461273, -0.15198653831452563, 0.805208598054286 ], "act_eef_pose_r": [ 506.7270644042035, -212.70114812687868, -17.300656653080296, 1.6533260887049943, 0.054146707017051356, 2.5389847828200636 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4784952396103218, -0.7682379614304373, -0.06701503646991505, -0.6403997217820926, -0.2243168639609156, -0.9552720169246134, 0.6193801815492286 ], "joint_pos_r": [ -0.5631464185248845, -0.8567875733199568, 0.15625212020062687, -1.087744022013757, 0.2358782381093058, 0.5992680453060936, -0.729353041447438 ], "eef_pose_l": [ 557.8625090219073, 360.4297273625378, -2.3446292862234372, 1.6693737442721321, -0.15640770723123157, 0.79849408795449 ], "eef_pose_r": [ 532.7717129116156, -198.30741380064595, -10.96097645997071, 1.6230211356766904, 0.09529014866343029, 2.4835130293614833 ], "joint_status_l": { "velocity": [ 0.4101565396736895, 1.577628376368878, -0.10456747443732262, -3.4623079978972626, -0.8853880415780058, 2.3770860748149047, 0.49229071579581785 ], "torque": [ -25.36376953125, 13.1982421875, -11.187744140625, -2.783203125, -5.2862548828125, -1.171875, 0.4632568359375 ] }, "joint_status_r": { "velocity": [ -2.7836853606926226, 7.6180217464481, 0.8657840918853132, -5.772047843868755, -9.553237190992547, 5.386369672259583, 11.071826754014857 ], "torque": [ 26.03759765625, 8.4228515625, 16.949462890625, -8.526611328125, 0.5731201171875, 4.892578125, 0.8294677734375 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.7, -9.3, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.7, -9.3, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -18.1, -0.3, 1.2, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -18.1, -0.3, 1.2, 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": 148, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4794089352888088, -0.7613500601152294, -0.0674676556314141, -0.6555747241069402, -0.22529848541966924, -0.9441490873480979, 0.6175847692229639 ], "act_joint_pos_r": [ -0.593825987066733, -0.7542356011041744, 0.16831504146546736, -1.1582024313954997, 0.14556554459068938, 0.6611141012517768, -0.6243766885690372 ], "act_eef_pose_l": [ 556.9390875079823, 360.5118907697836, -2.2451685521120197, 1.6711562608634767, -0.15262127749262497, 0.8011909928591175 ], "act_eef_pose_r": [ 501.2790644042035, -223.6715481268787, -14.831856653080422, 1.6542863408506394, 0.05671101867086546, 2.5365157494693693 ], "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.npz" }, "states": { "joint_pos_l": [ 0.47884127579776525, -0.7665262954937097, -0.06712804570887843, -0.6441628071085695, -0.22495204061251445, -0.9526089465297589, 0.6194691617061772 ], "joint_pos_r": [ -0.5681915374313151, -0.8411314836701371, 0.1580720026917064, -1.098885902748314, 0.22005360322625364, 0.6092770885469339, -0.7109823267241715 ], "eef_pose_l": [ 557.6218387576578, 360.4576572272396, -2.3205402436324505, 1.6695726761376475, -0.1557023896631876, 0.7992313824583174 ], "eef_pose_r": [ 527.8030809672613, -202.04909266853014, -11.852086613257399, 1.6277819775554974, 0.08860593818625105, 2.492980987337727 ], "joint_status_l": { "velocity": [ 0.06130541692561664, 0.5590169335523143, -0.036676789909706464, -1.2324506866336904, -0.037414935678103944, 0.9136378453113991, -0.20350838602833932 ], "torque": [ -25.49560546875, 11.33056640625, -9.0576171875, -4.547119140625, -4.273681640625, -0.9906005859375, -0.28289794921875 ] }, "joint_status_r": { "velocity": [ -2.7684389098840967, 9.38447853672475, 1.106215561482271, -6.405996159138283, -8.044473073590241, 5.598232261088576, 9.35313306483998 ], "torque": [ 26.044921875, 11.8798828125, 17.681884765625, -8.465576171875, 0.750732421875, 4.8028564453125, 0.71319580078125 ] }, "eef_FT_l": { "raw_value": [ -1.4, -15.8, -8.7, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.4, -15.8, -8.7, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.6, 0.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.6, 0.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 179, "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": [ 0.4762171031087251, -0.7674467818944829, -0.06710960458870666, -0.6446984756182452, -0.21964179792305435, -0.9512529423958245, 0.6134906311553224 ], "act_joint_pos_r": [ -0.5946479107673239, -0.7434618183413347, 0.16988140229446255, -1.1624309624122222, 0.1618536779468447, 0.6529925301877517, -0.6407005772838329 ], "act_eef_pose_l": [ 558.1006875079822, 359.66549076978356, -1.793968552112048, 1.6716961547400766, -0.1540628496643282, 0.7971747482184679 ], "act_eef_pose_r": [ 502.5550644042035, -229.64914812687869, -13.25345665308032, 1.6525284236642725, 0.06368092575200823, 2.5187405926560786 ], "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.npz" }, "states": { "joint_pos_l": [ 0.478617120135558, -0.766281758206107, -0.06714826237672802, -0.6449570647797072, -0.2244463509539784, -0.9519247715175104, 0.6187521520968896 ], "joint_pos_r": [ -0.5724763130230455, -0.8259208902493471, 0.15989043874033693, -1.1090004344409226, 0.2092070340920696, 0.6171013235809156, -0.6981467549092087 ], "eef_pose_l": [ 557.6256036853183, 360.3824393711643, -2.2635504832771574, 1.669885973929974, -0.15533852465998793, 0.799152949359513 ], "eef_pose_r": [ 523.7032155439354, -206.24381558038806, -12.261356260849055, 1.63152822130182, 0.08411757639626082, 2.4985065490761764 ], "joint_status_l": { "velocity": [ -0.25919419437414604, -0.12581884751572403, 0.004174917973720493, 0.02792680578078688, 0.5188764238979182, 0.07255540523498638, -0.5682275027156791 ], "torque": [ -33.984375, 6.50390625, -9.7900390625, -2.716064453125, -2.90771484375, -1.278076171875, -0.3533935546875 ] }, "joint_status_r": { "velocity": [ -2.394461935502079, 8.905317117776868, 1.0789922406704289, -5.7703268342068625, -5.114011633973625, 3.8761359930177264, 6.204004206217917 ], "torque": [ 25.45166015625, 11.12548828125, 17.81005859375, -6.402587890625, 0.9466552734375, 3.702392578125, 0.65185546875 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.5, -7.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.5, -7.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -16.8, 0.8, 1.1, 0.5, -0.1 ], "actual_contact_FT": [ 0.6, -16.8, 0.8, 1.1, 0.5, -0.1 ] }, "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": [ 0.46860928242747446, -0.7777646215642652, -0.06656493763710887, -0.6293399948504365, -0.2058679508522722, -0.962463356106568, 0.6060806436579852 ], "act_joint_pos_r": [ -0.5941632821876826, -0.7211681675068297, 0.17314968245451018, -1.174833383986899, 0.1863368349943264, 0.6219856111148702, -0.6626779438906272 ], "act_eef_pose_l": [ 560.1006875079823, 357.03109076978353, -0.2971685521121543, 1.6736732273857429, -0.1589535637940649, 0.7865071603830209 ], "act_eef_pose_r": [ 506.03026440420354, -242.13874812687868, -10.907856653080216, 1.658957212948533, 0.07535693459430509, 2.4769028890866718 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4780122601162026, -0.7668662464450555, -0.06711998552119158, -0.6442535425784649, -0.22329942560417831, -0.9523411741998739, 0.6178330781256922 ], "joint_pos_r": [ -0.576612880241585, -0.8078173896514798, 0.16214790326827386, -1.1205003096478166, 0.2030182425274897, 0.6203871841513963, -0.689767285384558 ], "eef_pose_l": [ 557.7681094088989, 360.18546453836115, -2.1447583438095137, 1.6701677794875587, -0.15541251670937553, 0.7984597489066108 ], "eef_pose_r": [ 520.256769796114, -212.23556050687873, -12.305235487155443, 1.636008237843587, 0.0814893707121109, 2.497532838727104 ], "joint_status_l": { "velocity": [ -1.0154916400582081, -1.1769897994158285, 0.05994340354481542, 1.6106156520576675, 1.882543750545862, -1.0931634047910421, -1.2692254887074483 ], "torque": [ -36.83349609375, 6.80419921875, -9.716796875, -2.984619140625, -2.7227783203125, -1.417236328125, -0.38818359375 ] }, "joint_status_r": { "velocity": [ -1.8953875087124317, 9.357839996884998, 1.1881571092926535, -5.867798967139848, -1.8015388800327603, 0.17262502075254815, 2.9255625964879073 ], "torque": [ 25.12939453125, 12.5537109375, 17.962646484375, -5.438232421875, 1.0015869140625, 3.739013671875, 0.62255859375 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.5, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.5, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -17.2, 0.3, 1.0, 0.5, -0.1 ], "actual_contact_FT": [ 0.8, -17.2, 0.3, 1.0, 0.5, -0.1 ] }, "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": 78, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45768756079160394, -0.8042565222867941, -0.06497118298464394, -0.5722905732982277, -0.19391005864474561, -0.9978202453254179, 0.5947865134061399 ], "act_joint_pos_r": [ -0.5927757852196317, -0.7092901007182091, 0.1747040346122888, -1.1667698863379323, 0.19505778910136143, 0.6061656080754436, -0.6753894981186852 ], "act_eef_pose_l": [ 565.2638875079823, 356.72389076978357, 1.7652314478878708, 1.6711508111099578, -0.16451385040072375, 0.7792290452649506 ], "act_eef_pose_r": [ 510.3502644042035, -253.6603481268787, -11.511856653080258, 1.6698667663023155, 0.08953096766163582, 2.4448414466474047 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4756000897808622, -0.7704658821053679, -0.06692244814988484, -0.6381191994437552, -0.21930935998537582, -0.9563092231400685, 0.6149551327587791 ], "joint_pos_r": [ -0.5789333045989419, -0.7947525708661767, 0.16381070063757822, -1.1273603292599241, 0.2014484528572433, 0.6192506586850504, -0.6870934786893771 ], "eef_pose_l": [ 558.527588831679, 359.57874130121263, -1.6786276388307897, 1.6706019247284698, -0.15644764680696885, 0.7957850751233602 ], "eef_pose_r": [ 518.7872605490804, -217.47528084858118, -12.27408925403708, 1.64009639687831, 0.08168286664200837, 2.4918566558926623 ], "joint_status_l": { "velocity": [ -1.9344960759277718, -3.6492815097890485, 0.21073042268449083, 7.109281946654278, 2.743043643040455, -4.483058175284604, -2.1781466490837786 ], "torque": [ -39.30908203125, -3.06884765625, -7.952880859375, 8.807373046875, -1.5838623046875, -4.7479248046875, -0.48065185546875 ] }, "joint_status_r": { "velocity": [ -1.4949438160227757, 9.229674561280987, 1.1764453718672296, -4.256106637269497, -0.6901713301201706, -1.4131437873903252, 1.2639926221655884 ], "torque": [ 25.7958984375, 12.3046875, 18.023681640625, -6.70166015625, 1.1700439453125, 2.14599609375, 0.589599609375 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -7.4, 1.5, 0.0, 0.0 ], "actual_contact_FT": [ -0.9, -16.6, -7.4, 1.5, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.6, 1.5, 1.2, 0.3, 0.0 ], "actual_contact_FT": [ -0.2, -17.6, 1.5, 1.2, 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": 57, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4486119551924271, -0.8336686219096845, -0.0634159309067697, -0.5134501698427626, -0.18816423666155732, -1.0267919577877256, 0.5878067600674595 ], "act_joint_pos_r": [ -0.5918667843675749, -0.696883561835269, 0.17641950136694098, -1.1630352275698987, 0.19990559285796072, 0.5966333065710339, -0.683097786668722 ], "act_eef_pose_l": [ 571.3190875079823, 356.21669076978355, 3.118031447887759, 1.668044511889058, -0.16980162412610536, 0.7788298853894807 ], "act_eef_pose_r": [ 512.5846644042035, -263.2451481268787, -11.281456653080113, 1.677560766463979, 0.10049052900514455, 2.4222931667987737 ], "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.npz" }, "states": { "joint_pos_l": [ 0.47100611215237087, -0.780187754800808, -0.06637334788981542, -0.619047293813432, -0.21340703945857717, -0.9676373447052814, 0.6100607199213581 ], "joint_pos_r": [ -0.5822214602152646, -0.771716595223664, 0.16676729742912907, -1.136547643463733, 0.20060257933995507, 0.6145650353614499, -0.6853667193827392 ], "eef_pose_l": [ 560.5674164242239, 358.97813873379073, -0.8594701824098934, 1.670216714782676, -0.15875211095446196, 0.7922743014122299 ], "eef_pose_r": [ 517.2952419781826, -227.9852441590283, -12.241145576024905, 1.6486595091842262, 0.08494938910932154, 2.476679402125772 ], "joint_status_l": { "velocity": [ -2.418497621899718, -5.7757633007256, 0.31939161421684625, 11.404153041318033, 2.7261422988089645, -6.388509793878505, -2.4033567810022305 ], "torque": [ -40.65673828125, 3.8671875, -7.342529296875, 2.23388671875, -2.490234375, -2.6568603515625, -0.6024169921875 ] }, "joint_status_r": { "velocity": [ -1.0416642862036696, 8.081729248083924, 1.042407281124147, -2.860574715322528, -0.075272320017028, -1.936569593298465, 0.24503750611959418 ], "torque": [ 23.76708984375, 10.81787109375, 17.156982421875, -8.367919921875, 1.0546875, 2.0196533203125, 0.78094482421875 ] }, "eef_FT_l": { "raw_value": [ -4.4, -15.5, -12.5, 1.4, -0.3, 0.1 ], "actual_contact_FT": [ -4.4, -15.5, -12.5, 1.4, -0.3, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.4, 2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.5, -17.4, 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": 15, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.44413198848609264, -0.8367031536586711, -0.06343309858203709, -0.5167204339961609, -0.1880211248473057, -1.0249029722906098, 0.5929105374442885 ], "act_joint_pos_r": [ -0.5895986808802394, -0.6892873235380867, 0.17765639779921713, -1.161168073154291, 0.20635912342309348, 0.5767889293410647, -0.6965163126528388 ], "act_eef_pose_l": [ 572.6086875079823, 353.4278907697836, 5.506831447887933, 1.6638268271022496, -0.17657926643590996, 0.7750089704411176 ], "act_eef_pose_r": [ 516.0246644042035, -270.8851481268787, -11.317456653080171, 1.6869026682867838, 0.1156074893963691, 2.3973374067154487 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4671925042494762, -0.7890692474097427, -0.06588766860009973, -0.6017840582596713, -0.20925302007670557, -0.977306381575083, 0.6065527816431913 ], "joint_pos_r": [ -0.58314714121751, -0.7641604687750428, 0.16774573018979233, -1.1391544994450435, 0.20062912189660195, 0.6124866602164218, -0.6853403743574532 ], "eef_pose_l": [ 562.4566302249933, 358.49550409820284, -0.17237884711661877, 1.6695450328377537, -0.1608704063584426, 0.789995587559814 ], "eef_pose_r": [ 516.9693581837489, -231.628728704511, -12.210761014877647, 1.6516970236881563, 0.08659859352441764, 2.4708512202804838 ], "joint_status_l": { "velocity": [ -2.490462250187786, -5.144310151566245, 0.2650857436646836, 9.186600476160933, 2.2929770570319086, -5.140280192815538, -1.4733189202633667 ], "torque": [ -41.15478515625, 4.9658203125, -6.34765625, 1.0009765625, -2.1002197265625, -3.75, -0.6591796875 ] }, "joint_status_r": { "velocity": [ -0.6967457341575667, 8.08606119996469, 1.070320534401148, -2.377395843057073, 0.618821913684231, -3.855241230277251, -1.2069657383495525 ], "torque": [ 23.53271484375, 11.015625, 17.340087890625, -8.074951171875, 1.0858154296875, 1.834716796875, 0.74798583984375 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.6, -8.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.8, -16.6, -8.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.7, 1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.7, 1.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 154, "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": [ 0.4410409319058799, -0.8401616432691777, -0.06328961016273561, -0.509982483640054, -0.18645350153738718, -1.0295131757753826, 0.5911202823750725 ], "act_joint_pos_r": [ -0.5862551506846324, -0.6896129090516793, 0.17736313675386398, -1.1506914367230778, 0.20790817374859658, 0.5779172356805088, -0.7025980224289934 ], "act_eef_pose_l": [ 573.5158875079824, 353.0854907697836, 6.818831447887831, 1.6621605902082042, -0.17796020246008895, 0.7736794568763844 ], "act_eef_pose_r": [ 518.5118644042035, -274.3379481268787, -10.780656653080314, 1.687637429660764, 0.1248055655884505, 2.389457908515604 ], "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.npz" }, "states": { "joint_pos_l": [ 0.46276640764155946, -0.7978815882241463, -0.06543748834702573, -0.585983765019723, -0.20532214746373567, -0.9862420873346941, 0.6039387007422172 ], "joint_pos_r": [ -0.5841410238415997, -0.7509365626689332, 0.1694851433778477, -1.1425866884048081, 0.20171024823448794, 0.6062245416468551, -0.6875834028274296 ], "eef_pose_l": [ 564.4238116241662, 357.6058945392778, 0.9422153272706737, 1.6681829356668882, -0.1638689300620937, 0.7872257959238543 ], "eef_pose_r": [ 517.0956126559422, -238.71848180790784, -12.145078221632446, 1.6580514719476738, 0.09189636553645762, 2.457383569618685 ], "joint_status_l": { "velocity": [ -2.3462821795599, -4.566111274609597, 0.23196400249081428, 8.207896310042706, 2.0377536597142587, -4.6731397247050666, -1.3843483544793145 ], "torque": [ -41.220703125, 4.37255859375, -6.024169921875, 1.81884765625, -1.95556640625, -3.62548828125, -0.5694580078125 ] }, "joint_status_r": { "velocity": [ -0.22831896513952898, 6.622759262820743, 0.8507981916583418, -0.8752870031614179, 0.6693562139175047, -3.057098880054454, -1.6215310924652115 ], "torque": [ 23.8330078125, 9.9462890625, 17.132568359375, -7.7392578125, 3.1732177734375, 2.1917724609375, -0.4852294921875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.4, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.9, -16.4, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.5, 0.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.5, 0.4, 1.1, 0.3, 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": 70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4405020139550076, -0.8392131638784376, -0.06334669914012468, -0.5107987873437401, -0.18708469559016472, -1.030579648990466, 0.5937523959441179 ], "act_joint_pos_r": [ -0.5787728080292731, -0.6949700910642652, 0.1761962144897377, -1.1317407613663324, 0.21263005866052564, 0.5770360102007741, -0.7112084843346831 ], "act_eef_pose_l": [ 573.3654875079824, 353.24549076978354, 7.425231447887953, 1.6608578693191383, -0.18067978000454066, 0.7730736805102533 ], "act_eef_pose_r": [ 523.8030644042035, -278.3491481268787, -9.507056653080326, 1.6871703038402974, 0.13691830094056318, 2.37569795656413 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4591412371680897, -0.8047378913977495, -0.06509006555726887, -0.57357070262034, -0.20228301191532908, -0.9934617294462815, 0.6020932162536982 ], "joint_pos_r": [ -0.5837705865111193, -0.7406268783577733, 0.17076197067722673, -1.1421347432760984, 0.20327575681169244, 0.6011319207018375, -0.6910945551404645 ], "eef_pose_l": [ 565.9520564149062, 356.9083689344681, 1.943177393109977, 1.6669510657160074, -0.16649822113484206, 0.7849573298419829 ], "eef_pose_r": [ 518.0394972810683, -245.3712920258882, -11.877960351821912, 1.663391460614766, 0.0987646408837271, 2.443908880287607 ], "joint_status_l": { "velocity": [ -2.0129767374377217, -3.7232196174210586, 0.18827802008825056, 6.7791669090322415, 1.6413697535047067, -4.0086170829312096, -0.9007820262887378 ], "torque": [ -40.986328125, 3.9990234375, -5.755615234375, 2.20947265625, -2.1990966796875, -3.6712646484375, -0.56671142578125 ] }, "joint_status_r": { "velocity": [ 0.5397441571366457, 4.930787601892028, 0.5868810226206111, 1.1225169393878076, 1.010234804390997, -2.6022815839228386, -2.1722402861730217 ], "torque": [ 32.5341796875, 10.458984375, 16.961669921875, -3.16162109375, 3.3819580078125, 1.8072509765625, -0.8551025390625 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.3, -8.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.5, -16.3, -8.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.1, -16.9, 1.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -16.9, 1.8, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 194, "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": [ 0.4404400321521823, -0.8338385958029092, -0.06354132485722092, -0.5152929840387823, -0.18939969923230404, -1.0285653861711395, 0.5964177617217143 ], "act_joint_pos_r": [ -0.5724057935514558, -0.7014903756708964, 0.1749885860079069, -1.1180649729894458, 0.1996254373942348, 0.5734961103916809, -0.7047235990620377 ], "act_eef_pose_l": [ 572.8086875079823, 355.24789076978357, 8.250831447888075, 1.6598771642015853, -0.18297839369639338, 0.7765368786685423 ], "act_eef_pose_r": [ 527.3798644042035, -279.5563481268787, -10.071856653080204, 1.6945621535206843, 0.14590466008942943, 2.371660514181523 ], "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.npz" }, "states": { "joint_pos_l": [ 0.457036106770663, -0.808469684002352, -0.06489907862546497, -0.5666198750518616, -0.20063625978741742, -0.9975908202483084, 0.6012306154163142 ], "joint_pos_r": [ -0.5824021385322351, -0.7336811156966909, 0.17155161680749045, -1.1392514642989262, 0.2036966473481644, 0.5968666380570635, -0.6938442313560403 ], "eef_pose_l": [ 566.7963675100088, 356.56802738106944, 2.573734885703715, 1.6661803663852008, -0.16818623934671106, 0.7837261114916447 ], "eef_pose_r": [ 519.4209522931632, -250.83458929330348, -11.619171279652022, 1.6681130288844745, 0.10571760306872562, 2.4322940608799803 ], "joint_status_l": { "velocity": [ -1.7923231970491393, -2.7397616695088445, 0.14663308225876248, 5.543140743215602, 1.213512749306922, -3.345154459608146, -0.5197728691355152 ], "torque": [ -40.634765625, 4.3359375, -5.853271484375, 2.16064453125, -2.303466796875, -3.6492919921875, -0.560302734375 ] }, "joint_status_r": { "velocity": [ 1.0795734176083371, 3.476497388976263, 0.3711817262250783, 2.2880735783008532, -0.43967770742359136, -2.5239425481551336, -1.1749370593312491 ], "torque": [ 35.38330078125, 12.1435546875, 17.352294921875, -2.23388671875, 1.7010498046875, 1.2451171875, -0.70220947265625 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.3, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -16.3, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -16.8, 0.2, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.1, -16.8, 0.2, 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": 20, "motor_current": -61, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4381250706844741, -0.8304884335598194, -0.06362173369401972, -0.5155069819886964, -0.19047410481140153, -1.0267574949887095, 0.5980363098504553 ], "act_joint_pos_r": [ -0.568545398073582, -0.7106399584112658, 0.17341851046633255, -1.10377485482364, 0.19498479954105497, 0.5636214385915624, -0.7068497933510673 ], "act_eef_pose_l": [ 573.1814875079823, 357.50069076978355, 9.82123144788791, 1.6590053370815654, -0.186812051128696, 0.7814829382943427 ], "act_eef_pose_r": [ 531.6494644042035, -280.6027481268787, -12.095856653080318, 1.7027489410917487, 0.15474893928496186, 2.362010213554426 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45376431138718487, -0.8130706717796986, -0.06464708535926687, -0.5569296248723015, -0.19857456667881884, -1.0033411055472605, 0.6004148610960728 ], "joint_pos_r": [ -0.5799055389151518, -0.7283611160969647, 0.1720448730227734, -1.1331903327126736, 0.20229317064335978, 0.590922773634433, -0.6962998457850564 ], "eef_pose_l": [ 567.9819445644184, 356.46237343667127, 3.723862604614453, 1.6648885123302344, -0.171227205163202, 0.7826556181731845 ], "eef_pose_r": [ 521.679932287356, -256.64752347169906, -11.654085986751909, 1.6746945708555059, 0.11482489815447647, 2.4188341035195955 ], "joint_status_l": { "velocity": [ -1.6889881818493713, -1.8810627932710489, 0.11073471390088407, 4.473513492202041, 0.8748240801239593, -2.528895473891346, -0.2568759583754243 ], "torque": [ -40.1953125, 4.53369140625, -5.6396484375, 0.76904296875, -2.26318359375, -3.33251953125, -0.54290771484375 ] }, "joint_status_r": { "velocity": [ 1.2268590266169, 1.9138285846986847, 0.1483484686000125, 3.176777917959228, -0.7892808004561491, -2.948457224532852, -1.1393607334806433 ], "torque": [ 35.19287109375, 11.41845703125, 17.169189453125, -2.81982421875, 1.094970703125, 1.7559814453125, -0.6646728515625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.3, -8.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.3, -8.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.5, 1.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -17.5, 1.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 164, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -59, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4389302959882805, -0.8270902436503991, -0.06376824182345539, -0.5199943303463096, -0.1948600609707376, -1.0234874870506085, 0.6013028947480875 ], "act_joint_pos_r": [ -0.5672738216723499, -0.7157483338338586, 0.17255852816069536, -1.0960611528980517, 0.19723169002331709, 0.5591035112368069, -0.7079177317643347 ], "act_eef_pose_l": [ 572.9358875079823, 358.55509076978353, 10.254031447887954, 1.6569450033118698, -0.18759771984731582, 0.785248185592671 ], "act_eef_pose_r": [ 533.8950644042035, -281.1187481268787, -13.093456653080239, 1.7049785526617616, 0.15498637021476283, 2.3554714576811695 ], "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.npz" }, "states": { "joint_pos_l": [ 0.450503059017747, -0.8164879650342428, -0.06444131750041904, -0.5484939840320973, -0.1972262475680198, -1.0080468284411384, 0.6001888969573498 ], "joint_pos_r": [ -0.5787381017776135, -0.7267491220850311, 0.17215614151725203, -1.1300370413729925, 0.20163250218765047, 0.5880740084205878, -0.697380691658047 ], "eef_pose_l": [ 569.0884937180314, 356.7814454250513, 5.047508346888634, 1.6634392720073474, -0.17462756021298328, 0.782721386710037 ], "eef_pose_r": [ 522.7860496626292, -259.0017618370327, -11.764866063798422, 1.677649135791097, 0.1187649679801343, 2.41296746678972 ], "joint_status_l": { "velocity": [ -1.2498215456666628, -1.1450123202116913, 0.07269002923432355, 3.0778718210884293, 0.25554061573895837, -1.667541948301654, 0.12030821309760853 ], "torque": [ -39.931640625, 3.896484375, -5.462646484375, 1.361083984375, -2.2705078125, -3.533935546875, 0.08880615234375 ] }, "joint_status_r": { "velocity": [ 1.2381057353918479, 1.1880500914625003, 0.04345647581138756, 3.6692877354358444, -0.47527369629962735, -3.128721419142444, -1.1379667689430661 ], "torque": [ 37.49267578125, 10.37841796875, 16.97998046875, -2.25830078125, 0.9759521484375, 1.541748046875, -0.6939697265625 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.2, -8.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.6, -16.2, -8.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.4, -16.8, 1.0, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.4, -16.8, 1.0, 1.0, 0.4, 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": [ 0.44015632821638034, -0.8185858113589243, -0.06419531427394631, -0.5355716248607528, -0.19800600672619345, -1.012539691078925, 0.6057957652053598 ], "act_joint_pos_r": [ -0.5676941425258545, -0.7205526865807867, 0.1720029633476456, -1.0972832990189503, 0.2040262631296406, 0.5553977300172678, -0.7130460743174017 ], "act_eef_pose_l": [ 572.0246875079823, 359.65829076978355, 10.565231447887825, 1.657233216906755, -0.18930117985185593, 0.7894861563404428 ], "act_eef_pose_r": [ 534.4646644042035, -278.58994812687865, -13.29425665308031, 1.7023717258142836, 0.15257060122333418, 2.3553368000574086 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44865438194130286, -0.8178575274936136, -0.06434941839745682, -0.5444927235686426, -0.19697538604557793, -1.0101045176424888, 0.6005693007175145 ], "joint_pos_r": [ -0.5765771717014267, -0.7247409348061223, 0.17222395448905153, -1.1236324938767375, 0.20090152022267693, 0.5825424601493508, -0.6994487654731012 ], "eef_pose_l": [ 569.6896321753543, 357.1237030277803, 5.911616597565342, 1.6623847882635006, -0.17683854937687662, 0.7833151401462175 ], "eef_pose_r": [ 524.9688900705457, -263.07520788313684, -12.074751470560813, 1.6829244787673476, 0.1255154846865674, 2.4020642689700518 ], "joint_status_l": { "velocity": [ -0.9177627343266437, -0.07865233772630376, 0.016642754487317113, 0.9634502450062143, -0.11130375077783583, -0.2629909746305614, 0.5644415173744477 ], "torque": [ -41.42578125, 2.14599609375, -6.6650390625, 0.390625, -2.647705078125, -3.66943359375, 0.22613525390625 ] }, "joint_status_r": { "velocity": [ 0.959338856774572, 0.4523174679462727, -0.023866339371902967, 2.8456291172958004, 0.337462281034151, -2.9315443929851526, -1.4684660450932085 ], "torque": [ 36.708984375, 11.71875, 13.39111328125, -2.28271484375, 0.87890625, 1.9097900390625, -0.78094482421875 ] }, "eef_FT_l": { "raw_value": [ -1.7, -17.1, -8.7, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -17.1, -8.7, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.1, 1.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.2, -17.1, 1.4, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 169, "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": [ 0.43950569380198884, -0.8142051822235697, -0.06443315671491194, -0.5445264081423157, -0.19715941716675786, -1.0034073214475103, 0.6053053908993279 ], "act_joint_pos_r": [ -0.570604639339778, -0.7262337468432594, 0.1714246518331148, -1.1013733838333963, 0.20377120074215327, 0.5614737189493452, -0.7150017069026624 ], "act_eef_pose_l": [ 572.0278875079823, 360.26309076978356, 10.84203144788792, 1.6595246314694574, -0.18951132723105052, 0.792879235720019 ], "act_eef_pose_r": [ 532.5894644042035, -272.9795481268787, -14.083856653080147, 1.6980693138013065, 0.14893240288211052, 2.368808568746825 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44702874766447476, -0.8178660166468614, -0.06432730090969434, -0.5430703791268988, -0.19714524588447935, -1.0102955447451896, 0.6015428352999667 ], "joint_pos_r": [ -0.5750065774636918, -0.7240004173093428, 0.17218488139738153, -1.1189737347085937, 0.20145400103829483, 0.5777430436566577, -0.7018528839891446 ], "eef_pose_l": [ 570.1355585211046, 357.6204463733397, 6.796898090326607, 1.661486424000941, -0.17920492369100469, 0.7845727424111377 ], "eef_pose_r": [ 526.6895788169561, -265.77946090939304, -12.316876748289616, 1.686431705896485, 0.13026698249262916, 2.3937749348647115 ], "joint_status_l": { "velocity": [ -0.8124658547492558, 0.3953584572418123, -0.011432089792040578, -0.15724649592696593, -0.0015304533476090398, 0.743906175809883, 0.4063440202548563 ], "torque": [ -40.4736328125, 3.0908203125, -9.58251953125, 0.543212890625, -4.4586181640625, -3.52294921875, 0.3094482421875 ] }, "joint_status_r": { "velocity": [ 0.7897196817499008, 0.3723439369869297, -0.019646569926923263, 2.342497966196788, 0.2777961127069517, -2.413222698855577, -1.208828902949044 ], "torque": [ 36.49658203125, 11.69677734375, 13.665771484375, -2.18505859375, 2.9571533203125, 1.563720703125, -0.80108642578125 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.5, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.5, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.2, -17.2, 1.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.2, -17.2, 1.4, 1.1, 0.4, 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": -110, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.44001856519931354, -0.8159757336415391, -0.06434386328766718, -0.5413638506240744, -0.19745813085019456, -1.0053102891022088, 0.6054075407996047 ], "act_joint_pos_r": [ -0.5731737198872161, -0.7319162320078912, 0.17102363151811598, -1.1117217219214173, 0.20480496842273732, 0.5643685523271711, -0.7132611589208444 ], "act_eef_pose_l": [ 572.1582875079823, 360.09829076978355, 10.45963144788773, 1.6594024390631128, -0.1891935543052363, 0.7925590725852142 ], "act_eef_pose_r": [ 530.1294644042034, -265.6155481268787, -14.024656653080228, 1.691855728720729, 0.13986558862219312, 2.3839298930894017 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4458566256285396, -0.8174873204697504, -0.06433345019940744, -0.5429111925791327, -0.19718521998836774, -1.0094029682101167, 0.6021742549989177 ], "joint_pos_r": [ -0.5743240916270252, -0.724762844694443, 0.17201932753709342, -1.1163427327533446, 0.20196969323356728, 0.5748019593077477, -0.7041890877233278 ], "eef_pose_l": [ 570.4657052309996, 358.03350303060824, 7.412131464956104, 1.6611552662963298, -0.18086316654892262, 0.7858931972377997 ], "eef_pose_r": [ 527.6611562217993, -266.6693747490934, -12.642463600664996, 1.6882444343068168, 0.13317679133320376, 2.389963102098777 ], "joint_status_l": { "velocity": [ -0.6304919309911838, 0.16324656274768756, -0.0011245803643311625, 0.16710800255959057, -0.029473503802668333, 0.44199630767050024, 0.3491845678258443 ], "torque": [ -41.16943359375, 9.580078125, -9.7412109375, 0.48828125, -3.544921875, -1.58203125, 0.37261962890625 ] }, "joint_status_r": { "velocity": [ 0.12423648374060292, -0.7725430449134763, -0.10753199856283757, 0.49905445102460533, 0.3062006895235836, -1.1267747214587231, -0.9797547930086026 ], "torque": [ 37.19970703125, 6.03515625, 11.43798828125, -3.16162109375, 3.1585693359375, 1.7340087890625, -0.7928466796875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -17.0, -8.7, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -17.0, -8.7, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.5, 2.2, 1.2, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -17.5, 2.2, 1.2, 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": -154, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43722753879221027, -0.82955211384373, -0.0637252144405154, -0.5203859815742773, -0.19541464703857334, -1.0135588675488751, 0.6026204819508431 ], "act_joint_pos_r": [ -0.5779531773383759, -0.7405805900059934, 0.17014385300178433, -1.11746305661198, 0.21300400213424012, 0.5687156057341262, -0.7122334277580342 ], "act_eef_pose_l": [ 574.8158875079823, 358.3134907697836, 10.380431447888057, 1.6585277552733904, -0.18971798542385696, 0.7915113885162851 ], "act_eef_pose_r": [ 528.0662644042035, -258.2795481268787, -15.089456653080333, 1.6839625831352354, 0.12387025592768887, 2.395919619717072 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44503565646193777, -0.8181056692820827, -0.06429867569004692, -0.5415175666792772, -0.19709726961512083, -1.009420461866622, 0.6023771527061357 ], "joint_pos_r": [ -0.5746600237049742, -0.7270053343286027, 0.17174400341846122, -1.1161735676055733, 0.2033961958355941, 0.5734477790196293, -0.7056771340937943 ], "eef_pose_l": [ 570.8136136894891, 358.16355448815557, 7.748807902983884, 1.6609095615755498, -0.18183580738235802, 0.7865819768659558 ], "eef_pose_r": [ 527.8715048219378, -265.65643658531343, -13.008855863993404, 1.687986174091331, 0.13255759789032043, 2.3902453883019863 ], "joint_status_l": { "velocity": [ -0.8432518379470899, -1.2361795534907571, 0.06193198836307312, 2.282143883104215, 0.18171787878484835, -0.4469346320501444, 0.026278783376909587 ], "torque": [ -40.77392578125, 3.64013671875, -5.52978515625, 4.931640625, -2.633056640625, -2.36572265625, 0.42022705078125 ] }, "joint_status_r": { "velocity": [ -0.35565010306815026, -1.4660843733107498, -0.17281114820888455, -0.13926070541714353, 1.037612477509553, -0.5110596419362068, -0.7080588326591197 ], "torque": [ 27.626953125, 4.3359375, 10.955810546875, -5.218505859375, 3.1988525390625, 1.5252685546875, -0.76171875 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.7, -9.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -1.1, -16.7, -9.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -16.9, 0.6, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.2, -16.9, 0.6, 1.0, 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": -169, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4343856104064863, -0.8396104520307784, -0.0632350805397776, -0.5015982417724822, -0.1931764009952147, -1.0264988693180181, 0.6010839543336869 ], "act_joint_pos_r": [ -0.5823195982681715, -0.7455046157880532, 0.16974627320066432, -1.124459905802123, 0.21169299606043301, 0.5693294714526456, -0.7120861570705029 ], "act_eef_pose_l": [ 576.2694875079824, 357.1734907697836, 11.050831447887802, 1.656193546812877, -0.19180945437331057, 0.7874683773770881 ], "act_eef_pose_r": [ 525.7278644042035, -252.84594812687868, -16.74625665308031, 1.6827242139289154, 0.1181465989449626, 2.4072873155137375 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44348997176707533, -0.820713984782463, -0.06416880134434502, -0.5366895732550029, -0.1966697038009388, -1.0109041075064047, 0.602330888072436 ], "joint_pos_r": [ -0.5758328157099074, -0.7301920951912462, 0.17139141196859103, -1.1172990837868813, 0.20504721223853334, 0.5726305832157575, -0.7068979573927033 ], "eef_pose_l": [ 571.6131817701596, 358.1283625741736, 8.245931362767436, 1.6603514558462364, -0.18335394506015842, 0.7872164057473887 ], "eef_pose_r": [ 527.6305590823913, -263.57564638526844, -13.620105735838024, 1.6870811960982968, 0.13020010087148748, 2.3927538001650444 ], "joint_status_l": { "velocity": [ -0.9832420277704479, -2.040758273869514, 0.1008388728097609, 3.789752027351323, 0.3772655761649091, -1.6841846032846775, -0.13466487205704425 ], "torque": [ -40.59814453125, -1.61865234375, -5.816650390625, 4.01611328125, -2.1844482421875, -3.7994384765625, 0.00091552734375 ] }, "joint_status_r": { "velocity": [ -0.7005518546199241, -1.6537034510788473, -0.17766974684696457, -0.7733459690246747, 0.7177234846424962, -0.35650955572918974, -0.5603090397707788 ], "torque": [ 25.927734375, 3.017578125, 10.333251953125, -6.38427734375, 3.387451171875, 1.9427490234375, -0.6207275390625 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.4, -9.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.7, -16.4, -9.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.7, -17.3, 1.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -17.3, 1.3, 1.1, 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": -202, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43438051790692295, -0.8454620339978924, -0.06292529980426309, -0.4884117107799965, -0.1937401418657824, -1.0363556807243854, 0.6010578978348172 ], "act_joint_pos_r": [ -0.5822018303586497, -0.7492089328802489, 0.1692612551434788, -1.1223003333901296, 0.20848029440645321, 0.5709547190188434, -0.7099961579075719 ], "act_eef_pose_l": [ 576.7350875079824, 357.07669076978357, 10.863631447887954, 1.654332065512545, -0.19222464252050211, 0.7857912336499229 ], "act_eef_pose_r": [ 525.7902644042035, -251.15714812687867, -17.311856653080213, 1.6829798649445744, 0.11758804081582827, 2.411038438404854 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4415507411231885, -0.8252405961351685, -0.0639433577128307, -0.528084262450022, -0.19597421484795896, -1.0150716061768716, 0.6020631129747454 ], "joint_pos_r": [ -0.5771193278994925, -0.7338334966223319, 0.17098697737558585, -1.1184111986975163, 0.2058959013174538, 0.5722134867497068, -0.7076239702094588 ], "eef_pose_l": [ 572.6608116559321, 357.92742829338476, 8.816113050956005, 1.6592933864822, -0.18519139420886122, 0.787127900448361 ], "eef_pose_r": [ 527.276888976672, -261.16005096802166, -14.346402188987526, 1.6862662747955495, 0.12769354727634702, 2.396250418190622 ], "joint_status_l": { "velocity": [ -0.7743612687924895, -2.183850879935001, 0.10994701141153751, 4.284509215518373, 0.24127276611540793, -2.2986122571859724, -0.10856003330594888 ], "torque": [ -41.953125, 2.18994140625, -5.6396484375, 0.5859375, -2.2467041015625, -3.49365234375, -0.32135009765625 ] }, "joint_status_r": { "velocity": [ -0.5488940768234585, -1.6604981420798026, -0.18637250430453278, -0.42001415914683093, 0.2791062218139295, -0.13594290551122157, -0.2561887155136944 ], "torque": [ 25.3857421875, 3.58154296875, 10.3271484375, -6.38427734375, 3.468017578125, 2.149658203125, -0.5731201171875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.6, -10.4, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -2.1, -16.6, -10.4, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.3, 1.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.3, -17.3, 1.8, 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": -206, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43671154368618864, -0.8431853769063027, -0.06313268733176373, -0.4989968417165888, -0.19926329948446148, -1.028505416907206, 0.6062883501710107 ], "act_joint_pos_r": [ -0.5796790532472449, -0.754475954262484, 0.16865739080353126, -1.1223814817787747, 0.2016395366525421, 0.5776326779077099, -0.7028886682078109 ], "act_eef_pose_l": [ 576.4958875079824, 355.9126907697836, 10.48203144788802, 1.6520462991393665, -0.19188128740343013, 0.7874592091119557 ], "act_eef_pose_r": [ 525.2430644042036, -247.04354812687868, -16.13905665308016, 1.678982336287954, 0.1152663393753776, 2.422697237381404 ], "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.npz" }, "states": { "joint_pos_l": [ 0.440474337828733, -0.8284649454077162, -0.06378509947036891, -0.5220270395658132, -0.19584944803508067, -1.018225928537638, 0.60212751289779 ], "joint_pos_r": [ -0.5773424844927999, -0.7345085833544104, 0.17091120637549148, -1.118581958290038, 0.20600937383658055, 0.5721582182435245, -0.7077281254616502 ], "eef_pose_l": [ 573.3308686791239, 357.74369592550136, 9.129155506246008, 1.6583701807309223, -0.1863298344372453, 0.7869824747829134 ], "eef_pose_r": [ 527.2151101952827, -260.7206095053227, -14.478755111404155, 1.6861262085443693, 0.12724997684648892, 2.396900538601662 ], "joint_status_l": { "velocity": [ -0.40636978215857766, -1.5897597143910147, 0.0704584329089819, 2.487188012027186, -0.36868508274778833, -1.110152001730036, 0.4493571724264456 ], "torque": [ -41.572265625, 2.26318359375, -5.46875, 1.0986328125, -2.332763671875, -3.3453369140625, -0.29022216796875 ] }, "joint_status_r": { "velocity": [ -0.5247938755434944, -1.5875909252986986, -0.17818947763981186, -0.4015726670569819, 0.266851551180336, -0.1299740828848428, -0.24494028003196888 ], "torque": [ 25.48828125, 4.05029296875, 10.552978515625, -6.3232421875, 3.482666015625, 1.9390869140625, -0.51544189453125 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.9, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.4, -16.9, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.0, 1.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.1, -17.0, 1.3, 1.1, 0.4, 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": -206, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4415789954261958, -0.8294097706462894, -0.06395437913363318, -0.5346167471414066, -0.20435494532629994, -1.0083344714535523, 0.6138497750830488 ], "act_joint_pos_r": [ -0.579023828346029, -0.7612749809397936, 0.16778218904507056, -1.1183571594069424, 0.2024103188152644, 0.5797805699992578, -0.7049050190566098 ], "act_eef_pose_l": [ 573.9486875079823, 354.27189076978357, 9.669231447887867, 1.6523031262886065, -0.19046136468728153, 0.7870555632236327 ], "act_eef_pose_r": [ 525.8894644042034, -244.29074812687867, -16.42225665308024, 1.6766316181809249, 0.11519384759485997, 2.4265480440028573 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4403583011872716, -0.8295131631478492, -0.0637624695422626, -0.5219745576659116, -0.19702760136364536, -1.017767282066947, 0.6037164364431546 ], "joint_pos_r": [ -0.5778263305797869, -0.7388860651602813, 0.1704095555613544, -1.1190538514077284, 0.20535230791598175, 0.5732517997434466, -0.7070729091966605 ], "eef_pose_l": [ 573.6072026734656, 357.236299979365, 9.275323454039977, 1.657275757701915, -0.18715641115424472, 0.7870171976067676 ], "eef_pose_r": [ 526.9043311906464, -257.8678448253632, -14.877316754700615, 1.6846441711125317, 0.12487498612556602, 2.4020788275990386 ], "joint_status_l": { "velocity": [ 0.13183108965364454, 0.01116606084394789, -0.02072562459837224, -1.3653161955042847, -0.7913298089414766, 1.0187135008985493, 1.0943682964406065 ], "torque": [ -33.06884765625, 6.90673828125, -9.99755859375, -3.1005859375, -5.01708984375, -1.2469482421875, 0.47332763671875 ] }, "joint_status_r": { "velocity": [ -0.12932594448944457, -2.4179315911068144, -0.28374721508206413, 0.07524051698482026, -0.3177254520660977, 0.7050863922160033, 0.23412522997112717 ], "torque": [ 25.94970703125, 3.77197265625, 10.2294921875, -3.7109375, 1.40625, 3.4515380859375, 0.5255126953125 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.8, -8.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.8, -8.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.2, -16.7, 0.7, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.2, -16.7, 0.7, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 175, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -265, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4415536872267332, -0.8352406713014279, -0.0635614808066951, -0.5166491936452513, -0.2032634266160859, -1.0184593218274476, 0.6094950174360119 ], "act_joint_pos_r": [ -0.578161393430944, -0.7691528758656239, 0.16659406403868282, -1.1052151252049374, 0.20601465293367396, 0.5812587255283217, -0.7077644390670853 ], "act_eef_pose_l": [ 574.7038875079822, 355.85909076978356, 8.974031447887754, 1.653059625323562, -0.18857013425965916, 0.78877431196968 ], "act_eef_pose_r": [ 528.4262644042035, -244.25474812687867, -17.75905665308028, 1.6767771718411515, 0.11532765967378825, 2.422009454555004 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4405719565746331, -0.829995674392967, -0.06376265636128438, -0.5226666442906562, -0.19822939135561457, -1.0169690633155795, 0.6051340838064245 ], "joint_pos_r": [ -0.5780049452651933, -0.7439561299557236, 0.1697955680610903, -1.1179661940841206, 0.2050205995017675, 0.5746712091793309, -0.7068431501592393 ], "eef_pose_l": [ 573.7341959882401, 356.8485819176396, 9.285367556574982, 1.6564578348955907, -0.18758281252966436, 0.7871686960959962 ], "eef_pose_r": [ 526.906348191142, -255.13761230457712, -15.298914710229752, 1.6830623751349338, 0.12291950827052224, 2.4066667636669625 ], "joint_status_l": { "velocity": [ 0.10602378342206009, -0.5664429597711518, 0.021726319112125303, 0.6498655029454348, -0.5436597737429327, -0.160943172516248, 0.47096694156767427 ], "torque": [ -30.0146484375, 1.79443359375, -10.296630859375, 0.35400390625, -5.2606201171875, -2.2906494140625, 0.45684814453125 ] }, "joint_status_r": { "velocity": [ -0.01689590358200377, -2.7211683016998833, -0.34575223700294977, 1.377074824301161, 0.10735460439104116, 0.7114307831610489, -0.09949626756178276 ], "torque": [ 29.5751953125, 4.072265625, 10.003662109375, -3.45458984375, 2.578125, 3.460693359375, -0.06317138671875 ] }, "eef_FT_l": { "raw_value": [ -3.0, -15.8, -9.0, 1.3, -0.3, 0.1 ], "actual_contact_FT": [ -3.0, -15.8, -9.0, 1.3, -0.3, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.6, -16.8, 0.5, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 0.6, -16.8, 0.5, 1.0, 0.5, 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": -240, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4442235956529477, -0.8223564582958225, -0.06426204787531074, -0.5446204015218115, -0.20800586566317597, -1.0012704171595612, 0.614199958352509 ], "act_joint_pos_r": [ -0.5793264089160283, -0.770090633267291, 0.16660629398840068, -1.1094957316281093, 0.21099884086375284, 0.5748787449464978, -0.7113405540173163 ], "act_eef_pose_l": [ 572.8766875079823, 356.0230907697836, 9.146831447888033, 1.6530483212025722, -0.187336615256388, 0.7919890410659786 ], "act_eef_pose_r": [ 528.3998644042035, -243.16594812687867, -18.067856653080298, 1.6767253887569915, 0.11335178633883765, 2.419761175528377 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4410468148121271, -0.8294691429692411, -0.06380614079789759, -0.5247590584962689, -0.19965460132220056, -1.0152929090166314, 0.6064360523509896 ], "joint_pos_r": [ -0.5780983634136422, -0.7481528503548471, 0.16926996641036218, -1.116118722947236, 0.20547364734017112, 0.575383426843643, -0.707202413030794 ], "eef_pose_l": [ 573.702785770124, 356.69307776314037, 9.25026384242284, 1.655844123115768, -0.187628656813893, 0.7878160977497805 ], "eef_pose_r": [ 527.1687544117716, -253.29205458864126, -15.730162413428985, 1.6820321863753744, 0.12154636711577244, 2.409054210415452 ], "joint_status_l": { "velocity": [ 0.34308221213974477, 0.7681472894365271, -0.049236512207284644, -2.1449617844924163, -0.9019099484133264, 1.5143844561817943, 0.838477118603187 ], "torque": [ -29.11376953125, 10.23193359375, -10.516357421875, -3.67431640625, -5.408935546875, -1.0675048828125, 0.5108642578125 ] }, "joint_status_r": { "velocity": [ -0.13262500269206612, -2.3692106784096723, -0.2876681372536716, 0.715261966941938, 0.5967033017235668, -0.054504037381164494, -0.4469060457541474 ], "torque": [ 26.5869140625, 4.072265625, 10.089111328125, -2.581787109375, 3.18603515625, 2.5927734375, -0.37078857421875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.5, -9.0, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.5, -9.0, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -16.8, 2.1, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -16.8, 2.1, 1.0, 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": -227, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4445665466279631, -0.8221767529464131, -0.06424889526209052, -0.5434423573679155, -0.20727575724381736, -1.0008204880848923, 0.613418686971957 ], "act_joint_pos_r": [ -0.5792955755067072, -0.7721707640478713, 0.16638737728211597, -1.1094064091362081, 0.20907348358583766, 0.5753555082471843, -0.7092322454291927 ], "act_eef_pose_l": [ 572.8894875079823, 356.59669076978355, 8.743631447888063, 1.6544861194284608, -0.18705435397167766, 0.7931496886196384 ], "act_eef_pose_r": [ 528.2606644042035, -241.8683481268787, -18.283856653080193, 1.6766748595207994, 0.11200878038778884, 2.422426115026266 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44142522053876154, -0.8286560849100802, -0.06385682234415299, -0.526931812625339, -0.20055455512524925, -1.0136844261636628, 0.6072667539120296 ], "joint_pos_r": [ -0.5783270302194089, -0.7525346325878672, 0.16874173037692713, -1.1148566526114396, 0.2063008510339924, 0.5753418225688536, -0.7077467676221291 ], "eef_pose_l": [ 573.6126842097198, 356.651500707232, 9.215569097473406, 1.6556031090521555, -0.18758702362785248, 0.7883559006918917 ], "eef_pose_r": [ 527.4001160387949, -251.23733899039132, -16.205137988739523, 1.6810283939200974, 0.11983852890661638, 2.4113749822140096 ], "joint_status_l": { "velocity": [ 0.33925321189487434, 0.699747214135904, -0.042342626308200515, -1.7830862428804828, -0.7258684204605181, 1.3892643383464076, 0.6643891753608244 ], "torque": [ -29.14306640625, 11.0009765625, -10.72998046875, -3.326416015625, -5.3466796875, -0.941162109375, 0.45501708984375 ] }, "joint_status_r": { "velocity": [ -0.10459980602206542, -2.120639652757106, -0.2542626351642596, 0.5886089352333812, 0.2994354842216218, 0.0014780096675437449, -0.1604268716244306 ], "torque": [ 26.3671875, 4.306640625, 9.9853515625, -1.824951171875, 3.3782958984375, 2.647705078125, -0.4248046875 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.3, -9.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.3, -9.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -16.8, 1.1, 1.0, 0.4, -0.1 ], "actual_contact_FT": [ 0.0, -16.8, 1.1, 1.0, 0.4, -0.1 ] }, "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": -269, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4458737190947758, -0.8223090284360659, -0.06422217192471345, -0.5418494198049789, -0.2092364474759947, -0.9994852592504049, 0.6135525625116406 ], "act_joint_pos_r": [ -0.5771444404547351, -0.7776717882159527, 0.165678042614302, -1.1042902902365215, 0.2047832014740942, 0.5798312947188393, -0.7042735485827519 ], "act_eef_pose_l": [ 573.0302875079824, 357.3702907697836, 8.088431447887913, 1.6549407546341033, -0.1857400028552418, 0.7963696674780399 ], "act_eef_pose_r": [ 528.9086644042035, -239.7707481268787, -18.03185665308024, 1.6751287225932514, 0.11070702353088333, 2.4274263136769436 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4421132970675479, -0.8274407882154848, -0.0639290118639876, -0.5299380641936007, -0.2019664807356183, -1.0111563925503426, 0.6084393500287637 ], "joint_pos_r": [ -0.5782111030186282, -0.7570112584796307, 0.16819806939638632, -1.1131151892415225, 0.2062286114361222, 0.575966565629224, -0.707338295171136 ], "eef_pose_l": [ 573.4823367168061, 356.70750273290264, 9.065331251830116, 1.6554038309167842, -0.18737661621311547, 0.7895990211193036 ], "eef_pose_r": [ 527.6671452761892, -249.18092728587013, -16.57240312383672, 1.6799948924958537, 0.11816551145543015, 2.4141515637584416 ], "joint_status_l": { "velocity": [ 0.40611360125986096, 0.5542137105178924, -0.03166035278617807, -1.2863884660290203, -0.7851332516930487, 1.2604452215496664, 0.5522106615680755 ], "torque": [ -28.798828125, 11.47705078125, -11.297607421875, -2.9541015625, -5.5133056640625, -1.2103271484375, 0.4156494140625 ] }, "joint_status_r": { "velocity": [ 0.11519615937150007, -2.2312714036898385, -0.2721548656865469, 0.9530609835097792, -0.1560996719853769, 0.4173784317593743, 0.33098286972776947 ], "torque": [ 33.40576171875, 4.7021484375, 10.26611328125, -2.398681640625, 1.5087890625, 3.6712646484375, 0.5126953125 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.6, -9.5, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.6, -9.5, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.0, 1.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -17.0, 1.3, 1.0, 0.3, 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": -213, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4461280874752983, -0.8235500284982524, -0.06414496389864027, -0.5385545223211488, -0.21062539170226074, -1.0005079575251676, 0.6134126079157465 ], "act_joint_pos_r": [ -0.5762886870307549, -0.7833106113076669, 0.16499372928554054, -1.1003744749768072, 0.21141467793684265, 0.5771131217197715, -0.7112307499952903 ], "act_eef_pose_l": [ 573.3318875079824, 357.7438907697836, 7.97723144788786, 1.6543210722758417, -0.18509260582023476, 0.7979967663983697 ], "act_eef_pose_r": [ 530.4518644042034, -238.41154812687867, -18.104656653080156, 1.672999495757704, 0.11187511888428586, 2.4245736737848196 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44284249666862585, -0.8265601736107558, -0.06397886315188368, -0.5319521841962026, -0.2034409193204393, -1.009023853935813, 0.6093958458100721 ], "joint_pos_r": [ -0.5779016207276885, -0.7616274788387472, 0.16763545255392764, -1.1109534783494976, 0.20679108540658536, 0.5763545939002087, -0.7076357028930608 ], "eef_pose_l": [ 573.4258770384724, 356.8514388881429, 8.885711447667177, 1.6552666275210668, -0.1870469858031686, 0.7909151704289633 ], "eef_pose_r": [ 528.1091924760154, -247.23884767156625, -16.86645589920778, 1.678806619662601, 0.11689133855668107, 2.416294643469866 ], "joint_status_l": { "velocity": [ 0.3548333418703642, 0.32508608424919316, -0.01793835158631074, -0.7130314877543675, -0.7759001332854343, 0.9196896875529603, 0.4337975132386873 ], "torque": [ -27.28271484375, 11.9677734375, -11.944580078125, -4.046630859375, -5.635986328125, -1.087646484375, 0.4541015625 ] }, "joint_status_r": { "velocity": [ 0.17419170175969612, -2.341709241620471, -0.28529769858010035, 1.1424986680541593, 0.4993332662204253, 0.0819185884530782, -0.388253636112168 ], "torque": [ 35.2734375, 2.3876953125, 10.064697265625, -2.484130859375, 3.3050537109375, 3.746337890625, -0.46051025390625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.4, -9.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.4, -9.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.0, 1.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.4, -17.0, 1.2, 1.1, 0.3, 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": -257, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.44720724782065024, -0.8210663188920387, -0.06430298144837739, -0.5452826201307249, -0.21087345680548286, -0.9972035327813685, 0.614074055588788 ], "act_joint_pos_r": [ -0.5783770326203427, -0.7906943716177205, 0.16418517270619265, -1.0986226785655726, 0.2564998716045328, 0.5609259469628176, -0.7550482324415885 ], "act_eef_pose_l": [ 572.7094875079823, 357.2502907697836, 7.662831447887882, 1.654830682043239, -0.1842036164530671, 0.7970491045223055 ], "act_eef_pose_r": [ 534.4502644042035, -238.29634812687868, -17.69985665308036, 1.6624443730585152, 0.11643477966653085, 2.401731531407549 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4435414045055688, -0.8258120647656575, -0.06402165569351678, -0.5336853785267484, -0.20481693692179756, -1.0071757789507965, 0.6102028543196121 ], "joint_pos_r": [ -0.5777853253878591, -0.7631908706035974, 0.167444979687116, -1.1101907137085074, 0.20712445451255704, 0.5764092850823157, -0.707894912075218 ], "eef_pose_l": [ 573.3647841541269, 356.984389954557, 8.692250203351819, 1.6551150951844953, -0.1866191282574679, 0.7921869362014611 ], "eef_pose_r": [ 528.2822248812646, -246.6052915202421, -16.958666601409448, 1.67838737940536, 0.1165260714174185, 2.416889512229131 ], "joint_status_l": { "velocity": [ 0.39589940160000836, 0.512525438221445, -0.030382285447327906, -1.252465153743998, -0.6540848562361923, 1.0769708227416075, 0.41807740653698744 ], "torque": [ -27.42919921875, 10.48095703125, -12.4267578125, -4.4921875, -5.5352783203125, -1.234130859375, 0.51910400390625 ] }, "joint_status_r": { "velocity": [ 0.16163217548115227, -2.1728679107253512, -0.2647272356577357, 1.0601225163817674, 0.46333046462132543, 0.07601211498720062, -0.36025987007093363 ], "torque": [ 36.0498046875, 4.3505859375, 10.357666015625, -1.580810546875, 3.3984375, 3.6859130859375, -0.45684814453125 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.9, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.3, -16.9, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.2, 1.7, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.2, -17.2, 1.7, 1.1, 0.4, 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": -230, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4492922399566962, -0.8187965573112859, -0.06447999130178456, -0.5535146954971131, -0.2123716016201444, -0.9932046581793158, 0.6166294956922714 ], "act_joint_pos_r": [ -0.5785841681570609, -0.7927629558686332, 0.163948372625829, -1.097552130486768, 0.26865084461453126, 0.5580461282481728, -0.7669356772980604 ], "act_eef_pose_l": [ 571.9310875079823, 356.2206907697836, 6.9844314478878715, 1.6548653809298925, -0.18347807095845814, 0.7955841940504688 ], "act_eef_pose_r": [ 535.5358644042035, -238.27154812687868, -17.36385665308012, 1.6589672328898768, 0.11788904440436641, 2.396191425846642 ], "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.npz" }, "states": { "joint_pos_l": [ 0.444379328449454, -0.8247757599716692, -0.06408787862721443, -0.5365208415866572, -0.20598165543560013, -1.0050851438877697, 0.6111276248302943 ], "joint_pos_r": [ -0.5779121148291294, -0.7685392006407922, 0.1668116815972859, -1.1079267377462159, 0.21733434553760592, 0.573274720105263, -0.717665743585205 ], "eef_pose_l": [ 573.1722525624226, 356.9127374392918, 8.44654348563293, 1.6550614012410696, -0.1861479069830058, 0.7928225856728034 ], "eef_pose_r": [ 529.5463122634178, -245.03290808111805, -17.048397974126203, 1.6749404261725618, 0.11668826722037542, 2.413639207817726 ], "joint_status_l": { "velocity": [ 0.5305787941969342, 0.6457348423909437, -0.04234691989790651, -1.8352820935771952, -0.6900938347009777, 1.283054614840573, 0.5941845285573066 ], "torque": [ -25.92041015625, 11.8798828125, -12.9150390625, -3.90625, -5.3558349609375, -0.87890625, 0.574951171875 ] }, "joint_status_r": { "velocity": [ -0.07257961879503227, -2.6160884072030655, -0.30922824871781884, 1.1204245388656275, 5.542018447211028, -1.644639414519311, -5.320995906602732 ], "torque": [ 29.47998046875, 4.1748046875, 9.820556640625, -2.215576171875, 3.6309814453125, 1.5765380859375, -0.9613037109375 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.6, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.6, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.3, 1.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -17.3, 1.1, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -242, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.44848831317652643, -0.8310702164842242, -0.06376248795127248, -0.5240163998951621, -0.20746188958915265, -1.0113517889438735, 0.609400149544422 ], "act_joint_pos_r": [ -0.5769459668553614, -0.7994561632498267, 0.16308230697558726, -1.0888712836515235, 0.2828306882366549, 0.5559746514695436, -0.7820728882764599 ], "act_eef_pose_l": [ 573.3078875079823, 356.8630907697836, 5.741231447887756, 1.6565022729858416, -0.18152996390676723, 0.7933036099980555 ], "act_eef_pose_r": [ 538.3918644042035, -238.18914812687868, -17.08065665308027, 1.654793475685905, 0.122057506291412, 2.3880045345124077 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44516800976646825, -0.8249393886731876, -0.06408584082828325, -0.5365914438702993, -0.2066231061382739, -1.0047895821774904, 0.6113813334720077 ], "joint_pos_r": [ -0.5779210406489009, -0.7736009805285164, 0.16620796518513486, -1.105339648057833, 0.22805745815000766, 0.5702465944845644, -0.7280710073194563 ], "eef_pose_l": [ 573.0925935058161, 356.8552693348508, 8.064070848854044, 1.655184791909643, -0.18548442319751185, 0.7930844399262028 ], "eef_pose_r": [ 530.9025451441494, -243.74597029942814, -17.059212707832074, 1.6714325334657487, 0.11729082487766661, 2.409773856412471 ], "joint_status_l": { "velocity": [ 0.3585821924696475, -0.6621098757051413, 0.034921080774963364, 1.358064695338168, -0.09058594100519457, -0.708697428855487, -0.21396155372066517 ], "torque": [ -26.49169921875, 3.92578125, -13.1591796875, -0.152587890625, -5.137939453125, -2.5579833984375, -0.12451171875 ] }, "joint_status_r": { "velocity": [ 0.10530486390170068, -2.7922773800828082, -0.33756113079785877, 1.7785309009177297, 5.915334385895754, -1.5413243866895243, -5.832031136792537 ], "torque": [ 35.44921875, 3.10546875, 9.912109375, -2.093505859375, 3.768310546875, 2.0343017578125, -0.90362548828125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.2, -11.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.1, -16.2, -11.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.6, 0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.4, -17.6, 0.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 188, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -257, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4484767241045218, -0.8307908846486226, -0.06378665343184378, -0.525193014226907, -0.20757628379038404, -1.0100715839025782, 0.6087362711507837 ], "act_joint_pos_r": [ -0.5758632878912885, -0.8036094250680449, 0.16254951201291756, -1.083131334343427, 0.29748926279047305, 0.5490780348563192, -0.7953160965000656 ], "act_eef_pose_l": [ 573.3518875079824, 356.78389076978357, 5.742831447887809, 1.656626202677351, -0.18070527111180879, 0.7937227826544866 ], "act_eef_pose_r": [ 541.1406644042036, -239.1723481268787, -17.135056653080255, 1.6534098707981664, 0.12412430369835453, 2.3763473053603743 ], "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.npz" }, "states": { "joint_pos_l": [ 0.445498264418563, -0.8255491927048475, -0.0640536784687899, -0.5353406645708803, -0.20670653590433483, -1.0054422934044345, 0.6111842746108326 ], "joint_pos_r": [ -0.5777011023988957, -0.7783547507762383, 0.1656319291961828, -1.1021758797783376, 0.23838543731107217, 0.5674203863726246, -0.7382004612147436 ], "eef_pose_l": [ 573.1151792775975, 356.85652309831676, 7.8328164744119135, 1.6553157103370688, -0.1850902189789732, 0.7931060350423209 ], "eef_pose_r": [ 532.3651856086178, -242.8031232955953, -17.03734129552609, 1.668247728670647, 0.11829380864412643, 2.4054342484384557 ], "joint_status_l": { "velocity": [ 0.32291574196907646, -0.5962529826302188, 0.03144764839313474, 1.2229845149778207, -0.08157579201073517, -0.638206695358079, -0.19267982438453402 ], "torque": [ -26.47705078125, 5.20751953125, -13.330078125, 0.933837890625, -5.2825927734375, -2.6641845703125, -0.1959228515625 ] }, "joint_status_r": { "velocity": [ 0.19847811302220464, -2.727424382432453, -0.33289123769053575, 2.056750246365091, 6.38302489451914, -1.9809155397805256, -6.168306686332947 ], "torque": [ 36.68701171875, 4.5703125, 10.09521484375, -2.91748046875, 3.40576171875, 2.047119140625, -0.7122802734375 ] }, "eef_FT_l": { "raw_value": [ -2.6, -16.7, -9.6, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -2.6, -16.7, -9.6, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.0, 2.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.2, -17.0, 2.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 202, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -253, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4523529278613784, -0.8196455512489116, -0.06441384843555957, -0.5503625885235318, -0.2122696801602054, -0.9961289043343701, 0.6156756365623759 ], "act_joint_pos_r": [ -0.5752363964055469, -0.8048518942114011, 0.16236969253070194, -1.0799344546735445, 0.2977289578186735, 0.5458130747867526, -0.7952548340121417 ], "act_eef_pose_l": [ 571.2622875079824, 356.45509076978357, 5.232431447887919, 1.656698038492288, -0.1807577521479919, 0.7947520896402687 ], "act_eef_pose_r": [ 542.2014644042035, -239.96274812687867, -17.69265665308035, 1.655880975493754, 0.12473978902561829, 2.3722761902549285 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44634078480627115, -0.8257364688130546, -0.06404842269221299, -0.5352371527073222, -0.20720935258909326, -1.005312109382123, 0.6112218515671493 ], "joint_pos_r": [ -0.5773397328138742, -0.7828921891217697, 0.165076482652855, -1.0986228740472215, 0.24884941916741496, 0.5639875782922481, -0.7482954257534628 ], "eef_pose_l": [ 573.0115238962584, 356.8198825219647, 7.400309236069887, 1.6555653548635234, -0.18426645887795343, 0.7932965743126397 ], "eef_pose_r": [ 533.9994703778483, -242.2029670162915, -17.05496624764814, 1.6655695809238176, 0.11943373831314358, 2.400053958011623 ], "joint_status_l": { "velocity": [ 0.6492923000984696, 0.6577996961620869, -0.039464816328882435, -1.6334988906763215, -0.5464992595458629, 0.9917568948516475, 0.48099459330686045 ], "torque": [ -26.4404296875, 8.7158203125, -13.470458984375, -2.545166015625, -5.350341796875, -1.6973876953125, 0.16021728515625 ] }, "joint_status_r": { "velocity": [ 0.22715363256153864, -2.371578203719693, -0.29232471153606276, 2.0182897660827592, 5.278834483435135, -1.9627884892416958, -5.071466517027723 ], "torque": [ 36.650390625, 2.197265625, 9.954833984375, -1.953125, 3.3709716796875, 1.57470703125, -0.736083984375 ] }, "eef_FT_l": { "raw_value": [ -1.5, -17.0, -8.0, 1.5, 0.0, 0.0 ], "actual_contact_FT": [ -1.5, -17.0, -8.0, 1.5, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.3, 1.0, 1.1, 0.4, -0.1 ], "actual_contact_FT": [ 0.0, -17.3, 1.0, 1.1, 0.4, -0.1 ] }, "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": -230, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45090929663645335, -0.8262389795196415, -0.06400724394942693, -0.5332433094764398, -0.20975474498943092, -1.0043653055041881, 0.6104538529689196 ], "act_joint_pos_r": [ -0.576667494859672, -0.8036000357313905, 0.1625325933959339, -1.0809935416150338, 0.28823915584488535, 0.5459486518549522, -0.7880079119201838 ], "act_eef_pose_l": [ 572.5126875079823, 357.4862907697836, 4.957231447887878, 1.657777761842966, -0.1794577631450272, 0.7961864203824696 ], "act_eef_pose_r": [ 541.1814644042034, -239.9283481268787, -19.02225665308015, 1.6606233932112806, 0.12450430289873277, 2.375909247752948 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44737321443274836, -0.8250604572551167, -0.06408818481293474, -0.5368620909605116, -0.20798461090895562, -1.0041700020494906, 0.6116872823458288 ], "joint_pos_r": [ -0.5770971348062806, -0.7871501751218128, 0.16455271926606052, -1.0949983981642648, 0.2574823956705605, 0.5603500604153475, -0.7568249461533691 ], "eef_pose_l": [ 572.7731140011164, 356.82580804756356, 6.969990553770117, 1.6558527892289325, -0.18351163136845908, 0.7936748850660482 ], "eef_pose_r": [ 535.5382054491021, -241.74816199070457, -17.328388799181198, 1.6640807011160672, 0.1205139085220864, 2.394905901201736 ], "joint_status_l": { "velocity": [ 0.3818856148853911, -0.12727665074407923, 0.008741355446373333, 0.39081687375208674, -0.191168842467615, -0.021092151027524153, -0.13320644399250625 ], "torque": [ -26.71142578125, 6.2109375, -12.640380859375, -1.3427734375, -5.4364013671875, -1.5509033203125, 0.1025390625 ] }, "joint_status_r": { "velocity": [ 0.04639974574693895, -1.7765325498064755, -0.21816715947720056, 1.5124798991070776, 3.3216321325237885, -1.5553062532172035, -3.3676609789639045 ], "torque": [ 33.8818359375, 2.54150390625, 10.308837890625, -3.25927734375, 3.438720703125, 1.746826171875, -0.72601318359375 ] }, "eef_FT_l": { "raw_value": [ -3.3, -16.1, -9.7, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -3.3, -16.1, -9.7, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.2, 1.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.2, 1.3, 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": -167, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4526576760062992, -0.820346987866671, -0.06435190142190136, -0.5472900391988436, -0.20793425963411136, -0.995984227873567, 0.6101719643554327 ], "act_joint_pos_r": [ -0.5761778208552791, -0.8075810529412782, 0.1620457775191272, -1.0764614051262356, 0.28822017957382545, 0.5440533258141432, -0.7862732188325545 ], "act_eef_pose_l": [ 571.2806875079823, 356.99429076978356, 4.154831447888071, 1.6610993489032093, -0.17778639696175633, 0.7950152681086389 ], "act_eef_pose_r": [ 542.2702644042035, -239.39794812687867, -19.814256653080292, 1.6621509524658369, 0.12273734764316187, 2.3739645251981165 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4481858622609758, -0.8249550569648585, -0.06409193686460721, -0.5369506640195896, -0.20823476869992907, -1.0037222518462188, 0.6114228788329548 ], "joint_pos_r": [ -0.5770661570148867, -0.7883362388350151, 0.1644070646585519, -1.0939886235190022, 0.2597000118585787, 0.5593116936766926, -0.7590732925098435 ], "eef_pose_l": [ 572.6504068692012, 356.9301862129068, 6.518173839851244, 1.6564320339970708, -0.18259766864008423, 0.7941106255092037 ], "eef_pose_r": [ 535.9496783297017, -241.617404828504, -17.44525778063931, 1.6637989633681938, 0.12081035572724103, 2.3935294690128837 ], "joint_status_l": { "velocity": [ 0.4829416408922427, 0.49765678500168775, -0.028075344149725012, -1.1166195864249495, 0.03245402192808555, 0.8356819419255146, -0.1350947791651791 ], "torque": [ -26.21337890625, 9.43359375, -12.8173828125, -2.825927734375, -4.398193359375, -0.897216796875, -0.21331787109375 ] }, "joint_status_r": { "velocity": [ 0.043054242946816146, -1.6484414466262365, -0.2024369258046832, 1.4034274537486624, 3.0821366477595813, -1.4431659528435503, -3.1248467338880204 ], "torque": [ 34.56298828125, 3.18603515625, 10.125732421875, -2.7099609375, 3.4075927734375, 1.995849609375, -0.79376220703125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.9, -10.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.9, -10.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.2, 1.2, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -17.2, 1.2, 1.1, 0.4, 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": -246, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4522070717017885, -0.822131857423602, -0.06424158573551632, -0.5426749524448978, -0.20662766046891484, -0.9998834398195775, 0.6079559074574286 ], "act_joint_pos_r": [ -0.5765147706244145, -0.8079940532121581, 0.1620126579106685, -1.0767401313060105, 0.290498299200018, 0.5433206211958874, -0.7862146978105855 ], "act_eef_pose_l": [ 571.3918875079823, 357.00949076978355, 4.15803144788795, 1.661112458838474, -0.17685277051084303, 0.7937512431146202 ], "act_eef_pose_r": [ 542.3342644042035, -239.23474812687869, -19.87825665308037, 1.6616404675974445, 0.12039676441595643, 2.3730302783709645 ], "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.npz" }, "states": { "joint_pos_l": [ 0.44895033200626194, -0.8242440299949428, -0.06413149036301186, -0.5385105707741761, -0.20810570997384947, -1.0025806865231406, 0.6110729320465143 ], "joint_pos_r": [ -0.5769439324999326, -0.7911549028275632, 0.16406117975866963, -1.0914448863172992, 0.26402972226553406, 0.557044397346579, -0.7632468165644843 ], "eef_pose_l": [ 572.4160916392889, 356.9427441714003, 6.099620089405505, 1.6572578219984178, -0.18169146138749126, 0.7941952863238279 ], "eef_pose_r": [ 536.8911995854381, -241.29670756390644, -17.775735792722884, 1.663449996648132, 0.12116111756196904, 2.3905926192947082 ], "joint_status_l": { "velocity": [ 0.3517175137628392, 0.22810791002214614, -0.011889949555143886, -0.44973995606678585, 0.1596246386559308, 0.29129405272598774, -0.33662872728790205 ], "torque": [ -26.8798828125, 10.80322265625, -13.006591796875, -2.96630859375, -3.4332275390625, -1.278076171875, -0.22979736328125 ] }, "joint_status_r": { "velocity": [ 0.08273761740706931, -1.7739718917768599, -0.217657022419937, 1.6181682433140665, 2.6124923379526876, -1.402994346396902, -2.486778101351561 ], "torque": [ 36.45263671875, 2.23388671875, 9.832763671875, -1.96533203125, 3.59619140625, 2.1221923828125, -0.95123291015625 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.6, -9.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.6, -9.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -16.8, 0.1, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.3, -16.8, 0.1, 1.0, 0.4, 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": -206, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.452677104358498, -0.8165457271055399, -0.06462775393842254, -0.5596559036576978, -0.20773518625490495, -0.9894225568283064, 0.6093881463189073 ], "act_joint_pos_r": [ -0.5779268518880348, -0.8055575680603078, 0.16233797315019302, -1.0802067807307807, 0.2828060021862968, 0.5476241320319485, -0.7763381725122263 ], "act_eef_pose_l": [ 570.6478875079823, 355.6558907697836, 4.523631447887809, 1.6610602746797927, -0.17567134526415826, 0.7931181563968702 ], "act_eef_pose_r": [ 540.5526644042035, -238.63074812687867, -20.138256653080134, 1.6623486258082127, 0.1157274934655584, 2.379547841473169 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4494914409834879, -0.8233677869917861, -0.06418661259822468, -0.5408317172063866, -0.20799150959836787, -1.0011307638781688, 0.6107422409583209 ], "joint_pos_r": [ -0.5769332192772052, -0.7947422842271235, 0.16362603192468053, -1.088378171378949, 0.2693121234216344, 0.5543067747745666, -0.767697095474686 ], "eef_pose_l": [ 572.1892676650853, 356.81928419438344, 5.839789767473945, 1.6578372118740594, -0.18083804714182786, 0.7940639151262293 ], "eef_pose_r": [ 537.9922724439285, -240.80067083619144, -18.255268974564387, 1.663061669464324, 0.120776326104889, 2.387144986940743 ], "joint_status_l": { "velocity": [ 0.3440414975393047, 0.7367607381185692, -0.047641859619751425, -2.0329521780220183, 0.027682104654092043, 1.264449068453466, -0.14623790799994651 ], "torque": [ -25.97900390625, 12.98583984375, -13.4033203125, -3.399658203125, -4.1162109375, -1.1260986328125, -0.303955078125 ] }, "joint_status_r": { "velocity": [ -0.10730915705448041, -1.1680162051863618, -0.1391062449251912, 0.882484162524122, 1.457295925937574, -0.7217041306777361, -0.9332087965319147 ], "torque": [ 30.2197265625, 3.56689453125, 9.820556640625, -2.20947265625, 3.358154296875, 2.047119140625, -0.69854736328125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.7, -9.2, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.7, -9.2, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.0, 1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -17.0, 1.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 177, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -196, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45137949661221505, -0.8292555942135134, -0.0638996774957486, -0.5304020137313579, -0.2035172308601474, -1.008019095441962, 0.6028487105706976 ], "act_joint_pos_r": [ -0.5775330553288862, -0.8050777940645628, 0.16230420293602815, -1.0761214035010098, 0.2708005258252353, 0.5530745825818255, -0.7635924079843249 ], "act_eef_pose_l": [ 572.1630875079823, 355.9214907697836, 3.6724314478879734, 1.661431367668211, -0.17411594757693263, 0.7902781362459506 ], "act_eef_pose_r": [ 540.1526644042035, -239.2219481268787, -20.823856653080384, 1.665594574746915, 0.11382315637353023, 2.383783288996459 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4499611332625866, -0.8230779930931478, -0.0642121145112521, -0.542050735010323, -0.20764206751710795, -1.000401497391882, 0.6100313208903034 ], "joint_pos_r": [ -0.5770981692501412, -0.7967588943283281, 0.1633805786763985, -1.0865960751655457, 0.27116533119563513, 0.5533602320209299, -0.7685899257985399 ], "eef_pose_l": [ 572.0289020179949, 356.6339316367124, 5.5446617372556375, 1.6584319451239469, -0.17981330318158134, 0.7936909691427749 ], "eef_pose_r": [ 538.4561452185088, -240.42653028809494, -18.649347886729856, 1.663102056315298, 0.1197123600330778, 2.3859516906274174 ], "joint_status_l": { "velocity": [ 0.15317872399434052, -0.6671612441300212, 0.03374220250135229, 1.2580247946702983, 0.4454692205395627, -0.8226763258667447, -0.7756990364971017 ], "torque": [ -26.33056640625, 7.9248046875, -13.5498046875, -1.7822265625, -2.9791259765625, -2.5140380859375, -0.4815673828125 ] }, "joint_status_r": { "velocity": [ -0.04696631130673978, -0.8984146741886079, -0.11624515149244452, 1.1312311758899796, -0.039397818026642994, -0.030849229573970405, 0.5397160058633332 ], "torque": [ 30.849609375, 1.72119140625, 9.72900390625, -1.513671875, 2.0361328125, 2.55615234375, -0.611572265625 ] }, "eef_FT_l": { "raw_value": [ -2.7, -15.8, -9.7, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.7, -15.8, -9.7, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.3, 1.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.3, 1.1, 1.1, 0.4, 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": -202, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45109053364070634, -0.834854509633075, -0.06357920648959717, -0.5169492774005969, -0.20056212131093104, -1.016068266379847, 0.5983688172718489 ], "act_joint_pos_r": [ -0.5763159448168932, -0.8052154023141251, 0.16219909312158481, -1.071817290378429, 0.264649313111998, 0.557419068017086, -0.7520528829257386 ], "act_eef_pose_l": [ 572.7342875079823, 356.2038907697836, 2.929231447887858, 1.6629308070974556, -0.1722931605372609, 0.7891422065840926 ], "act_eef_pose_r": [ 540.3998644042035, -239.8907481268787, -20.78145665308034, 1.6664440671170524, 0.108799067566653, 2.3850115368267923 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45011904311122475, -0.8242601965827722, -0.06414963414231444, -0.5396127773459118, -0.2069091799550855, -1.0019418394737962, 0.6088031478677045 ], "joint_pos_r": [ -0.5771043347344933, -0.7982377421243869, 0.16318415848768372, -1.0844939540656995, 0.270743384889581, 0.553562183914212, -0.7670357633121482 ], "eef_pose_l": [ 572.0901717277075, 356.5659233648666, 5.25517851131022, 1.6589124883636868, -0.17897025906479896, 0.7931782524588123 ], "eef_pose_r": [ 538.7721818050456, -240.25356450729768, -19.031567356362473, 1.663589588826171, 0.11837821057555183, 2.385641292000893 ], "joint_status_l": { "velocity": [ 0.1049178827963182, -1.144152064471271, 0.06160436956975657, 2.447585806409247, 0.6854621169443131, -1.5256091104172143, -1.1268744689667543 ], "torque": [ -26.6748046875, 6.7529296875, -8.89892578125, 1.3427734375, -2.7630615234375, -3.02490234375, -0.61065673828125 ] }, "joint_status_r": { "velocity": [ 0.08514359992517484, -0.7535650752767964, -0.10638392191264501, 1.369039300569419, -0.6581403411671793, 0.41653119817919304, 1.6181033583251292 ], "torque": [ 32.4462890625, 2.58544921875, 9.8388671875, -1.69677734375, 1.2359619140625, 3.3837890625, 0.62347412109375 ] }, "eef_FT_l": { "raw_value": [ -3.0, -16.4, -7.9, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -3.0, -16.4, -7.9, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.2, 0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.4, -17.2, 0.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 181, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -181, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4507433506273928, -0.8379783360652991, -0.06339532299105585, -0.5089224474981362, -0.19919064655322663, -1.02279130278045, 0.5961550869987338 ], "act_joint_pos_r": [ -0.5842493207295698, -0.7797266878215277, 0.1653537699879765, -1.094661180815368, 0.23692509485264468, 0.5718290850593762, -0.7285550371691387 ], "act_eef_pose_l": [ 572.8654875079824, 356.2502907697836, 2.822831447887964, 1.6626691886369103, -0.171504741318162, 0.7872297652419794 ], "act_eef_pose_r": [ 531.5462644042034, -244.04514812687867, -21.26625665308029, 1.6734058148771949, 0.10573675427683774, 2.4037777443774826 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4502776583409309, -0.8264881479243755, -0.06402854384325565, -0.534749787043711, -0.20561046480024628, -1.0050970006336906, 0.6066710586664027 ], "joint_pos_r": [ -0.5776178102124336, -0.7975345296945578, 0.16324532883710352, -1.0837563984982665, 0.26706452095318856, 0.5556211323372511, -0.7618269941569213 ], "eef_pose_l": [ 572.2281302466187, 356.50391320973637, 4.807772195504498, 1.6596406111491446, -0.17766389535693444, 0.7922780201388131 ], "eef_pose_r": [ 538.3665560441333, -240.53547137227363, -19.441778933901503, 1.6647503128837846, 0.11609830729752037, 2.387114409829081 ], "joint_status_l": { "velocity": [ 0.050293283616831275, -1.2409037207206097, 0.06838583510521135, 2.789270405788802, 0.6933199223000397, -1.9109282720322085, -1.1356914446798427 ], "torque": [ -29.53857421875, 3.8818359375, -7.861328125, 0.714111328125, -2.347412109375, -3.233642578125, -0.63629150390625 ] }, "joint_status_r": { "velocity": [ -0.7161820131917906, 1.9231902008245427, 0.22770492849644164, -1.177681756379556, -3.254962018885532, 1.7504072684864092, 3.5932653769839007 ], "torque": [ 26.630859375, 12.275390625, 15.362548828125, -7.12890625, 0.369873046875, 4.10888671875, 0.82305908203125 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.7, -8.8, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.7, -8.8, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.8, 3.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.8, 3.3, 1.1, 0.3, 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": -166, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4513693742064409, -0.8359766171486414, -0.06350914408925729, -0.5136675351988867, -0.20065058069999897, -1.0202466109022659, 0.5972862993880901 ], "act_joint_pos_r": [ -0.5879086307420951, -0.769361446552021, 0.16645653726872894, -1.0936114008089006, 0.21397777406938176, 0.5728528655028041, -0.7095759798148219 ], "act_eef_pose_l": [ 572.5430875079824, 356.14709076978363, 2.8764314478879243, 1.6620491128633224, -0.17112850701042925, 0.7876108922656787 ], "act_eef_pose_r": [ 529.5086644042035, -249.51234812687866, -24.760656653080332, 1.6892001095697442, 0.10657823974713898, 2.4034258137869875 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4504250682239535, -0.8286267226239517, -0.06391098882600119, -0.5299638558577857, -0.20444492917591645, -1.0084364902647633, 0.6046536192011619 ], "joint_pos_r": [ -0.578717367202114, -0.7945430028723807, 0.16359054965955927, -1.0850549469114676, 0.2616117567844753, 0.5577375027227022, -0.7562655818002486 ], "eef_pose_l": [ 572.3345730411337, 356.4467366030524, 4.413147867445076, 1.6601851670291812, -0.17640374146779528, 0.7912972643177538 ], "eef_pose_r": [ 537.3741963261507, -241.37343055344456, -19.91654633254771, 1.6668929524223084, 0.11490260471765618, 2.3891934573500837 ], "joint_status_l": { "velocity": [ 0.10198203830924513, -0.7937651978124904, 0.04339795161423243, 1.7599507241889967, 0.40977754965654256, -1.275455411303028, -0.7956470734553633 ], "torque": [ -26.2646484375, 3.24462890625, -10.931396484375, 0.262451171875, -2.34375, -3.6328125, -0.44403076171875 ] }, "joint_status_r": { "velocity": [ -0.9926271863429648, 2.7195278744116536, 0.3095175330587452, -0.924069766941038, -5.144318409668891, 1.6324110348606702, 5.042328298903165 ], "torque": [ 26.0595703125, 11.0888671875, 15.997314453125, -6.646728515625, 0.1666259765625, 4.38720703125, 0.9759521484375 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.4, -8.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.4, -8.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.0, -16.7, 2.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.0, -16.7, 2.1, 1.1, 0.2, 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": -158, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4570641498144985, -0.811402583650647, -0.06500294031452701, -0.5759442484184927, -0.20863013845774278, -0.981838580308046, 0.60977589082244 ], "act_joint_pos_r": [ -0.5915263764638814, -0.7471115974014341, 0.16898157415705556, -1.0945426544108303, 0.2054889373647133, 0.5610695256248898, -0.7035820541500728 ], "act_eef_pose_l": [ 568.7686875079823, 353.8686907697836, 2.8196314478878577, 1.6628713897493397, -0.17062469800895924, 0.7897960497265823 ], "act_eef_pose_r": [ 529.1750644042036, -263.3755481268787, -27.342256653080312, 1.708574158022502, 0.1144289835000936, 2.379936625866116 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45083034729253224, -0.8287560429893238, -0.0639105152886995, -0.5300191900704887, -0.20417151310238174, -1.0086916439837734, 0.6039908446043396 ], "joint_pos_r": [ -0.5805013036287457, -0.7891137715741017, 0.16420814673943449, -1.0866086882921049, 0.25281695023566886, 0.5598926567853227, -0.7477472933494665 ], "eef_pose_l": [ 572.2106243831072, 356.3009028292984, 4.155728487705545, 1.6605186372257434, -0.1755198780465729, 0.790790107989759 ], "eef_pose_r": [ 535.9982012415503, -243.42184872472572, -20.887848125004126, 1.6715718396359172, 0.11382951696247684, 2.3907057007382804 ], "joint_status_l": { "velocity": [ 0.673230816490733, 1.8741183344115342, -0.11797842320171448, -4.959760021281401, -0.48151733678403197, 2.90004534471322, 0.6247665650498391 ], "torque": [ -26.630859375, 1.8017578125, -10.076904296875, 0.37841796875, -2.3931884765625, -3.4552001953125, -0.55755615234375 ] }, "joint_status_r": { "velocity": [ -1.190672749179278, 4.536101025499839, 0.5155149568021322, -0.8568430695863327, -5.111274641075969, 0.12709808611521822, 4.7697051586004235 ], "torque": [ 25.4150390625, 10.0341796875, 17.00439453125, -7.16552734375, 0.5401611328125, 4.4439697265625, 0.59967041015625 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.4, -9.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.5, -16.4, -9.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.0, 1.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.1, -17.0, 1.0, 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": -125, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45978875777528067, -0.8002964204419651, -0.06566720442159008, -0.6010588912960108, -0.21112182640648897, -0.9671221265180941, 0.6133451662424947 ], "act_joint_pos_r": [ -0.5919522941859956, -0.7242659809896149, 0.1718307831934811, -1.0995138898442145, 0.2308395348443102, 0.5392813061741882, -0.7278661581314334 ], "act_eef_pose_l": [ 566.7622875079824, 353.4758907697836, 2.6356314478878886, 1.6642003101859348, -0.16927876772190223, 0.7906980655545165 ], "act_eef_pose_r": [ 531.4518644042034, -278.6699481268787, -25.549456653080142, 1.7146828398874858, 0.1284939193977588, 2.34020943304438 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4521626078093787, -0.8246499643924301, -0.06416506230548819, -0.5404030626917853, -0.20518565942013944, -1.002616479354845, 0.6053446463385551 ], "joint_pos_r": [ -0.5819214116460748, -0.782173376592216, 0.16501513521037234, -1.087966975089352, 0.24868041521306242, 0.558469999096766, -0.7439324404482826 ], "eef_pose_l": [ 571.4506648137831, 355.8729311645062, 3.902349023254459, 1.6610196949579716, -0.17457547250864947, 0.7907445913066744 ], "eef_pose_r": [ 535.3739545995918, -247.03970727055804, -21.624564396711804, 1.6766794621988557, 0.11483513474075932, 2.386494095534823 ], "joint_status_l": { "velocity": [ 0.8235999055363763, 2.6301051758448324, -0.16222656392222978, -6.550636288566114, -0.6410871266715468, 3.833277049905881, 0.8640306664027264 ], "torque": [ -26.5576171875, 12.41455078125, -13.4521484375, -3.851318359375, -4.8724365234375, -0.6243896484375, 0.38909912109375 ] }, "joint_status_r": { "velocity": [ -1.083303363986765, 6.253814278688985, 0.7360682730024326, -1.2470300143405666, -1.92675825312838, -2.072317715894556, 1.7351073159650454 ], "torque": [ 25.74462890625, 12.3046875, 17.425537109375, -3.228759765625, 0.7745361328125, 2.2174072265625, 0.28564453125 ] }, "eef_FT_l": { "raw_value": [ -2.3, -16.8, -10.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.3, -16.8, -10.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.1, -16.7, 0.3, 1.0, 0.6, 0.0 ], "actual_contact_FT": [ 2.1, -16.7, 0.3, 1.0, 0.6, 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": -175, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45466166639655053, -0.8232356917569629, -0.06425289467690658, -0.5441217477670416, -0.20421028962610732, -0.9972274329989228, 0.6013370750572912 ], "act_joint_pos_r": [ -0.5897896977948917, -0.7179223117094747, 0.17257488510104949, -1.0968342403408058, 0.28612085345065896, 0.5124862218704181, -0.7791640016331087 ], "act_eef_pose_l": [ 571.0558875079823, 356.0734907697836, 2.1772314478879053, 1.6649937111431772, -0.1692334590219399, 0.7928076518741608 ], "act_eef_pose_r": [ 537.4686644042035, -288.99954812687866, -22.810256653080387, 1.7088148923009194, 0.14215439991413714, 2.2944429896807397 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4530256774568518, -0.8226347737192014, -0.0642894281588199, -0.5454443153319057, -0.2055278977643179, -0.9993038983514507, 0.6055020143402062 ], "joint_pos_r": [ -0.5836000032472084, -0.7716563317871253, 0.16625287023199506, -1.0898909117660196, 0.24795322527183, 0.5539007895423987, -0.7433441125802838 ], "eef_pose_l": [ 571.0635827069387, 355.7201569407048, 3.6053182074270467, 1.6616944298414125, -0.17357366927747814, 0.7909796427384652 ], "eef_pose_r": [ 535.0783933376833, -253.0759751624211, -22.277437257585945, 1.6831673123301214, 0.11768143129880436, 2.3762448294328427 ], "joint_status_l": { "velocity": [ 0.17668159454231613, -0.06489723403646508, 0.003945499680357845, 0.14283308436890962, 0.14229748208682835, 0.22425164412531728, -0.4498001764083881 ], "torque": [ -26.31591796875, 5.6689453125, -8.538818359375, -1.470947265625, -3.02490234375, -1.70654296875, -0.2728271484375 ] }, "joint_status_r": { "velocity": [ -0.6684672957604221, 5.803103015011857, 0.6827574690024818, -0.7498573702147127, 4.121982271944713, -4.472641395067534, -3.868433924345105 ], "torque": [ 26.2646484375, 12.6416015625, 17.3095703125, -7.3486328125, 0.611572265625, 1.812744140625, 0.72052001953125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.8, -9.7, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -16.8, -9.7, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -16.8, 1.0, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -16.8, 1.0, 1.0, 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": -125, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4508734931481216, -0.8321420912278358, -0.06384338068583617, -0.5297098638867314, -0.20256010002728395, -1.0057248879699203, 0.5991383785018674 ], "act_joint_pos_r": [ -0.5879114312366385, -0.7247191167342856, 0.17150848861538467, -1.0861667404302888, 0.34715541621926743, 0.5086112907752449, -0.8352783256990909 ], "act_eef_pose_l": [ 572.8814875079822, 354.6934907697836, 3.4036314478879177, 1.6621061820388097, -0.17069368116486178, 0.7902122771327716 ], "act_eef_pose_r": [ 542.8854644042035, -291.9443481268787, -19.45985665308035, 1.6886134537309891, 0.14913772575029982, 2.267232706023372 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45309857492114564, -0.822965230182436, -0.06427322916700269, -0.5448700707366197, -0.20533055152227309, -0.9993201716573866, 0.6049671918994713 ], "joint_pos_r": [ -0.5847092260509268, -0.7613413366864841, 0.1674472377991885, -1.0905179592906147, 0.260028826818322, 0.5452935895063167, -0.754592863323084 ], "eef_pose_l": [ 571.117074814268, 355.71959193281594, 3.480077791616992, 1.661981157001711, -0.17312674983082388, 0.7911085729717424 ], "eef_pose_r": [ 536.1544595991691, -260.4512360061679, -22.16606464543193, 1.6866742889289514, 0.12300321823683127, 2.357666839967143 ], "joint_status_l": { "velocity": [ -0.2403017441654498, -0.9910717628036636, 0.04642226681444983, 1.6372540515612322, 0.29919993702831604, -0.6916889614778654, -0.6294932810293474 ], "torque": [ -25.15869140625, 7.1630859375, -8.758544921875, -0.750732421875, -3.1256103515625, -1.3348388671875, -0.36712646484375 ] }, "joint_status_r": { "velocity": [ -0.3458279604062753, 3.95508310589765, 0.43860215226998456, 0.46991777743166097, 9.409394140056149, -3.961571422652632, -8.713772937613662 ], "torque": [ 25.869140625, 11.85791015625, 16.95556640625, -3.89404296875, 3.8433837890625, 1.658935546875, -1.629638671875 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.1, -8.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.5, -16.1, -8.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.1, -3.4, 1.2, 0.5, 0.0 ], "actual_contact_FT": [ -0.2, -17.1, -3.4, 1.2, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 171, "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": [ 0.4491097783459774, -0.843437322279476, -0.06325325140673764, -0.5058269318106959, -0.20067839711511778, -1.0198027177628282, 0.5962965020677113 ], "act_joint_pos_r": [ -0.5865176472289071, -0.7282890744303898, 0.1711077922049665, -1.0854038536836679, 0.3667538655795193, 0.5054522578171445, -0.849160938164096 ], "act_eef_pose_l": [ 574.5350875079823, 354.5230907697836, 3.2332314478879454, 1.660981584273681, -0.17139547413953385, 0.7886849486688609 ], "act_eef_pose_r": [ 544.6406644042036, -291.3867481268787, -18.002256653080167, 1.6815147208801582, 0.1465102081925099, 2.2598020312270397 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4525991349280704, -0.8251436440875017, -0.06416939073174167, -0.5411172934682767, -0.2047179669183002, -1.0010232093981521, 0.6037113041270575 ], "joint_pos_r": [ -0.5852526443084872, -0.7542345910388862, 0.16823499981941148, -1.0895879929293832, 0.2789616803893815, 0.5376895909799486, -0.7718183868814832 ], "eef_pose_l": [ 571.52438322205, 355.5111058112751, 3.4577669919430605, 1.6619683271092451, -0.17266009750118752, 0.7908851661550889 ], "eef_pose_r": [ 537.8036661790009, -266.6655147150312, -21.47092920660461, 1.6861655448294648, 0.12811978645988592, 2.3388293481720988 ], "joint_status_l": { "velocity": [ -0.3768393965826178, -1.9756589757857768, 0.09894012901734417, 3.811246652307698, 0.43626067192303886, -2.028127086973086, -0.8007750048131257 ], "torque": [ -36.17431640625, 3.75, -7.99560546875, 0.848388671875, -2.6824951171875, -3.2647705078125, -0.53009033203125 ] }, "joint_status_r": { "velocity": [ -0.13661628612382515, 2.802033152167205, 0.3102524272335927, 0.451873711235784, 9.481276365236102, -3.4815292993655156, -8.352749187353403 ], "torque": [ 24.30908203125, 11.40380859375, 17.523193359375, -2.935791015625, 3.6859130859375, 1.7962646484375, -1.04461669921875 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.5, -9.4, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.0, -16.5, -9.4, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.5, 0.0, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.5, -17.5, 0.0, 1.1, 0.4, 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": -124, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.44598076349868787, -0.8658960467138096, -0.06208907911878832, -0.45497007692215385, -0.1960155913535556, -1.0512748753226857, 0.5897288129504363 ], "act_joint_pos_r": [ -0.5860200393428633, -0.7383545367828852, 0.17009466863720388, -1.09102859718528, 0.3981888181494125, 0.4929020527350297, -0.8813048911972015 ], "act_eef_pose_l": [ 577.3110875079824, 354.78149076978355, 2.718831447887922, 1.6595723654504437, -0.17256644623176873, 0.7850798876024591 ], "act_eef_pose_r": [ 546.7966644042035, -286.3491481268787, -17.150256653080305, 1.6733975833796986, 0.1475760699200365, 2.2536200785536553 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4518052070750174, -0.829484513118559, -0.06395083857949428, -0.5325212090265525, -0.20376816888361451, -1.0057275747154302, 0.6020266261136281 ], "joint_pos_r": [ -0.5854711378732239, -0.7497430978302224, 0.16873962468653889, -1.0891521829306479, 0.2988818072632568, 0.5303022843870802, -0.7896883787842741 ], "eef_pose_l": [ 572.2311246317396, 355.3326951955545, 3.3899307865760306, 1.661704966134524, -0.17244781083807667, 0.7903477956995673 ], "eef_pose_r": [ 539.4525460524706, -271.2097492993377, -20.625347580710866, 1.6841510906799046, 0.13204832462660804, 2.3223893205626855 ], "joint_status_l": { "velocity": [ -0.6290213542508027, -3.9323296504232275, 0.20106409168785255, 8.375275251735648, 0.8372536797691676, -4.9189633885129425, -1.3281246506817723 ], "torque": [ -38.02734375, 3.6474609375, -5.9814453125, 1.043701171875, -2.288818359375, -3.2281494140625, -0.57769775390625 ] }, "joint_status_r": { "velocity": [ -0.05927961036178431, 1.2299283183159204, 0.14634043059147395, -0.202646762753389, 10.724840863431506, -4.039105891361139, -9.89429152406629 ], "torque": [ 23.876953125, 8.96484375, 17.340087890625, -6.744384765625, 3.75, 2.1844482421875, -1.34857177734375 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.3, -9.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.1, -16.3, -9.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.8, 1.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.8, 1.7, 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": -74, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4452222559209798, -0.8554193688930625, -0.06278074928833043, -0.4890771140006428, -0.19890709414147262, -1.0293138710656977, 0.5955057049485831 ], "act_joint_pos_r": [ -0.5868139110570835, -0.7574600277967636, 0.16780267428590892, -1.0865463508321063, 0.4259964848136489, 0.49479301437939793, -0.910025389900362 ], "act_eef_pose_l": [ 576.7078875079824, 351.92229076978356, 4.31083144788802, 1.6576565137512074, -0.17394812382522234, 0.7844029051610244 ], "act_eef_pose_r": [ 548.9614644042035, -277.6979481268787, -17.365456653080173, 1.6600762066214636, 0.1451335538447087, 2.2573179091884925 ], "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.npz" }, "states": { "joint_pos_l": [ 0.450803619002001, -0.8348616019316577, -0.0636849668118129, -0.5217541171819641, -0.2026617058992375, -1.0119391892762777, 0.6003406169360123 ], "joint_pos_r": [ -0.5855330774647793, -0.7484579804481382, 0.16889253167164855, -1.0893639228128495, 0.31008789074668147, 0.5260819366548058, -0.8000266447072751 ], "eef_pose_l": [ 573.066291307291, 355.097954184011, 3.3589762700707695, 1.6612010566951645, -0.17255936157649726, 0.7894628361185876 ], "eef_pose_r": [ 540.3323888107828, -272.88914748415715, -20.16636657113409, 1.68259812713269, 0.13392684071562613, 2.314560291362203 ], "joint_status_l": { "velocity": [ -0.6027694350163593, -2.220173351318522, 0.09765261242627998, 3.5290122609299424, 0.4054861106652652, -1.8764102914934355, -0.5221550945009312 ], "torque": [ -39.13330078125, 7.22900390625, -5.987548828125, -2.655029296875, -2.666015625, -2.8033447265625, -0.5987548828125 ] }, "joint_status_r": { "velocity": [ -0.0525903317631915, 1.0911397344015583, 0.1298269632383775, -0.17977952990833046, 9.514619540791358, -3.5833217789096317, -8.777791733782792 ], "torque": [ 26.62353515625, 11.865234375, 17.156982421875, -5.731201171875, 3.4954833984375, 1.453857421875, -0.87249755859375 ] }, "eef_FT_l": { "raw_value": [ -2.3, -17.0, -8.7, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.0, -8.7, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -16.4, -0.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -16.4, -0.1, 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": -28, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4428277405397715, -0.8655005485451782, -0.062221703479139905, -0.46254046634328255, -0.19725975075064356, -1.0467086494855407, 0.5915016300244992 ], "act_joint_pos_r": [ -0.5878234843165835, -0.7743059601878572, 0.16599769146292295, -1.0882939625811572, 0.44254171696332145, 0.49210165047124116, -0.9305277144080144 ], "act_eef_pose_l": [ 578.0518875079823, 352.9486907697836, 4.800431447887902, 1.655807242548147, -0.17459296481669373, 0.7836760445542608 ], "act_eef_pose_r": [ 549.8358644042034, -268.12434812687866, -18.051056653080423, 1.6521974089255425, 0.14338211783198393, 2.265571606439697 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4495150261479655, -0.8397668355248481, -0.06345464163936004, -0.5126323544126206, -0.20179025793348204, -1.0172032989224804, 0.5989811634540899 ], "joint_pos_r": [ -0.5858599570208614, -0.7517252021813727, 0.16852030274086555, -1.0890395789564322, 0.3322271794909566, 0.5202820950940332, -0.8215146154805884 ], "eef_pose_l": [ 573.9028529861286, 354.68138889715726, 3.578081697103215, 1.6603131465024086, -0.17288925879409064, 0.7884904527220892 ], "eef_pose_r": [ 541.9973072001685, -272.74200978627476, -19.594743898214745, 1.6770796436177358, 0.13603033613309706, 2.30526820962234 ], "joint_status_l": { "velocity": [ -0.7222055453710574, -2.779159039280721, 0.13315339415437277, 5.4097643590176325, 0.4892803451941319, -3.1864838804915863, -0.8077657866181198 ], "torque": [ -41.42578125, 2.92236328125, -5.37109375, 0.848388671875, -2.4188232421875, -3.75, -0.648193359375 ] }, "joint_status_r": { "velocity": [ -0.21205469371832208, -2.438649940565085, -0.2724339830071365, 0.08052419359660945, 11.913618673614845, -3.0433982590283293, -11.773067456098296 ], "torque": [ 24.3017578125, 4.51904296875, 11.065673828125, -2.618408203125, 3.7060546875, 2.1624755859375, -0.67657470703125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -17.0, -9.3, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -17.0, -9.3, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -16.9, 1.0, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.5, -16.9, 1.0, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 169, "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": [ 0.4455600986065977, -0.8475028326642091, -0.06309887279738059, -0.4991027410918882, -0.20262416555859183, -1.027438178038959, 0.5991510617360359 ], "act_joint_pos_r": [ -0.586040998602536, -0.7897770892163831, 0.164186961921653, -1.0806336911300474, 0.4205794454814056, 0.49816008775297893, -0.906681367714089 ], "act_eef_pose_l": [ 575.4430875079823, 353.5238907697836, 5.593231447888073, 1.654736329971919, -0.17567381204124097, 0.7858087554217608 ], "act_eef_pose_r": [ 550.1550644042035, -259.87634812687867, -19.69025665308027, 1.6529722918585796, 0.134550690391261, 2.2837205822881272 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4487717036000983, -0.8418829402576467, -0.06335473550885956, -0.5086653260049567, -0.20163612181077212, -1.0197653248117449, 0.5986066593070046 ], "joint_pos_r": [ -0.5860026946672285, -0.7544274410302155, 0.16821599280174493, -1.0887395168563738, 0.34255197622431244, 0.5176577830383144, -0.8316544035255158 ], "eef_pose_l": [ 574.2810612093466, 354.48039635709006, 3.838738132995644, 1.659513932819227, -0.173254605397564, 0.7879756639802769 ], "eef_pose_r": [ 542.8110040745979, -272.02728381588565, -19.431001422641515, 1.6742976269315666, 0.13662979771417286, 2.301857894253975 ], "joint_status_l": { "velocity": [ -0.346843109707784, -0.6069304794502628, 0.027632357866957946, 1.0327287119067385, -0.10670557765157795, -0.828643708999266, 0.05879372830719376 ], "torque": [ -40.49560546875, 4.31396484375, -9.716796875, 1.08642578125, -4.317626953125, -3.2720947265625, 0.1043701171875 ] }, "joint_status_r": { "velocity": [ -0.00413670300769553, -3.8176494085551127, -0.43512250179778, 0.8754033598021849, 8.426718146999246, -2.1056889868398265, -8.102673156795248 ], "torque": [ 23.31298828125, 4.423828125, 10.528564453125, -2.50244140625, 3.563232421875, 1.9647216796875, -0.8294677734375 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.6, -10.6, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -16.6, -10.6, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.2, -16.2, 1.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.2, -16.2, 1.3, 1.0, 0.4, 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": -78, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4489323325078836, -0.8320447651165535, -0.06391316130112382, -0.5323538344488086, -0.20980948039490177, -1.007842565148234, 0.606911260566925 ], "act_joint_pos_r": [ -0.5831030098147232, -0.806284029186161, 0.16213124299229395, -1.0633203835540521, 0.40156750530982865, 0.5054704847031876, -0.8890696000198841 ], "act_eef_pose_l": [ 573.2526875079823, 353.79749076978356, 5.986831447887951, 1.6533418778991429, -0.17546609022482082, 0.7896960758128607 ], "act_eef_pose_r": [ 552.2398644042034, -254.4771481268787, -21.678256653080098, 1.6548375914305125, 0.1322328643029674, 2.2947050559670066 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4485087432393448, -0.8420612507889026, -0.06334987637339656, -0.5085668221663198, -0.20195950833805787, -1.0200532822083515, 0.5988969372600581 ], "joint_pos_r": [ -0.5858396710818132, -0.7624949076684678, 0.16728636140081385, -1.0861034916668864, 0.35713727925715044, 0.5141619122858851, -0.8457177164435753 ], "eef_pose_l": [ 574.3492779378372, 354.3811477779113, 4.047826049450066, 1.6589313047582424, -0.17352254968931372, 0.7878456177656672 ], "eef_pose_r": [ 544.4519631453558, -269.2828403145227, -19.564427692808152, 1.669811770386754, 0.13617996761478673, 2.298841864417811 ], "joint_status_l": { "velocity": [ 0.04574629178755174, 1.081748548146244, -0.06083297802172982, -2.5689215602171522, -0.8477719784412141, 1.3187185489682562, 0.8655213899526615 ], "torque": [ -41.98974609375, 3.11279296875, -9.85107421875, 0.2685546875, -4.47509765625, -3.5833740234375, -0.22430419921875 ] }, "joint_status_r": { "velocity": [ 0.29555070004416706, -4.729085646984821, -0.5567363680587523, 2.460503107526435, 4.798322894719931, -0.9386464950331685, -4.681865342003988 ], "torque": [ 30.09521484375, 0.146484375, 9.97314453125, 1.1962890625, 2.4957275390625, 2.127685546875, -0.69305419921875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.8, -9.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.8, -9.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.8, -16.6, 1.6, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 0.8, -16.6, 1.6, 1.0, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 179, "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": [ 0.44994868351806466, -0.8327658733928, -0.06383419455617638, -0.5280877728352391, -0.2115201091237056, -1.0084398327242392, 0.6067952012241575 ], "act_joint_pos_r": [ -0.5818413121502551, -0.8122838262462957, 0.16151957011911316, -1.0607403807808244, 0.3993528026726553, 0.5042332042176869, -0.886253656001884 ], "act_eef_pose_l": [ 573.4774875079822, 354.91349076978355, 5.430831447887911, 1.6536737929219667, -0.1745900149360957, 0.7930228162661526 ], "act_eef_pose_r": [ 553.0118644042035, -251.84594812687868, -21.96065665308015, 1.6548779426929723, 0.1303893570987071, 2.2974418955086167 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4486385450581112, -0.8400787564457975, -0.06345967683174157, -0.5131627026679896, -0.20361312113210547, -1.0176241253862777, 0.6005033943854787 ], "joint_pos_r": [ -0.5852490236491947, -0.7711213222134536, 0.16627630869535612, -1.0816467160502339, 0.3654075435176432, 0.5124470120994903, -0.8537491959845964 ], "eef_pose_l": [ 574.1436920597823, 354.3147092669972, 4.4131860375609335, 1.6578104373826452, -0.17388760255155783, 0.7883638266429183 ], "eef_pose_r": [ 546.0071163791273, -266.3612892678438, -19.98864054001345, 1.6668724398243195, 0.13533805458855339, 2.2982077524984836 ], "joint_status_l": { "velocity": [ 0.14149078062697384, 0.7897680767596782, -0.04044672132669236, -1.6118600387922122, -0.8539295177878437, 0.9918743537307151, 0.6794950979402969 ], "torque": [ -38.1591796875, 10.55419921875, -7.891845703125, -3.948974609375, -5.185546875, -1.1956787109375, 0.39093017578125 ] }, "joint_status_r": { "velocity": [ 0.36802198765784055, -4.445419324912159, -0.5137126150907001, 2.2578176183252197, 3.6659798664446797, -0.8870650886487752, -3.5103781487979546 ], "torque": [ 34.15283203125, 3.96240234375, 10.003662109375, -0.823974609375, 3.27392578125, 1.7431640625, -0.71502685546875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.8, -10.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.8, -10.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -16.7, 1.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -16.7, 1.8, 1.0, 0.4, 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": -3, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45504661323658885, -0.8229690441408288, -0.06430140898663032, -0.5447602512450789, -0.21681064067571754, -0.9982589427141819, 0.6104337703306533 ], "act_joint_pos_r": [ -0.5797370957807936, -0.8235494517593105, 0.160360933307893, -1.0554733952636726, 0.39321603125474575, 0.5058121369846441, -0.8788272099864732 ], "act_eef_pose_l": [ 571.5182875079823, 356.39749076978353, 4.051631447888056, 1.6549630259343755, -0.17160435054221304, 0.7974910012135662 ], "act_eef_pose_r": [ 553.9950644042035, -246.48514812687867, -22.2742566530801, 1.6533316351097518, 0.1262223409533023, 2.305465743291166 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4491982326615431, -0.8380389603547211, -0.06356213611844068, -0.5171327309875987, -0.20551052228369343, -1.015185700905368, 0.601980013118885 ], "joint_pos_r": [ -0.5844120693976816, -0.7802107182520334, 0.16523626449869044, -1.0770630257438703, 0.37179092317696594, 0.5109091898144786, -0.8597498660642791 ], "eef_pose_l": [ 573.9003245854849, 354.5232623024215, 4.537671320914541, 1.657037177966927, -0.1738694345737563, 0.7895619756591745 ], "eef_pose_r": [ 547.5271013432498, -263.0899982107899, -20.426757337954655, 1.6642766224029493, 0.13403613442423118, 2.2986084915095915 ], "joint_status_l": { "velocity": [ 0.6316064738673965, 1.6275029504670968, -0.07983911503561814, -2.983684188746061, -1.220376793248823, 1.8280359696092319, 0.9129788519990356 ], "torque": [ -30.35888671875, 14.3701171875, -12.542724609375, -5.3466796875, -5.6396484375, -0.6134033203125, 0.4632568359375 ] }, "joint_status_r": { "velocity": [ 0.5048822599178493, -4.680445176433956, -0.5265202397219948, 2.331611324661864, 2.3138434292357957, -0.5504654705110745, -2.0602923785215665 ], "torque": [ 36.123046875, 4.22607421875, 9.881591796875, -1.043701171875, 2.9425048828125, 2.3529052734375, -0.692138671875 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.7, -9.2, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.7, -9.2, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.0, 2.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.0, -17.0, 2.3, 1.0, 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": 13, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4617068022542047, -0.8090215022929593, -0.06496772279947786, -0.5670283847410652, -0.22082245439621945, -0.9872101331577395, 0.6152951894296651 ], "act_joint_pos_r": [ -0.576252748030345, -0.8339342718507112, 0.15911231507265944, -1.0401620924078736, 0.3790643376738951, 0.5145496506425731, -0.8658374214943012 ], "act_eef_pose_l": [ 568.2910875079824, 358.38149076978357, 2.139631447887794, 1.65820986247425, -0.16930945188914448, 0.8004553802104198 ], "act_eef_pose_r": [ 555.8758644042035, -244.03154812687868, -22.758256653080252, 1.6531734543099057, 0.12671588963882705, 2.3121042757685673 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4504286825853498, -0.8349631634521482, -0.06371249518052524, -0.5226741897266481, -0.2076267854555172, -1.0118670815176896, 0.6036180703245497 ], "joint_pos_r": [ -0.5836506707061093, -0.7869435935853728, 0.16447766471097477, -1.0735583735204253, 0.3748329231349812, 0.5102652797133088, -0.8624527472865698 ], "eef_pose_l": [ 573.3931764433269, 354.91840143785777, 4.393041060283622, 1.656736484217212, -0.17342002382227364, 0.7910565632659324 ], "eef_pose_r": [ 548.5675130943035, -260.5595156560032, -20.73485956111537, 1.6625839633357031, 0.13284004859539283, 2.2997281770497757 ], "joint_status_l": { "velocity": [ 1.2180010012170506, 2.801616775923499, -0.1355605847011554, -4.790111784761297, -1.4250902148065236, 2.6628718856667177, 1.2610916694413277 ], "torque": [ -28.0078125, 11.54296875, -13.458251953125, -4.443359375, -5.3338623046875, -1.3897705078125, 0.51727294921875 ] }, "joint_status_r": { "velocity": [ 0.7989520851499066, -5.0748435781455825, -0.579440671248932, 3.6066919864623515, 0.45697929231902634, 0.46269841380031096, -0.3655340335848578 ], "torque": [ 36.48193359375, 4.27734375, 10.1806640625, 0.457763671875, 3.21533203125, 2.178955078125, -0.69580078125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.6, -9.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.6, -9.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -16.9, 2.2, 1.1, 0.4, -0.1 ], "actual_contact_FT": [ 0.7, -16.9, 2.2, 1.1, 0.4, -0.1 ] }, "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": -24, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4629050824674798, -0.8029229476560173, -0.06529673914321131, -0.5784292350715836, -0.2266066200917748, -0.9766200183664164, 0.6179043329232894 ], "act_joint_pos_r": [ -0.5740235383388552, -0.838937694892353, 0.15852724422732425, -1.0324809811290316, 0.36938880726360374, 0.5158405060886924, -0.8571098632509296 ], "act_eef_pose_l": [ 568.0302875079823, 359.5990907697836, 2.4972314478878417, 1.6573001309078081, -0.16788078946139354, 0.8073981460184031 ], "act_eef_pose_r": [ 557.0830644042035, -243.16994812687867, -23.33265665308045, 1.655909722673396, 0.1274675545965137, 2.314190043090556 ], "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.npz" }, "states": { "joint_pos_l": [ 0.452401940045764, -0.8300918813674427, -0.06395157442445513, -0.5310998004234624, -0.21037141510296872, -1.0067602462839642, 0.6057972532338045 ], "joint_pos_r": [ -0.5821209269887235, -0.7957496070402289, 0.163470831598213, -1.0668896269664803, 0.3746186942042786, 0.5111511877110002, -0.8621830977906285 ], "eef_pose_l": [ 572.5508731551821, 355.62243248471185, 4.051543535599308, 1.6568206652218385, -0.17263665332268946, 0.7933075983871469 ], "eef_pose_r": [ 550.0174862900079, -257.59276255404376, -21.184010397203394, 1.661176031981293, 0.1317871937904559, 2.3020942981983086 ], "joint_status_l": { "velocity": [ 1.1343059269801614, 2.934158302461576, -0.14527350501264413, -5.111428188480538, -1.7533504264843902, 3.255048612568423, 1.3075260430452929 ], "torque": [ -27.23876953125, 12.81005859375, -13.80615234375, -3.948974609375, -5.58837890625, -1.0491943359375, 0.5255126953125 ] }, "joint_status_r": { "velocity": [ 0.8744921824179741, -4.664175925514158, -0.5338916897623669, 3.7160241521716486, -0.5648111313791837, 0.5064314483931298, 0.5478931710420909 ], "torque": [ 37.40478515625, 4.03564453125, 10.272216796875, 0.335693359375, 1.197509765625, 4.0283203125, 0.4559326171875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.6, -9.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.8, -16.6, -9.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.7, 1.5, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.1, -17.7, 1.5, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 183, "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": [ 0.46394608984128044, -0.7984539802764576, -0.06556668777495099, -0.5879730289705941, -0.22980678205272936, -0.9707362611114252, 0.6209116061789142 ], "act_joint_pos_r": [ -0.5743973570095134, -0.8386503138921123, 0.1586244714300751, -1.0334867177810514, 0.3670682156368445, 0.5143416229822133, -0.8551535410341823 ], "act_eef_pose_l": [ 567.4126875079824, 359.7406907697836, 2.7460314478879155, 1.656376816846589, -0.16786965185552322, 0.8092467871570025 ], "act_eef_pose_r": [ 556.8606644042035, -243.06114812687866, -23.744656653080256, 1.6576753680657081, 0.12715060466119046, 2.3146742680560735 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4543901734619719, -0.8247249985376357, -0.06422343024548886, -0.5406707676575668, -0.21364522573797923, -1.0006897194100939, 0.6083168684450397 ], "joint_pos_r": [ -0.5813319317788077, -0.8000327009677566, 0.16298338561640502, -1.0635113227421324, 0.37399661260697875, 0.5115518005023177, -0.8615925915727898 ], "eef_pose_l": [ 571.6997916352018, 356.35854116318205, 3.8030448670997146, 1.6567057848162843, -0.17184092671004444, 0.7960516827868693 ], "eef_pose_r": [ 550.7276447179901, -256.1726466145496, -21.431391233837388, 1.6607209920245316, 0.13132324761471872, 2.303304447754921 ], "joint_status_l": { "velocity": [ 1.032008531500761, 2.8371862938714187, -0.1450675346436614, -5.108493554843108, -1.745396604271754, 3.2348780886275463, 1.3601915585521596 ], "torque": [ -25.52490234375, 12.66357421875, -13.671875, -3.9306640625, -5.4547119140625, -0.787353515625, 0.38909912109375 ] }, "joint_status_r": { "velocity": [ 0.7489119871060268, -4.170579191171697, -0.4707488481285882, 3.242561701552127, -0.7482448044737744, 0.30129194169781215, 0.6953969485330447 ], "torque": [ 37.53662109375, 4.18212890625, 9.77783203125, 0.457763671875, 0.823974609375, 4.0594482421875, 0.46875 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.3, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.3, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.1, 1.5, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.1, 1.5, 1.1, 0.4, 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": -30, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4645526668969302, -0.7919085286492943, -0.06603409865040064, -0.6063261698883814, -0.23421736117243117, -0.9593430531753265, 0.62602326090913 ], "act_joint_pos_r": [ -0.5744232623325636, -0.8378336208312258, 0.15870181526742227, -1.0325602307857245, 0.356955756876586, 0.5138687559712546, -0.8471417654650852 ], "act_eef_pose_l": [ 566.6430875079823, 358.6918907697836, 3.6092314478879217, 1.654408010360082, -0.16833551454546866, 0.810395244377156 ], "act_eef_pose_r": [ 556.5550644042034, -243.49794812687867, -24.663056653080275, 1.6623722687839095, 0.12817407453388713, 2.316728426071414 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4554951229238538, -0.8214731126056509, -0.06439552974941197, -0.5468143166905161, -0.21566259594828846, -0.9968094469146013, 0.6099625307870914 ], "joint_pos_r": [ -0.5800221774406064, -0.8072970033084412, 0.16216278513378793, -1.0577948800093004, 0.37224288262999894, 0.5120584183015231, -0.8600236005646683 ], "eef_pose_l": [ 571.2000906695304, 356.7043379541371, 3.718989944817082, 1.6565270528134752, -0.1714472029924639, 0.7976049322153669 ], "eef_pose_r": [ 551.8971619220381, -253.73912465549012, -21.929744384165645, 1.660338096281677, 0.13055256462068518, 2.305526159501785 ], "joint_status_l": { "velocity": [ 0.9781858990414172, 3.192880898298611, -0.17696022214397367, -6.42709058846469, -2.003855543647237, 4.046251186042404, 1.7345076966099882 ], "torque": [ -25.37841796875, 11.71875, -13.76953125, -5.37109375, -5.654296875, -0.95947265625, 0.4193115234375 ] }, "joint_status_r": { "velocity": [ 0.60466499802736, -3.297857427354778, -0.3737737217008874, 2.725261738848239, -1.6509608888801708, 0.19551070205103827, 1.3911971595881312 ], "torque": [ 37.72705078125, 3.87451171875, 9.66796875, -0.830078125, 0.4833984375, 3.9862060546875, 0.68389892578125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.6, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.6, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -16.9, 1.6, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -16.9, 1.6, 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": 70, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46406272047993485, -0.7967040465943783, -0.06577545773118307, -0.5974406894805943, -0.23361192683394877, -0.9640695706103628, 0.624811277253807 ], "act_joint_pos_r": [ -0.5739492469661828, -0.8383554471061695, 0.1586374107008237, -1.030255195300628, 0.35302879315244656, 0.5167013511764682, -0.8435678951175798 ], "act_eef_pose_l": [ 567.4366875079822, 358.39749076978353, 3.3532314478878362, 1.6539422743893277, -0.16822962812033848, 0.809838755050766 ], "act_eef_pose_r": [ 556.5926644042034, -243.49634812687867, -24.650256653080305, 1.6623848522096645, 0.1284003478700162, 2.3185294284224924 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4571788638989389, -0.8161629765286871, -0.06469025046003064, -0.5575479302304938, -0.21913495290957102, -0.9900015661921482, 0.6129281761870616 ], "joint_pos_r": [ -0.5788621473441488, -0.8134750558972752, 0.1614621954695103, -1.052554396398731, 0.3688857438802927, 0.5126266834749416, -0.857175586151516 ], "eef_pose_l": [ 570.4132200611904, 357.07855024665713, 3.680474984157371, 1.65601171039584, -0.17091118550859113, 0.800012887575372 ], "eef_pose_r": [ 552.8523827608936, -251.69629760263254, -22.490685375053346, 1.6607309650920021, 0.13007549698340934, 2.3078982995355277 ], "joint_status_l": { "velocity": [ 0.7434345843160273, 2.101502452403814, -0.11719892868683468, -4.30829093276186, -1.5634670718362997, 2.8005729243503197, 1.2833370652050036 ], "torque": [ -25.107421875, 10.2685546875, -13.671875, -3.167724609375, -5.313720703125, -0.94482421875, 0.53558349609375 ] }, "joint_status_r": { "velocity": [ 0.5305775922712641, -2.6870030016432622, -0.30506775752581206, 2.408242691274154, -1.7125001711146837, 0.4400511331499324, 1.4695872885051031 ], "torque": [ 39.83642578125, 2.4462890625, 9.72900390625, -1.23291015625, 0.3460693359375, 4.1217041015625, 0.7855224609375 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.2, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.0, -16.2, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.1, 1.6, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -17.1, 1.6, 1.1, 0.4, 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": 66, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46106707545517095, -0.8080650206474103, -0.06514361899643782, -0.5745090542107911, -0.22871271206025587, -0.9766890031377334, 0.6198524104059479 ], "act_joint_pos_r": [ -0.5746820208592149, -0.8365452932436992, 0.15890952854437337, -1.0346176556119726, 0.35255774266018935, 0.5165505668922056, -0.8438656004907454 ], "act_eef_pose_l": [ 569.4574875079823, 358.01509076978357, 3.29803144788805, 1.6541256771439379, -0.16935707994789903, 0.8074895692569352 ], "act_eef_pose_r": [ 555.6950644042035, -243.02194812687867, -24.42225665308024, 1.6619150788718755, 0.12823892805789022, 2.320809555923202 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45843156865805523, -0.8127489196802014, -0.06488072633996089, -0.5645628739846553, -0.22183093305225599, -0.9853411337443235, 0.6150999506281233 ], "joint_pos_r": [ -0.5779168225669619, -0.8183729191155894, 0.16090998889914299, -1.04832388342925, 0.3656697907011338, 0.5134372722868168, -0.8544565955534174 ], "eef_pose_l": [ 569.9159395155133, 357.3331189839632, 3.612024328317574, 1.6555589848172012, -0.17045207394041337, 0.8018956637039163 ], "eef_pose_r": [ 553.5629800923755, -250.0299234466803, -22.918523543955786, 1.6610207439538816, 0.12972118644810804, 2.310160594993052 ], "joint_status_l": { "velocity": [ 0.2846263394835624, 0.5058461764058109, -0.0283915695348802, -1.0741557838906957, -0.7432102130502383, 0.9344025467816763, 0.5132505184901603 ], "torque": [ -24.404296875, 14.033203125, -12.847900390625, -3.55224609375, -5.1214599609375, -1.0400390625, 0.5072021484375 ] }, "joint_status_r": { "velocity": [ 0.3493482809604487, -1.9625585232656562, -0.21604334645708434, 1.4802289472477526, -1.4160594239815971, 0.3362259009285218, 1.1437937323757197 ], "torque": [ 40.400390625, 2.3583984375, 9.844970703125, -1.849365234375, 0.4010009765625, 4.2919921875, 0.55572509765625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.1, -9.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.1, -9.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.1, 1.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -17.1, 1.3, 1.0, 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": 76, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45849600836159765, -0.8156290483754682, -0.06470822321010428, -0.5577290210699141, -0.22308159215320192, -0.9856718260411278, 0.6153965121635032 ], "act_joint_pos_r": [ -0.5752036216847203, -0.8370187361777304, 0.1589990028853893, -1.0406495901304893, 0.35399480223502033, 0.5118619789515934, -0.8463441246577943 ], "act_eef_pose_l": [ 570.8062875079823, 358.11189076978354, 3.2036314478878722, 1.655937443127782, -0.17087864428301677, 0.8056242941099998 ], "act_eef_pose_r": [ 555.0918644042035, -241.19874812687868, -24.398256653080352, 1.6622413352509804, 0.12776057873231078, 2.3226860360018073 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45882172838257906, -0.8121438279699127, -0.0649143682744418, -0.5658266038838191, -0.22288162931899247, -0.9840762651952043, 0.6158088223048639 ], "joint_pos_r": [ -0.5774004181115917, -0.8213743343688645, 0.16058376111908265, -1.0462485235228538, 0.36355660962985853, 0.5138108182819773, -0.852788576327586 ], "eef_pose_l": [ 569.8757576307536, 357.45663770206073, 3.5542142102895014, 1.6553528261875732, -0.17030766973973557, 0.8028306012436757 ], "eef_pose_r": [ 553.9017177061438, -248.8281831917613, -23.168661443789688, 1.6611714995483968, 0.1294583471244937, 2.3119636158926267 ], "joint_status_l": { "velocity": [ -0.03517672478370315, -0.37639270269007596, 0.022263010336143196, 0.8745131515155435, -0.02159534917378636, -0.17231548918594797, -0.04452818197897557 ], "torque": [ -25.31982421875, 13.359375, -9.375, -3.289794921875, -5.4400634765625, -0.963134765625, 0.5657958984375 ] }, "joint_status_r": { "velocity": [ 0.23724701687566352, -1.6895455648748836, -0.17114884147373388, 0.6046669726762488, -1.0326447424140461, -0.21046844024663613, 0.6959802534982629 ], "torque": [ 38.84033203125, 3.03955078125, 9.5947265625, -2.05078125, 0.4742431640625, 4.4293212890625, 0.51177978515625 ] }, "eef_FT_l": { "raw_value": [ -2.0, -16.6, -9.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -2.0, -16.6, -9.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.4, -17.0, 1.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.4, -17.0, 1.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 158, "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": [ 0.4573217638239729, -0.8235308335606125, -0.06423347422223348, -0.5384132742983729, -0.22218228187174027, -0.9953894783061685, 0.6124396219241601 ], "act_joint_pos_r": [ -0.5750917218105376, -0.8354602116034264, 0.1592603847717101, -1.046270508466191, 0.3496497283090103, 0.5113192773796591, -0.8418342407713718 ], "act_eef_pose_l": [ 572.2454875079823, 359.02869076978357, 2.940431447887775, 1.6556151753549173, -0.17097753322005502, 0.8072371052230464 ], "act_eef_pose_r": [ 554.0294644042035, -240.0019481268787, -23.87585665308029, 1.6622448062570445, 0.1262457123234027, 2.3271730291482053 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45863163327565737, -0.8136517039873351, -0.06482434807785085, -0.5622152397659135, -0.22281550371796832, -0.9854549410842056, 0.6154022585627439 ], "joint_pos_r": [ -0.5770281448804977, -0.823791182102811, 0.16034923265861117, -1.045887170767085, 0.3615525094280934, 0.5134364582629118, -0.8512805620125163 ], "eef_pose_l": [ 570.2069110072937, 357.6779801039981, 3.460424180639677, 1.6554185323075261, -0.17041869832763631, 0.8035078600699106 ], "eef_pose_r": [ 553.9980247223835, -247.4553585209527, -23.323367337277773, 1.6613502392154234, 0.12901987125856712, 2.3141751819209264 ], "joint_status_l": { "velocity": [ -0.14146172859152983, -1.0669145269517344, 0.06381249435782888, 2.570536456573791, 0.06838594245706098, -1.0728983765257993, -0.31995532038919805 ], "torque": [ -34.306640625, 6.07177734375, -6.87255859375, 1.13525390625, -3.5028076171875, -3.2904052734375, -0.26092529296875 ] }, "joint_status_r": { "velocity": [ 0.20912752366974985, -1.260218017922199, -0.11759210359163497, -0.041399250497065054, -1.2854624481728472, -0.22864879175577002, 1.0201726056608962 ], "torque": [ 39.404296875, 2.3583984375, 9.63134765625, -3.955078125, 0.5072021484375, 2.4993896484375, 0.655517578125 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.1, -9.9, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.7, -16.1, -9.9, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.1, -16.7, 1.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.1, -16.7, 1.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 194, "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": [ 0.4578738569261504, -0.8241173405119836, -0.06420847158300473, -0.537550908266806, -0.22455223607667196, -0.9955770026633519, 0.6135800103359197 ], "act_joint_pos_r": [ -0.574091897950069, -0.8360253664188215, 0.15919246564857775, -1.0453635646696857, 0.3440725488258569, 0.5131806108062174, -0.8341566900809069 ], "act_eef_pose_l": [ 572.3766875079823, 359.0686907697836, 2.9172314478879144, 1.654229047592535, -0.17056654742926702, 0.808417216898475 ], "act_eef_pose_r": [ 553.9710644042035, -239.52034812687867, -23.64385665308032, 1.6625453056262431, 0.12382666291824918, 2.329834569912386 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4584785965910003, -0.8153419699163266, -0.06472438980323553, -0.5582049958301704, -0.2229788373232083, -0.9871092934498549, 0.6150438995642217 ], "joint_pos_r": [ -0.5765863213191852, -0.8259105778582116, 0.16014995960892164, -1.0458647387463378, 0.35889326237129826, 0.5132472607904269, -0.8488467238654359 ], "eef_pose_l": [ 570.5614115474242, 357.90674138443836, 3.3699320599916405, 1.65529409716245, -0.17046107785183842, 0.8042553889410039 ], "eef_pose_r": [ 554.0034254641079, -246.08846456439875, -23.401142241089275, 1.6615377019868138, 0.12828034012539483, 2.316741944638929 ], "joint_status_l": { "velocity": [ -0.06530995759002067, -0.9477120730574384, 0.05571752448441103, 2.2305756695306656, -0.1699220537909607, -0.9144856237455201, -0.15809537388289385 ], "torque": [ -36.6650390625, 4.48974609375, -7.177734375, 0.81787109375, -5.2459716796875, -3.5906982421875, -0.33966064453125 ] }, "joint_status_r": { "velocity": [ 0.2693897786381072, -1.092364946964075, -0.10340629791127931, 0.054125203940991184, -1.6005898560336185, -0.007197986001461487, 1.5864768580957644 ], "torque": [ 39.5361328125, 2.84912109375, 9.698486328125, -3.997802734375, 0.1373291015625, 3.453369140625, 0.7342529296875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.9, -9.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.9, -16.9, -9.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.0, 1.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.2, -17.0, 1.3, 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": 43, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.458638109408736, -0.8263115820543153, -0.06409180991064686, -0.5329714866602109, -0.22755873711196145, -0.9990798900785846, 0.6145884255574362 ], "act_joint_pos_r": [ -0.5714551622138822, -0.8393288543518257, 0.15871790156311608, -1.0367471859914346, 0.3315940278899982, 0.519000864643623, -0.8160841045620475 ], "act_eef_pose_l": [ 572.5694875079823, 359.0654907697836, 2.840431447887866, 1.6518218476432232, -0.16978713810304813, 0.808981679681521 ], "act_eef_pose_r": [ 554.8622644042034, -239.37074812687868, -23.713456653080357, 1.664075844398995, 0.11845613707681446, 2.3330660902392473 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4584467968079344, -0.8165753640877567, -0.0646525937187481, -0.5553360230536545, -0.22335182686453486, -0.9883799607363727, 0.6149180165226334 ], "joint_pos_r": [ -0.575813000333129, -0.8281152687308396, 0.15992086124638716, -1.0446902761239174, 0.3547002709894082, 0.5139689548927979, -0.8439718641421201 ], "eef_pose_l": [ 570.8046055671979, 358.054490823502, 3.3066203812802257, 1.655020717363691, -0.17042467591110866, 0.8048133372775074 ], "eef_pose_r": [ 554.1151950193877, -244.90734051530083, -23.45149018892502, 1.66188447944604, 0.12681438171186166, 2.319466502703413 ], "joint_status_l": { "velocity": [ 0.020661151518552856, -1.0514805286270246, 0.0605628650687251, 2.4152986950651822, -0.45433290688934314, -1.1555582875883985, -0.03559477443015879 ], "torque": [ -33.9404296875, 3.3251953125, -7.70263671875, 1.397705078125, -5.5279541015625, -3.7005615234375, -0.355224609375 ] }, "joint_status_r": { "velocity": [ 0.4706326363113078, -1.2110315296007812, -0.12991581413124287, 0.8578284340110542, -2.495400656827851, 0.5434302254712087, 3.011789206673221 ], "torque": [ 39.7412109375, 1.54541015625, 9.454345703125, -2.252197265625, 0.3387451171875, 4.3157958984375, 0.66741943359375 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.4, -9.0, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.4, -9.0, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.0, 1.5, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.2, -17.0, 1.5, 1.1, 0.4, 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": 78, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4585364424468915, -0.8272073340711054, -0.06404910277505091, -0.5313905505693877, -0.22671045076013646, -1.0000947075569009, 0.6132723917166177 ], "act_joint_pos_r": [ -0.5713629830379313, -0.8391060636210791, 0.15876674581410002, -1.038032969421471, 0.33259513265466406, 0.5165870170481993, -0.8168570085143274 ], "act_eef_pose_l": [ 572.6430875079823, 358.9214907697836, 2.7076314478877777, 1.6522094441372979, -0.1690250977674068, 0.8083937784581798 ], "act_eef_pose_r": [ 554.9558644042035, -239.38194812687868, -23.708656653080197, 1.66471898655056, 0.11838981928538735, 2.33190829856312 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45847880548212244, -0.8187256450077647, -0.06452950566556753, -0.5504376670288958, -0.2241748416191566, -0.9907456920992673, 0.6147348007237601 ], "joint_pos_r": [ -0.5748721760119135, -0.830472256840402, 0.15967147798990644, -1.0431775081648118, 0.34991890538746895, 0.5147049743753628, -0.8381405433384758 ], "eef_pose_l": [ 571.1916873666152, 358.25978164592203, 3.1931789123557053, 1.6543741734342072, -0.17021539013764408, 0.8056516156850521 ], "eef_pose_r": [ 554.2911278079608, -243.72891686838258, -23.505320652582725, 1.6624182341675533, 0.1250236284668976, 2.3222071782119684 ], "joint_status_l": { "velocity": [ 0.0062246086098838305, -0.915995403000025, 0.051881981998569415, 2.0570279088318877, -0.2738377108142398, -1.0096638909793398, -0.1579355147125483 ], "torque": [ -36.2548828125, 3.69873046875, -11.02294921875, 1.025390625, -5.3228759765625, -3.504638671875, -0.34423828125 ] }, "joint_status_r": { "velocity": [ 0.37898166372407616, -0.9324236319478985, -0.0977081932378443, 0.5555937979178083, -1.8709122755349306, 0.20325461399206546, 2.298553968782535 ], "torque": [ 38.7451171875, 3.31787109375, 9.490966796875, -1.806640625, 0.216064453125, 4.383544921875, 0.6719970703125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.5, -9.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.5, -9.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.0, 1.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.3, -17.0, 1.4, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 194, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 95, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46016956977120144, -0.8237059608502877, -0.06428465612113182, -0.5417533502898525, -0.23136826284162454, -0.9940722999719489, 0.6167686314568728 ], "act_joint_pos_r": [ -0.5718639775374262, -0.8385603418548875, 0.1588629431506323, -1.0402238159512085, 0.3372375670855732, 0.5120151437061364, -0.8216427782779162 ], "act_eef_pose_l": [ 572.0950875079823, 358.2902907697836, 2.7876314478879323, 1.6500616732738862, -0.16787172504092648, 0.8095212711075622 ], "act_eef_pose_r": [ 555.1406644042036, -239.68114812687867, -23.89905665308038, 1.665556260494979, 0.11892204750495927, 2.32857792667444 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4585838968601111, -0.820021814893733, -0.06445825435013458, -0.5476721567761424, -0.22489382309179448, -0.9920487158178961, 0.6146794002572562 ], "joint_pos_r": [ -0.5745782283319414, -0.8312056719443663, 0.15959520332051602, -1.0427682104918237, 0.3485000025650286, 0.514798699153599, -0.8363836822237458 ], "eef_pose_l": [ 571.4186824594278, 358.3410464973657, 3.1108167689385766, 1.6538667957032067, -0.1699343941333739, 0.8062023434985283 ], "eef_pose_r": [ 554.3518781471753, -243.35970690225167, -23.525589934704982, 1.6626236617722312, 0.12446066756075615, 2.322993589134083 ], "joint_status_l": { "velocity": [ 0.17124762371878433, -0.39787602858165627, 0.018748055787998208, 0.6392122479619289, -0.6992188706231861, -0.21854064312520904, 0.22563031494815533 ], "torque": [ -33.65478515625, 4.40185546875, -10.15625, -0.89111328125, -5.6011962890625, -3.1658935546875, -0.399169921875 ] }, "joint_status_r": { "velocity": [ 0.29313044038747904, -0.7942809242722504, -0.07908176595550209, 0.2747865059919974, -1.216307158719676, -0.3006151221573994, 1.5919706734850436 ], "torque": [ 39.228515625, 3.30322265625, 9.564208984375, -1.55029296875, 0.1300048828125, 4.4219970703125, 0.75531005859375 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.4, -9.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.5, -16.4, -9.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.2, -17.1, 0.7, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.2, -17.1, 0.7, 1.1, 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": 64, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4632438801742835, -0.8153246815544996, -0.06479679931420025, -0.5627468019732188, -0.23497808753457852, -0.9822934335048765, 0.6222758581439033 ], "act_joint_pos_r": [ -0.5711398077465955, -0.8400767446630599, 0.15862856301678657, -1.0354010750928007, 0.33184505457687186, 0.5142742601545347, -0.8163098012572312 ], "act_eef_pose_l": [ 570.4550875079823, 357.45509076978357, 2.3236314478879905, 1.650286360225696, -0.16738661541856031, 0.8095879730791196 ], "act_eef_pose_r": [ 555.6326644042035, -239.9899481268787, -24.348656653080297, 1.6671426426226301, 0.11902722243043702, 2.3292125844769926 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45893523462687763, -0.8203803097759269, -0.06444481856730562, -0.5473182234842232, -0.22606464349056227, -0.9920340282093193, 0.6151852666641946 ], "joint_pos_r": [ -0.574011080115751, -0.8327292973494754, 0.1594410456461053, -1.0421143519766272, 0.34607628230200604, 0.5143055911328913, -0.8332622529727486 ], "eef_pose_l": [ 571.4822600821159, 358.3078875313112, 3.0440168098985225, 1.6532454874317364, -0.16958199400811488, 0.806749288548082 ], "eef_pose_r": [ 554.5258678419294, -242.62868243790615, -23.615194307210402, 1.6632591652606084, 0.12334627191145421, 2.3241430905217206 ], "joint_status_l": { "velocity": [ 0.46531999524024314, 0.545991744748342, -0.038012799537023856, -1.666237333767917, -0.9626235656892135, 1.0519532023796074, 0.765761294886147 ], "torque": [ -31.0107421875, 3.3544921875, -10.0341796875, 0.830078125, -5.38330078125, -3.4002685546875, 0.3680419921875 ] }, "joint_status_r": { "velocity": [ 0.3100882703046537, -0.7935009068082977, -0.08774553605017665, 0.7250125203528412, -1.5369272650680443, -0.0033836458674940673, 1.830810788398196 ], "torque": [ 39.287109375, 2.02880859375, 9.47265625, -1.64794921875, -0.223388671875, 2.684326171875, 0.765380859375 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.4, -8.9, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.4, -8.9, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.1, 0.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.3, -17.1, 0.9, 1.1, 0.3, 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": 89, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4639677031991678, -0.8142110969709091, -0.0648579442653429, -0.5650205681022833, -0.23647927364667387, -0.9795793001494832, 0.6218566514403396 ], "act_joint_pos_r": [ -0.5725308627796606, -0.840876429116802, 0.15848514686982842, -1.031812105089434, 0.33564525049897354, 0.5138053065266073, -0.8196839385746408 ], "act_eef_pose_l": [ 570.4022875079824, 357.73909076978356, 2.105231447887789, 1.6504434251726923, -0.16563608569037683, 0.8115783376948111 ], "act_eef_pose_r": [ 556.1142644042035, -241.0123481268787, -25.427856653080198, 1.6682753345706696, 0.11885670535406855, 2.3253460689843632 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4597787176160861, -0.8193607721753741, -0.06451395149137187, -0.5503027040584684, -0.2278100134119459, -0.9900055387058612, 0.6163916383803196 ], "joint_pos_r": [ -0.5735800781443813, -0.8339607658876732, 0.15930324798981715, -1.0409048828657268, 0.34384880152573377, 0.514286611157689, -0.830574851316886 ], "eef_pose_l": [ 571.2974333676101, 358.18946255107153, 2.8928046755128776, 1.6527258155211155, -0.1690083483784786, 0.8074767048286885 ], "eef_pose_r": [ 554.7225507458401, -242.2248650830526, -23.767813755532103, 1.6639269070358997, 0.12263064449254647, 2.3248683332545 ], "joint_status_l": { "velocity": [ 0.4523971002332594, 0.5561485193590343, -0.03715012390453909, -1.5894824374531602, -0.9362524920595305, 1.1260005544784235, 0.590204003344752 ], "torque": [ -25.12939453125, 9.873046875, -10.443115234375, -3.704833984375, -5.4730224609375, -1.2432861328125, 0.55755615234375 ] }, "joint_status_r": { "velocity": [ 0.11331191743302327, -0.7468696010040077, -0.08835231514670028, 0.9819910375625795, -0.8859573809738563, -0.05197936710743534, 1.1761838864741136 ], "torque": [ 38.8330078125, 1.5234375, 9.576416015625, -1.739501953125, -0.1995849609375, 3.673095703125, 0.84136962890625 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.6, -9.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.6, -9.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -17.3, 1.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.1, -17.3, 1.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 196, "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": [ 0.4663042487806927, -0.8078483154553894, -0.06522078241105467, -0.5786492806183817, -0.24018898734292346, -0.972584259767427, 0.6258865080978047 ], "act_joint_pos_r": [ -0.5736736503644876, -0.8393880411945134, 0.15860977181390687, -1.0312342284616605, 0.3434552578653194, 0.5070735997943169, -0.8262318673689812 ], "act_eef_pose_l": [ 569.1318875079824, 357.71509076978356, 1.946031447887961, 1.6498360311854006, -0.16504951153034278, 0.8125106958993423 ], "act_eef_pose_r": [ 556.9454644042034, -243.28514812687868, -26.374256653080238, 1.6712439546936049, 0.11927237709751039, 2.3162942632840364 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4607830278841386, -0.8177322720756302, -0.06461571598652073, -0.5544428485527502, -0.22976142607096411, -0.9873727519699439, 0.617812639036399 ], "joint_pos_r": [ -0.5735257535897286, -0.8350805134632839, 0.1591643019931063, -1.0391131857096905, 0.34328225673701945, 0.5133472854977296, -0.8293412462109052 ], "eef_pose_l": [ 571.0009837288801, 358.10876393926486, 2.735845777631681, 1.6522323558168197, -0.1683630851171096, 0.8083096916391475 ], "eef_pose_r": [ 555.0923555569063, -242.28152255767714, -24.201267776499805, 1.6651225611373195, 0.12196577725782033, 2.3238216012652684 ], "joint_status_l": { "velocity": [ 0.5962742706584478, 1.0674358326490108, -0.06534524659462804, -2.614217560862553, -1.1261434035474416, 1.5971100536287253, 0.8719521417779319 ], "torque": [ -24.07470703125, 11.47705078125, -13.31787109375, -3.656005859375, -5.4254150390625, -1.2725830078125, 0.54840087890625 ] }, "joint_status_r": { "velocity": [ -0.01597238059414252, -0.46519927465293875, -0.05988749306640173, 0.8509022867659866, 0.018683570813582406, -0.6775380730514868, 0.3358030109481547 ], "torque": [ 35.04638671875, 3.31787109375, 9.6435546875, -2.23388671875, 0.999755859375, 2.40966796875, 0.66009521484375 ] }, "eef_FT_l": { "raw_value": [ -1.7, -16.5, -9.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.7, -16.5, -9.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.3, 2.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -17.3, 2.1, 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": 122, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4681398569216951, -0.8127537981026706, -0.06489600722094646, -0.5651367441500058, -0.24157965218561192, -0.9796074561041904, 0.624585921984019 ], "act_joint_pos_r": [ -0.573532974104984, -0.8377980461291423, 0.15861722234215017, -1.0244374454316256, 0.3540673764702058, 0.5059895142842422, -0.8323967226896504 ], "act_eef_pose_l": [ 569.6126875079824, 358.81749076978355, 0.6060314478878155, 1.6500404832975246, -0.16329956742367835, 0.814702429616444 ], "act_eef_pose_r": [ 558.6806644042035, -247.30514812687866, -26.521456653080122, 1.6711245056158879, 0.1190622936327043, 2.3044492266475434 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4614127929828995, -0.8169645465395234, -0.0646616391906976, -0.556257253527932, -0.23085966525858126, -0.986210177911484, 0.618558603441117 ], "joint_pos_r": [ -0.5735342112007582, -0.8355762258260664, 0.15908086810490665, -1.0372411553103387, 0.3443640539876016, 0.5122871420487574, -0.8294824463655305 ], "eef_pose_l": [ 570.8383943787295, 358.1184191189114, 2.598635450519481, 1.651992474292283, -0.16796396596384408, 0.808824202174393 ], "eef_pose_r": [ 555.551165906325, -242.83091973473688, -24.54594424756118, 1.6660374397281739, 0.12152966664256389, 2.3215012124078935 ], "joint_status_l": { "velocity": [ 0.7265014783741641, 0.45474741912254757, -0.025311000758809765, -0.9589567042675995, -1.157724442861996, 0.7130729242259548, 0.6509312044435944 ], "torque": [ -25.58349609375, 11.953125, -11.785888671875, -3.89404296875, -5.5426025390625, -1.307373046875, 0.54290771484375 ] }, "joint_status_r": { "velocity": [ 0.00013360240380677624, -0.23994951579897617, -0.05007226557518507, 1.3827598845788103, 1.04792792113928, -0.6801237393903037, -0.31473256046332665 ], "torque": [ 34.8486328125, 3.3251953125, 12.890625, -1.9287109375, 2.8143310546875, 1.9683837890625, -0.3607177734375 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.8, -9.1, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.9, -16.8, -9.1, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -16.6, 2.4, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.1, -16.6, 2.4, 1.0, 0.4, 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": 95, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46652062042062503, -0.8198354147590672, -0.06447960258943289, -0.5486517124105514, -0.2376658746583375, -0.9883323624342742, 0.6198082789004113 ], "act_joint_pos_r": [ -0.5780803728139037, -0.8243627688978197, 0.1601630927543015, -1.0391067843738737, 0.3925344198502403, 0.4868529533354535, -0.8697656775690673 ], "act_eef_pose_l": [ 570.7910875079823, 359.19589076978355, 0.2724314478881098, 1.6513030805187974, -0.163156525242924, 0.8140219658776605 ], "act_eef_pose_r": [ 558.6718644042035, -254.21154812687868, -26.23505665308039, 1.6714829276843595, 0.12389607108076549, 2.2796156669957703 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4626264290086665, -0.8167260427403203, -0.06467300360395072, -0.5566269467321433, -0.2326791459512581, -0.9856318216638106, 0.6193602693385983 ], "joint_pos_r": [ -0.5741660728474118, -0.8341554300500097, 0.15920251977925212, -1.036705641975717, 0.3516623427923308, 0.5083607147930927, -0.8352629263783453 ], "eef_pose_l": [ 570.694797561953, 358.29092638243037, 2.1696205493035734, 1.651699967305301, -0.16701554255063925, 0.8099462740531234 ], "eef_pose_r": [ 556.2069043092005, -244.68137820315837, -24.88154144973339, 1.6669861515051791, 0.1217167900169864, 2.3145661694869153 ], "joint_status_l": { "velocity": [ 0.4205602687292753, -0.3358022740664879, 0.020886693547828017, 0.861299904049595, -0.5385508166573238, -0.29164980145868213, 0.048383605677493335 ], "torque": [ -25.89111328125, 6.56982421875, -8.197021484375, -0.45166015625, -5.3082275390625, -2.89306640625, 0.069580078125 ] }, "joint_status_r": { "velocity": [ -0.42273192856878694, 1.0575762128937072, 0.10373882169223414, -0.25931573089188475, 4.414054136685941, -2.32276973099399, -3.726187230579825 ], "torque": [ 27.65625, 9.404296875, 15.1123046875, -5.5419921875, 3.3087158203125, 2.0819091796875, -0.62347412109375 ] }, "eef_FT_l": { "raw_value": [ -1.5, -16.3, -7.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.5, -16.3, -7.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.3, -16.3, 1.0, 1.0, 0.4, -0.1 ], "actual_contact_FT": [ 0.3, -16.3, 1.0, 1.0, 0.4, -0.1 ] }, "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": 143, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.46279501296693176, -0.8202413777484026, -0.06452973187785674, -0.5525522507338444, -0.23205805698108886, -0.983689292641487, 0.6185459763604176 ], "act_joint_pos_r": [ -0.5756287512404085, -0.816745965070006, 0.16074813711391506, -1.0327625085365437, 0.41621417430306096, 0.4882451363966958, -0.8939883723559308 ], "act_eef_pose_l": [ 571.5734875079822, 357.89509076978356, 1.3364314478879606, 1.653488788996532, -0.16646559314416784, 0.8117305726033661 ], "act_eef_pose_r": [ 561.1254644042035, -262.1059481268787, -23.499056653080288, 1.665090684649477, 0.13435752584330077, 2.2603348695389305 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4630939527667049, -0.8173430999858365, -0.06464005805042698, -0.5554005673645103, -0.23321748912009346, -0.985807550552291, 0.6193539455372341 ], "joint_pos_r": [ -0.5745001305647385, -0.832715968774254, 0.1593366009915134, -1.0366980365951595, 0.35731416641736014, 0.5059948446180009, -0.8402198560811858 ], "eef_pose_l": [ 570.7702579519489, 358.3681655897689, 1.8874788707640562, 1.6517820804435233, -0.16652209691345377, 0.8105508920274695 ], "eef_pose_r": [ 556.615855513182, -246.09361397503505, -24.89962786219101, 1.667125367684656, 0.12243319971708191, 2.309745710967474 ], "joint_status_l": { "velocity": [ -0.03228454619375043, -0.3130047667747604, 0.011914875227170274, 0.30760912366600834, 0.12521497799422576, 0.22876510730096555, -0.08725809755638636 ], "torque": [ -28.1396484375, 5.00244140625, -8.056640625, 0.50048828125, -3.4478759765625, -1.6204833984375, -0.263671875 ] }, "joint_status_r": { "velocity": [ -0.12188743809371516, 1.7247095324712802, 0.1524414052003209, 0.4250244949037807, 6.361013243598279, -1.9169119516053712, -5.80682849442038 ], "torque": [ 28.798828125, 10.14404296875, 15.716552734375, -5.462646484375, 3.570556640625, 2.4078369140625, -0.57037353515625 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.4, -9.6, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -16.4, -9.6, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.4, 1.7, 1.1, 0.4, -0.1 ], "actual_contact_FT": [ 0.0, -17.4, 1.7, 1.1, 0.4, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 183, "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": [ 0.4595435296746724, -0.8246127054340353, -0.06428445181433178, -0.5428861789801109, -0.22798287018423816, -0.9879582372478706, 0.6160362456235993 ], "act_joint_pos_r": [ -0.5702203214803853, -0.8160298722931217, 0.1605439830388916, -1.0204139902906117, 0.4185281409714788, 0.4966271993300682, -0.892829931585023 ], "act_eef_pose_l": [ 572.7798875079823, 358.01589076978354, 2.100431447887857, 1.6542538385685295, -0.16910696693557672, 0.8111544320132164 ], "act_eef_pose_r": [ 563.6814644042036, -266.1835481268787, -20.734256653080138, 1.6592772696483584, 0.1378244183722928, 2.2530792831601447 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4628521547011388, -0.8181095567730063, -0.06460629828379404, -0.5543352676848512, -0.23277568354106212, -0.9856810921997221, 0.6190652498800926 ], "joint_pos_r": [ -0.574476014691335, -0.829665604554487, 0.15959446989793927, -1.0354118915219053, 0.36855005081591485, 0.5030075214699486, -0.8503332358763076 ], "eef_pose_l": [ 570.9828425498785, 358.2918000346627, 1.8338980703633752, 1.6521278762198932, -0.16666600178781663, 0.8107256029160858 ], "eef_pose_r": [ 557.6275824021204, -249.27371712129488, -24.49965723136171, 1.666378046242297, 0.12485634492646118, 2.3000720273729875 ], "joint_status_l": { "velocity": [ -0.3573209642402375, -0.7023193415891527, 0.03475839355793209, 1.2364651125231774, 0.5176085764881933, -0.2459244120460724, -0.32712281173008506 ], "torque": [ -33.6328125, 3.6181640625, -8.123779296875, 2.685546875, -2.8692626953125, -2.6165771484375, -0.30670166015625 ] }, "joint_status_r": { "velocity": [ 0.4596013115669706, 1.4726156517506084, 0.10254439483747824, 1.6197255617278472, 5.39747454679862, -0.6890544685322908, -4.589507776244339 ], "torque": [ 29.77294921875, 11.09619140625, 16.10107421875, -2.288818359375, 3.1695556640625, 2.230224609375, -0.66192626953125 ] }, "eef_FT_l": { "raw_value": [ -1.3, -16.5, -9.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.3, -16.5, -9.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.6, -16.9, 1.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -16.9, 1.2, 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": 135, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.45442795357844046, -0.8372301436527623, -0.0635461182163751, -0.5118024016816948, -0.22019079728662164, -1.0055570451312053, 0.6121394057577212 ], "act_joint_pos_r": [ -0.5640424077240702, -0.799709427812194, 0.16228955577214196, -1.028258976960441, 0.43951946339785936, 0.49861002600792237, -0.9172595859903853 ], "act_eef_pose_l": [ 575.1134875079823, 358.9526907697836, 2.771631447887856, 1.6554744378916286, -0.17545489763190325, 0.8091397370102944 ], "act_eef_pose_r": [ 564.3990644042035, -274.02514812687866, -13.523856653080202, 1.6467970349091845, 0.15286046737477155, 2.2388694220570766 ], "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.npz" }, "states": { "joint_pos_l": [ 0.46211630510366464, -0.8196314527756172, -0.06452761987541959, -0.551394320839612, -0.23169848784340408, -0.9866026944035418, 0.6184147797686796 ], "joint_pos_r": [ -0.5735797567604995, -0.8268455021629302, 0.15979989391291008, -1.0326932708920276, 0.3783095931952337, 0.5018308592871604, -0.8587295943959431 ], "eef_pose_l": [ 571.3726402826317, 358.2723520523923, 1.8990088026586989, 1.6525330569072256, -0.16729089278041298, 0.8107425174742275 ], "eef_pose_r": [ 558.8269294487525, -252.55916479317304, -23.688301352193292, 1.6648434549507842, 0.1275403364371474, 2.2910138731789016 ], "joint_status_l": { "velocity": [ -0.8303174758195198, -1.9006025594556775, 0.10599905290187284, 4.275801161040871, 1.2427939258849996, -2.0470095052695925, -0.677720404889115 ], "torque": [ -37.9833984375, 3.94775390625, -7.38525390625, 1.055908203125, -2.51953125, -3.211669921875, -0.37628173828125 ] }, "joint_status_r": { "velocity": [ 1.030003317610273, 2.930609596170086, 0.2688755507365137, 0.478889620517009, 6.610471016462505, -0.34783973517305, -6.321052662716653 ], "torque": [ 38.15185546875, 9.2578125, 16.14990234375, -3.173828125, 3.167724609375, 2.2998046875, -1.0821533203125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.8, -9.2, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -1.8, -16.8, -9.2, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.5, 1.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -17.5, 1.2, 1.1, 0.3, 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": 181, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4514305167895685, -0.8425363412632351, -0.06329978395532236, -0.5024547381482658, -0.21900591588791846, -1.0075349757513326, 0.6143159736592262 ], "act_joint_pos_r": [ -0.5605819392031114, -0.7794442196444334, 0.16470735780496198, -1.0441504612026853, 0.4648918521814722, 0.4982723213154775, -0.9447108409255398 ], "act_eef_pose_l": [ 576.7534875079823, 358.8126907697836, 3.622031447887892, 1.6549281574615933, -0.1808544576923794, 0.8105061944035535 ], "act_eef_pose_r": [ 563.4422644042035, -281.7587481268787, -6.51665665308019, 1.6342807895574774, 0.1650044520866235, 2.224737768991706 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4604187006881822, -0.8233418155940625, -0.06432628507713417, -0.5433393199393038, -0.22953012604565884, -0.9901771782366322, 0.6175508509537101 ], "joint_pos_r": [ -0.5716676648548173, -0.8203687750532211, 0.1604496698811362, -1.0335449433530381, 0.39089588018934274, 0.501267779451277, -0.8710820966883664 ], "eef_pose_l": [ 572.2351195973223, 358.3855751896844, 2.141242053549263, 1.6529612688436688, -0.16936967085531635, 0.8106187450661949 ], "eef_pose_r": [ 559.7383994799532, -256.83443617062386, -21.341773205400784, 1.6606564604164409, 0.13297658526635361, 2.281190321221336 ], "joint_status_l": { "velocity": [ -0.9706952319250561, -2.0729476339473862, 0.11085885154865638, 4.415404608034912, 1.1365811753660804, -1.8745868436029767, -0.3493564440875119 ], "torque": [ -40.2978515625, 4.34326171875, -6.54296875, 1.141357421875, -2.4444580078125, -3.5302734375, -0.45867919921875 ] }, "joint_status_r": { "velocity": [ 1.1972230601777767, 4.419721631427009, 0.45981673420336655, -1.1453621471098074, 7.991329283491666, -0.32349993754587913, -7.951669855647658 ], "torque": [ 40.546875, 11.572265625, 16.351318359375, -5.999755859375, 3.394775390625, 1.937255859375, -0.933837890625 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.8, -8.7, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.8, -8.7, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.1, -16.5, 2.1, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ 1.1, -16.5, 2.1, 1.0, 0.5, 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": 185, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4488003893324615, -0.845048190762838, -0.06323971735219604, -0.5014576814415371, -0.2175630946382368, -1.0063076217966798, 0.6161697233371729 ], "act_joint_pos_r": [ -0.5567659921779597, -0.7638438041713411, 0.16655458872207649, -1.0513121890140456, 0.4771728267847278, 0.5037895020122929, -0.9609026221249783 ], "act_eef_pose_l": [ 577.7502875079823, 357.74629076978357, 4.597231447887751, 1.6542817430483685, -0.18476954476164378, 0.809643893022417 ], "act_eef_pose_r": [ 562.8126644042035, -288.4987481268787, -0.7238566530802473, 1.6238768826127095, 0.17742052067068897, 2.2155642928783874 ], "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.npz" }, "states": { "joint_pos_l": [ 0.4594092085833016, -0.8253612903424886, -0.06422154660047084, -0.539228949115762, -0.2284199836342958, -0.9918497858601709, 0.6173104855074709 ], "joint_pos_r": [ -0.5692770131261249, -0.8113725746779425, 0.1614109116523902, -1.0362282376553364, 0.40536480996787794, 0.5013607315166666, -0.885927403970301 ], "eef_pose_l": [ 572.736348528864, 358.38590698627166, 2.3262483919761223, 1.653114301329956, -0.1706960093676743, 0.810571388966199 ], "eef_pose_r": [ 560.4444874215519, -261.98951774517036, -18.102424102213348, 1.6548867566916952, 0.14011365641169268, 2.2704174457133584 ], "joint_status_l": { "velocity": [ -1.1457186879244574, -2.1261225387654292, 0.10603443149531655, 4.0791765999337315, 1.1725094302572625, -1.5614002301047591, -0.12319868084098573 ], "torque": [ -40.3564453125, 3.83056640625, -6.365966796875, 1.23291015625, -2.4298095703125, -3.4515380859375, -0.49896240234375 ] }, "joint_status_r": { "velocity": [ 1.3511504123506768, 5.132955826273822, 0.5555007399076217, -1.629018701401641, 7.755037093626349, 0.26229947741773785, -8.09708474995574 ], "torque": [ 39.1845703125, 13.5205078125, 17.2119140625, -5.79833984375, 3.6236572265625, 3.343505859375, -0.79925537109375 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.3, -9.6, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.8, -16.3, -9.6, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.2, -16.9, 0.8, 1.1, 0.5, 0.0 ], "actual_contact_FT": [ 1.2, -16.9, 0.8, 1.1, 0.5, 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": 215, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4459834270498316, -0.8515089499012061, -0.06291409660203583, -0.48776475750644405, -0.21215826985357314, -1.01705011227627, 0.6146093098634426 ], "act_joint_pos_r": [ -0.5565460922973786, -0.7500530159955981, 0.16835030234214673, -1.0604714076818478, 0.4900533818885963, 0.5020552059772697, -0.9724031838211387 ], "act_eef_pose_l": [ 578.4830875079823, 357.0734907697836, 5.1292314478879035, 1.654537953882845, -0.18850729554119272, 0.8044911833026183 ], "act_eef_pose_r": [ 561.7046644042034, -294.27714812687867, 2.2337433469197094, 1.620042738452516, 0.18141593286103064, 2.2051693627721836 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45703400657489557, -0.8298749006795447, -0.06399615014008032, -0.5304577195308267, -0.22577263795378805, -0.9956796546865204, 0.6169470789316567 ], "joint_pos_r": [ -0.5668813991233915, -0.800470888495899, 0.16263287021663955, -1.040352839439993, 0.42072964715633554, 0.501578783662789, -0.901699133892609 ], "eef_pose_l": [ 573.8245807112969, 358.2095481884526, 2.818764922899078, 1.653332347574883, -0.17387543679749617, 0.8099469069931642 ], "eef_pose_r": [ 560.8796583564251, -267.8069533125626, -14.448468698078301, 1.648564494700993, 0.14779085214345855, 2.2588521034956757 ], "joint_status_l": { "velocity": [ -1.1934273904476989, -2.336408407257018, 0.11685833555641345, 4.610703913190406, 1.470308390395303, -2.3079413506010837, -0.25247161311536814 ], "torque": [ -41.05224609375, 3.9404296875, -6.427001953125, 1.318359375, -2.5213623046875, -3.4808349609375, -0.48248291015625 ] }, "joint_status_r": { "velocity": [ 1.1161802172336976, 5.444969639237129, 0.617464458414041, -2.172741288540614, 7.48674254141557, 0.051452092465265054, -7.635812186038926 ], "torque": [ 40.1513671875, 12.919921875, 17.07763671875, -7.073974609375, 3.2244873046875, 3.0120849609375, -0.66925048828125 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.7, -11.6, 1.5, -0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.7, -11.6, 1.5, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -16.8, 1.1, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -16.8, 1.1, 1.0, 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": 194, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4447866921920527, -0.8566273190799889, -0.06266290132219499, -0.4768247904577046, -0.2116650340132894, -1.0247855742940002, 0.615141465266574 ], "act_joint_pos_r": [ -0.5572926998566867, -0.7445936458172226, 0.1691480675969115, -1.0647571933860644, 0.4936702736167166, 0.5008001151763168, -0.9764124690195651 ], "act_eef_pose_l": [ 579.1454875079824, 356.83989076978355, 5.480431447887966, 1.652907543397141, -0.190737073316502, 0.8028834873216487 ], "act_eef_pose_r": [ 560.9654644042034, -296.2995481268787, 2.8657433469197713, 1.6198349517501822, 0.18306778302650037, 2.20200003832045 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45485875062374453, -0.8343335815201679, -0.06377349028095751, -0.521598375940021, -0.22316345440831498, -1.0002772039047632, 0.6165435232305398 ], "joint_pos_r": [ -0.5648972221028349, -0.7896446571907431, 0.16388309061005407, -1.0449384655353464, 0.4351253543013881, 0.5015164159139387, -0.9164218505640643 ], "eef_pose_l": [ 574.7720279706821, 357.9889833159533, 3.272799919088186, 1.6533952778249417, -0.17683289009386718, 0.8088077570192914 ], "eef_pose_r": [ 561.0712772196038, -273.39538695584, -11.048242527008199, 1.6428475637009727, 0.15481387449288175, 2.2478394640065664 ], "joint_status_l": { "velocity": [ -1.0877502291446461, -2.407652646541969, 0.11994007010307506, 4.835404619454309, 1.241792777942674, -2.646825938079189, -0.15141779427985114 ], "torque": [ -41.06689453125, 4.51904296875, -6.06689453125, 0.8056640625, -2.369384765625, -3.643798828125, -0.42938232421875 ] }, "joint_status_r": { "velocity": [ 0.8212641806917276, 4.865365732048765, 0.568600744597969, -2.140359481348497, 6.322664809024658, -0.07735819810505973, -6.478795711328367 ], "torque": [ 38.86962890625, 11.71875, 17.181396484375, -6.21337890625, 3.31787109375, 2.3602294921875, -0.5712890625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.5, -7.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.5, -7.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -16.8, 1.4, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.4, -16.8, 1.4, 1.0, 0.4, 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": 173, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.43813036452740356, -0.8924071147605209, -0.060822858663398933, -0.3896400464568875, -0.20090369450045834, -1.0803451126469015, 0.6055974943236985 ], "act_joint_pos_r": [ -0.5590761144952601, -0.7319597105844093, 0.17125282628143604, -1.0856850932661566, 0.528437922000276, 0.4814382441926558, -1.0166008231526065 ], "act_eef_pose_l": [ 583.0822875079823, 358.3582907697836, 5.490831447887857, 1.6518809153342222, -0.1977171540634108, 0.7961855067210848 ], "act_eef_pose_r": [ 560.0254644042035, -300.20994812687866, 4.96814334691976, 1.6189671865925688, 0.19241899067347085, 2.1845098994895635 ], "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.npz" }, "states": { "joint_pos_l": [ 0.45256796034667535, -0.8406270807923357, -0.06345662330444217, -0.5080682213723, -0.2203644874751577, -1.0081387474967436, 0.6157238841866477 ], "joint_pos_r": [ -0.5642705941543944, -0.7855877328242229, 0.16436654428038372, -1.0469515020361129, 0.44067001517283444, 0.5011672714307465, -0.9221712021911507 ], "eef_pose_l": [ 575.8889571229579, 357.8944352272415, 3.6722025433350893, 1.6531313104101, -0.17992992069566152, 0.807333524000606 ], "eef_pose_r": [ 561.0922117768034, -275.4269501395903, -9.829135581217855, 1.6408478278320318, 0.15740641192148197, 2.243693093161713 ], "joint_status_l": { "velocity": [ -1.5592143619120868, -5.592078739017126, 0.28443819217666144, 12.789865673940692, 2.1017036548318657, -7.798057444806439, -1.093617850664863 ], "torque": [ -42.41455078125, -6.43798828125, -5.04150390625, 13.04931640625, -1.6607666015625, -5.7037353515625, -0.4632568359375 ] }, "joint_status_r": { "velocity": [ 0.5609872577521102, 5.791655586149247, 0.7436965219571601, -4.18310447877257, 9.478654379396101, -2.1306721008991225, -10.198098287006019 ], "torque": [ 38.03466796875, 11.11083984375, 17.144775390625, -7.611083984375, 3.22265625, 2.5286865234375, -1.0198974609375 ] }, "eef_FT_l": { "raw_value": [ -1.2, -16.2, -9.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -1.2, -16.2, -9.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.0, 0.7, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -17.0, 0.7, 1.1, 0.4, 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": 179, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4364842779397235, -0.894863345283573, -0.06072452660678468, -0.3841293877987363, -0.19928856317002305, -1.0824504754422444, 0.6059298027152201 ], "act_joint_pos_r": [ -0.5555729808453567, -0.717349276949979, 0.1734510017783322, -1.0999367150024546, 0.5266063703879857, 0.4698456533529667, -1.0153906811866897 ], "act_eef_pose_l": [ 583.7086875079823, 358.4758907697836, 5.941231447888029, 1.6522500215008236, -0.20035884136316037, 0.796350965768835 ], "act_eef_pose_r": [ 558.8478644042035, -304.83314812687865, 8.113743346919819, 1.6229132272528866, 0.19749648344702042, 2.177726182969294 ], "act_grip_l": false, "act_grip_r": false } }, { "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.npz" }, "states": { "joint_pos_l": [ 0.450170033988248, -0.8491759646756699, -0.06302218393857317, -0.48851731981593666, -0.21714123077738365, -1.0200404127557308, 0.6140640894255984 ], "joint_pos_r": [ -0.5634166459238457, -0.7767715360721663, 0.16549861692591114, -1.0533191237930883, 0.4550986497334508, 0.49792391136275993, -0.937694991487267 ], "eef_pose_l": [ 577.1901484087496, 358.03294513000617, 3.9474007508505906, 1.652746309318377, -0.1829968974287641, 0.805568029660773 ], "eef_pose_r": [ 561.0158517318756, -279.52303876013775, -7.376947281476788, 1.6370596471547645, 0.16327780318364296, 2.233986033184055 ], "joint_status_l": { "velocity": [ -1.4780180614284433, -4.934091582400768, 0.2481396733446939, 11.27356416185643, 1.9280312373533004, -6.740087981873977, -0.8784770554246535 ], "torque": [ -40.42236328125, 5.2001953125, -5.13916015625, 1.470947265625, -2.1240234375, -3.8031005859375, -0.53924560546875 ] }, "joint_status_r": { "velocity": [ 0.46876356884517634, 4.839534418239921, 0.6214362821133079, -3.4954216111415803, 7.920407804875573, -1.7803995442937648, -8.52157848933377 ], "torque": [ 38.78173828125, 11.46240234375, 17.29736328125, -7.061767578125, 3.4332275390625, 1.9866943359375, -0.67291259765625 ] }, "eef_FT_l": { "raw_value": [ -2.1, -16.4, -9.3, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -2.1, -16.4, -9.3, 1.5, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.9, -16.6, 0.6, 1.1, 0.5, 0.0 ], "actual_contact_FT": [ 0.9, -16.6, 0.6, 1.1, 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": 1, "position": 20, "motor_current": 187, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.4353613533861912, -0.8923411571300287, -0.06088256981335149, -0.3910148107154274, -0.19750145897210258, -1.077387624870296, 0.6105410273385775 ], "act_joint_pos_r": [ -0.5509045220852049, -0.7050408353104917, 0.17534829901474314, -1.1093659046148412, 0.5341540155836557, 0.46353278745396814, -1.0301989428084775 ], "act_eef_pose_l": [ 583.7534875079823, 358.1710907697836, 6.392431447888001, 1.6535081409420624, -0.2059191189719069, 0.7956786370390149 ], "act_eef_pose_r": [ 558.6374644042035, -309.7539481268787, 12.546543346919862, 1.620222782343568, 0.21124372389688817, 2.1682217186299413 ], "act_grip_l": false, "act_grip_r": false } } ] }