{ "info": { "version": "1.0.0", "datetime": "2025-06-16-17:55", "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_0081", "episode_id": 81, "task": "Push the box to the lined area.", "total_steps": 230 }, "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, -0.2918586804122321, -0.1284700916350488, -1.5191471563444272, -0.10984926535311726, -0.5092535993465213, 0.35808774284926886 ], "joint_pos_r": [ -0.4804558620654106, -0.2846939342943334, 0.27779962033772554, -1.3152536087568052, -0.02999999999999998, 0.7533570687157973, -0.19766064072896 ], "eef_pose_l": [ 457.7654875079824, 348.26789076978366, 116.82043144788786, 1.6656263244780796, -0.07549365071694024, 0.8180631129867808 ], "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": [ -28.1982421875, 11.7333984375, -16.34521484375, -4.26025390625, -2.666015625, -0.919189453125, 0.04119873046875 ] }, "joint_status_r": { "velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "torque": [ 26.2353515625, 14.86083984375, 16.40625, -1.123046875, 4.72412109375, 1.8182373046875, -0.55755615234375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.8, -8.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -16.8, -8.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.4, 0.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -17.4, 0.8, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -387, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -99, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.35796024155960027, -0.29185868265297066, -0.12847009057949968, -1.519147147131643, -0.10984926145879738, -0.5092536146021344, 0.3580877347540328 ], "act_joint_pos_r": [ -0.480455521469033, -0.2846939284347493, 0.277799626191243, -1.3152536269136812, -0.02999999278066623, 0.7533570419891711, -0.19766064531856284 ], "act_eef_pose_l": [ 457.7654875079824, 348.26789076978366, 116.82043144788786, 1.6656263232034922, -0.07549364575442377, 0.8180631049630253 ], "act_eef_pose_r": [ 451.8198644042035, -395.37474812687867, 103.95054334691986, 1.689961907456498, 0.014678289631629534, 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": [ 0.35795975687014575, -0.2918586805737932, -0.12847009155894182, -1.5191471556801694, -0.10984926507232994, -0.5092536004464775, 0.3580877422655882 ], "joint_pos_r": [ -0.48045582363155337, -0.2846939336331215, 0.27779962099825284, -1.3152536108056785, -0.029999999185349985, 0.7533570656998896, -0.19766064124686372 ], "eef_pose_l": [ 457.7654836193209, 348.2678907752136, 116.82041419144203, 1.6656263520535586, -0.07549362458873438, 0.8180631103215273 ], "eef_pose_r": [ 451.8198689653046, -395.37474813006196, 103.95056116047655, 1.6899618801352554, 0.014678317589876505, 2.3499154224999406 ], "joint_status_l": { "velocity": [ 5.234491684547038e-05, -2.245443830872773e-07, 1.0577672071576671e-07, 9.232135056436164e-07, 3.902500544938903e-07, -1.5287655585893845e-06, -8.112239768820473e-07 ], "torque": [ -28.04443359375, 11.7041015625, -16.34521484375, -4.254150390625, -2.6678466796875, -0.9173583984375, 0.03021240234375 ] }, "joint_status_r": { "velocity": [ 3.263258996355489e-05, 5.614073650406226e-07, 5.608262743095338e-07, -1.7396128981772563e-06, 6.916854311533882e-07, -2.5606823328416795e-06, -4.3973047425538425e-07 ], "torque": [ 26.220703125, 14.87548828125, 16.412353515625, -1.123046875, 4.72412109375, 1.8182373046875, -0.5584716796875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.9, -8.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.9, -8.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.4, 0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.4, 0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -332, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -133, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.36100748199144694, -0.29163973196384635, -0.12841523164290813, -1.5156249367481842, -0.14478975249363701, -0.5108395902274525, 0.38044797404908454 ], "act_joint_pos_r": [ -0.4698578124934274, -0.2876424693929556, 0.2749420657488577, -1.3067063924628495, -0.049091873829900656, 0.763012845936277, -0.182502010398422 ], "act_eef_pose_l": [ 458.76948750798243, 350.00869076978364, 118.59963144788803, 1.6517649443674698, -0.06627932594708826, 0.8268580021666758 ], "act_eef_pose_r": [ 452.5166644042035, -395.6627481268787, 104.62814334692007, 1.6969226160605038, 0.0178131087905059, 2.3562130126378666 ], "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": [ 0.358221557427871, -0.29183987617350376, -0.12846537977890238, -1.518844646106105, -0.11285015850247879, -0.5093898158274617, 0.3600081692856753 ], "joint_pos_r": [ -0.47925989855595963, -0.285026654464919, 0.2774771666638423, -1.3142891193867856, -0.03215437989245069, 0.7544466499807314, -0.1959500987542332 ], "eef_pose_l": [ 457.85025967829336, 348.4126547898185, 116.97365139329405, 1.6644317295533608, -0.07470132240651005, 0.8188068473536669 ], "eef_pose_r": [ 451.8987511172214, -395.40486678869377, 104.02928493379095, 1.6907290213337183, 0.01504101586272521, 2.350635598059195 ], "joint_status_l": { "velocity": [ 0.3008709791512132, 0.021614937144587287, 0.0054158389558578435, 0.34771835525049255, -3.4493744171846252, -0.15657101738320023, 2.2074338096680357 ], "torque": [ -21.90673828125, 11.806640625, -16.339111328125, -1.055908203125, -3.9532470703125, -1.959228515625, 0.40740966796875 ] }, "joint_status_r": { "velocity": [ 1.0153953472684663, -0.2824996803449942, -0.2737828240255702, 0.8189103553171151, -1.8291953960101748, 0.925121878188051, 1.4523507076331654 ], "torque": [ 27.83935546875, 10.01953125, 10.53466796875, -0.0732421875, 2.1917724609375, 2.156982421875, 0.4339599609375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -17.4, -10.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -17.4, -10.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.4, 0.6, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.4, 0.6, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -330, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -150, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.36504763007634233, -0.28511233927553387, -0.131136096799424, -1.5308019569870983, -0.1898739303641589, -0.4786479499104205, 0.42497467919533904 ], "act_joint_pos_r": [ -0.45043245863162307, -0.29221938985550167, 0.2712555435765771, -1.2999925742410043, -0.09202838425064598, 0.7879885227193597, -0.1808071233332811 ], "act_eef_pose_l": [ 460.2174875079824, 352.9774907697837, 120.99163144788785, 1.6414110877748824, -0.07192054629669055, 0.8561564708431723 ], "act_eef_pose_r": [ 451.31586440420347, -392.36754812687866, 105.99614334691978, 1.7126445615345691, 0.05372234809424345, 2.387448251392373 ], "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": [ 0.35900543405322183, -0.29133385256838695, -0.1286526923021923, -1.5193696641204395, -0.12174799529179216, -0.5073250745743575, 0.36683255190278324 ], "joint_pos_r": [ -0.4752905438959342, -0.286037613105367, 0.27658194102160927, -1.3120980966343743, -0.0402012713322196, 0.758884304525264, -0.19321665557084552 ], "eef_pose_l": [ 458.1216532837875, 348.88991230993776, 117.46382224877051, 1.6612873811079567, -0.07368117175267523, 0.8223087310515246 ], "eef_pose_r": [ 451.8848339307678, -395.05319391242597, 104.32794342668795, 1.6934587169955444, 0.019707919035799333, 2.3552388334006373 ], "joint_status_l": { "velocity": [ 0.652537924919816, 0.6719036188904681, -0.2681997755714649, -1.234651215506588, -7.357383993373823, 3.09703812144857, 6.27916455353672 ], "torque": [ -18.20068359375, 13.16162109375, -18.402099609375, -3.033447265625, -4.1363525390625, -0.4595947265625, 1.2615966796875 ] }, "joint_status_r": { "velocity": [ 2.684594030677445, -0.6676121988449246, -0.5752339584448318, 1.30735786002667, -5.597163115688087, 3.14316286232863, 1.340189954867066 ], "torque": [ 29.01123046875, 7.27294921875, 10.53466796875, -0.152587890625, 1.8951416015625, 2.0709228515625, 0.52276611328125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -18.2, -8.7, 1.5, -0.2, 0.1 ], "actual_contact_FT": [ -1.0, -18.2, -8.7, 1.5, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.8, -0.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.9, -17.8, -0.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -305, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -99, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.354002255404412, -0.28787517943203017, -0.12967464583635727, -1.5161410809024183, -0.12780178733078684, -0.49943669791973017, 0.36629934279868387 ], "act_joint_pos_r": [ -0.45807741924064604, -0.3013052661604735, 0.263960575818916, -1.283165489097529, -0.052558921804234604, 0.8118511165306868, -0.19790171607982202 ], "act_eef_pose_l": [ 460.0430875079824, 352.9894907697837, 120.24363144788803, 1.6575210714494124, -0.07380132314398477, 0.8379486870970523 ], "act_eef_pose_r": [ 451.19906440420345, -390.94834812687867, 104.42174334691981, 1.6927917723065402, 0.030189857009291072, 2.3971896090738927 ], "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": [ 0.35927735427962665, -0.29043304232026307, -0.12898640592540347, -1.5203339148095334, -0.1293177232979232, -0.5037536229270603, 0.3728819744576833 ], "joint_pos_r": [ -0.47238636488430696, -0.28755201753076226, 0.27531556609306723, -1.309202108230544, -0.04455967335245543, 0.764650466309875, -0.19272422061811184 ], "eef_pose_l": [ 458.4882009852495, 349.59595734667204, 118.06832934837416, 1.6587545624862814, -0.07358274843977877, 0.826953582863876 ], "eef_pose_r": [ 451.80812094180607, -394.55995287152984, 104.46030888197157, 1.6945694748798927, 0.022780842863351927, 2.3604232207203206 ], "joint_status_l": { "velocity": [ -0.5696938763004589, 0.27624104463530585, -0.07432771820403694, 0.45281270697117293, 0.1637162558979499, 0.46621415054071136, -0.7109032522012448 ], "torque": [ -24.70458984375, 12.69287109375, -17.315673828125, -0.872802734375, -2.904052734375, -0.604248046875, -0.4486083984375 ] }, "joint_status_r": { "velocity": [ 1.5453205527218294, -1.4853070452192085, -1.2263027817411842, 2.8118719346359455, -0.863893353619638, 5.097519880534307, -0.5591530185280469 ], "torque": [ 29.20166015625, 7.79296875, 10.44921875, -0.50048828125, 2.0452880859375, 3.1365966796875, -0.26824951171875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.6, -7.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -15.6, -7.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -18.1, 0.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.2, -18.1, 0.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -358, "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": [ 0.3430119678675241, -0.2934033176702433, -0.12698409537084945, -1.491337337557003, -0.07334486023301573, -0.5362772853177673, 0.3207900204393643 ], "act_joint_pos_r": [ -0.4549425850734851, -0.29964112995930875, 0.2650511229840781, -1.2834547082706484, -0.07240977240486891, 0.8101708210807238, -0.1777870016231723 ], "act_eef_pose_l": [ 459.99028750798243, 353.49989076978363, 119.2868314478881, 1.6713079751047952, -0.07982062520441612, 0.8129849503362528 ], "act_eef_pose_r": [ 451.0230644042035, -391.8211481268787, 103.48334334691981, 1.7046881454642697, 0.02701784745007533, 2.3959675013076054 ], "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": [ 0.3574007621705083, -0.29045557955622175, -0.1288770122911062, -1.5174622957343487, -0.12437261313924207, -0.506154439769884, 0.3678095026195556 ], "joint_pos_r": [ -0.46958718507570385, -0.28984078174554717, 0.273401570930882, -1.304623454915338, -0.04767891507414697, 0.7728516244668151, -0.19191207582321215 ], "eef_pose_l": [ 458.76691098788325, 350.2296674701546, 118.39497833183222, 1.6595767948639095, -0.07420058395392297, 0.8267350494542327 ], "eef_pose_r": [ 451.70151901744293, -393.9852404340993, 104.38186502483798, 1.6951786019461992, 0.02385888526700722, 2.3668177997404496 ], "joint_status_l": { "velocity": [ -1.5539439535952049, -0.31834632719141, 0.20442899807682213, 2.8214122700465083, 5.510834780488749, -3.2531713720103106, -5.077954309203658 ], "torque": [ -28.54248046875, 6.65771484375, -11.56005859375, 0.323486328125, -0.4339599609375, -2.2723388671875, -0.70953369140625 ] }, "joint_status_r": { "velocity": [ 1.5815701543213656, -1.058406391058142, -0.9018217804432904, 2.286157211024431, -2.6708538190952646, 4.03035436535415, 1.525463022477469 ], "torque": [ 27.4365234375, 5.9912109375, 10.406494140625, 0.4638671875, 1.9482421875, 2.105712890625, 0.37353515625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.7, -8.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -16.7, -8.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.2, 0.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.2, 0.8, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -389, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -196, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.33058056485166876, -0.2926664596015031, -0.12658857065422166, -1.4741158540443353, -0.03177114936389399, -0.5583642540799276, 0.28804797176510966 ], "act_joint_pos_r": [ -0.46028023019342523, -0.29911864948595285, 0.26554946248794914, -1.284636493147795, -0.06785868980010701, 0.817304952202579, -0.18571752853598925 ], "act_eef_pose_l": [ 460.2758875079824, 356.6558907697837, 120.65963144788797, 1.6821871612816823, -0.09044735078322454, 0.8031374016548193 ], "act_eef_pose_r": [ 449.3070644042035, -390.6475481268787, 102.25614334692, 1.7034537569730603, 0.027314246692445192, 2.4036772508195012 ], "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": [ 0.35378902065094586, -0.2909134787485421, -0.12850835868603377, -1.511364101600276, -0.11177988358670642, -0.5133773703789332, 0.3566839839184716 ], "joint_pos_r": [ -0.4676743761635731, -0.2912980652220087, 0.2721629723642653, -1.3014788164533195, -0.0511684752684513, 0.7789310579711265, -0.19022880017925128 ], "eef_pose_l": [ 459.02840380296055, 351.0449414599671, 118.75239756760502, 1.6621084471779608, -0.07630575831257509, 0.8233915432309794 ], "eef_pose_r": [ 451.5106072315674, -393.57825102734677, 104.18650081594029, 1.6964598504749688, 0.02441461068426135, 2.3716919606317206 ], "joint_status_l": { "velocity": [ -2.5064393028464416, -0.1893163485324756, 0.2073309925350042, 4.0226920930823695, 8.64068845258037, -4.858440147674781, -7.412470693426432 ], "torque": [ -31.38427734375, 6.13037109375, -11.041259765625, 0.286865234375, -0.556640625, -2.882080078125, -0.85784912109375 ] }, "joint_status_r": { "velocity": [ 0.7985442129734288, -0.8445981904139366, -0.7142380013185345, 1.8189172709011103, -1.8024900078176809, 4.144258348629748, 0.48720296818904885 ], "torque": [ 27.890625, 7.00927734375, 10.931396484375, -0.274658203125, 1.973876953125, 2.5177001953125, 0.6427001953125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -17.7, -7.8, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.0, -17.7, -7.8, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.3, 1.1, 0.9, 0.1, 0.0 ], "actual_contact_FT": [ -3.0, -17.3, 1.1, 0.9, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -187, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.31824371497226717, -0.29463270948512404, -0.12529987859567532, -1.4558221040414663, -0.008409918037556419, -0.5664092536963502, 0.2777874153444216 ], "act_joint_pos_r": [ -0.4616987515213365, -0.29631978599672887, 0.26927615102311087, -1.3052897798247103, -0.07589935837922779, 0.8091029911091605, -0.18443158011301128 ], "act_eef_pose_l": [ 463.2326875079824, 361.26629076978367, 122.64923144788808, 1.6879346353405802, -0.10830369892333355, 0.8073037059316234 ], "act_eef_pose_r": [ 447.0886644042035, -385.5291481268787, 103.06414334691976, 1.7050866565422618, 0.032615875589847694, 2.414317473860611 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 7, "colors": { "rgb_main": "colors/000007_rgb_main.jpg", "rgb_wrist_0": "colors/000007_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000007_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000007_depth_main.npz" }, "states": { "joint_pos_l": [ 0.3485815337832446, -0.29142353781363095, -0.12804733483661848, -1.5031763450167934, -0.0959906735169662, -0.5216808247250402, 0.3442427134618561 ], "joint_pos_r": [ -0.4664366783587896, -0.2924606139696273, 0.2713333038308211, -1.3006255680303862, -0.05523087641625368, 0.7852596144023841, -0.18923089251426473 ], "eef_pose_l": [ 459.59988520810055, 352.4288923579914, 119.39982358820254, 1.6653707420992476, -0.08096182493490701, 0.8204135073596561 ], "eef_pose_r": [ 450.86119852901106, -392.4287807114456, 103.92489902441956, 1.697891913645578, 0.025610087761292148, 2.378936391041326 ], "joint_status_l": { "velocity": [ -3.276387799692859, -0.34658031868106676, 0.29671652283580485, 5.114107192808248, 9.458442629922569, -4.830527860097522, -7.176960523547216 ], "torque": [ -30.1611328125, 5.98388671875, -11.19384765625, 0.6103515625, -0.6317138671875, -2.9718017578125, -0.73333740234375 ] }, "joint_status_r": { "velocity": [ 0.5116810072203215, -0.4167782867083858, -0.22216595079838086, -0.5037200173596545, -2.2321302188394454, 2.5750087385079112, 0.5183104525856574 ], "torque": [ 28.2275390625, 7.001953125, 10.16845703125, -3.265380859375, 1.746826171875, 1.89697265625, 0.66741943359375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.1, -8.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.0, -17.1, -8.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.2, 0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.2, 0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -366, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 699, "motor_current": 312, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.31471630595262895, -0.29670214227382574, -0.12434448138153567, -1.447076294354891, -0.00897518416022679, -0.5721082537270692, 0.27831167980156946 ], "act_joint_pos_r": [ -0.4522131131946381, -0.3024439565240477, 0.26498006642617183, -1.2999994281699685, -0.08591714122370896, 0.8291641239554924, -0.1862121024137688 ], "act_eef_pose_l": [ 464.5198875079824, 362.7334907697837, 123.63803144788794, 1.6859201231401932, -0.11027254735940795, 0.8085056996749023 ], "act_eef_pose_r": [ 446.1798644042035, -381.86594812687866, 104.04814334691991, 1.7057561479317354, 0.041748576876515044, 2.437114628124294 ], "act_grip_l": false, "act_grip_r": true } }, { "idx": 8, "colors": { "rgb_main": "colors/000008_rgb_main.jpg", "rgb_wrist_0": "colors/000008_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000008_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000008_depth_main.npz" }, "states": { "joint_pos_l": [ 0.34319609506396614, -0.2921846313083994, -0.12748785612484476, -1.4944046267884674, -0.08165659199035759, -0.5296770611021906, 0.33337693185939266 ], "joint_pos_r": [ -0.4645873990731721, -0.29378611254569137, 0.2705103351880234, -1.3007953644799086, -0.05975911335922415, 0.7914431092042834, -0.18864282710137056 ], "eef_pose_l": [ 460.377668556172, 353.99720810089354, 120.1317806684697, 1.6682699688806455, -0.08596360407783427, 0.818296372337595 ], "eef_pose_r": [ 450.1639793128288, -390.85248349271296, 103.9130068040046, 1.6990284257069985, 0.027837581534770343, 2.3873213438773533 ], "joint_status_l": { "velocity": [ -3.075726510320287, -0.4878767951090879, 0.339474460013367, 5.111309152821875, 7.849360541139938, -4.582433651830531, -5.94687182863618 ], "torque": [ -28.8134765625, 4.6875, -10.77880859375, 0.146484375, -0.809326171875, -2.728271484375, -0.72418212890625 ] }, "joint_status_r": { "velocity": [ 1.3363834603588032, -0.9350195727342303, -0.5972514112912997, 0.08595858625959352, -2.824983690924099, 4.073749444312824, 0.2625105239271175 ], "torque": [ 28.10302734375, 5.26611328125, 10.11962890625, -1.055908203125, 2.0489501953125, 2.1771240234375, 0.7598876953125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.1, -16.8, -8.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.4, 0.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.4, 0.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -368, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 684, "motor_current": 1236, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30769024450834254, -0.29822900674011693, -0.1238197001458183, -1.4452158822985401, 0.0017783381085540529, -0.5618114164504451, 0.27621147971209836 ], "act_joint_pos_r": [ -0.44367168580256505, -0.30730536387948537, 0.26251266629311365, -1.304794269058052, -0.08319529947053805, 0.8545993940938056, -0.19753035764069465 ], "act_eef_pose_l": [ 466.8110875079824, 364.20629076978366, 125.05883144788804, 1.6887184932929962, -0.1226217044263419, 0.816885351751207 ], "act_eef_pose_r": [ 443.08466440420347, -374.53554812687867, 108.01134334691983, 1.694107329158334, 0.05158801260171671, 2.4718520641074173 ], "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": [ 0.337367788309759, -0.2931556609229302, -0.1268728632476619, -1.4858266455766596, -0.06759245024108662, -0.5360173284871544, 0.32340393985519567 ], "joint_pos_r": [ -0.46158928540243777, -0.29575799664955643, 0.26932275639773934, -1.3012055796457103, -0.0637522308393139, 0.8005144558046763, -0.18952041117367407 ], "eef_pose_l": [ 461.3941146421888, 355.6607168112255, 120.96251394702527, 1.6712985267525382, -0.09187769399526978, 0.8173991767113017 ], "eef_pose_r": [ 449.21700968094314, -388.4929940177456, 104.40428981512974, 1.69864721777929, 0.031216487748446, 2.399428828487053 ], "joint_status_l": { "velocity": [ -3.2050802017651314, -0.54790518865655, 0.32973189007690085, 4.385833080803536, 7.491824182218165, -2.7856793408145286, -5.096635378229575 ], "torque": [ -28.98193359375, 5.09765625, -11.02294921875, 0.555419921875, -0.6170654296875, -2.7410888671875, -0.58319091796875 ] }, "joint_status_r": { "velocity": [ 1.9350436857235032, -1.247078880207031, -0.7354680398292679, -0.38756702585374114, -2.099789482191805, 5.841001064107232, -0.865048705190441 ], "torque": [ 28.88671875, 6.23291015625, 9.954833984375, -4.254150390625, 1.900634765625, 2.4041748046875, -0.318603515625 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.0, -7.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -17.0, -7.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.6, 0.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.0, -17.6, 0.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -349, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 605, "motor_current": 1591, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30913110765250107, -0.3069964849377119, -0.12021801986904648, -1.4156650813765586, -0.011128042124183299, -0.5794701964954354, 0.28978398466941385 ], "act_joint_pos_r": [ -0.4297141291003475, -0.3157602840830855, 0.2579109532584035, -1.3075889246588706, -0.10925197392110107, 0.881138937401288, -0.17914182423425998 ], "act_eef_pose_l": [ 470.44628750798245, 368.6046907697837, 123.12363144788814, 1.6861020679203984, -0.12242474016248779, 0.8209832867358952 ], "act_eef_pose_r": [ 439.9894644042035, -366.3755481268787, 108.83694334691995, 1.7020130582917092, 0.05238223350346139, 2.5118113287026387 ], "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": [ 0.33228314013220006, -0.2950420181081254, -0.1259266145722484, -1.475311725407736, -0.05678350404593742, -0.5425706066861608, 0.3165914759344381 ], "joint_pos_r": [ -0.45703301195197366, -0.29864063860720313, 0.26766096489461316, -1.3021180610900085, -0.06978166123986095, 0.8127168886432076, -0.1891076178437665 ], "eef_pose_l": [ 462.801338432207, 357.63809586627684, 121.49364732807884, 1.6737824876893745, -0.09747281437130711, 0.8177270613238834 ], "eef_pose_r": [ 447.92496802777146, -385.11130206538786, 105.17132913882854, 1.6982650155444052, 0.034888625883398396, 2.4162111704538005 ], "joint_status_l": { "velocity": [ -2.500345764051559, -1.2910443402778249, 0.6165100449539995, 6.441647569127795, 4.930644465964306, -3.985038166983479, -2.895123669514277 ], "torque": [ -28.9013671875, 3.2666015625, -10.46142578125, 0.238037109375, -0.809326171875, -2.5927734375, -0.68023681640625 ] }, "joint_status_r": { "velocity": [ 2.950352331985151, -1.8488671819723024, -1.0529702010146913, -0.5908358396649049, -4.262668048900076, 7.389363328250909, 1.0762739668228605 ], "torque": [ 27.92724609375, 5.01708984375, 10.064697265625, -5.096435546875, 1.717529296875, 2.42431640625, 0.413818359375 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.7, -8.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.7, -8.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.1, -0.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.8, -17.1, -0.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 459, "motor_current": 2570, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3072023182981998, -0.3238232738999253, -0.11523070210059622, -1.3988890339313853, -0.022321636970292175, -0.5822095876625463, 0.30211186937701523 ], "act_joint_pos_r": [ -0.42025919152316016, -0.3364002460733224, 0.24584695000789675, -1.292431142929434, -0.10662088602904739, 0.9219897309239921, -0.1794189336449485 ], "act_eef_pose_l": [ 475.15988750798243, 366.48869076978366, 121.81083144788799, 1.681848611149042, -0.12268594698524371, 0.8194757079171502 ], "act_eef_pose_r": [ 438.5030644042034, -357.2931481268787, 107.87854334691997, 1.694564871673126, 0.0421064343778403, 2.5567370036957198 ], "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": [ 0.3282852065419924, -0.298680956679933, -0.12449208365277448, -1.4638374623405295, -0.050391332210283454, -0.5489092012607968, 0.3134106449448908 ], "joint_pos_r": [ -0.45268613075851893, -0.30221973585914486, 0.2656046294985999, -1.3019977221365486, -0.07511533358678275, 0.8246017150749794, -0.18773842711638125 ], "eef_pose_l": [ 464.56385803864043, 359.2282546770109, 121.63308046434747, 1.6751859894565635, -0.10169640965417573, 0.8181248387961596 ], "eef_pose_r": [ 446.8509825757175, -381.86416117869646, 105.65806488311128, 1.6979987919228123, 0.03670199006469478, 2.4320927441220754 ], "joint_status_l": { "velocity": [ -2.276884777202781, -2.715290176555918, 1.0001997083217695, 7.014223394728347, 3.031437678443938, -3.596335663138106, -1.2202317725185097 ], "torque": [ -30.78369140625, 1.5234375, -10.699462890625, -0.62255859375, -0.9063720703125, -2.81982421875, -0.560302734375 ] }, "joint_status_r": { "velocity": [ 3.5020061512684997, -3.6913862315137713, -2.1337664529184064, 1.033160082942075, -3.4024993124115444, 10.517595511794653, 0.8984787956991536 ], "torque": [ 29.46533203125, 2.4755859375, 8.685302734375, -1.348876953125, 2.3126220703125, 3.607177734375, 0.7965087890625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.9, -11.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.6, -16.9, -11.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -18.2, 0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -18.2, 0.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 325, "motor_current": 3207, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30651819361545607, -0.3468502475564506, -0.10886155021346229, -1.3639354917651754, -0.05295845926964577, -0.6065730619744472, 0.3345670719071861 ], "act_joint_pos_r": [ -0.40807489461920404, -0.3573686972350508, 0.23514883124654018, -1.2774764126846663, -0.12167104461692403, 0.958130144743154, -0.1646324990111236 ], "act_eef_pose_l": [ 481.0390875079824, 365.0918907697837, 121.2524314478881, 1.6664721351671958, -0.12482436244542945, 0.8118003062012945 ], "act_eef_pose_r": [ 437.4510644042035, -348.8387481268787, 105.80414334691977, 1.6992344996615, 0.03103420861923109, 2.5993300638783294 ], "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": [ 0.32447136009004457, -0.3060282284848676, -0.12205194207965797, -1.4479491287906847, -0.049289279049086254, -0.5578673163887202, 0.3155029867727967 ], "joint_pos_r": [ -0.4449536755689791, -0.31117852396123546, 0.26056758390928475, -1.2985865599679447, -0.08294756606344984, 0.8477796093870243, -0.18459477360744178 ], "eef_pose_l": [ 467.2244089320798, 360.37217492458046, 121.5559094447037, 1.6743510763932146, -0.10560605624533742, 0.8174054835351452 ], "eef_pose_r": [ 445.3071545955546, -375.8558040722106, 105.91618003467578, 1.6971697311202687, 0.03664006636211285, 2.461317870408277 ], "joint_status_l": { "velocity": [ -1.9388847949053378, -4.40864803360741, 1.4245203075684554, 9.073205198872003, -0.3962597767629972, -5.260065385922275, 2.058860471670254 ], "torque": [ -31.06201171875, 2.08740234375, -10.53466796875, -0.372314453125, -3.2940673828125, -3.31787109375, 0.4522705078125 ] }, "joint_status_r": { "velocity": [ 3.982790876437825, -4.9883915888262464, -2.745144323872406, 2.2798286666425582, -4.182012341914176, 11.91750633040023, 2.155862072649395 ], "torque": [ 28.90869140625, 2.57080078125, 10.162353515625, -0.408935546875, 1.85302734375, 2.724609375, 0.7415771484375 ] }, "eef_FT_l": { "raw_value": [ 1.1, -16.8, -10.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 1.1, -16.8, -10.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.5, 0.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.0, -17.5, 0.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -368, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 75, "motor_current": -91, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.311187780430993, -0.3568557904507455, -0.10636636102668405, -1.342356966784679, -0.08155401439687086, -0.6238025307370484, 0.3617249622993617 ], "act_joint_pos_r": [ -0.4051324204089473, -0.3690831657837217, 0.22988840007180145, -1.265498566788332, -0.1272614236197045, 0.9759808091533031, -0.15816619499692422 ], "act_eef_pose_l": [ 483.66548750798245, 366.1214907697837, 120.54203144788794, 1.653702116595975, -0.12391572762390939, 0.8112570794632801 ], "act_eef_pose_r": [ 437.51026440420344, -345.6491481268787, 103.40894334691984, 1.702303153326198, 0.022500809748204356, 2.6169117914268254 ], "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": [ 0.3219844046492025, -0.31373438139249815, -0.11963531867415014, -1.4319913663131005, -0.05273673785583968, -0.5675880464196894, 0.32133829853595197 ], "joint_pos_r": [ -0.43965636016591153, -0.31827990662437844, 0.2567285718652791, -1.2949561173767736, -0.08865517253122755, 0.8641561656146641, -0.18144416538469504 ], "eef_pose_l": [ 469.8009876426568, 361.2855657265509, 121.3760381718717, 1.6718775655075413, -0.10847799359044365, 0.8163614628496592 ], "eef_pose_r": [ 444.3877739611891, -371.7562046892503, 105.76533774918164, 1.6971991789243774, 0.03538171184714401, 2.4814662214532266 ], "joint_status_l": { "velocity": [ -1.1660010262044551, -4.6569748281601875, 1.4330051616983086, 9.680229645958605, -3.11217407776343, -6.0709852521361185, 4.361631047016701 ], "torque": [ -32.1826171875, 2.13134765625, -10.528564453125, -0.7080078125, -4.178466796875, -2.713623046875, 0.596923828125 ] }, "joint_status_r": { "velocity": [ 3.7284755282449566, -5.486590170881822, -2.8986530624934836, 3.181321635485901, -4.16935214908698, 12.076705318788683, 2.5139466569858993 ], "torque": [ 30.81298828125, 1.79443359375, 9.814453125, 1.519775390625, 2.2393798828125, 2.6220703125, 0.76171875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -17.1, -9.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.5, -17.1, -9.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.8, 0.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -17.8, 0.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -389, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30840467255144144, -0.37700244754836093, -0.10196356373335683, -1.3139913199826383, -0.06349853061635838, -0.6452707368949373, 0.35205979068336835 ], "act_joint_pos_r": [ -0.401040588919229, -0.3936888365957811, 0.21938892302180263, -1.2421598782341283, -0.13413710929991396, 1.0040013226821374, -0.1510958171166676 ], "act_eef_pose_l": [ 487.51268750798243, 363.43909076978366, 116.74683144788791, 1.6619408123503547, -0.12601076854956253, 0.7945846040823572 ], "act_eef_pose_r": [ 438.7486644042035, -339.29554812687866, 98.38574334691998, 1.7064218681453265, 0.008037169416498851, 2.646176338500535 ], "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": [ 0.3197614169696441, -0.32363201470230235, -0.11679243133308453, -1.4129423912511048, -0.05579444284858474, -0.579949772835703, 0.32738835496642177 ], "joint_pos_r": [ -0.4318426793624329, -0.33187514294130654, 0.2498281091066997, -1.2860494653172378, -0.09765232825119836, 0.8911313770496451, -0.1756892302840556 ], "eef_pose_l": [ 472.7492260516687, 361.89913558427327, 120.74368280429435, 1.6696459726000228, -0.11122832652284075, 0.813540788039275 ], "eef_pose_r": [ 443.32158795989295, -365.26925700809454, 104.66572442144783, 1.6981811496577461, 0.031101072876980003, 2.5135131642152477 ], "joint_status_l": { "velocity": [ -1.2264922237115172, -5.763836752096019, 1.6014704679239156, 10.686400518459038, -0.8320169398916, -7.054456058336989, 2.664436474076659 ], "torque": [ -31.25244140625, 2.724609375, -10.09521484375, -0.0244140625, -4.105224609375, -3.0633544921875, 0.6298828125 ] }, "joint_status_r": { "velocity": [ 3.326527657177447, -6.675682025966356, -3.2873351424016484, 4.73993560804864, -3.9402401420901567, 12.189594615433563, 2.656010287241717 ], "torque": [ 27.4951171875, 3.4130859375, 9.686279296875, -0.421142578125, 1.8878173828125, 2.3968505859375, 0.8001708984375 ] }, "eef_FT_l": { "raw_value": [ -1.6, -15.9, -12.0, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.6, -15.9, -12.0, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -16.2, -2.3, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -16.2, -2.3, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -374, "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": [ 0.3147127864089876, -0.38793328721867726, -0.10013108709267267, -1.3038085434234132, -0.08247583791238057, -0.654358135780191, 0.36037739461011326 ], "act_joint_pos_r": [ -0.40097252725449994, -0.41301351390847274, 0.2125816224426829, -1.223389996038962, -0.13487095380545533, 1.032854304360113, -0.1515142838901614 ], "act_eef_pose_l": [ 489.07428750798243, 360.7494907697837, 114.65003144788788, 1.654147660635223, -0.11260758099456598, 0.7892962607440595 ], "act_eef_pose_r": [ 438.3646644042035, -333.76514812687867, 94.6161433469199, 1.7051767546529681, -0.002527537308037952, 2.6751626467684084 ], "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": [ 0.3185484084176513, -0.3344458790935499, -0.11393963102341205, -1.3941637589884481, -0.05954814317683977, -0.5926442780411084, 0.33279867093879806 ], "joint_pos_r": [ -0.42795603968346124, -0.34105835375210036, 0.24550129234837859, -1.279165082883966, -0.10230311446241507, 0.9074357917855818, -0.17262009832459377 ], "eef_pose_l": [ 475.61681998065694, 361.9009781007325, 119.71785120319686, 1.667417933231894, -0.11190219085257372, 0.8094746834135275 ], "eef_pose_r": [ 442.88759693369315, -361.48206427400834, 103.55611247123863, 1.698888857158455, 0.027494083723790298, 2.5322471750452937 ], "joint_status_l": { "velocity": [ -0.4142349597286987, -5.7764697096462925, 1.4912787616039314, 9.758075481972384, -2.476118002241623, -6.664900065101342, 2.9784143128677165 ], "torque": [ -32.51220703125, 3.4716796875, -10.955810546875, -0.32958984375, -4.3048095703125, -2.7301025390625, 0.5255126953125 ] }, "joint_status_r": { "velocity": [ 2.9141333945581493, -7.770928105614416, -3.555219494221218, 6.023531724689946, -3.5172229141035016, 13.5447998755307, 2.279360732767355 ], "torque": [ 28.52783203125, 5.5517578125, 9.552001953125, -0.74462890625, 2.3382568359375, 2.310791015625, 0.772705078125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.4, -8.2, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.4, -8.2, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.2, 1.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.4, -17.2, 1.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "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": [ 0.32025977371930087, -0.39521167777789123, -0.09906081835778059, -1.2954538488213023, -0.10374974592061775, -0.6556215640133507, 0.3781679204804692 ], "act_joint_pos_r": [ -0.40431910343456456, -0.42653393820466384, 0.208525456594216, -1.2148026974361947, -0.13059812538275084, 1.0534690131342723, -0.15590742822549528 ], "act_eef_pose_l": [ 491.1270875079824, 360.39829076978367, 113.366031447888, 1.6461250307559914, -0.1089770058927807, 0.7932837803670982 ], "act_eef_pose_r": [ 436.9062644042035, -328.3987481268787, 91.94974334691983, 1.6998546891348407, -0.010774633418611988, 2.699803545668273 ], "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": [ 0.3185179120610189, -0.34328895142816657, -0.111737107406622, -1.379617279835573, -0.06514446815654987, -0.6021378055585281, 0.33875452394715994 ], "joint_pos_r": [ -0.42371454490579513, -0.353673115457687, 0.23985374921653072, -1.2694969126465563, -0.10740882222233097, 0.9292519266398693, -0.16940568553622887 ], "eef_pose_l": [ 477.9025906863964, 361.73696720109234, 118.7728418866694, 1.664789727315932, -0.1113949373775306, 0.8067033539488448 ], "eef_pose_r": [ 442.2795582983031, -356.47086614751555, 101.8520290943336, 1.699461785684281, 0.022118798174068772, 2.5570725294141736 ], "joint_status_l": { "velocity": [ 0.18811551092356993, -5.607489061720816, 1.3689988408124298, 9.089382472536656, -4.1692470331510245, -5.776075556878979, 4.256521286212678 ], "torque": [ -23.5546875, 4.06494140625, -10.7177734375, 0.506591796875, -4.43115234375, -2.677001953125, 0.58135986328125 ] }, "joint_status_r": { "velocity": [ 2.094645900614367, -7.868736780687335, -3.3833558164644284, 5.906801030935327, -2.504370878854467, 13.41504968565399, 1.4577687949670626 ], "torque": [ 28.828125, 2.71728515625, 9.60693359375, 0.714111328125, 2.464599609375, 2.991943359375, 0.79010009765625 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -9.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -16.6, -9.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.7, 1.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.7, 1.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -333, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -238, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3243808260955294, -0.3993261755946215, -0.09874557204255845, -1.2982755405039603, -0.12824393937097323, -0.6365207410654249, 0.40921587117403985 ], "act_joint_pos_r": [ -0.40593433327461037, -0.4408684145736473, 0.2043610572840096, -1.2008025228893437, -0.13415116764997848, 1.0780296230248427, -0.15627565574856728 ], "act_eef_pose_l": [ 493.96868750798245, 360.47829076978365, 112.98603144788812, 1.6391113377800794, -0.11780049752426001, 0.8089446990368269 ], "act_eef_pose_r": [ 435.6494644042035, -324.1595481268787, 88.44414334691987, 1.7005498669174302, -0.018331107034513856, 2.7248344470133805 ], "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": [ 0.3192357891564283, -0.35287857532021183, -0.10946447689473368, -1.365017137807046, -0.07440652573860573, -0.6096943164620121, 0.34881133451486934 ], "joint_pos_r": [ -0.42037912845559333, -0.367388494802347, 0.23407265135490107, -1.2590129684478517, -0.11171535249627002, 0.9526417635890602, -0.1670404777863244 ], "eef_pose_l": [ 480.5494830003173, 361.5416067694546, 117.74510270153634, 1.6609576480998753, -0.11159059097905573, 0.8056935633985499 ], "eef_pose_r": [ 441.4895124097042, -351.1107496887741, 99.79678516903529, 1.6995935679582699, 0.01586890020007339, 2.583657122528768 ], "joint_status_l": { "velocity": [ 0.5556476014727529, -5.016192884935489, 1.1576075822242737, 7.207879923679883, -5.81426918959238, -2.8971684097536254, 6.5234975589145705 ], "torque": [ -18.45703125, 2.05078125, -10.455322265625, 1.019287109375, -4.3707275390625, -2.5634765625, 0.56304931640625 ] }, "joint_status_r": { "velocity": [ 1.5599918700455184, -7.935597287369145, -3.208757522412009, 6.2865427086542525, -2.422996574136471, 13.541489434182097, 1.1625664920118517 ], "torque": [ 30.63720703125, 3.14208984375, 8.9599609375, 2.728271484375, 2.435302734375, 3.0633544921875, 0.79376220703125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.2, -8.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -16.2, -8.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.8, 1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.8, 1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -333, "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": [ 0.32605954836592044, -0.4009887747978919, -0.09870775044097338, -1.2977184642238493, -0.13771473974396053, -0.6353631566439233, 0.4202017974927309 ], "act_joint_pos_r": [ -0.4097595220095869, -0.44615395476582415, 0.20346714752210132, -1.1970605279133573, -0.1344019957877678, 1.0849097638423253, -0.15962652923394421 ], "act_eef_pose_l": [ 494.51828750798245, 360.2134907697837, 113.06283144788794, 1.6350575976629451, -0.11990419690789315, 0.810904641046257 ], "act_eef_pose_r": [ 434.9678644042035, -322.3491481268787, 86.19294334691995, 1.700687349368634, -0.02068640316958944, 2.7334052960595843 ], "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": [ 0.3203349067020635, -0.3612785139211467, -0.10756501650689129, -1.3531538002480004, -0.08499414493228481, -0.6143068287668972, 0.36073104735878364 ], "joint_pos_r": [ -0.4181009700267087, -0.38076145905233666, 0.22875493928136945, -1.2484510679179626, -0.11570027838032555, 0.9753074614543107, -0.1653787705877858 ], "eef_pose_l": [ 482.99658448704525, 361.33909969175613, 116.89708894527769, 1.656738086842587, -0.11273588315649644, 0.8062639559934927 ], "eef_pose_r": [ 440.6224122744866, -346.0776554536335, 97.53048021937688, 1.6998847425618344, 0.00968918911199151, 2.6091483671805578 ], "joint_status_l": { "velocity": [ 0.6182430655923277, -4.288581689732673, 0.9565565229925355, 5.98683971820968, -5.693656314244233, -2.2740163421923754, 6.422651588482875 ], "torque": [ -18.80859375, 1.00341796875, -10.003662109375, 0.653076171875, -4.368896484375, -2.7099609375, 0.4998779296875 ] }, "joint_status_r": { "velocity": [ 0.9008498167042411, -7.062181249154698, -2.73100096343315, 5.5500146315647925, -2.0197259113721167, 11.83669955311295, 0.621223744199817 ], "torque": [ 28.7109375, 3.896484375, 9.68017578125, 0.103759765625, 2.640380859375, 2.354736328125, 0.66009521484375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.5, -8.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.5, -16.5, -8.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.4, 1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -17.4, 1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -374, "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": [ 0.3296297901876043, -0.40513535658088695, -0.09824802010908668, -1.2982668420684602, -0.16815150964099046, -0.6249877073208127, 0.4508855908237927 ], "act_joint_pos_r": [ -0.4192504387819236, -0.45637647830717243, 0.2013629427963066, -1.1961879797700772, -0.12911672886704917, 1.0892133014708694, -0.17529629534689803 ], "act_eef_pose_l": [ 496.7846875079824, 360.09429076978364, 113.76843144788795, 1.6231749508705162, -0.12331748345087107, 0.8228528856911548 ], "act_eef_pose_r": [ 433.93586440420347, -317.55234812687866, 81.95934334691992, 1.6968864110318964, -0.01977532268462992, 2.747380196184678 ], "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": [ 0.32131375654978234, -0.36658184496231316, -0.10641566127168828, -1.3462072830408498, -0.09383262912255606, -0.6162122953141271, 0.3704380085319182 ], "joint_pos_r": [ -0.41744126742582766, -0.39320137225863183, 0.22410312367490254, -1.239289848859277, -0.11855296955611486, 0.9950556829652549, -0.16570753727257553 ], "eef_pose_l": [ 484.6149535302865, 361.18350567491484, 116.46801797183309, 1.6531622490807487, -0.11378983963605362, 0.8074988568334677 ], "eef_pose_r": [ 439.72076470846173, -341.3624999241168, 95.06820312015175, 1.6999596187411072, 0.004406000318662508, 2.632256576254058 ], "joint_status_l": { "velocity": [ 0.898105144689243, -4.163656454323039, 0.8820792300247016, 5.177414925327639, -8.026202375805426, -0.947716545316446, 8.688082646221673 ], "torque": [ -19.53369140625, 2.38037109375, -10.97412109375, 0.225830078125, -4.8468017578125, -2.2723388671875, 1.2213134765625 ] }, "joint_status_r": { "velocity": [ -0.19538474389335647, -6.822710228160389, -2.4558671029599743, 4.65486457374098, -1.1408523579391483, 10.168722888155735, -1.035555329954807 ], "torque": [ 22.587890625, 4.53369140625, 9.442138671875, 0.103759765625, 2.4700927734375, 2.0965576171875, -0.465087890625 ] }, "eef_FT_l": { "raw_value": [ -1.6, -17.7, -8.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.6, -17.7, -8.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.1, -1.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.1, -1.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -335, "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": [ 0.3313778118067234, -0.4152299138407927, -0.0965876329527251, -1.289677342891245, -0.1930150225339213, -0.6223975869578535, 0.4778837744009854 ], "act_joint_pos_r": [ -0.4347858911945183, -0.46604686018508296, 0.19973294961233454, -1.2020180802928249, -0.1170495633699149, 1.0840429937363083, -0.2007415347510089 ], "act_eef_pose_l": [ 500.20148750798245, 359.20469076978367, 113.92123144788802, 1.612545903477896, -0.12766033633768664, 0.829695688221733 ], "act_eef_pose_r": [ 432.69906440420345, -311.6643481268787, 76.63374334692003, 1.689273287707889, -0.01628145405940995, 2.757483063804142 ], "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": [ 0.3229101366249446, -0.37412626516445574, -0.10485183683167494, -1.3371116921325952, -0.1087655347503777, -0.6175771097245658, 0.3866084336460818 ], "joint_pos_r": [ -0.4197843387266196, -0.4078733246549585, 0.21905513886593653, -1.2308459327085695, -0.1192818198375716, 1.0144551786302285, -0.17095613661160458 ], "eef_pose_l": [ 487.01327557716473, 360.90493523716134, 116.0223566093407, 1.6470407437956045, -0.11569355086527465, 0.8103403538566626 ], "eef_pose_r": [ 438.54913871003, -335.4559826687412, 91.47898020426496, 1.698932327473972, -0.0003840035631946472, 2.65804042664997 ], "joint_status_l": { "velocity": [ 0.9144819484285804, -4.4390631338750985, 0.8925076958192779, 5.122758630376367, -9.09867632950878, -0.5205961870311526, 9.857446071698028 ], "torque": [ -19.2333984375, 3.69140625, -10.4736328125, 0.140380859375, -4.5904541015625, -2.7667236328125, 1.109619140625 ] }, "joint_status_r": { "velocity": [ -1.6201198836509612, -6.282556543153017, -2.0867348944333397, 3.1133162385454938, 0.24107658833305567, 7.515262380640486, -3.2167281267307946 ], "torque": [ 19.6728515625, 4.3505859375, 9.100341796875, 0.384521484375, 4.595947265625, 2.3638916015625, -0.8038330078125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -17.0, -9.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.4, -17.0, -9.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.2, -17.1, 0.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.2, -17.1, 0.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -146, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.33248621253132243, -0.4253364597349293, -0.09487830307905798, -1.2749437313896546, -0.20822775343805747, -0.6279892071175359, 0.49341971073831276 ], "act_joint_pos_r": [ -0.45636329635858225, -0.4745622269824708, 0.19833895677507804, -1.2055170908294712, -0.09612116400528059, 1.068652613194145, -0.22693402066395307 ], "act_eef_pose_l": [ 503.3334875079824, 359.21429076978364, 113.51323144788812, 1.6052310476760132, -0.12933245648855182, 0.8328879901541735 ], "act_eef_pose_r": [ 433.0918644042035, -307.8339481268787, 69.67534334691982, 1.6796000660091952, -0.02033714646564498, 2.7517367206047614 ], "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": [ 0.32472309870161603, -0.38339680466636855, -0.10302001805745431, -1.3261079174378576, -0.12721990385283066, -0.6191026026444423, 0.40650773770654036 ], "joint_pos_r": [ -0.42515596096031094, -0.4192320159424034, 0.21546313999420058, -1.2261898773605333, -0.1162497053129602, 1.0248193671889452, -0.1795232674460211 ], "eef_pose_l": [ 489.97792249686273, 360.53573508920044, 115.58500455654482, 1.6393046518718757, -0.11815775907538076, 0.8140803134670666 ], "eef_pose_r": [ 437.7395225159044, -330.73025557826554, 87.87700474074839, 1.696639507968647, -0.0038147649957264488, 2.675028636778839 ], "joint_status_l": { "velocity": [ 0.8383915665706176, -4.529349161391583, 0.8792792847106545, 5.525569125255814, -8.748589729342893, -0.9597249775188388, 9.386216255780955 ], "torque": [ -18.80126953125, 3.017578125, -9.9853515625, -0.09765625, -4.903564453125, -2.9095458984375, 0.787353515625 ] }, "joint_status_r": { "velocity": [ -3.3702928215397776, -5.975486554771869, -1.849357243788985, 2.2325950984818377, 2.1738183478844375, 4.733850951090801, -5.120210335004982 ], "torque": [ 17.87109375, 4.921875, 9.24072265625, -0.6591796875, 5.306396484375, 2.2613525390625, -0.73333740234375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.6, -11.1, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -0.7, -16.6, -11.1, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.0, -16.9, -0.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -3.0, -16.9, -0.2, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -400, "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": [ 0.3360996573841629, -0.43740025697447427, -0.09318079785214069, -1.266680984530324, -0.2529905801838158, -0.6156516615704591, 0.5434417479871545 ], "act_joint_pos_r": [ -0.47829502580054545, -0.4798002171452399, 0.19843252134276534, -1.2249225086711433, -0.08538067221709644, 1.0337633251208782, -0.2345596087564555 ], "act_eef_pose_l": [ 508.56948750798244, 359.26949076978366, 113.98043144788794, 1.5888438611486078, -0.13900457018822157, 0.8522979671997541 ], "act_eef_pose_r": [ 433.0902644042035, -302.23714812687865, 61.73614334691979, 1.6799135403595389, -0.035724845670760216, 2.7392578084541523 ], "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": [ 0.32625985410265257, -0.39116130924133885, -0.10155916499037686, -1.3171010053688392, -0.1437646946075977, -0.6196739603688547, 0.4244023370941678 ], "joint_pos_r": [ -0.43314851848875136, -0.42960593201300923, 0.2124459985282877, -1.2247245170429073, -0.11147882257224045, 1.0286324478184483, -0.18876638008624336 ], "eef_pose_l": [ 492.55357672387777, 360.28544666460755, 115.32048006002621, 1.6323651046269456, -0.12064662158524077, 0.8180973876170002 ], "eef_pose_r": [ 437.1084398467521, -326.0438886092327, 83.69439645463618, 1.6941730263595158, -0.008469148388902918, 2.6873692979490653 ], "joint_status_l": { "velocity": [ 1.062667412703, -4.99365907507654, 0.904836964189748, 5.445201652923615, -11.796047736400306, 0.43439545841739147, 12.855877212611944 ], "torque": [ -18.6328125, 2.90771484375, -9.979248046875, 1.312255859375, -4.38720703125, -1.175537109375, 1.46209716796875 ] }, "joint_status_r": { "velocity": [ -4.875678989208598, -5.420822915655155, -1.5134109003680507, -0.021382465206443158, 2.8185171106368534, 0.5541184058133197, -4.945522835983596 ], "torque": [ 17.80517578125, 4.1748046875, 8.92333984375, -1.849365234375, 5.343017578125, 1.995849609375, -0.78826904296875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -16.7, -9.2, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -1.9, -16.7, -9.2, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.0, -16.3, -0.3, 0.9, 0.1, 0.0 ], "actual_contact_FT": [ -3.0, -16.3, -0.3, 0.9, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.33068457982588206, -0.45173132682104067, -0.0910771333561182, -1.2504089372087384, -0.26326217397413326, -0.6168864734111289, 0.5518215857329303 ], "act_joint_pos_r": [ -0.4830060039104125, -0.4843847021688337, 0.19880860018330715, -1.2493871511805226, -0.10303527714765881, 0.9932213464300883, -0.2527335647402512 ], "act_eef_pose_l": [ 513.4902875079824, 358.14709076978363, 115.57003144788796, 1.5807815454553127, -0.14105717079975413, 0.8565590987404373 ], "act_eef_pose_r": [ 434.15746440420344, -295.88114812687866, 56.864943346919745, 1.6970095101845075, -0.009929281313215467, 2.734409005868503 ], "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": [ 0.3276091774854664, -0.4003700391250957, -0.09992612135502324, -1.3070130787400032, -0.1638173493104403, -0.6190518162187237, 0.4460537066565516 ], "joint_pos_r": [ -0.441038972134914, -0.438313635131128, 0.21017965499157157, -1.2271904465722565, -0.10894442722746148, 1.0254434239850965, -0.19810224953237568 ], "eef_pose_l": [ 495.7482334043031, 359.98188039667724, 115.26003673629333, 1.6238184611193214, -0.12404671417672611, 0.8238853178587136 ], "eef_pose_r": [ 436.75994438096666, -321.51472890012906, 79.55529496695618, 1.693827962673065, -0.010313491589907763, 2.695504597775677 ], "joint_status_l": { "velocity": [ 0.3321336570061284, -5.546855475404566, 0.9556625181224021, 6.1130669901032775, -10.739724312441856, 0.23385012617982426, 11.42259404884527 ], "torque": [ -18.20068359375, 4.13818359375, -10.296630859375, 0.836181640625, -4.5703125, -1.138916015625, 0.76446533203125 ] }, "joint_status_r": { "velocity": [ -4.532305758540467, -4.975528494703063, -1.2280377002567011, -2.3971733968419784, 0.6381693868187099, -3.4798817423151718, -5.9000080310152025 ], "torque": [ 16.70654296875, 2.6806640625, 8.67919921875, -5.56640625, 5.4107666015625, 0.3387451171875, -0.838623046875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.3, -8.9, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -1.0, -16.3, -8.9, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.4, -15.7, 1.0, 0.9, 0.0, 0.0 ], "actual_contact_FT": [ -4.4, -15.7, 1.0, 0.9, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -326, "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": [ 0.3297624859578544, -0.4595063451648654, -0.09004329202616725, -1.2401907592554544, -0.26640239601856497, -0.6240608675116535, 0.5513875071606595 ], "act_joint_pos_r": [ -0.5017138885114112, -0.49263254645542853, 0.19674457750374827, -1.2445786116743625, -0.056288036615355086, 0.9977469537278238, -0.2623676871801901 ], "act_eef_pose_l": [ 515.2966875079824, 357.04469076978364, 115.65083144788814, 1.576783526198909, -0.1380763948447953, 0.8536892960919429 ], "act_eef_pose_r": [ 433.8886644042035, -293.2539481268787, 55.12494334691996, 1.6650416048682775, -0.0448795809870715, 2.7300837001977634 ], "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": [ 0.3280864498939096, -0.4100117390008417, -0.09828700411590395, -1.2962682421497715, -0.18162644584234328, -0.6191862517657044, 0.46472305904216615 ], "joint_pos_r": [ -0.4463263406574898, -0.44375565097990327, 0.20883564562393267, -1.2295533829326226, -0.10689905928441543, 1.0219408526466527, -0.2045511088995496 ], "eef_pose_l": [ 499.02847757590575, 359.5603940193365, 115.35305659464304, 1.6157470226295383, -0.12681672248474243, 0.8290088715254288 ], "eef_pose_r": [ 436.59032542779715, -318.55304727991756, 76.92354368608588, 1.6933716373551755, -0.011221148177781063, 2.699848012020083 ], "joint_status_l": { "velocity": [ 0.18100655640296281, -5.345259815703329, 0.890294647854617, 6.056189534824341, -9.15553259103219, -0.5264429739568754, 9.359484353561598 ], "torque": [ -19.1455078125, 3.08349609375, -9.735107421875, 0.28076171875, -4.8779296875, -2.2503662109375, 0.7305908203125 ] }, "joint_status_r": { "velocity": [ -5.981678748038899, -5.278549028874924, -1.3057968445608914, -1.6226768458125207, 5.465829242242148, -2.6128640209286402, -6.2440062971873544 ], "torque": [ 19.81201171875, 4.69482421875, 9.918212890625, -5.3466796875, 6.024169921875, -0.08056640625, -0.79925537109375 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.6, -9.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.3, -16.6, -9.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.8, 1.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.8, 1.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -286, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -169, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.32122768707465704, -0.4768017899175769, -0.08761053160161067, -1.2137075900755643, -0.22067042833465358, -0.6528424710100424, 0.4941984131578891 ], "act_joint_pos_r": [ -0.5194524346905949, -0.5059785395883724, 0.1933086925884727, -1.2355743987438423, -0.035474442638024684, 1.005020918936527, -0.2772097281255155 ], "act_eef_pose_l": [ 517.2342875079825, 352.35669076978365, 114.02043144788813, 1.588378001295184, -0.12216035556155677, 0.8243409699894301 ], "act_eef_pose_r": [ 432.92146440420345, -289.3579481268787, 48.70574334691992, 1.6527004292933316, -0.06213392188944505, 2.7363819702093575 ], "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": [ 0.3277466084833965, -0.4193954532354472, -0.09675637001403095, -1.2851398826848537, -0.19226586184882047, -0.6220628197987099, 0.47484685646215186 ], "joint_pos_r": [ -0.45782742402894355, -0.45377072932883744, 0.20635032688925523, -1.2318704754066714, -0.09612222591486125, 1.0177899972199342, -0.21634305379077504 ], "eef_pose_l": [ 502.0960342340479, 358.74633125977823, 115.25060853865916, 1.609831447826463, -0.12733265840112626, 0.8306498783014363 ], "eef_pose_r": [ 436.22117570694803, -313.525485635239, 72.42160739219088, 1.6874410771066901, -0.018353057585146385, 2.706328808123198 ], "joint_status_l": { "velocity": [ -0.7040227481027728, -6.199701511247824, 0.9877214172554494, 7.714460075966656, -3.067602706364303, -3.324104291608343, 2.0899064846426896 ], "torque": [ -28.39599609375, 2.548828125, -9.552001953125, 0.28076171875, -4.449462890625, -3.482666015625, -0.2691650390625 ] }, "joint_status_r": { "velocity": [ -6.655304863733669, -5.638277215932241, -1.4084549643260669, -0.400011922693011, 6.549767418834285, -1.3790197825942485, -6.573406955877159 ], "torque": [ 16.2158203125, 0.8056640625, 8.770751953125, -3.411865234375, 6.361083984375, 0.6390380859375, -0.80841064453125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -15.8, -10.0, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -15.8, -10.0, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.2, 0.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.0, -17.2, 0.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -143, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3152626775229514, -0.4919658551199779, -0.08553403686111151, -1.1855068048313475, -0.17733984688603777, -0.6836366436394102, 0.4307284270785082 ], "act_joint_pos_r": [ -0.5338720075293644, -0.5110501988831647, 0.19273368175649294, -1.243732386827606, -0.02702562237966788, 0.9894097728100005, -0.2977748806457876 ], "act_eef_pose_l": [ 518.6006875079825, 349.3230907697837, 111.18843144788802, 1.6027536582672015, -0.09590883383466522, 0.7979924927950568 ], "act_eef_pose_r": [ 432.1734644042035, -285.8243481268787, 43.24014334691992, 1.6521403791716787, -0.05986031111643328, 2.732816423708052 ], "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": [ 0.3261639207551163, -0.4306387317911404, -0.09498958999216262, -1.2704767268949846, -0.19416381731254684, -0.6297252345883841, 0.47369207739802316 ], "joint_pos_r": [ -0.46859140617744005, -0.4625761303590428, 0.2041810961269515, -1.232837574560395, -0.08578105223514701, 1.0150053842948696, -0.22725220193252685 ], "eef_pose_l": [ 504.73026036697735, 357.5515736293846, 114.81866325332606, 1.6072768179776435, -0.1244950806999648, 0.8277436654460923 ], "eef_pose_r": [ 435.8186209220786, -309.3758847444745, 68.28062786856978, 1.6818132529892384, -0.025253093332870995, 2.7115167178616293 ], "joint_status_l": { "velocity": [ -1.1772995464798264, -6.623133980619311, 1.0211696203655807, 9.17648093703427, 1.81693521842341, -5.822260459117601, -4.639937386869519 ], "torque": [ -29.326171875, 3.837890625, -9.5458984375, 0.689697265625, -2.255859375, -3.4918212890625, -1.1883544921875 ] }, "joint_status_r": { "velocity": [ -7.050097014510648, -5.2350450012057514, -1.2362842897535309, -1.1766050227492997, 6.345399276843966, -2.764244513333125, -7.616224672492677 ], "torque": [ 18.5595703125, 4.9658203125, 9.28955078125, -5.43212890625, 6.1285400390625, 0.3955078125, -0.8148193359375 ] }, "eef_FT_l": { "raw_value": [ 0.5, -15.6, -9.7, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -15.6, -9.7, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.7, -18.1, 0.5, 1.2, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -18.1, 0.5, 1.2, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -375, "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": [ 0.30709621748918486, -0.5024756773042165, -0.084067913015836, -1.1574858239321792, -0.12608788495883425, -0.7199713420726618, 0.371330129937022 ], "act_joint_pos_r": [ -0.5393784899750509, -0.5142956704376344, 0.19227065829441115, -1.2459746551740551, -0.03372724582861464, 0.9807825280496066, -0.3063730024604027 ], "act_eef_pose_l": [ 518.5214875079824, 347.86869076978365, 108.81083144788799, 1.6218409207473856, -0.08065141696449345, 0.7694452629497779 ], "act_eef_pose_r": [ 431.92546440420347, -284.2355481268787, 39.172943346919965, 1.6605313867645681, -0.053170557372782305, 2.732287723888605 ], "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": [ 0.32389725596907576, -0.4413313483659591, -0.09334994501336731, -1.2548797747987082, -0.18841979453604485, -0.6406994203328348, 0.46317743136463513 ], "joint_pos_r": [ -0.4812518408887234, -0.4719281203381063, 0.20199020415760577, -1.2350273957803564, -0.0750635272955026, 1.0096655373228214, -0.2410832381361459 ], "eef_pose_l": [ 507.08142493677735, 356.18734178048845, 114.10971496768745, 1.6072465943214238, -0.11899432829950006, 0.8212742492001629 ], "eef_pose_r": [ 435.31872725585737, -304.81785700605286, 63.319975663936646, 1.6766962351289287, -0.03114552452414271, 2.7159335214810643 ], "joint_status_l": { "velocity": [ -1.814458641231198, -6.603392768672833, 1.002429890644141, 10.518236474782228, 6.731647695002785, -8.561115051309187, -9.919216002544307 ], "torque": [ -32.6806640625, 0.25634765625, -9.832763671875, 4.058837890625, 1.0107421875, -4.6527099609375, -0.743408203125 ] }, "joint_status_r": { "velocity": [ -6.2774929565647675, -4.575560461806294, -1.0496799945687307, -1.1822691453549083, 4.464186734274178, -3.119273003467704, -7.05108658633713 ], "torque": [ 18.28125, 4.02099609375, 9.893798828125, -6.280517578125, 5.70556640625, 0.347900390625, -0.7489013671875 ] }, "eef_FT_l": { "raw_value": [ -1.9, -17.0, -8.9, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -1.9, -17.0, -8.9, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.1, -17.7, 0.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.1, -17.7, 0.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -326, "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": [ 0.30560538878250876, -0.5048159919235666, -0.08385702298406031, -1.1503602080749205, -0.11490337063407037, -0.7291061814612718, 0.358192455817982 ], "act_joint_pos_r": [ -0.5442769259417166, -0.512681825891334, 0.19309588817227577, -1.2533048652897416, -0.037541333235356245, 0.9650659644387362, -0.31313642919889995 ], "act_eef_pose_l": [ 518.4558875079824, 347.7718907697836, 108.11563144788788, 1.6264061930748561, -0.07674867901296908, 0.7631660885093805 ], "act_eef_pose_r": [ 432.06226440420346, -283.9939481268787, 36.488943346919996, 1.6683852564418533, -0.04705780675256895, 2.7243925990697866 ], "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": [ 0.3207584617994106, -0.45240626747079526, -0.09168500629570502, -1.2368556308848224, -0.17613689672554342, -0.6557461636014402, 0.4454555640739521 ], "joint_pos_r": [ -0.4911607767124825, -0.4787767869719263, 0.20045185666373252, -1.2373555951366284, -0.06854303777282904, 1.003784113582147, -0.25230422579417394 ], "eef_pose_l": [ 509.19870533248366, 354.7548914085134, 113.19170711993733, 1.609534148610674, -0.11211226512796717, 0.8114288317542018 ], "eef_pose_r": [ 434.9343862450515, -301.4198395754244, 59.167606314577284, 1.6745523742192239, -0.034145243825241374, 2.7182770818200095 ], "joint_status_l": { "velocity": [ -1.6364836203210942, -5.660083305665697, 0.8453972639981266, 9.3412301586131, 6.613025777109538, -7.922648262841392, -9.424137741560035 ], "torque": [ -33.59619140625, 4.21142578125, -10.626220703125, 1.080322265625, -1.124267578125, -3.0047607421875, -0.7012939453125 ] }, "joint_status_r": { "velocity": [ -5.736374931422095, -3.661636209108643, -0.7944211668775569, -1.7224703749860737, 3.348085343548246, -4.181436782602965, -6.569684205232074 ], "torque": [ 18.27392578125, 2.92236328125, 9.92431640625, -5.950927734375, 6.0955810546875, 0.3057861328125, -0.90545654296875 ] }, "eef_FT_l": { "raw_value": [ -1.2, -17.2, -9.7, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -1.2, -17.2, -9.7, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.4, 0.0, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.9, -17.4, 0.0, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.30535931977217967, -0.5049129632880183, -0.0839804706495952, -1.148792475114477, -0.1118147442683001, -0.7306920646982858, 0.35354962515078614 ], "act_joint_pos_r": [ -0.5584287281097655, -0.5158310699389446, 0.1925507385622323, -1.2550120868206451, -0.023840103072891417, 0.9507372241726422, -0.331159275164724 ], "act_eef_pose_l": [ 518.4342875079824, 348.02229076978364, 107.893231447888, 1.6279381749384876, -0.07468614374844759, 0.7625417848642159 ], "act_eef_pose_r": [ 432.43906440420346, -283.3171481268787, 31.334543346919872, 1.6671253481186854, -0.049340840495263896, 2.7125060387754463 ], "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": [ 0.31805150397650805, -0.46168368988435937, -0.09031488321957827, -1.2213856055528447, -0.16496176520395323, -0.6688957870375438, 0.429502802793989 ], "joint_pos_r": [ -0.5013745166274478, -0.48495448478726716, 0.1991195810661695, -1.2402747664614684, -0.062265500237646196, 0.9961057792912497, -0.2641071744798128 ], "eef_pose_l": [ 510.9087847416525, 353.57721922748317, 112.34875876235596, 1.6120597034684627, -0.10591612495814366, 0.8028115569166195 ], "eef_pose_r": [ 434.6039881110615, -298.3010198264452, 54.88401296066738, 1.6732243661751764, -0.03637784200185537, 2.7188488631944567 ], "joint_status_l": { "velocity": [ -1.3707154669759802, -4.6686238338953245, 0.6840963812140277, 7.839826864010746, 5.739708977383184, -6.673801154116532, -8.202701259724332 ], "torque": [ -34.35791015625, 1.69189453125, -11.03515625, 0.360107421875, -1.1956787109375, -3.15673828125, -0.60699462890625 ] }, "joint_status_r": { "velocity": [ -6.1616731112557055, -3.3345728484119874, -0.7094140673757909, -1.5915836575395303, 4.149820501380241, -4.8996594450798625, -7.241413299901245 ], "torque": [ 16.35498046875, 4.18212890625, 9.686279296875, -6.060791015625, 5.9893798828125, -0.047607421875, -0.8331298828125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -17.2, -9.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -17.2, -9.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.1, -17.3, 0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.1, -17.3, 0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -328, "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": [ 0.30284857969776985, -0.5027620868550697, -0.0842829248761769, -1.148218839203403, -0.10064550475616735, -0.7307733661814599, 0.3405867222948338 ], "act_joint_pos_r": [ -0.5735025348327117, -0.5255335803827267, 0.19070545260484553, -1.2600463160271953, -0.003960470130017768, 0.9246484731090918, -0.35786507532673845 ], "act_eef_pose_l": [ 518.2118875079824, 349.14469076978367, 107.91163144788815, 1.633643315188519, -0.07231879799601247, 0.7629680272463782 ], "act_eef_pose_r": [ 434.3414644042035, -279.6187481268787, 25.412943346919747, 1.663308952781442, -0.04901062302566215, 2.6972994448991274 ], "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": [ 0.3156816490870494, -0.4685476698549375, -0.08930766512362498, -1.2093869027644624, -0.15496427430222529, -0.6790639811755372, 0.41555368405446186 ], "joint_pos_r": [ -0.5120485897436188, -0.4908637598266562, 0.1978812100248959, -1.2431298822956116, -0.05424116480565634, 0.9864067456320004, -0.27742387769650906 ], "eef_pose_l": [ 512.1686532228649, 352.79958342620847, 111.68135766809935, 1.61483855771352, -0.10075524481000861, 0.7961759632244145 ], "eef_pose_r": [ 434.5850133637647, -295.50999669802127, 50.57827131610583, 1.6714578146959813, -0.038207097869639335, 2.7167396030590574 ], "joint_status_l": { "velocity": [ -1.3859306182038011, -3.6950480563970878, 0.5426559419430266, 6.60595603233638, 5.866254095058032, -5.584448876124526, -8.096193085588954 ], "torque": [ -34.73876953125, 1.8896484375, -11.083984375, 0.457763671875, -0.9100341796875, -2.9937744140625, -0.60882568359375 ] }, "joint_status_r": { "velocity": [ -6.636830326774756, -3.7442301898886754, -0.7749589451733208, -1.8269209608554604, 5.430154871111981, -6.6696967202846125, -8.687393123100629 ], "torque": [ 17.255859375, 3.30322265625, 9.014892578125, -5.511474609375, 5.855712890625, 0.194091796875, -0.76263427734375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.8, -8.8, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.8, -8.8, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.7, 0.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.7, 0.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -322, "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": [ 0.3000134398855087, -0.5035510995565905, -0.08410382800239781, -1.1405085590491821, -0.08839651293573411, -0.7364341229096377, 0.326830546832589 ], "act_joint_pos_r": [ -0.583254926740095, -0.529667849808453, 0.19066851700325887, -1.2788827714617783, 0.001590668709470222, 0.8855709695276766, -0.3731563665477138 ], "act_eef_pose_l": [ 518.6462875079824, 350.57749076978365, 107.57323144788806, 1.6395975991433274, -0.06994656576305781, 0.7619993944649048 ], "act_eef_pose_r": [ 435.57906440420345, -275.2707481268787, 20.963343346920055, 1.6696105845171727, -0.045011544094105585, 2.681407327028654 ], "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": [ 0.31309272935069227, -0.47468610084152335, -0.08839903900807583, -1.1977018251067142, -0.14397804836961267, -0.68884541093592, 0.4007466092920499 ], "joint_pos_r": [ -0.5229889242658883, -0.49691839191588616, 0.19669837672465545, -1.247528650254332, -0.04549848876937069, 0.9728977687070703, -0.2919613411086995 ], "eef_pose_l": [ 513.3250240250586, 352.31188043092925, 111.04027449831119, 1.6183734053253631, -0.09571511787850344, 0.7900852812569135 ], "eef_pose_r": [ 434.860182354512, -292.50408407432394, 46.166438283663524, 1.669985446512245, -0.03927410788850288, 2.7123873312791944 ], "joint_status_l": { "velocity": [ -1.4125216021421139, -3.1173279205543025, 0.4638691075252721, 6.17669056246406, 6.002628788786213, -5.1394293137967395, -7.982699308490826 ], "torque": [ -35.76416015625, 3.0908203125, -10.577392578125, 1.025390625, -1.1865234375, -3.193359375, -0.69305419921875 ] }, "joint_status_r": { "velocity": [ -6.5085363081967, -3.5368371389616904, -0.6512056436271951, -3.386145221387693, 5.085479019528605, -9.431016158421457, -8.768804125359964 ], "torque": [ 16.97021484375, 3.15673828125, 8.935546875, -6.1279296875, 5.4693603515625, 0.399169921875, -0.9466552734375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -17.3, -7.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -17.3, -7.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.2, -0.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -17.2, -0.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -383, "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": [ 0.29755135873052924, -0.5071816346996587, -0.08358823368221735, -1.1303470319347615, -0.08033665478690664, -0.7452563122744008, 0.31680031223057326 ], "act_joint_pos_r": [ -0.5941557363868237, -0.5265494293804813, 0.19256228395710073, -1.307112884360691, 0.009484501462102113, 0.8305939647837762, -0.38921205649291984 ], "act_eef_pose_l": [ 519.4134875079824, 351.05749076978367, 107.37323144788802, 1.6425791629677133, -0.067313592225328, 0.7585562495798249 ], "act_eef_pose_r": [ 437.1830644042035, -273.0603481268787, 17.026543346920107, 1.680268405522467, -0.039303165839254806, 2.652306652575345 ], "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": [ 0.3106647269715334, -0.4798410518487272, -0.08763474523147606, -1.187152863489406, -0.1339312060099838, -0.6976642940014119, 0.3874633133538897 ], "joint_pos_r": [ -0.5347287114010889, -0.5023985970751574, 0.1958206107471238, -1.25588023638247, -0.036387568173526244, 0.9519893575299404, -0.3079142866684456 ], "eef_pose_l": [ 514.320043530863, 352.07401799817353, 110.50491609295739, 1.6217865255858614, -0.09142116131232564, 0.7849679959592448 ], "eef_pose_r": [ 435.41951565917316, -289.18554565010174, 41.46313519615859, 1.6699494173922136, -0.03925213734434121, 2.704097957534889 ], "joint_status_l": { "velocity": [ -1.416202001383482, -2.9526958627910105, 0.43701035838839, 6.134848870207321, 5.788040822953366, -5.139786383586475, -7.631379045824449 ], "torque": [ -36.3720703125, 3.8818359375, -10.736083984375, -0.030517578125, -1.124267578125, -3.2373046875, -0.823974609375 ] }, "joint_status_r": { "velocity": [ -6.417929411749235, -2.608212963845613, -0.3518889149138893, -5.532962795632201, 4.954037409124701, -13.110315748492418, -8.779900191728807 ], "torque": [ 18.55224609375, 4.892578125, 9.283447265625, -7.0556640625, 5.42724609375, 0.3570556640625, -0.79559326171875 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.2, -7.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -17.2, -7.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.4, -16.7, 0.1, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.4, -16.7, 0.1, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -354, "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": [ 0.2940115258516522, -0.5107001192361377, -0.08314485093474568, -1.1231337546503843, -0.06858453676702128, -0.751492475033299, 0.30611951376381585 ], "act_joint_pos_r": [ -0.6008329087492496, -0.5256528001036557, 0.19331314057356505, -1.3202523316103494, 0.02202073272149674, 0.8030766029424632, -0.40415135987401035 ], "act_eef_pose_l": [ 520.0750875079824, 350.81029076978365, 107.27643144788799, 1.6474282393910076, -0.06723763468846908, 0.7540233292755794 ], "act_eef_pose_r": [ 438.3478644042035, -272.1603481268787, 15.405743346919962, 1.6811771320051736, -0.03650432052152427, 2.635272177917861 ], "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": [ 0.3079467284865151, -0.48507213247753095, -0.08686925540957091, -1.1762951483306405, -0.12312909660785212, -0.706782669149831, 0.3737642492382409 ], "joint_pos_r": [ -0.5450717118405775, -0.5062918734990941, 0.19534944498376952, -1.2654311374844847, -0.02776972887417448, 0.9296691688667796, -0.3225623357767765 ], "eef_pose_l": [ 515.3270827983473, 351.85527099821974, 109.99811834804534, 1.6255899732616113, -0.08739953273737398, 0.7796612287376736 ], "eef_pose_r": [ 436.0665794122925, -286.3860577524344, 37.45877263833796, 1.6706036486955813, -0.03854993672844709, 2.694119911015869 ], "joint_status_l": { "velocity": [ -1.5049574982168856, -2.767740939773944, 0.4022238203237327, 5.741261188020985, 5.890638727707342, -4.828516625928536, -7.305415969511397 ], "torque": [ -35.9619140625, 1.80908203125, -10.29052734375, 0.3662109375, -1.0675048828125, -3.1146240234375, -0.56396484375 ] }, "joint_status_r": { "velocity": [ -6.0220316558066145, -2.090918404950237, -0.21991439027391202, -5.920514349355699, 5.377211259963794, -13.671593897718104, -8.81135472548511 ], "torque": [ 17.90771484375, 5.21484375, 9.228515625, -6.817626953125, 5.3173828125, 0.5767822265625, -0.90728759765625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.1, -9.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -17.1, -9.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.3, 0.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.3, 0.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -351, "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": [ 0.2927084083134225, -0.5167442424850524, -0.08236121021508588, -1.1104270653983601, -0.06672950928709345, -0.7635831669027502, 0.2997055682951858 ], "act_joint_pos_r": [ -0.613633489221427, -0.5332510432275773, 0.19232895200222866, -1.3381010981591723, 0.05210657316956002, 0.7578275561949135, -0.4244139064245868 ], "act_eef_pose_l": [ 521.0798875079824, 350.59669076978366, 107.1156314478881, 1.6467431321272352, -0.06231415221343349, 0.7489269243064158 ], "act_eef_pose_r": [ 440.9838644042035, -267.7619481268787, 11.372943346919783, 1.6780426839324765, -0.04824840269654313, 2.6082329851692343 ], "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": [ 0.3055087987006043, -0.48996728991167965, -0.086168552452085, -1.1661218044473738, -0.11395289881046713, -0.7154971005310377, 0.3619200024846681 ], "joint_pos_r": [ -0.5570570992697766, -0.510809213718704, 0.19485344932891782, -1.2778084811028214, -0.01496251427097705, 0.9006324497860956, -0.3402721695360022 ], "eef_pose_l": [ 516.2529231707164, 351.6529146323834, 109.58145632650717, 1.62873679663884, -0.08374700589828303, 0.774776926209471 ], "eef_pose_r": [ 437.13185788085605, -283.0835517297671, 33.09087715338194, 1.670475207838393, -0.038693286604915264, 2.6799422351901505 ], "joint_status_l": { "velocity": [ -1.382401390066068, -2.8918255880876487, 0.41118083446545217, 6.014854418644688, 5.099975652782862, -5.193142004608298, -6.7189607273099305 ], "torque": [ -36.3134765625, 3.3837890625, -10.198974609375, 0.32958984375, -1.3677978515625, -2.8802490234375, -0.7177734375 ] }, "joint_status_r": { "velocity": [ -6.110069907899085, -2.423646105337518, -0.2726376702641975, -6.511410598294631, 7.243247815402976, -15.422473646301782, -9.087039576060718 ], "torque": [ 17.90771484375, 5.13427734375, 9.06982421875, -6.92138671875, 5.1580810546875, 0.8697509765625, -0.67657470703125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.8, -9.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -16.8, -9.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.7, -16.8, 0.2, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -4.7, -16.8, 0.2, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -385, "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": [ 0.28991398413605646, -0.5224465691050274, -0.08166716485582165, -1.0997186563639123, -0.05245829432072376, -0.7719752477898829, 0.2830155505596738 ], "act_joint_pos_r": [ -0.6241945126466693, -0.5409014227666094, 0.19075192050043818, -1.3407325495989506, 0.07426627476513303, 0.7389446272047574, -0.44303779841205776 ], "act_eef_pose_l": [ 522.0318875079824, 350.15509076978367, 105.99803144788784, 1.6540048623604202, -0.057032532365947124, 0.7434753265575622 ], "act_eef_pose_r": [ 442.41026440420353, -265.5267481268787, 7.218543346919887, 1.6752627879000734, -0.05593027668458762, 2.5940803765062213 ], "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": [ 0.3028934239355916, -0.495420297229616, -0.08540791754870965, -1.1549250142696024, -0.10380492352772074, -0.7250567057640241, 0.3488166627982702 ], "joint_pos_r": [ -0.5675497296238089, -0.5153618362549733, 0.1942604770547491, -1.2880172465710311, -0.0014361057929317574, 0.8750251882569366, -0.35620625122297345 ], "eef_pose_l": [ 517.2614738975358, 351.4018198621027, 109.05885658606134, 1.6324312968301282, -0.07954168135892248, 0.7693956050796109 ], "eef_pose_r": [ 438.2433639583009, -280.1988786340201, 29.341417066653605, 1.6695164007816297, -0.04028708189000019, 2.6665761719806285 ], "joint_status_l": { "velocity": [ -1.4017381562929643, -2.918751278576437, 0.40398937580221617, 5.962110810756371, 5.545272405288459, -5.067053094049534, -7.1063105323427855 ], "torque": [ -36.8115234375, 2.2705078125, -10.70556640625, 0.5859375, -1.4007568359375, -3.131103515625, -0.66558837890625 ] }, "joint_status_r": { "velocity": [ -6.117456141744526, -2.7581939946732525, -0.3789129324260898, -5.693084818453542, 8.175615973367066, -14.696267150405617, -9.377530520942479 ], "torque": [ 17.46826171875, 5.07568359375, 8.721923828125, -7.928466796875, 4.932861328125, 0.8258056640625, -0.955810546875 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.5, -9.1, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -16.5, -9.1, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.5, -16.3, 0.3, 0.9, 0.0, 0.0 ], "actual_contact_FT": [ -4.5, -16.3, 0.3, 0.9, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -341, "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": [ 0.28869151736721155, -0.526151943411745, -0.081202973670724, -1.0910401832274985, -0.046473687131646055, -0.780548802353789, 0.2761242344110562 ], "act_joint_pos_r": [ -0.6323510930164318, -0.5422997687959177, 0.1907815409226275, -1.3495660302466508, 0.09347741584017612, 0.7145855231596118, -0.4615714330182285 ], "act_eef_pose_l": [ 522.4942875079824, 350.1246907697837, 105.45003144788807, 1.6566380697548475, -0.05467872199743041, 0.7391397676806974 ], "act_eef_pose_r": [ 443.6622644042035, -264.9227481268787, 4.65134334691993, 1.6757348652221262, -0.05759337378039558, 2.576134514812513 ], "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": [ 0.30044449250032496, -0.5006657269375998, -0.08468802285415719, -1.1440703899903346, -0.0939722173421614, -0.7344327525015772, 0.33631401747452166 ], "joint_pos_r": [ -0.5784854150316178, -0.5200352431750711, 0.19364347721163208, -1.2983345502191206, 0.014116550916535941, 0.8482162509617791, -0.3736501864127802 ], "eef_pose_l": [ 518.1968124125433, 351.16817971065524, 108.49971412092508, 1.6362013068346613, -0.07550673710141934, 0.7641449988775091 ], "eef_pose_r": [ 439.44633351081194, -277.4148436007263, 25.469781851351854, 1.668492226163481, -0.04235440929459642, 2.6517254696133516 ], "joint_status_l": { "velocity": [ -1.2692838788495031, -2.7524302006183277, 0.3763742112468105, 5.7270934187947375, 5.129689970617135, -4.980386495391009, -6.500304854610839 ], "torque": [ -34.88525390625, 3.62548828125, -10.77880859375, 0.13427734375, -1.552734375, -2.87109375, -0.728759765625 ] }, "joint_status_r": { "velocity": [ -5.817321649629115, -2.4044978501778225, -0.30908000338514263, -5.532836660679052, 8.570720631860206, -14.43169296260205, -9.495214587003531 ], "torque": [ 18.2080078125, 4.3212890625, 9.1064453125, -6.732177734375, 5.13427734375, 0.838623046875, -0.73150634765625 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.5, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.5, -16.5, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.6, -16.8, 0.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.6, -16.8, 0.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -385, "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": [ 0.28828096228565064, -0.5310190818503053, -0.08068330032652613, -1.084099393601134, -0.045503040446964, -0.7856333658525828, 0.2752331608444682 ], "act_joint_pos_r": [ -0.6423245033471973, -0.5423946819316176, 0.19129448608847038, -1.3640075762708923, 0.12209306468666803, 0.6760646553323064, -0.49558092534587117 ], "act_eef_pose_l": [ 523.3790875079824, 349.3710907697837, 105.037231447888, 1.6566785827934014, -0.054052112976918094, 0.7360921400965101 ], "act_eef_pose_r": [ 445.8606644042035, -264.93954812687866, 1.6553433469198353, 1.678177330931116, -0.05163506266382837, 2.547739256703796 ], "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": [ 0.29892810152271004, -0.5042955620517312, -0.08420419838215772, -1.1367913166242423, -0.08790300620305626, -0.7406810683700906, 0.3286522670700611 ], "joint_pos_r": [ -0.588466109059609, -0.52370613761862, 0.19323087041360687, -1.3083863914346108, 0.030392177602803095, 0.8219011790404387, -0.3919417564515538 ], "eef_pose_l": [ 518.8370801485744, 350.9686647781592, 108.10980130135475, 1.6385532849623639, -0.07297504838999508, 0.7606655976920597 ], "eef_pose_r": [ 440.718187397035, -275.2240680336973, 22.087280504874826, 1.667622408847929, -0.043258040879896854, 2.6360011285750273 ], "joint_status_l": { "velocity": [ -1.1498571243797606, -2.886055018603173, 0.38024577525863634, 5.690559852403965, 4.579061249465499, -4.854704946239963, -5.769093322052221 ], "torque": [ -35.13427734375, 1.41357421875, -10.46142578125, 0.592041015625, -1.44287109375, -2.5909423828125, -0.72418212890625 ] }, "joint_status_r": { "velocity": [ -5.81653503352797, -2.0183032591312156, -0.20912333935174665, -6.0069107979536795, 9.903403719777826, -15.749880042596587, -11.192700129541766 ], "torque": [ 17.3876953125, 6.27685546875, 9.09423828125, -6.622314453125, 4.7552490234375, 0.7379150390625, -0.9283447265625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.5, -7.6, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.5, -7.6, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.8, -16.4, 0.0, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.8, -16.4, 0.0, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -410, "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": [ 0.2881026748626971, -0.5319288199368292, -0.08061582945959428, -1.083366610498596, -0.04451054875894193, -0.7871494262183805, 0.27407896438221196 ], "act_joint_pos_r": [ -0.646565073294028, -0.5433161784958828, 0.19136747736888948, -1.3717291754351808, 0.1347063360783407, 0.6551115033705404, -0.5176870621291794 ], "act_eef_pose_l": [ 523.3646875079825, 348.93509076978364, 104.96443144788809, 1.6569195173807139, -0.053480853541113725, 0.7343238436813698 ], "act_eef_pose_r": [ 447.0422644042035, -264.5307481268787, -0.023856653080201795, 1.6810189768617152, -0.042275766879553645, 2.5346706039350737 ], "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": [ 0.2970302854268768, -0.5090986386529239, -0.0835758792124544, -1.12741200594769, -0.08032109480081864, -0.7487592206243463, 0.3191081908417074 ], "joint_pos_r": [ -0.5984105151061891, -0.5271020862101298, 0.19289576147827933, -1.3189887149470805, 0.0478602469643729, 0.7940319460938383, -0.4124648241836607 ], "eef_pose_l": [ 519.664452872074, 350.64613726360864, 107.59191930220827, 1.6415344405525012, -0.06973923220277026, 0.7560990187955863 ], "eef_pose_r": [ 442.0798549875394, -273.22668884579355, 18.698509146891098, 1.6673806121660748, -0.04292042840731501, 2.6189030684440047 ], "joint_status_l": { "velocity": [ -0.9641535047437699, -2.4655868600640396, 0.31967594497084306, 4.756762415293991, 3.8674249089221124, -4.146019923834565, -4.863013030723007 ], "torque": [ -35.1416015625, 3.1787109375, -10.394287109375, 0.76904296875, -1.6497802734375, -2.8619384765625, -0.5621337890625 ] }, "joint_status_r": { "velocity": [ -5.200538902590424, -1.7510703218026613, -0.16504981593001844, -5.695801744021622, 9.379101002510993, -15.00296532530676, -11.363666544686346 ], "torque": [ 18.33984375, 5.44921875, 9.417724609375, -7.183837890625, 5.126953125, 0.8697509765625, -0.823974609375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -17.2, -7.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -17.2, -7.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.6, -17.2, 0.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.6, -17.2, 0.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.2888365219950107, -0.5298684975597543, -0.0808314924041175, -1.084348818785592, -0.04683907371994035, -0.7864668025449385, 0.27670458860378727 ], "act_joint_pos_r": [ -0.652544840806013, -0.5436789518873756, 0.1921010478840502, -1.3946483166761843, 0.15450592596540202, 0.6098396163813983, -0.5597743207380527 ], "act_eef_pose_l": [ 523.0750875079824, 349.7990907697837, 105.0812314478881, 1.6560045484493473, -0.05435721256519736, 0.7363614746879504 ], "act_eef_pose_r": [ 448.3966644042035, -262.2915481268787, -2.0830566530801207, 1.6881819300360648, -0.020206230122171855, 2.513509874718059 ], "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": [ 0.29551483591581024, -0.5129582540807618, -0.08307103992819252, -1.1197087675452668, -0.07418947656721189, -0.7554883039990264, 0.3113721490340126 ], "joint_pos_r": [ -0.6081882859783825, -0.5302080872291965, 0.19268963728229455, -1.3315448781517623, 0.06651161960181957, 0.7626622238346871, -0.4371049737843318 ], "eef_pose_l": [ 520.311334669124, 350.4156968351913, 107.15870243388456, 1.6440131544360304, -0.067048336903729, 0.7523766877100294 ], "eef_pose_r": [ 443.5534545522698, -271.1847579676564, 15.351382165348156, 1.6681507602295569, -0.03938558319505885, 2.6001680619290584 ], "joint_status_l": { "velocity": [ -0.7212366317088659, -1.826252433294595, 0.2418639992027849, 3.8187618376852583, 2.9537563911172793, -3.3455791703742577, -3.7439861034971322 ], "torque": [ -35.33203125, 2.39501953125, -10.223388671875, 0.0732421875, -1.64794921875, -2.86376953125, -0.55755615234375 ] }, "joint_status_r": { "velocity": [ -4.7903666370716635, -1.4548104757414748, -0.06356578023791748, -6.814970363830497, 9.50310480817257, -16.50435483502921, -13.247898745114117 ], "torque": [ 19.35791015625, 4.56298828125, 9.77783203125, -7.84912109375, 4.7076416015625, 1.2176513671875, -0.8367919921875 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.0, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -17.0, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.1, -17.1, 0.8, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -4.1, -17.1, 0.8, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -324, "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": [ 0.2905969692700609, -0.5272508347579894, -0.08114377501617423, -1.0880599167819645, -0.051274582321162714, -0.7822195830364393, 0.28131401664828876 ], "act_joint_pos_r": [ -0.6655435674630944, -0.5511948643129859, 0.19129345175819235, -1.4194007467414154, 0.24114450320380554, 0.5684065939859819, -0.6524709745219259 ], "act_eef_pose_l": [ 522.7686875079825, 350.4702907697837, 104.98763144788795, 1.6546465776844381, -0.05510765964508304, 0.7400660749015681 ], "act_eef_pose_r": [ 450.75426440420347, -257.5979481268787, -1.702256653079985, 1.6670853766291098, -0.011697667995389825, 2.4825846527172497 ], "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": [ 0.29454388357952366, -0.5155494811795722, -0.08272538488214552, -1.1141633335313605, -0.07001300581858223, -0.7602747927330352, 0.3060053115996242 ], "joint_pos_r": [ -0.6169471097425664, -0.5332707513330383, 0.19250174450327767, -1.3447119232431395, 0.09075401485394838, 0.7328634806601738, -0.4677313944572873 ], "eef_pose_l": [ 520.7535090566988, 350.3615981406645, 106.82180835725335, 1.645801116538267, -0.06507551163973706, 0.7499852467433208 ], "eef_pose_r": [ 445.0630086749769, -269.0174563713212, 13.168550005841013, 1.6652751329275945, -0.03368455736636822, 2.581996641453414 ], "joint_status_l": { "velocity": [ -0.4262541737274361, -1.2637089153666459, 0.17080882778774953, 2.81908586444235, 2.023690052173621, -2.369967454313837, -2.6665812081354545 ], "torque": [ -36.64306640625, 1.3330078125, -10.0830078125, 1.202392578125, -1.600341796875, -2.845458984375, -0.567626953125 ] }, "joint_status_r": { "velocity": [ -5.248262644584223, -1.9357471100245327, -0.1304917678204287, -8.066155039287537, 16.241693718633933, -17.760819933429595, -19.951286215247777 ], "torque": [ 18.53759765625, 4.94384765625, 9.5458984375, -8.758544921875, 4.6563720703125, 1.2835693359375, -0.98602294921875 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.5, -8.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -16.5, -8.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -5.2, -16.7, 0.1, 0.9, 0.0, 0.0 ], "actual_contact_FT": [ -5.2, -16.7, 0.1, 0.9, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.29237798914376106, -0.5268360167957861, -0.08123946786302556, -1.0905476909526628, -0.055789815454092756, -0.7811566809703153, 0.2851265484533546 ], "act_joint_pos_r": [ -0.6785388683964277, -0.5615401694380788, 0.18955437414097787, -1.434972473550389, 0.3594874734093829, 0.549623316365357, -0.7747844235744793 ], "act_eef_pose_l": [ 522.4374875079824, 349.9814907697837, 104.81243144788804, 1.6525183874306526, -0.054375216769998264, 0.739866971452526 ], "act_eef_pose_r": [ 453.7886644042035, -253.88194812687868, 0.9841433469198364, 1.630010283382508, -0.003907986419886005, 2.4514258634260715 ], "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": [ 0.2939261850742327, -0.5177315617807116, -0.08243330159444681, -1.1094081927431867, -0.06679630517834866, -0.7643465346951329, 0.30161263153326723 ], "joint_pos_r": [ -0.6283567744411586, -0.538178738424469, 0.1920396145072715, -1.361693033229374, 0.1359089338811806, 0.6974267160689404, -0.5202937359572013 ], "eef_pose_l": [ 521.1168763539029, 350.3467292091356, 106.46869657082195, 1.6472739406473869, -0.06317183000014698, 0.7480813129196144 ], "eef_pose_r": [ 447.1776465912554, -265.9511554768899, 11.701054603494441, 1.6542434548296436, -0.025284291340312754, 2.557949414695857 ], "joint_status_l": { "velocity": [ -0.16720022918370603, -0.9832521421557772, 0.12893024039939416, 2.0368741189855655, 1.188665832394964, -1.8154422541121207, -1.780444461228381 ], "torque": [ -35.83740234375, 1.42822265625, -10.272216796875, 0.115966796875, -1.461181640625, -2.552490234375, -0.4998779296875 ] }, "joint_status_r": { "velocity": [ -5.419506307374533, -2.522960138737762, -0.268398043582474, -7.913946145304607, 24.145770127622757, -15.962296385220398, -27.484183659998607 ], "torque": [ 18.6328125, 5.10498046875, 9.686279296875, -8.16650390625, 5.0299072265625, 1.3934326171875, -0.7525634765625 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.8, -9.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.8, -9.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.0, -16.8, -0.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.0, -16.8, -0.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "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": [ 0.2931493182057445, -0.5266495610098486, -0.08128246743170266, -1.0916134711900756, -0.05783221938774248, -0.7802278618302034, 0.2865874895876453 ], "act_joint_pos_r": [ -0.680652493006193, -0.5677762311226722, 0.1882754864666816, -1.4368484451619234, 0.39666924396766795, 0.5503746322751035, -0.8129924813324295 ], "act_eef_pose_l": [ 522.3646875079825, 349.8438907697837, 104.72683144788816, 1.6516491409695435, -0.05384497946595727, 0.7402888769671412 ], "act_eef_pose_r": [ 455.03506440420347, -251.74754812687868, 2.5961433469199164, 1.614484017474889, -0.0017875578427944308, 2.445353286064724 ], "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": [ 0.29371869727674205, -0.519325292053145, -0.08222591480906026, -1.1061650329173311, -0.0650256788789577, -0.7672389374499896, 0.29882322763002594 ], "joint_pos_r": [ -0.6368449840223522, -0.5427229435396249, 0.19148673928555834, -1.3739515213990727, 0.17685989904554772, 0.6732133070745325, -0.5664423232480532 ], "eef_pose_l": [ 521.3475931941294, 350.27079900710316, 106.17111836748926, 1.6481079826789076, -0.061584917858310884, 0.7466599349010877 ], "eef_pose_r": [ 448.8158456080174, -263.49007021292533, 11.102507867297732, 1.6430274571251902, -0.01911077742689373, 2.539821119998586 ], "joint_status_l": { "velocity": [ -0.06149112608433427, -0.7909977180928784, 0.1018893116900843, 1.571522316971219, 0.7768707124743979, -1.4027624607955147, -1.321420735356238 ], "torque": [ -36.1083984375, 2.109375, -9.893798828125, 0.8544921875, -1.6790771484375, -2.559814453125, -0.61431884765625 ] }, "joint_status_r": { "velocity": [ -4.731071434760814, -2.7056752593423994, -0.3468050759698471, -6.792667427369281, 23.738709115788794, -13.26618561310866, -26.626631762586506 ], "torque": [ 18.71337890625, 5.09765625, 9.674072265625, -8.7158203125, 4.844970703125, 1.475830078125, -0.91644287109375 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.5, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -16.5, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.3, -17.2, -0.9, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -4.3, -17.2, -0.9, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -318, "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": [ 0.294629351024138, -0.5259284898721438, -0.08137575222209768, -1.0930109589129695, -0.05884957336398652, -0.7788289906201967, 0.28680245974824936 ], "act_joint_pos_r": [ -0.6786037075653333, -0.578568874793483, 0.1861678106911673, -1.440701949488183, 0.4320445493361702, 0.5523781680595575, -0.8451484130167897 ], "act_eef_pose_l": [ 522.1342875079824, 349.9198907697837, 104.16283144788785, 1.6520757211958312, -0.052375560250511384, 0.741170344046017 ], "act_eef_pose_r": [ 456.4982644042035, -246.6035481268787, 6.025743346919853, 1.5940991948859888, -0.003839246547755864, 2.4455726827617363 ], "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": [ 0.2936900775685911, -0.5204977077605858, -0.08207491229999804, -1.1038341832951468, -0.06388777647908657, -0.7693128360354266, 0.2968211680186997 ], "joint_pos_r": [ -0.6411718716799992, -0.5453752007023778, 0.19113602143686168, -1.3802648212379676, 0.1992487871976575, 0.6610248962876858, -0.5914431673792558 ], "eef_pose_l": [ 521.5067584355047, 350.2043465865394, 105.91024084341521, 1.6486999410171015, -0.060255133747828496, 0.7456481711779075 ], "eef_pose_r": [ 449.6572791665956, -262.13540692718834, 10.799731388718698, 1.6371420278449464, -0.016229620247868025, 2.5304421889704765 ], "joint_status_l": { "velocity": [ 0.10143854142929953, -0.5865071699435731, 0.07550706145154074, 1.1688737591866172, 0.5441098887674634, -1.0277143843397951, -1.0819885816610864 ], "torque": [ -32.64404296875, 2.73193359375, -10.113525390625, 1.116943359375, -1.6021728515625, -2.6495361328125, -0.4815673828125 ] }, "joint_status_r": { "velocity": [ -4.042519047889215, -3.584811073487959, -0.5365509358110643, -6.527017346936503, 25.14120081087734, -11.733500587536305, -27.399358427972587 ], "torque": [ 19.2041015625, 5.8154296875, 9.63134765625, -7.3486328125, 4.9749755859375, 1.343994140625, -0.9173583984375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.9, -8.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -16.9, -8.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.1, -0.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -17.1, -0.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -309, "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": [ 0.29584271486625746, -0.523158377771808, -0.08166954193702329, -1.0956799767998049, -0.059456846061029966, -0.7774748431221858, 0.2874553308748001 ], "act_joint_pos_r": [ -0.6689316665589367, -0.5879942943779544, 0.1841592825089314, -1.4361926205432054, 0.39403356050046145, 0.5573317389586011, -0.8050408953861556 ], "act_eef_pose_l": [ 521.4926875079824, 350.6094907697837, 103.90043144788801, 1.6526060006048697, -0.052133002521835746, 0.742629136515077 ], "act_eef_pose_r": [ 456.4222644042035, -241.0195481268787, 6.877743346919942, 1.5970109970490949, -0.008004471789552136, 2.467642689431904 ], "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": [ 0.2939436346666227, -0.5212581857683247, -0.08197247767254633, -1.1021129870902193, -0.06304076523553662, -0.770897735765794, 0.2950968493191495 ], "joint_pos_r": [ -0.6475049092280462, -0.5515220742705114, 0.19019836908721927, -1.3908176347846521, 0.2392881018556192, 0.6419613207357984, -0.635117628470508 ], "eef_pose_l": [ 521.5728498120294, 350.20391078649783, 105.58311162551172, 1.649330989921579, -0.0588487368987748, 0.7449584199565262 ], "eef_pose_r": [ 451.1509832273051, -259.06274338574326, 10.706690764764971, 1.6255375877289806, -0.012316737425811509, 2.5162135106615526 ], "joint_status_l": { "velocity": [ 0.20509461261841722, -0.20521468389267383, 0.03271609452693003, 0.6947446209686348, 0.38705185536241915, -0.7103066451152884, -0.8252596522577704 ], "torque": [ -24.8876953125, 2.6513671875, -14.227294921875, 0.592041015625, -1.7449951171875, -2.5616455078125, -0.5731201171875 ] }, "joint_status_r": { "velocity": [ -2.3140215433183897, -3.9388836004414784, -0.6522021147821189, -4.900353933710022, 16.7120166390593, -9.139725270149945, -18.351171588014914 ], "torque": [ 18.75, 4.94384765625, 9.759521484375, -7.3486328125, 4.3304443359375, 1.688232421875, -0.8917236328125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -17.3, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -17.3, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.5, -0.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.5, -0.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "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": [ 0.2963501256781194, -0.515509714954871, -0.0825255304989299, -1.1044797246255889, -0.055929439858277114, -0.7707983405843088, 0.2851461018142778 ], "act_joint_pos_r": [ -0.6649450932206489, -0.5976486119070237, 0.18206137871717926, -1.4273007537290012, 0.3558599079138988, 0.5594195768945767, -0.7691268576691906 ], "act_eef_pose_l": [ 520.0790875079824, 352.30709076978366, 103.8972314478879, 1.6560554714837505, -0.053166624434029905, 0.7472028412431605 ], "act_eef_pose_r": [ 456.3286644042035, -237.05634812687867, 3.8609433469198393, 1.608279257780015, -0.011417261379116285, 2.4839438689880056 ], "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": [ 0.2942853201280313, -0.5211261063182326, -0.0819724177619124, -1.1015667816562151, -0.062246608820663844, -0.7715910114130854, 0.29370643051978035 ], "joint_pos_r": [ -0.6511757771500463, -0.5582553724719965, 0.18906874122635275, -1.3985780951222095, 0.2655226697806376, 0.6270596689420666, -0.6641023958942012 ], "eef_pose_l": [ 521.4783872848994, 350.3692312830498, 105.30627854790791, 1.6500684154205867, -0.05780587563575101, 0.7448375773749467 ], "eef_pose_r": [ 452.2757720367467, -255.71844243223103, 10.2733458035583, 1.6188386850454746, -0.01074092042632236, 2.507959104259216 ], "joint_status_l": { "velocity": [ 0.2229924225995994, 0.606552377937053, -0.05973441382556288, -0.31458856239829913, 0.6822341265178, 0.08560592469653017, -0.9244882338714788 ], "torque": [ -24.01611328125, 7.77099609375, -16.119384765625, -2.33154296875, -1.5582275390625, -1.4227294921875, -0.67108154296875 ] }, "joint_status_r": { "velocity": [ -1.487042277656947, -4.254344383802344, -0.7567728311692612, -3.101955642241805, 9.756133976601467, -7.3049144941927935, -11.342307348225056 ], "torque": [ 19.189453125, 5.48583984375, 9.9853515625, -8.099365234375, 4.0997314453125, 1.9171142578125, -0.7855224609375 ] }, "eef_FT_l": { "raw_value": [ 0.4, -17.1, -8.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -17.1, -8.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.2, -17.6, -0.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.2, -17.6, -0.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -400, "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": [ 0.2951446926232025, -0.5097574601644503, -0.0831787723798459, -1.1107471788668135, -0.05178242815243928, -0.7660654544994973, 0.28143310861669163 ], "act_joint_pos_r": [ -0.6620854305845091, -0.6055545477530149, 0.18040128815953937, -1.4195325030890669, 0.32409419995579913, 0.5509263116997996, -0.7466538184757097 ], "act_eef_pose_l": [ 519.1582875079824, 353.64789076978366, 104.5204314478879, 1.6585432758640024, -0.054233240316183304, 0.7505613435489698 ], "act_eef_pose_r": [ 457.4086644042035, -234.9819481268787, -0.37425665308001044, 1.625537685902547, -0.0067936354512443614, 2.4895703093560697 ], "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": [ 0.2946055974821247, -0.5197301378095867, -0.0821149363235119, -1.1024816363065002, -0.060811447692508715, -0.7711661402410611, 0.29187244974821513 ], "joint_pos_r": [ -0.653396907648683, -0.5648488815403634, 0.18789210254013097, -1.4031845673615266, 0.2799018046223403, 0.6158137841462948, -0.6810340862175738 ], "eef_pose_l": [ 521.16141832825, 350.81381926594025, 105.07500381212716, 1.651346230567304, -0.05698737362617551, 0.7454728543306407 ], "eef_pose_r": [ 453.08808370386333, -252.63449123679655, 9.280453157872245, 1.6165095720671645, -0.010429788304626394, 2.5038989178764384 ], "joint_status_l": { "velocity": [ 0.05822055811277593, 1.0770174207439531, -0.11489090555782955, -0.8926522691421468, 0.9751053511324881, 0.5508578134056918, -1.1274155908589378 ], "torque": [ -24.04541015625, 12.01171875, -16.12548828125, -4.461669921875, -1.4794921875, -0.985107421875, -0.55389404296875 ] }, "joint_status_r": { "velocity": [ -0.9383328024226145, -4.3960822954494105, -0.8089840933935832, -1.765524987199285, 4.772637934581603, -7.007640344917299, -7.086722072183527 ], "torque": [ 20.595703125, 5.21484375, 9.6923828125, -7.537841796875, 4.061279296875, 1.9647216796875, -0.89080810546875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.9, -8.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.9, -8.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.6, -18.0, 0.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -18.0, 0.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -354, "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": [ 0.29388938134194975, -0.5085594344887419, -0.08326059050228855, -1.1094694050761482, -0.04656295907330969, -0.7683916994714669, 0.2762473816455226 ], "act_joint_pos_r": [ -0.6609812130362482, -0.6085623053533461, 0.17983788461575595, -1.4175177170604878, 0.311709118513726, 0.5496504231901806, -0.7328147448898231 ], "act_eef_pose_l": [ 518.8646875079825, 354.3694907697836, 104.57483144788789, 1.661114270041369, -0.05385683191787494, 0.7498907198774305 ], "act_eef_pose_r": [ 457.4070644042035, -233.72434812687868, -1.552656653080021, 1.6304042935171834, -0.010288020637366332, 2.4936314023754917 ], "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": [ 0.2945796159886014, -0.5181134408804284, -0.08228344842936114, -1.1036265623551884, -0.058992608307883276, -0.770591672754365, 0.28984242844557273 ], "joint_pos_r": [ -0.6549597446298391, -0.5727606263646637, 0.1864354384891841, -1.4061296637845648, 0.28736281992515583, 0.6034556520947786, -0.6924408273287838 ], "eef_pose_l": [ 520.8333025414615, 351.30617699208625, 104.99446321598892, 1.6526623179675897, -0.05653262366506233, 0.74617694565007 ], "eef_pose_r": [ 454.0196659585099, -249.24271326012322, 7.409617076382432, 1.6181612232748162, -0.009904443042551734, 2.5012569909234625 ], "joint_status_l": { "velocity": [ -0.07454314330601619, 1.0318022589212994, -0.10552823148735069, -0.631008403265021, 1.342362526467522, 0.23759010720780793, -1.4682217515198381 ], "torque": [ -29.87548828125, 11.16943359375, -17.0654296875, -3.875732421875, -1.7010498046875, -0.750732421875, -0.574951171875 ] }, "joint_status_r": { "velocity": [ -0.6502994083366076, -3.866467295420506, -0.7125148038296114, -1.2298734806197587, 2.629322699837733, -5.810793341508358, -4.360254497759897 ], "torque": [ 20.2734375, 4.09423828125, 10.040283203125, -8.270263671875, 3.570556640625, 2.0416259765625, -0.61614990234375 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.7, -9.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.4, -16.7, -9.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.4, -0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.4, -0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -288, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 62, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2925177994891397, -0.5012708416750874, -0.08420572642810546, -1.1213497303768205, -0.04005532333351119, -0.7559369325376328, 0.2713729062709207 ], "act_joint_pos_r": [ -0.6567832404695157, -0.6162343465465107, 0.17835644277412144, -1.4115678008172878, 0.25445843271568824, 0.5596407616189544, -0.6672781428314185 ], "act_eef_pose_l": [ 517.9566875079825, 355.49029076978366, 105.0812314478881, 1.6657066671222682, -0.05601021012543563, 0.7563156498580138 ], "act_eef_pose_r": [ 454.7958644042035, -228.6067481268787, -4.423856653080065, 1.6442234667966167, -0.027663361847242218, 2.5209859318220396 ], "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": [ 0.2943127113799606, -0.5155824180563395, -0.0825621726492072, -1.105912755242142, -0.05599566041409119, -0.7689369803118387, 0.2867876198270131 ], "joint_pos_r": [ -0.6556638443886199, -0.5797495840383887, 0.1851417005944337, -1.407632153678371, 0.286750425894919, 0.5948004640773844, -0.6939506080453252 ], "eef_pose_l": [ 520.3729487799599, 351.9964964179375, 104.96185528794129, 1.654734095547416, -0.05622324839546173, 0.7474968072641747 ], "eef_pose_r": [ 454.458629515779, -246.07327170171533, 5.556482041058189, 1.6214563720135662, -0.011521926701259767, 2.502237770108706 ], "joint_status_l": { "velocity": [ -0.19384476706285625, 1.5456046640025534, -0.1774985730803591, -1.6671441447568824, 1.7215056316080557, 1.4039637519172032, -1.6647399651774641 ], "torque": [ -32.4169921875, 10.81787109375, -17.66357421875, -3.216552734375, -1.541748046875, -0.59326171875, -0.6134033203125 ] }, "joint_status_r": { "velocity": [ -0.12089121124070346, -3.940238139764851, -0.7327862322190626, -0.42503735519616725, -3.487432407036639, -3.797135874973989, 2.8805412860775093 ], "torque": [ 19.87060546875, 4.00634765625, 8.807373046875, -7.635498046875, 1.14990234375, 2.1844482421875, 0.36163330078125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.8, -8.0, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.8, -8.0, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.2, -17.4, -0.6, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -3.2, -17.4, -0.6, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -408, "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": [ 0.2920428120424783, -0.49668275046410926, -0.08481446547624788, -1.1285849013502294, -0.0379332686862479, -0.7482045414458258, 0.2703859664296849 ], "act_joint_pos_r": [ -0.6538035986203831, -0.6208533020412266, 0.1775246986412215, -1.4089536460057484, 0.21853587440219835, 0.5658920007888313, -0.6278628811822499 ], "act_eef_pose_l": [ 517.4150875079824, 356.29349076978366, 105.475631447888, 1.667498052270481, -0.057831584534289, 0.7607957398688234 ], "act_eef_pose_r": [ 452.9814644042035, -225.2675481268787, -6.020656653080096, 1.6531066013236204, -0.03695584773795711, 2.538541788899679 ], "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": [ 0.29396403731149146, -0.5127119284780601, -0.08290105705829674, -1.1092669590809134, -0.05313568470111741, -0.765927288244098, 0.2841421437296224 ], "joint_pos_r": [ -0.6556330304964613, -0.5860805436089085, 0.18396626564675442, -1.4080906705805236, 0.278851693549456, 0.5894710982416672, -0.6867238698720205 ], "eef_pose_l": [ 519.9180798408828, 352.6616986770795, 105.01930974616769, 1.6567728022356736, -0.056362183745409127, 0.7494300627981014 ], "eef_pose_r": [ 454.4154028125162, -242.9493160937273, 3.7527972989996954, 1.625934676176747, -0.014969477094342518, 2.5067462781970384 ], "joint_status_l": { "velocity": [ -0.20748620957489194, 1.7311001694366723, -0.20664201455822262, -2.086276233657536, 1.6418125069344036, 1.9140002037953963, -1.4856233322753098 ], "torque": [ -34.51171875, 11.0595703125, -18.0908203125, -4.290771484375, -1.6845703125, -0.2581787109375, -0.6243896484375 ] }, "joint_status_r": { "velocity": [ 0.19757281551768813, -3.755347152647026, -0.6956687189454414, -0.09319859717749068, -6.513916350210591, -2.5464674208643956, 6.356799294721327 ], "torque": [ 26.0888671875, 4.53369140625, 8.984375, -7.82470703125, 0.618896484375, 2.230224609375, 1.24603271484375 ] }, "eef_FT_l": { "raw_value": [ 0.4, -17.2, -8.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -17.2, -8.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.7, -16.3, -0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -16.3, -0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -414, "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": [ 0.29183173432934345, -0.4939880672636849, -0.08518928055105897, -1.1330793512480213, -0.03505660710378981, -0.7427828028203921, 0.26892611747643136 ], "act_joint_pos_r": [ -0.6547371750559514, -0.62475201641935, 0.17691758570246727, -1.40988051004255, 0.21778440688841094, 0.5616128788590823, -0.6253655606025134 ], "act_eef_pose_l": [ 517.1246875079825, 356.7806907697837, 105.43883144788792, 1.6697895591420777, -0.05921349364025364, 0.7637147312302018 ], "act_eef_pose_r": [ 452.9446644042035, -223.4003481268787, -7.112656653080194, 1.6547299549564893, -0.04107849276715998, 2.5393318430956127 ], "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": [ 0.2935977481564628, -0.5095382464453995, -0.0832865985917388, -1.113248931971278, -0.05008524791237381, -0.7621105008065135, 0.28152596326388385 ], "joint_pos_r": [ -0.6553897525744109, -0.5925635040652261, 0.18277520003006542, -1.408322856404241, 0.2681228092174732, 0.584934599522309, -0.6761022677062697 ], "eef_pose_l": [ 519.4431882160236, 353.36518711048404, 105.08686113260511, 1.6589989438825616, -0.05675711837583737, 0.751785480999853 ], "eef_pose_r": [ 454.1838506285128, -239.64043206824263, 1.883533972269305, 1.6309753442382173, -0.019339224691291658, 2.512656592121854 ], "joint_status_l": { "velocity": [ -0.19072386822927, 1.679369821260046, -0.20548359119187953, -2.141622118119635, 1.6230453381636534, 2.087329819999262, -1.3607432120692486 ], "torque": [ -35.07568359375, 10.10009765625, -17.877197265625, -4.47998046875, -1.8365478515625, -0.047607421875, -0.65093994140625 ] }, "joint_status_r": { "velocity": [ 0.07047629340739547, -3.476256807530831, -0.6326036897321696, -0.1682216315046503, -5.436387113871621, -2.5186715473823895, 5.479402760859564 ], "torque": [ 27.5830078125, 3.7646484375, 8.758544921875, -8.2275390625, 0.28564453125, 1.9903564453125, 0.845947265625 ] }, "eef_FT_l": { "raw_value": [ 0.5, -17.0, -8.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -17.0, -8.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.3, -17.2, -0.7, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.3, -17.2, -0.7, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -366, "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": [ 0.2932549218020562, -0.4936015875377361, -0.08521948160168501, -1.1322663561602824, -0.03654420660808707, -0.7450223853411886, 0.26768010878937804 ], "act_joint_pos_r": [ -0.6561918555384239, -0.63009166965677, 0.1761094595725843, -1.412471395333549, 0.2261134539672245, 0.5543673999246848, -0.6292172101531368 ], "act_eef_pose_l": [ 516.7702875079824, 356.9878907697837, 104.98443144788807, 1.669508698747322, -0.05585494934476951, 0.7631582964019338 ], "act_eef_pose_r": [ 453.2758644042035, -220.8603481268787, -7.850256653080123, 1.6534248475104245, -0.04744021963006539, 2.5375052155573212 ], "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": [ 0.2934712335654861, -0.5071393643675449, -0.08357842031790635, -1.1161782274588559, -0.04795193846769831, -0.7593994117490809, 0.2794894340762867 ], "joint_pos_r": [ -0.6553873568801457, -0.5982401437142015, 0.1817539682456664, -1.408765734757723, 0.26044794949505606, 0.5805782057102327, -0.6680391003457653 ], "eef_pose_l": [ 519.0251220212873, 353.95066539330344, 105.08769440634147, 1.6607662521856534, -0.0567560363448339, 0.7536683824968056 ], "eef_pose_r": [ 454.0295022315623, -236.77682566722672, 0.31096981850009797, 1.6348695086654548, -0.023473436933776803, 2.5170574029715276 ], "joint_status_l": { "velocity": [ -0.023360981455056162, 1.4620367771498444, -0.1772293915465184, -1.7374666559133445, 1.231998704978532, 1.5526730584083381, -1.2753695159730682 ], "torque": [ -32.93701171875, 10.8251953125, -17.791748046875, -3.814697265625, -1.710205078125, -0.340576171875, -0.66009521484375 ] }, "joint_status_r": { "velocity": [ -0.08688329260841954, -3.4398633484507, -0.6095889578277003, -0.40019953893377647, -3.708016154915228, -2.83068353829119, 4.192640485483068 ], "torque": [ 22.02392578125, 3.84521484375, 9.09423828125, -8.587646484375, 0.7269287109375, 1.9647216796875, 0.78277587890625 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.7, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.7, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.1, -17.2, -0.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.1, -17.2, -0.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.29494822092437895, -0.49314101042236813, -0.08529422766155433, -1.133224302138967, -0.04020836322864889, -0.7440084101221041, 0.26985346210202726 ], "act_joint_pos_r": [ -0.655832141913967, -0.6328029421860523, 0.1756227056957455, -1.4100588816862363, 0.22023297860615232, 0.5587066355234686, -0.6191340118846395 ], "act_eef_pose_l": [ 516.6310875079824, 357.05749076978367, 104.65163144788794, 1.6683153807935829, -0.0542755837437737, 0.7643007289620122 ], "act_eef_pose_r": [ 452.9030644042035, -219.62514812687868, -8.19345665307992, 1.6531180666156804, -0.053325259717705985, 2.5426464826598565 ], "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": [ 0.2935313850755057, -0.5047190075748923, -0.08387291722674155, -1.119078409901005, -0.04614787892454835, -0.7567985107305124, 0.2775277391789613 ], "joint_pos_r": [ -0.6555135009753185, -0.604456750632197, 0.18065185100773518, -1.4092922955566234, 0.2535334641936083, 0.5759362580186624, -0.6599733073940256 ], "eef_pose_l": [ 518.6487298138196, 354.45502735375965, 105.04759312073277, 1.6621479038844436, -0.056499653868033274, 0.7552853782782011 ], "eef_pose_r": [ 453.8887955868981, -233.6742805772535, -1.295222774296974, 1.6384294815920109, -0.02851896801050631, 2.5214107393815772 ], "joint_status_l": { "velocity": [ 0.15301375877863066, 1.2503868142852426, -0.1534969998077118, -1.5277113042628798, 0.6414487766367438, 1.381290126733603, -0.8287974802341225 ], "torque": [ -29.8095703125, 10.048828125, -18.243408203125, -3.662109375, -1.69921875, -0.03662109375, -0.5841064453125 ] }, "joint_status_r": { "velocity": [ -0.0344122064399599, -3.061298399646084, -0.5431316748825132, -0.08278886027035526, -3.5963463748787117, -1.860744349760246, 4.410513833861707 ], "torque": [ 24.7265625, 3.14208984375, 9.48486328125, -9.002685546875, 0.6134033203125, 2.391357421875, 0.84503173828125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.1, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -17.1, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.7, -17.3, -0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -17.3, -0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "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": [ 0.2969222840798186, -0.4926199706297175, -0.08538247512696649, -1.1345670776127812, -0.04499912452589825, -0.7424513290242843, 0.27370685335857275 ], "act_joint_pos_r": [ -0.6553491935916251, -0.6377944006814422, 0.1748277001780668, -1.410522639716395, 0.21372059375708743, 0.5580766058546195, -0.61268620994506 ], "act_eef_pose_l": [ 516.5046875079825, 357.10709076978367, 104.32603144788804, 1.66663340936891, -0.053375967499945595, 0.7657706900218171 ], "act_eef_pose_r": [ 452.4262644042035, -216.8051481268787, -8.793456653080057, 1.6538805451465068, -0.05608101341731857, 2.5488201822168683 ], "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": [ 0.2938246495473739, -0.5032296509879631, -0.08405716124888535, -1.1209391279187122, -0.04567776107056443, -0.75509619864759, 0.2767845333460242 ], "joint_pos_r": [ -0.6555113868073822, -0.609679982595042, 0.17973537230562403, -1.4094706505066736, 0.24732414377309825, 0.573032694107368, -0.6525319294988239 ], "eef_pose_l": [ 518.3889853308887, 354.7870071846274, 104.97690935079257, 1.6628299992822004, -0.05615984144642364, 0.7565044781562953 ], "eef_pose_r": [ 453.6966516070531, -231.04180554387705, -2.526340915068374, 1.6409799675689918, -0.0329745122729771, 2.525689325261925 ], "joint_status_l": { "velocity": [ 0.3345346629313184, 1.1458116847817834, -0.1431296774485613, -1.4717751592705497, 0.07329058523369847, 1.3656056429320884, -0.33237963563159667 ], "torque": [ -26.9384765625, 11.27197265625, -18.2861328125, -4.034423828125, -1.91162109375, -0.05126953125, -0.648193359375 ] }, "joint_status_r": { "velocity": [ 0.017516350685475857, -3.0362676034041414, -0.5300129578795776, -0.11361148385802267, -3.6290763678430427, -1.6152098932273873, 4.3032107953884235 ], "torque": [ 25.341796875, 3.427734375, 9.613037109375, -9.173583984375, 0.465087890625, 2.2796630859375, 0.75714111328125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.9, -8.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -16.9, -8.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.1, -0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.1, -0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -353, "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": [ 0.29816007255548954, -0.4935041104616523, -0.0852171177322129, -1.131022386349803, -0.04724300196601654, -0.7464936444157839, 0.27647998612385477 ], "act_joint_pos_r": [ -0.6581746601815301, -0.6464010135556552, 0.17332603761953214, -1.4060723690224288, 0.2393714932055113, 0.554630357683385, -0.637525136441627 ], "act_eef_pose_l": [ 516.4998875079824, 357.41669076978366, 103.89163144788795, 1.6657544187065052, -0.05347636948199412, 0.7647032697484167 ], "act_eef_pose_r": [ 454.3982644042035, -214.9651481268787, -9.621456653080031, 1.646073919752072, -0.057223290592208986, 2.5418444179837962 ], "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": [ 0.29442668474797773, -0.5013925900863002, -0.08428422756469214, -1.1231930278226605, -0.04565629397913469, -0.753037964665045, 0.27636213313105235 ], "joint_pos_r": [ -0.655686430764855, -0.6152713999074529, 0.17875938211855724, -1.409335778744494, 0.24323222832760052, 0.5701398514496208, -0.6472778013316286 ], "eef_pose_l": [ 518.0577490447733, 355.2121865809731, 104.841184291019, 1.6634619938406456, -0.05566670973623517, 0.7580954411173024 ], "eef_pose_r": [ 453.6407040071703, -228.39609202061797, -3.7182951108278814, 1.6427270214672722, -0.03718861450688588, 2.5293195266811797 ], "joint_status_l": { "velocity": [ 0.40319399164001624, 0.8519306731100684, -0.10074916665436806, -0.8455457828908663, -0.17135940860757426, 0.7067657419792539, 0.012727747837670833 ], "torque": [ -22.91748046875, 10.48828125, -18.658447265625, -4.5654296875, -1.8017578125, -0.0640869140625, -0.5877685546875 ] }, "joint_status_r": { "velocity": [ -0.26872085150220215, -3.3618991200912163, -0.58678389962874, 0.35243785538519035, -0.4169470959884958, -1.6749759259795383, 1.0532567439733853 ], "torque": [ 20.9619140625, 2.841796875, 9.89990234375, -5.7861328125, 1.0052490234375, 2.2119140625, 0.35888671875 ] }, "eef_FT_l": { "raw_value": [ 0.6, -17.0, -8.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -8.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.7, -0.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.7, -0.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -393, "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": [ 0.2990707333708544, -0.4925634405529373, -0.08536642310767198, -1.133332364223404, -0.04793298268503725, -0.7455965744879309, 0.2764354193737936 ], "act_joint_pos_r": [ -0.6636459971214622, -0.6539182416598726, 0.17204039941031543, -1.4017420698576564, 0.29222569534954834, 0.5444251583425519, -0.6852030137148049 ], "act_eef_pose_l": [ 516.0862875079824, 357.18869076978365, 103.68443144788812, 1.6657514738545065, -0.052317951746715025, 0.7643985840353406 ], "act_eef_pose_r": [ 458.23346440420346, -215.29794812687868, -10.423856653080065, 1.634473056008946, -0.059642760607170074, 2.519578362283576 ], "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": [ 0.29521064636004996, -0.4998205846971349, -0.0844734016173967, -1.1248714613223607, -0.046015500208703576, -0.7517237998597839, 0.27638058406298077 ], "joint_pos_r": [ -0.6568158779177485, -0.6217227112967635, 0.1776367027989725, -1.4082130687358592, 0.24921039518701543, 0.5661115658240222, -0.6515618961285685 ], "eef_pose_l": [ 517.7290976864186, 355.61044156119476, 104.64278484366945, 1.6638911711115776, -0.05515061393625834, 0.7593185257807126 ], "eef_pose_r": [ 454.2975252432327, -226.08148042733754, -4.846719566112597, 1.6416896646737371, -0.04099150908951124, 2.5286999774490835 ], "joint_status_l": { "velocity": [ 0.41687710203408557, 0.7837484521484583, -0.09644347650139551, -0.9137505636793719, -0.20708199988689335, 0.6617208237482686, 0.005922038906369664 ], "torque": [ -23.1005859375, 11.11083984375, -18.768310546875, -4.50439453125, -4.075927734375, -0.0274658203125, 0.0457763671875 ] }, "joint_status_r": { "velocity": [ -0.73763111873415, -3.4770147301479426, -0.6043829406530143, 0.6988472674489543, 4.645515405400591, -2.3420629325450193, -3.633133545767109 ], "torque": [ 19.541015625, 4.892578125, 9.344482421875, -4.5166015625, 3.3709716796875, 2.1844482421875, -0.55206298828125 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.9, -8.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -16.9, -8.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.2, -16.8, -0.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -4.2, -16.8, -0.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -303, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 78, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29571898130889895, -0.4908370010315312, -0.08547604556957875, -1.1306608113443521, -0.028427003669712552, -0.7514999720278825, 0.2534049482252035 ], "act_joint_pos_r": [ -0.6684122680070077, -0.6620898040478386, 0.17070349402859647, -1.3977792987144761, 0.3396857577952476, 0.5331236436292262, -0.7318836415766685 ], "act_eef_pose_l": [ 515.2486875079824, 358.05349076978365, 103.02363144788801, 1.675866165989683, -0.04584111973152942, 0.7604812523722285 ], "act_eef_pose_r": [ 461.8742644042035, -215.22434812687868, -11.762256653080158, 1.6264965750346219, -0.058713759519184866, 2.4989396429639767 ], "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": [ 0.29565147501091177, -0.49841298129349504, -0.08463919929567842, -1.1261747964520497, -0.04494811203676113, -0.751066100187509, 0.27472974216740054 ], "joint_pos_r": [ -0.6585613398770864, -0.6283372539030598, 0.17649636913404002, -1.4066217714486517, 0.26217138932584216, 0.5610019318360003, -0.6627775023802638 ], "eef_pose_l": [ 517.3790834170043, 355.95152284904515, 104.42526723030625, 1.6649457168971298, -0.05418179379017162, 0.7599214496177975 ], "eef_pose_r": [ 455.4526149286287, -224.1749874509345, -5.910283222513129, 1.6390741087888232, -0.044050517115144266, 2.524746621851008 ], "joint_status_l": { "velocity": [ 0.007290465161791104, 0.8181817373116296, -0.09037673206202523, -0.48447531953321743, 1.784227080676437, -0.046856776792836285, -2.303009822113511 ], "torque": [ -24.73388671875, 12.1142578125, -18.353271484375, -4.08935546875, -1.812744140625, -0.9796142578125, -0.84320068359375 ] }, "joint_status_r": { "velocity": [ -1.0638688608963776, -3.645167907154523, -0.6256120599466009, 0.9549588902846295, 8.371304896255483, -3.0107663285257047, -7.463242916627699 ], "torque": [ 19.19677734375, 3.05419921875, 8.648681640625, -3.57666015625, 3.321533203125, 2.1405029296875, -0.73516845703125 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.3, -8.2, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -16.3, -8.2, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.0, -16.4, 0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -4.0, -16.4, 0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -333, "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": [ 0.2949207747654254, -0.48990242913525694, -0.08558537745408983, -1.1313022805148687, -0.020856694582218314, -0.7511164057295125, 0.2457425089077123 ], "act_joint_pos_r": [ -0.6732056175981698, -0.6702982383163838, 0.16933054938575526, -1.390972082886182, 0.37816664898160873, 0.530360790949428, -0.7702702596548708 ], "act_eef_pose_l": [ 514.9606875079825, 358.2942907697837, 102.50763144788793, 1.6804228256835458, -0.044349687536166124, 0.7601192410592476 ], "act_eef_pose_r": [ 464.5974644042035, -214.97074812687868, -13.262256653080158, 1.6182102557032811, -0.058548559502205784, 2.4848233426265476 ], "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": [ 0.2956058586044392, -0.4970061000241683, -0.08479504377230258, -1.1270142126476972, -0.041481208662553705, -0.7511151565756466, 0.2704068640483176 ], "joint_pos_r": [ -0.6608439618880664, -0.6352312514237026, 0.175317213165029, -1.4042902024777304, 0.2802188737385368, 0.5557610480118973, -0.6793277031259465 ], "eef_pose_l": [ 516.9819451297508, 356.33770579436265, 104.14059215542018, 1.667201178019233, -0.052599357016010304, 0.7599611143066369 ], "eef_pose_r": [ 456.9463800176653, -222.5554138725866, -6.9933547190648255, 1.6352517509935143, -0.046439085127791935, 2.5186530244088194 ], "joint_status_l": { "velocity": [ -0.07398687248727498, 0.7671738294203756, -0.08535352026539655, -0.4630976713180246, 2.2273818275607704, -0.00013490463857124269, -2.663671794385314 ], "torque": [ -28.388671875, 10.7958984375, -18.798828125, -3.94287109375, -1.4776611328125, -1.142578125, -0.80474853515625 ] }, "joint_status_r": { "velocity": [ -1.3350194423971118, -3.787122889190364, -0.6465406194653411, 1.4383144950684823, 10.57804774341009, -2.743146857954848, -9.821506435274685 ], "torque": [ 19.69482421875, 2.724609375, 8.69140625, -4.132080078125, 3.592529296875, 2.16064453125, -0.77728271484375 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.6, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -16.6, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.9, -16.4, 0.8, 0.9, 0.1, 0.0 ], "actual_contact_FT": [ -3.9, -16.4, 0.8, 0.9, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "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": [ 0.29450165946754536, -0.48958716904695543, -0.08559202068571468, -1.1301799287574645, -0.01733383614093437, -0.7518619429476628, 0.24203095309397432 ], "act_joint_pos_r": [ -0.6759689903551385, -0.6734563637051404, 0.16886656907125422, -1.3893464224317347, 0.4001009932964208, 0.5288194138244284, -0.7910624413740857 ], "act_eef_pose_l": [ 514.9278875079824, 358.74469076978363, 102.23723144788805, 1.6826070275940228, -0.043578932342152286, 0.7603457971144842 ], "act_eef_pose_r": [ 465.7190644042035, -214.94834812687867, -13.706256653080118, 1.6132439917340242, -0.05945285740372238, 2.477193779780143 ], "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": [ 0.29544613341078174, -0.49564051202509546, -0.08494492513160834, -1.127743892947941, -0.03732840651024689, -0.7511691472490754, 0.26547677673160164 ], "joint_pos_r": [ -0.6631901855392772, -0.6416149075020237, 0.17423175888263515, -1.4018409801888512, 0.29881146388422875, 0.5511804999299839, -0.6966153408870828 ], "eef_pose_l": [ 516.597507194055, 356.73590406240095, 103.81307258286128, 1.6698531943454593, -0.05098462145538158, 0.7599676191135941 ], "eef_pose_r": [ 458.4064433722165, -221.19770760074329, -8.009375043204358, 1.6313150938457166, -0.04846486412076261, 2.512318777876783 ], "joint_status_l": { "velocity": [ -0.10200017753536628, 0.6537417605567697, -0.0698842587174564, -0.26308410817676986, 2.1593499132643856, -0.07481972875744702, -2.5320742733250245 ], "torque": [ -29.87548828125, 9.990234375, -19.0673828125, -4.510498046875, -1.72119140625, -1.4300537109375, -0.79742431640625 ] }, "joint_status_r": { "velocity": [ -1.3800702171176127, -3.438775848664477, -0.5794234104492535, 1.3493724401563156, 10.938946549533757, -2.414926074962853, -10.199986020088758 ], "torque": [ 19.3505859375, 2.23388671875, 9.09423828125, -3.91845703125, 4.368896484375, 2.52685546875, -0.94390869140625 ] }, "eef_FT_l": { "raw_value": [ 0.9, -16.9, -9.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.9, -16.9, -9.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.0, -17.5, -0.5, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -4.0, -17.5, -0.5, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -351, "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": [ 0.2900796313040325, -0.49138276308377893, -0.08523417934553922, -1.12241579757981, -0.002209015574475332, -0.7639452004043038, 0.22580595430172162 ], "act_joint_pos_r": [ -0.6812090027177651, -0.6795984261976388, 0.16795251048480583, -1.3878345129858591, 0.44057894999337677, 0.5239082506895592, -0.831163989976729 ], "act_eef_pose_l": [ 514.6478875079824, 358.8798907697837, 102.33083144788797, 1.6888317454887143, -0.040406622169723384, 0.752743387053632 ], "act_eef_pose_r": [ 467.62386440420346, -214.52354812687867, -14.81025665308016, 1.605613882621124, -0.06007514356025167, 2.4630014691933613 ], "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": [ 0.2949720303365557, -0.49477483614009415, -0.08502550363652718, -1.1275845584403155, -0.032950866380689794, -0.7521542636216346, 0.260452541886503 ], "joint_pos_r": [ -0.6653443152471431, -0.646483877311108, 0.17342006633613655, -1.3999951649355045, 0.31580972965641996, 0.5477180973974326, -0.7126353362741816 ], "eef_pose_l": [ 516.3032461117093, 357.069127593248, 103.56618895720946, 1.6723704937661017, -0.04955666997697751, 0.759433467530757 ], "eef_pose_r": [ 459.59303241471787, -220.26976074468877, -8.756567674203268, 1.6275997694939577, -0.04987120165177025, 2.5065518899811385 ], "joint_status_l": { "velocity": [ -0.5283635122639296, 0.36633308566536016, -0.02253631190030081, 0.5582097094194438, 3.3200219682573975, -1.2733836160858658, -3.7417211029915354 ], "torque": [ -32.5048828125, 10.12939453125, -14.337158203125, -0.5126953125, -1.578369140625, -1.6864013671875, -0.93475341796875 ] }, "joint_status_r": { "velocity": [ -1.7133357146912331, -3.576265803422629, -0.5904786167079124, 1.3133116765047248, 13.474678381995897, -2.571387605427411, -12.80071706290542 ], "torque": [ 19.541015625, 2.81982421875, 9.5703125, -3.082275390625, 3.78662109375, 1.9793701171875, -1.41265869140625 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.2, -7.3, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -16.2, -7.3, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.7, -18.0, -0.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -18.0, -0.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -377, "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": [ 0.2828995201406237, -0.4961347588680486, -0.08450432342836217, -1.110809141786075, 0.020511919685461896, -0.788983473276363, 0.1997933963484246 ], "act_joint_pos_r": [ -0.686663856993342, -0.6832489900926523, 0.1674821900364077, -1.3896397094300534, 0.4885377180159262, 0.5168524881712162, -0.8811265940880365 ], "act_eef_pose_l": [ 513.4990875079824, 357.0918907697837, 102.7252314478881, 1.6970100791677907, -0.03271710151286494, 0.7330888226979135 ], "act_eef_pose_r": [ 469.5190644042035, -214.9883481268787, -15.38945665308006, 1.5978650390715199, -0.05729677883125452, 2.445073413867937 ], "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": [ 0.2935893144876807, -0.49451771631173397, -0.08500977536840279, -1.125833817889043, -0.025877229551148195, -0.7560443036255555, 0.2524511830157193 ], "joint_pos_r": [ -0.6685426298974425, -0.652602019987753, 0.172419445569257, -1.3979752172564737, 0.3413278877772488, 0.5429995835155941, -0.7371945898354846 ], "eef_pose_l": [ 515.9325748979849, 357.24145669248924, 103.40156806713898, 1.6757363603791806, -0.04747134132061655, 0.7567355211692045 ], "eef_pose_r": [ 461.1939933366257, -219.23030272040552, -9.665514461507286, 1.6220980031976635, -0.05121175954468857, 2.497808867183697 ], "joint_status_l": { "velocity": [ -1.154463740394629, -0.17463544548457222, 0.05458719956097369, 1.6226171625852714, 5.009880359030994, -3.557325404582201, -5.686873234707512 ], "torque": [ -34.28466796875, 4.248046875, -14.7705078125, -1.26953125, -1.60400390625, -2.607421875, -1.13525390625 ] }, "joint_status_r": { "velocity": [ -1.9570348067006194, -3.3097751547286336, -0.5332078714221922, 0.9002082950289036, 15.898192773645459, -2.823803013574988, -15.544198007661159 ], "torque": [ 18.62548828125, 4.3359375, 9.19189453125, -4.13818359375, 3.8726806640625, 2.398681640625, -1.54449462890625 ] }, "eef_FT_l": { "raw_value": [ 1.2, -16.1, -9.4, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 1.2, -16.1, -9.4, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.4, -1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.5, -17.4, -1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -391, "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": [ 0.27802502706057364, -0.5016055178337678, -0.08371409609020032, -1.0988815063414543, 0.04029136711987092, -0.8074895283805092, 0.18021532052860648 ], "act_joint_pos_r": [ -0.6881805081427621, -0.6868325777498814, 0.1670067089262594, -1.3903616387757032, 0.5378522853806316, 0.5140004302964152, -0.9346060066441859 ], "act_eef_pose_l": [ 513.1942875079824, 356.0422907697837, 101.93563144788804, 1.7065337754536969, -0.027894409231989412, 0.7195143365599209 ], "act_eef_pose_r": [ 472.2622644042035, -215.6811481268787, -13.781456653080113, 1.5855807341162218, -0.04923746951351793, 2.427964211682811 ], "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": [ 0.2912819105894656, -0.49540088645398644, -0.08483750994282911, -1.122017883149011, -0.016019101068878484, -0.7635476250046432, 0.24158524311631732 ], "joint_pos_r": [ -0.6716928183180095, -0.6580446210940438, 0.17155412915455562, -1.3966863631895836, 0.37109329234032384, 0.5383792887199255, -0.766891107983261 ], "eef_pose_l": [ 515.5138554279596, 357.05699082641576, 103.26142844893496, 1.6799756001317478, -0.04471930351238298, 0.7511352184462506 ], "eef_pose_r": [ 462.9134316112461, -218.51322167490565, -10.150242633565057, 1.615312982337308, -0.05093950784582008, 2.487629894582032 ], "joint_status_l": { "velocity": [ -1.431701195350854, -0.6700804260506565, 0.1213251177908381, 2.498655001327066, 6.081351204518678, -4.745585601027891, -6.627756164253817 ], "torque": [ -34.6142578125, 3.02490234375, -11.73095703125, -0.445556640625, -1.2945556640625, -2.7850341796875, -0.545654296875 ] }, "joint_status_r": { "velocity": [ -1.780617984552535, -3.1090076235518183, -0.491106900232241, 0.6830500912151649, 18.009440088310402, -2.632839058302139, -18.11267485059087 ], "torque": [ 19.50439453125, 4.7021484375, 9.112548828125, -4.4677734375, 3.6895751953125, 2.8253173828125, -0.90362548828125 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.8, -9.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.6, -16.8, -9.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.3, -17.0, 0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -4.3, -17.0, 0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -314, "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": [ 0.2764567207214626, -0.5030361180086972, -0.08351406385834827, -1.0958512768673105, 0.0460766750754685, -0.8124900240804748, 0.17402388741374142 ], "act_joint_pos_r": [ -0.6869353295688801, -0.6882834007422144, 0.16680392160145466, -1.3893433449179153, 0.5590341920762527, 0.5130536733580008, -0.9613989620831981 ], "act_eef_pose_l": [ 513.0878875079824, 355.7254907697837, 101.78683144788788, 1.7093199905617837, -0.026101841197551077, 0.7157854903663058 ], "act_eef_pose_r": [ 474.1398644042035, -216.4659481268787, -12.439856653080142, 1.5798179674055375, -0.04023577745567309, 2.4194331101458624 ], "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": [ 0.2887610100160068, -0.49665935040694975, -0.0846163087273646, -1.1175852375731048, -0.005410106408384788, -0.7718811929931813, 0.23003586607373844 ], "joint_pos_r": [ -0.6744674710249778, -0.6632982888133024, 0.17072722393383538, -1.395453191587467, 0.4029679104049494, 0.5339620668720263, -0.799567904779861 ], "eef_pose_l": [ 515.1087220658283, 356.7977928802397, 103.07233402837004, 1.6846366651281022, -0.041774474795665734, 0.74493200763697 ], "eef_pose_r": [ 464.8142941934567, -217.99797770066914, -10.368569039228532, 1.6080094759409191, -0.04926116900627087, 2.476573393433791 ], "joint_status_l": { "velocity": [ -1.3288240522406625, -0.6886705897355405, 0.11903893498799167, 2.3471985293053166, 5.560408404776472, -4.385624410349287, -6.049115286161033 ], "torque": [ -35.98388671875, 3.984375, -11.56005859375, 0.69580078125, -1.4117431640625, -2.57080078125, -0.73699951171875 ] }, "joint_status_r": { "velocity": [ -1.3464890101708704, -2.6983125058492874, -0.42370415541115314, 0.6598439792551147, 16.85466131883695, -2.2580399021880915, -17.477238725157385 ], "torque": [ 20.19287109375, 4.85595703125, 9.259033203125, -3.631591796875, 3.2666015625, 2.7117919921875, -0.714111328125 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.9, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.7, -16.9, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.8, -16.8, -0.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.8, -16.8, -0.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -303, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 49, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2747437298145948, -0.5063711107703086, -0.08301268174246723, -1.0871305688251707, 0.05062535775690978, -0.8232423617865422, 0.16949366632330123 ], "act_joint_pos_r": [ -0.6806540814207866, -0.6915384353853393, 0.1661931203521885, -1.3814172685332753, 0.5766799913819284, 0.5143936449071721, -0.9842635983143159 ], "act_eef_pose_l": [ 513.2470875079824, 355.71909076978363, 101.60443144788796, 1.7112397073449575, -0.02454751021986616, 0.7101815822425761 ], "act_eef_pose_r": [ 478.13586440420346, -218.1467481268787, -9.836656653080126, 1.5725321998254915, -0.027395544072759535, 2.4091760150163957 ], "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": [ 0.2865449435090602, -0.4980839912604028, -0.08437852743790453, -1.1130282064766182, 0.003567366545603574, -0.7797704195811567, 0.22031655506613465 ], "joint_pos_r": [ -0.6758083350484614, -0.6677730319908601, 0.17001332678998382, -1.3935543604523306, 0.4306156810811469, 0.5306760306612388, -0.8287522859779608 ], "eef_pose_l": [ 514.8117658142235, 356.58509039326475, 102.89233526424336, 1.6886120475275028, -0.03922910087542081, 0.7393572605253922 ], "eef_pose_r": [ 466.82503212344227, -217.84834698124288, -10.208271478305022, 1.6014934219941874, -0.04604549295302982, 2.4664334389076776 ], "joint_status_l": { "velocity": [ -1.2744934898263338, -0.8949825109714205, 0.14750698462129286, 2.796862377310916, 5.082113161905523, -4.69483129153403, -5.488710103374705 ], "torque": [ -34.98779296875, 4.0869140625, -11.016845703125, 0.921630859375, -1.541748046875, -2.3529052734375, -0.6829833984375 ] }, "joint_status_r": { "velocity": [ -0.5233251735594635, -2.5665878691407684, -0.41257012717643704, 1.3107672682455274, 15.774480269057811, -1.7584457988530922, -16.79472639834856 ], "torque": [ 20.57373046875, 2.9296875, 9.014892578125, -3.466796875, 3.3453369140625, 2.74658203125, -1.06658935546875 ] }, "eef_FT_l": { "raw_value": [ 1.0, -16.5, -8.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 1.0, -16.5, -8.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.8, -17.1, -0.6, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.8, -17.1, -0.6, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -341, "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": [ 0.27317965386038323, -0.5095864336835261, -0.08255700030745389, -1.0796139770793929, 0.05334068403693366, -0.8305472971390007, 0.17030060943555153 ], "act_joint_pos_r": [ -0.6745924555431344, -0.6942921307630573, 0.16562670081591935, -1.3720683892981658, 0.5815523287413389, 0.5180575825368002, -0.9961375009983823 ], "act_eef_pose_l": [ 513.7542875079824, 355.79829076978365, 101.585231447888, 1.712258040891059, -0.02731401950719844, 0.7065457006471397 ], "act_eef_pose_r": [ 481.38066440420346, -219.6731481268787, -7.81025665308016, 1.567572850288742, -0.014031530087049753, 2.4036232190988955 ], "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": [ 0.2844283842682725, -0.4998091811747199, -0.08410256839578846, -1.107922562190823, 0.01160988592078549, -0.7877413136696138, 0.21205256691776553 ], "joint_pos_r": [ -0.6760667645468534, -0.6709280055703963, 0.16949898329914975, -1.3914815619291319, 0.4493060866834664, 0.528837007086164, -0.8490400784512313 ], "eef_pose_l": [ 514.6298121108284, 356.4224993359551, 102.72276807718332, 1.6921823160386071, -0.03731791365760318, 0.7340371886524351 ], "eef_pose_r": [ 468.4549860678237, -217.91752955949815, -9.926020975334723, 1.5969475778116047, -0.04275236590782756, 2.4591861919042746 ], "joint_status_l": { "velocity": [ -1.2148270546434858, -1.055912128486991, 0.16691643060318118, 3.0572370236487956, 4.506793275781476, -4.622909869254954, -4.509078419919987 ], "torque": [ -36.04248046875, 3.64013671875, -11.376953125, -0.48828125, -1.820068359375, -2.431640625, -0.62347412109375 ] }, "joint_status_r": { "velocity": [ 0.15922067643892035, -2.523251101494317, -0.4181941742111839, 2.0965608093899135, 14.282172912076785, -1.1641435167537573, -15.886053101000108 ], "torque": [ 25.048828125, 3.134765625, 8.92333984375, -2.1240234375, 3.45703125, 2.7996826171875, -0.59600830078125 ] }, "eef_FT_l": { "raw_value": [ 0.8, -17.4, -7.9, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ 0.8, -17.4, -7.9, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.6, -1.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.6, -1.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -305, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 72, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2712670238516231, -0.5106197275443681, -0.08240496616321832, -1.0767429365524144, 0.05826210607557594, -0.8325551260641451, 0.16936407502526635 ], "act_joint_pos_r": [ -0.6693674379861391, -0.6945462403704687, 0.16543230893352823, -1.3637533263478798, 0.5811313481569549, 0.5178824679073817, -1.0048458135130238 ], "act_eef_pose_l": [ 514.0806875079825, 356.04549076978367, 101.674031447888, 1.714782871782546, -0.030801312414836385, 0.7054590370461844 ], "act_eef_pose_r": [ 484.25346440420344, -222.1811481268787, -6.7926566530802575, 1.568116283895496, 0.0009876549695927892, 2.3968762755007362 ], "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": [ 0.2822236875941028, -0.5016544814120638, -0.08381214300212718, -1.1025933900343534, 0.019543589015483424, -0.7955363405009109, 0.20456478863983982 ], "joint_pos_r": [ -0.6754293614184864, -0.6750773010733246, 0.16880031520727098, -1.3874496192237824, 0.4726579806352395, 0.5269184881323989, -0.8756760239625412 ], "eef_pose_l": [ 514.5274934211366, 356.3145339543678, 102.56963335572107, 1.6957842079766832, -0.036113656886690326, 0.7289603083522143 ], "eef_pose_r": [ 470.9682648971042, -218.3443847714048, -9.370554013160984, 1.591216870897337, -0.03642781145390943, 2.4492257330633 ], "joint_status_l": { "velocity": [ -1.1832847850685724, -0.9682180262244877, 0.15197061646843313, 2.7917666372934136, 4.181476516432387, -3.9979109287493486, -3.8015649492091352 ], "torque": [ -37.20703125, 2.900390625, -10.736083984375, 0.8056640625, -1.827392578125, -2.464599609375, -0.64910888671875 ] }, "joint_status_r": { "velocity": [ 0.6546684222810129, -2.102583431708105, -0.3637339498048231, 2.559124153265202, 11.714778183431473, -0.9758614028085866, -13.94992584038146 ], "torque": [ 30.13916015625, 4.95849609375, 9.295654296875, -3.631591796875, 3.2061767578125, 2.7813720703125, -1.02081298828125 ] }, "eef_FT_l": { "raw_value": [ 0.8, -16.7, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.8, -16.7, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.3, -17.5, -1.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.3, -17.5, -1.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -377, "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": [ 0.27355905376288575, -0.49948487572553674, -0.08392031320217985, -1.098576363037928, 0.05997515584371996, -0.8052426696213068, 0.17951281666011493 ], "act_joint_pos_r": [ -0.6651621414185865, -0.6925894225755824, 0.1656231189234504, -1.358777796180794, 0.5863191402260828, 0.5163788286534627, -1.0166479924537302 ], "act_eef_pose_l": [ 513.2742875079824, 357.60629076978364, 101.475631447888, 1.7183392173204775, -0.04447855996891093, 0.7198250116014504 ], "act_eef_pose_r": [ 486.7102644042035, -225.23394812687872, -5.475056653079946, 1.5680823093479377, 0.013563982859918172, 2.388026084492418 ], "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": [ 0.28061931612990426, -0.5021719997573695, -0.08371095657381067, -1.1002188786180536, 0.026055859399215897, -0.7992763024341495, 0.19964958887465806 ], "joint_pos_r": [ -0.6741131935127896, -0.6784058629543512, 0.16821591131082847, -1.3829707884395415, 0.4921384454299966, 0.5252334676368238, -0.8992001507670123 ], "eef_pose_l": [ 514.3888700696562, 356.3872796055588, 102.42242205718533, 1.6991095552588207, -0.036490055346837504, 0.7262762127040349 ], "eef_pose_r": [ 473.4838558476657, -219.15159204967307, -8.773267521859566, 1.5867653993090889, -0.028969462557942506, 2.4397042282476047 ], "joint_status_l": { "velocity": [ -0.7624858473200824, 0.290200836422283, -0.02260984902202612, 0.17738645092002514, 3.663175976406141, -0.6443486521652275, -2.174707259608555 ], "torque": [ -37.177734375, 9.66796875, -14.862060546875, 0.396728515625, -1.8914794921875, -2.2393798828125, -0.61065673828125 ] }, "joint_status_r": { "velocity": [ 0.966685115320054, -1.5317792616782455, -0.2800133192855103, 2.612766104528319, 10.171215054024518, -0.9562728064445025, -12.683992807794198 ], "torque": [ 31.04736328125, 4.1015625, 9.5458984375, -4.01611328125, 3.27392578125, 2.823486328125, -0.82672119140625 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.2, -8.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -16.2, -8.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.8, -17.5, -1.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.8, -17.5, -1.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -328, "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": [ 0.2790472496841032, -0.487286135522471, -0.08532845543070251, -1.1087249721332386, 0.047997898327429324, -0.7817133830011093, 0.20062595662239072 ], "act_joint_pos_r": [ -0.6608524447745466, -0.6880914245518288, 0.16622770868418998, -1.356550734424715, 0.5876250075902361, 0.5151086203217187, -1.0238422171865453 ], "act_eef_pose_l": [ 513.4382875079824, 363.51429076978366, 101.16843144788804, 1.716301424288332, -0.05824671510629107, 0.7442766954592179 ], "act_eef_pose_r": [ 488.4142644042035, -228.52754812687868, -3.6502566530800777, 1.568302459045236, 0.025386691937547622, 2.381097295731994 ], "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": [ 0.27991688690829797, -0.5004835434695203, -0.08388803373811939, -1.1009379015168572, 0.030861755821573265, -0.7979908610461823, 0.19818926100603387 ], "joint_pos_r": [ -0.6722801367047934, -0.6806522578372444, 0.16779261640032053, -1.3785638499377368, 0.5088662677177018, 0.5235940814903959, -0.9203839714135718 ], "eef_pose_l": [ 514.2109216212874, 357.1810358763359, 102.22137497338107, 1.7023133937532116, -0.03926159670387269, 0.7275650331030188 ], "eef_pose_r": [ 475.9490805635411, -220.37670724329817, -8.046249720383997, 1.583242656264535, -0.020673692615428948, 2.4303439129578646 ], "joint_status_l": { "velocity": [ -0.09391805024838717, 1.4252780219532468, -0.15556095477375909, -0.8409788232235371, 1.850648808663452, 1.7579157819138658, 0.2631553652137075 ], "torque": [ -36.7529296875, 11.41845703125, -16.9677734375, -1.873779296875, -1.7596435546875, -0.274658203125, 0.2471923828125 ] }, "joint_status_r": { "velocity": [ 1.2341543290306234, -0.803406309971777, -0.16900504880457135, 2.377346359324406, 8.50569304422688, -0.9164027783623574, -11.173161008712462 ], "torque": [ 32.98095703125, 4.60693359375, 10.16845703125, -3.40576171875, 2.9644775390625, 2.7630615234375, -0.69580078125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.3, -5.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -16.3, -5.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.2, -17.4, -1.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.2, -17.4, -1.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -389, "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": [ 0.28106540476127745, -0.4827120791954939, -0.08599510302872007, -1.1173151832354518, 0.044713054158928615, -0.7667974008396461, 0.20929724245844766 ], "act_joint_pos_r": [ -0.6590724071203997, -0.6869994789775588, 0.1663013445011501, -1.3524964558709254, 0.5857807841481959, 0.5164455627368153, -1.0244649537123676 ], "act_eef_pose_l": [ 513.6238875079824, 364.82789076978366, 100.99083144788783, 1.7163956647042262, -0.06536686936441902, 0.7543639388391398 ], "act_eef_pose_r": [ 489.4302644042035, -230.2195481268787, -3.2718566530800217, 1.5686384746639053, 0.030482200767216246, 2.37822306239777 ], "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": [ 0.2799132776875819, -0.49838324252544014, -0.08412699806648241, -1.1025195173047517, 0.033052880892952656, -0.7948614483774462, 0.19903186003556025 ], "joint_pos_r": [ -0.6702980398408295, -0.6818117694283948, 0.16753963183153292, -1.3747094031536047, 0.5217066698187144, 0.5222768006843801, -0.9374282116078141 ], "eef_pose_l": [ 514.1207017899778, 358.1331308447717, 102.0564179640811, 1.7042923025120438, -0.0422841570599598, 0.730494414404003 ], "eef_pose_r": [ 478.0832641251125, -221.7820178551943, -7.286952441880203, 1.5806915980658842, -0.01274419012040229, 2.422202120078368 ], "joint_status_l": { "velocity": [ 0.12442605420881492, 1.6924357239109789, -0.20174938564154754, -1.5978847934219331, 1.2592615727906042, 3.0308277445971754, 1.1086286044188487 ], "torque": [ -30.18310546875, 11.865234375, -17.919921875, -4.8583984375, -2.0672607421875, 0.4083251953125, 0.40191650390625 ] }, "joint_status_r": { "velocity": [ 1.2123325779693772, -0.5602561074384838, -0.1337310874938158, 2.398927553944219, 6.91980025898431, -0.6297551247027577, -9.3996909182259 ], "torque": [ 32.40966796875, 3.662109375, 9.979248046875, -3.375244140625, 2.6678466796875, 2.9754638671875, -0.80291748046875 ] }, "eef_FT_l": { "raw_value": [ 1.2, -17.2, -7.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 1.2, -17.2, -7.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.3, -1.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -17.3, -1.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -396, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2870009033831979, -0.4806967122244898, -0.08602702420005313, -1.1100650941547132, 0.040160826112066984, -0.7617487459128051, 0.2151566722926498 ], "act_joint_pos_r": [ -0.6556647725117998, -0.6868549902557792, 0.16612795397516167, -1.343614047321238, 0.5840267076531962, 0.5175928114300536, -1.0254244995394584 ], "act_eef_pose_l": [ 514.5230875079824, 369.32789076978366, 98.18443144788812, 1.7198145347710103, -0.06566481740329198, 0.7681826673588645 ], "act_eef_pose_r": [ 491.76386440420345, -233.00434812687868, -2.9758566530802, 1.5698701134239696, 0.0378623175498803, 2.3719383611732248 ], "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": [ 0.2805449432692279, -0.4954671376189091, -0.08445959630120506, -1.1046127713284428, 0.03478627395134418, -0.7895354719907307, 0.20126934108534103 ], "joint_pos_r": [ -0.6682545812591587, -0.6826562084758471, 0.1673259874831736, -1.3705415433613823, 0.532138226384639, 0.5213848387360196, -0.9517924050998364 ], "eef_pose_l": [ 514.1132634880308, 359.6323306494147, 101.6551111381273, 1.7067020458358415, -0.046337582374092606, 0.7357478578161337 ], "eef_pose_r": [ 480.10824667327364, -223.30217692400421, -6.610722289785741, 1.578739534710841, -0.005172263987384658, 2.41469841670298 ], "joint_status_l": { "velocity": [ 0.6972231288115971, 1.5951588959004503, -0.16927722051085503, -0.588833498520458, 0.580434514357131, 3.0008779102530525, 1.4997875365203583 ], "torque": [ -22.81494140625, 10.68603515625, -18.255615234375, -2.850341796875, -2.061767578125, 0.615234375, 0.64544677734375 ] }, "joint_status_r": { "velocity": [ 1.359659243709288, -0.45345505829086363, -0.1293838028941785, 2.9080838029891254, 5.6037907020320965, -0.40952687069539806, -7.952031666841108 ], "torque": [ 32.5048828125, 3.10546875, 9.747314453125, -3.424072265625, 2.6348876953125, 3.2208251953125, -0.7086181640625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.2, -6.1, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -17.2, -6.1, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.4, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.9, -17.4, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -354, "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": [ 0.2956302621680928, -0.483414953642194, -0.08539045555574072, -1.0948637019597782, 0.026515911660145875, -0.7687140055687565, 0.23192496935389542 ], "act_joint_pos_r": [ -0.6557589823758847, -0.6869713611816773, 0.16606995598968627, -1.3417102107932457, 0.6032419885140735, 0.5130179543395735, -1.0524212456530093 ], "act_eef_pose_l": [ 515.3358875079824, 372.6094907697837, 94.78203144788795, 1.7182571000755182, -0.06672077016475625, 0.7740647587612385 ], "act_eef_pose_r": [ 493.6286644042035, -235.0491481268787, -3.0782566530799613, 1.5694455116138049, 0.048521317134284224, 2.3599522554491914 ], "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": [ 0.28242755118011076, -0.4930890607322088, -0.08468205848655118, -1.1042712032226165, 0.03456463476523302, -0.7852207625228128, 0.20516489758212103 ], "joint_pos_r": [ -0.665882731882659, -0.6834599285360212, 0.16709453352142595, -1.3652877355288302, 0.5435973942137498, 0.5202750894416286, -0.9680302398747074 ], "eef_pose_l": [ 514.2820676005448, 361.6147204505489, 100.74591956894909, 1.7088548678164812, -0.04979144129670749, 0.7420288935690954 ], "eef_pose_r": [ 482.5029356750467, -225.27784248211864, -5.9370766700035915, 1.5769926351197427, 0.003911834196440256, 2.4056668601493465 ], "joint_status_l": { "velocity": [ 1.4258507334825588, 1.0447727517965966, -0.0765046270889691, 1.0159801716529415, -0.8692364585904666, 1.7826771737849967, 2.890002515283596 ], "torque": [ -22.33154296875, 10.65673828125, -18.389892578125, 0.30517578125, -4.2132568359375, 0.3662109375, 0.662841796875 ] }, "joint_status_r": { "velocity": [ 1.093332700608407, -0.3792235411301803, -0.1106511099480123, 2.54629757241176, 6.441426204724099, -0.7837474756260399, -9.113959822180107 ], "torque": [ 32.70263671875, 4.06494140625, 9.771728515625, -3.21044921875, 2.911376953125, 2.98828125, -0.838623046875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -16.1, -8.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -16.1, -8.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.2, -0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -17.2, -0.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "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": [ 0.29733758205375976, -0.492239064793785, -0.08393485205120163, -1.0698513838389556, 0.02837432357430064, -0.7881616943282653, 0.23190414395515857 ], "act_joint_pos_r": [ -0.6561002991850824, -0.6879988746215749, 0.1658669158836446, -1.339115499822252, 0.6150706963570616, 0.5129861702440144, -1.0651355792692736 ], "act_eef_pose_l": [ 516.8694875079824, 374.51269076978366, 92.19243144788815, 1.7216750398260845, -0.06478984138235827, 0.7702056659948304 ], "act_eef_pose_r": [ 494.7518644042035, -236.0571481268787, -3.1142566530800195, 1.5674694734428303, 0.050918299405941427, 2.353581308618282 ], "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": [ 0.28490853611189965, -0.49213646363040275, -0.08468229328723974, -1.1004596734956604, 0.033301164157458776, -0.7839725105662916, 0.20989451463564412 ], "joint_pos_r": [ -0.6641173773983995, -0.6841548648639998, 0.1668987400535366, -1.3609319477417137, 0.5549959304357155, 0.5189896752560929, -0.9838680048554964 ], "eef_pose_l": [ 514.6333152861382, 363.7103200986612, 99.47001932630687, 1.7107624288430334, -0.05256701222776334, 0.7473981845479402 ], "eef_pose_r": [ 484.578851214759, -227.04763657558252, -5.42881014166926, 1.5754513749268615, 0.012003219983451635, 2.397192128607295 ], "joint_status_l": { "velocity": [ 1.3422973727759135, -0.01108059884025181, 0.08072127274538765, 3.3055977895299904, -0.5320830900291951, -0.45241850292310204, 2.3769698615287993 ], "torque": [ -21.24755859375, 6.0498046875, -11.248779296875, 1.446533203125, -4.6197509765625, -1.1810302734375, 0.703125 ] }, "joint_status_r": { "velocity": [ 0.8658189110750669, -0.4151408098937992, -0.11143372378641381, 2.356106885644138, 6.487883369613812, -0.6483594189661268, -8.776639183551538 ], "torque": [ 32.83447265625, 4.7314453125, 9.66796875, -3.35693359375, 3.0230712890625, 2.9534912109375, -0.93841552734375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.5, -7.9, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -15.5, -7.9, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.4, -1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.4, -1.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -353, "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": [ 0.296821533486145, -0.5021485898811701, -0.08256674829253703, -1.050527633644123, 0.02088933577471915, -0.8043741059458349, 0.24151053042379392 ], "act_joint_pos_r": [ -0.6570101153668317, -0.6883697746206627, 0.16582909636545, -1.3397623532454215, 0.6225520250780563, 0.5125281509893819, -1.0733935685805196 ], "act_eef_pose_l": [ 518.7774875079824, 374.1654907697837, 92.22683144788816, 1.7161264880983471, -0.06732288921088181, 0.7641782001736369 ], "act_eef_pose_r": [ 494.8974644042035, -236.1291481268787, -3.1678566530802073, 1.5661732003152697, 0.051652604256899784, 2.351008467776233 ], "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": [ 0.28706177465096466, -0.4930056924481445, -0.08443263862714646, -1.093388233685936, 0.03178720271942805, -0.7861056103639964, 0.21461105488293097 ], "joint_pos_r": [ -0.6627654899083827, -0.6848612606441389, 0.16671357801237835, -1.3571212556018606, 0.5661570709804592, 0.5178951811094558, -0.9988322106959048 ], "eef_pose_l": [ 515.2257425199551, 365.5847606705949, 98.18481410253919, 1.7121982937896307, -0.054893489210319266, 0.7509317520191369 ], "eef_pose_r": [ 486.41008699332616, -228.6195364352918, -5.013334993908273, 1.5738718453535088, 0.01896285509274342, 2.389360039458457 ], "joint_status_l": { "velocity": [ 1.0540228674567054, -0.9874038008481634, 0.20151021291181515, 4.6288082851129175, -1.1769349181886546, -1.972939334103252, 2.905057678316947 ], "torque": [ -21.0205078125, 4.1015625, -11.1572265625, 0.726318359375, -4.68017578125, -1.7724609375, 0.618896484375 ] }, "joint_status_r": { "velocity": [ 0.6215621184928466, -0.37890833416032166, -0.09552120062106262, 1.874706162993789, 6.090475413570218, -0.5796221579266181, -8.052389159014517 ], "torque": [ 34.3798828125, 4.2919921875, 9.7412109375, -3.61328125, 3.087158203125, 3.0926513671875, -0.8203125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.1, -6.2, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.1, -6.2, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.9, -1.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.9, -1.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "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": [ 0.28396467681877324, -0.528509940463238, -0.07908774365809321, -0.9947326275315759, 0.031121995957861057, -0.8399231320631348, 0.23746099376838206 ], "act_joint_pos_r": [ -0.6592724323395007, -0.6901327686974796, 0.16561994713547792, -1.3415568838050342, 0.6315259102049349, 0.5115739753485964, -1.0827784037469235 ], "act_eef_pose_l": [ 525.7942875079824, 375.78309076978366, 93.7052314478879, 1.7168495055875928, -0.07475858495969603, 0.7564470540842991 ], "act_eef_pose_r": [ 494.6214644042035, -235.20194812687868, -3.799056653080015, 1.5649823376835639, 0.050287655116234564, 2.3497002542051186 ], "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": [ 0.2878603802167153, -0.49652293304936873, -0.0838518912121504, -1.081787201769562, 0.030598160916827412, -0.7918987809078132, 0.21907512962840844 ], "joint_pos_r": [ -0.6617278663963492, -0.6858483681138876, 0.16649128362174062, -1.3534241840817864, 0.5798384915853271, 0.5165818386926669, -1.0166409757439185 ], "eef_pose_l": [ 516.4086437117148, 367.22877762482386, 97.22654879911337, 1.7129364289676612, -0.05759213315904392, 0.7527270003556403 ], "eef_pose_r": [ 488.3038488470406, -230.1780934700741, -4.6504053185220755, 1.5718979182266344, 0.026180743994605186, 2.3806618225250182 ], "joint_status_l": { "velocity": [ -0.42072355839950504, -3.4544949158163973, 0.5145127610954869, 9.401616731839368, 0.05657251591445478, -5.186476957813824, 1.9856147645400668 ], "torque": [ -28.36669921875, 4.8779296875, -10.302734375, 1.666259765625, -3.2318115234375, -2.0068359375, 0.4010009765625 ] }, "joint_status_r": { "velocity": [ 0.2651790571022161, -0.46270161637274043, -0.09410156513900425, 1.2816306302134706, 5.582076576368777, -0.5408332901346569, -7.142631563666235 ], "torque": [ 34.94384765625, 3.02490234375, 9.490966796875, -3.662109375, 2.8546142578125, 2.728271484375, -0.8441162109375 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.2, -7.8, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.2, -7.8, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -16.6, -1.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.6, -1.9, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -341, "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": [ 0.274453947651223, -0.5591338299893737, -0.07549789718971638, -0.9300923166177889, 0.030789901496567733, -0.8763935400817128, 0.24406007941377367 ], "act_joint_pos_r": [ -0.6620220590076435, -0.6939418687173654, 0.16516562601617604, -1.3452599351840873, 0.6367841957167991, 0.5105318001870526, -1.0864780281441606 ], "act_eef_pose_l": [ 533.9822875079824, 378.0558907697837, 94.612431447888, 1.7132197215144884, -0.08359294106501083, 0.753411266482651 ], "act_eef_pose_r": [ 493.60706440420347, -232.3283481268787, -4.677456653080071, 1.5636902584041605, 0.044651125081214015, 2.3532590956489665 ], "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": [ 0.2864858469019609, -0.5043865408563869, -0.08275071566511295, -1.06173454173468, 0.030666834764615535, -0.8030194701202098, 0.22280171059184334 ], "joint_pos_r": [ -0.6616105685000502, -0.6865531779560198, 0.16636655904990597, -1.3523002279337464, 0.5859766036740164, 0.5159561766793366, -1.0243190942257536 ], "eef_pose_l": [ 519.003593235295, 369.0958519420964, 96.5921476888752, 1.7133371578752092, -0.06156323580620968, 0.7531869153371418 ], "eef_pose_r": [ 488.9631389880858, -230.57041436765581, -4.592412651874753, 1.570976548591383, 0.02858796469975367, 2.377399768482852 ], "joint_status_l": { "velocity": [ -1.2994067951246357, -5.912532845527174, 0.783281293695981, 14.216941006362838, 0.013290815059185945, -7.924165845063058, 2.2958361207015 ], "torque": [ -31.3623046875, 5.91064453125, -10.3271484375, 2.45361328125, -4.0557861328125, -2.4151611328125, 0.65460205078125 ] }, "joint_status_r": { "velocity": [ -0.04443966414235945, -0.7979550677976732, -0.12969694243603058, 0.7603291922535504, 5.487058108491816, -0.5858153834656932, -6.712966874813375 ], "torque": [ 31.4208984375, 1.56005859375, 9.41162109375, -4.39453125, 3.0523681640625, 3.277587890625, -0.875244140625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -6.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.8, -6.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.5, -2.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.5, -2.1, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.2652017338496736, -0.5920112391008359, -0.07213295750630429, -0.8608999668458359, 0.03222551271120499, -0.9141421881138749, 0.24846460816698487 ], "act_joint_pos_r": [ -0.6634294589581375, -0.7002671979634352, 0.16421728721636744, -1.3419414281336455, 0.642559949381028, 0.5143020634382454, -1.0882857984414043 ], "act_eef_pose_l": [ 542.3654875079824, 380.3062907697837, 95.21083144788808, 1.7111904881535602, -0.09127291446242615, 0.7512337935217217 ], "act_eef_pose_r": [ 493.8990644042035, -230.08914812687868, -5.329456653080115, 1.5595448097281235, 0.038442493172406875, 2.3550803550884187 ], "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": [ 0.2835638716370321, -0.5168900263416388, -0.08117935565080499, -1.032516445257777, 0.03081189269909084, -0.8192346975876894, 0.22693865565162064 ], "joint_pos_r": [ -0.6617651071900392, -0.688227124123219, 0.16609911622933674, -1.3508626072559933, 0.5952954408908002, 0.515216190500626, -1.035414365455468 ], "eef_pose_l": [ 522.3821474083366, 370.87425509336947, 96.22594148380577, 1.713092492166044, -0.06578905551972478, 0.7530535439798558 ], "eef_pose_r": [ 489.8054705938427, -230.7428359589605, -4.626032038319352, 1.569349418260173, 0.03108702935216448, 2.3732768484134175 ], "joint_status_l": { "velocity": [ -1.9830523940305156, -8.112851702222201, 0.9769821850568183, 18.53403303640544, 0.15266645865180672, -10.249706677887716, 2.3247343072858584 ], "torque": [ -35.09765625, 0.0732421875, -10.260009765625, 3.192138671875, -3.2391357421875, -1.2744140625, 0.54473876953125 ] }, "joint_status_r": { "velocity": [ -0.17974468966830415, -1.3002896247504836, -0.20323153940693395, 0.9634589295117735, 5.1044163702309575, -0.09872281106382275, -5.7099463566148145 ], "torque": [ 28.20556640625, 0.02197265625, 9.46044921875, -2.9296875, 2.8436279296875, 3.446044921875, -0.90545654296875 ] }, "eef_FT_l": { "raw_value": [ -2.4, -16.7, -5.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -2.4, -16.7, -5.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.4, -2.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.4, -2.1, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -358, "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": [ 0.26079673109147433, -0.6229138850549514, -0.06961611066968094, -0.8066444748557429, 0.029654651928854716, -0.9469250265463904, 0.2538875206003864 ], "act_joint_pos_r": [ -0.6685294597732669, -0.7080841402164686, 0.1631585652273341, -1.342182850253032, 0.6564627692505431, 0.5195553980639864, -1.0958092046337014 ], "act_eef_pose_l": [ 548.7022875079824, 378.51909076978365, 94.83323144788805, 1.7070957503522708, -0.09389207231340235, 0.7421952802431915 ], "act_eef_pose_r": [ 493.0118644042035, -226.3035481268787, -6.603856653080129, 1.552627021815489, 0.026546616006361674, 2.3582792082661386 ], "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": [ 0.280048148872057, -0.5327267451950095, -0.07940816188249705, -0.9981811536754022, 0.030754182047373145, -0.8385363544566383, 0.2310893586044765 ], "joint_pos_r": [ -0.6624973965231937, -0.6910272751951614, 0.1656754637923909, -1.3493060025329286, 0.6048462589639961, 0.5155057523052806, -1.0454086334964205 ], "eef_pose_l": [ 526.6761331570524, 372.42030919112665, 95.87001376753372, 1.7122527045713338, -0.07015393013017888, 0.7517526522680821 ], "eef_pose_r": [ 490.45299793129516, -230.29092746654297, -4.842865385467093, 1.5669277973779339, 0.031380540614976894, 2.3704088365450393 ], "joint_status_l": { "velocity": [ -2.0790918007680403, -9.73992384117528, 1.0575103413839049, 20.685351230699922, -0.118745750581295, -11.705631346551115, 2.4621288789485885 ], "torque": [ -36.08642578125, 1.4208984375, -9.43603515625, 1.15966796875, -4.6087646484375, -2.6605224609375, 0.49346923828125 ] }, "joint_status_r": { "velocity": [ -0.65144361770475, -1.8420870928457234, -0.2718170282114407, 0.7692777575947218, 5.574418702255279, 0.4373488430253758, -5.443101147138307 ], "torque": [ 24.89501953125, 2.60009765625, 9.844970703125, -3.192138671875, 2.7410888671875, 4.7900390625, -0.99884033203125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.4, -10.3, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.4, -10.3, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.3, -1.4, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.8, -17.3, -1.4, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -368, "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": [ 0.2602735134816506, -0.6352890598019326, -0.06882557340137861, -0.7831257990617847, 0.030883388904027323, -0.9599460598832152, 0.25345765910736845 ], "act_joint_pos_r": [ -0.6712209819788417, -0.7125869132813716, 0.162572731906226, -1.342794830542796, 0.6628832888112557, 0.521959357135507, -1.0987377139092678 ], "act_eef_pose_l": [ 551.1470875079824, 378.4054907697837, 93.68283144788806, 1.7082321841714818, -0.09299888126375651, 0.7400882001916368 ], "act_eef_pose_r": [ 492.4062644042035, -223.9291481268787, -7.309456653080133, 1.5491564217545002, 0.019711950896811253, 2.3608770523239624 ], "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": [ 0.27658529500976775, -0.5500690393816546, -0.07758763844915165, -0.9616619448368601, 0.030698430028076557, -0.8591697130682634, 0.23507175852465304 ], "joint_pos_r": [ -0.6635694378631373, -0.6938780786717236, 0.1652593683086005, -1.3482603050598574, 0.6130544866189946, 0.5162601621787413, -1.0532293675954312 ], "eef_pose_l": [ 531.1470503263838, 373.69735500973195, 95.41181789668862, 1.711401561979634, -0.07412913189081362, 0.7498470695719117 ], "eef_pose_r": [ 490.8050463817356, -229.53591856185204, -5.138588428352136, 1.5644789205771723, 0.030261107011921293, 2.368795068613548 ], "joint_status_l": { "velocity": [ -1.7616204488188902, -9.20349076293947, 0.9462751162668814, 19.281335071128503, 0.019974969472452697, -10.883524463618954, 1.985618700240055 ], "torque": [ -36.8701171875, 1.611328125, -9.11865234375, 0.982666015625, -3.7335205078125, -2.6678466796875, 0.57220458984375 ] }, "joint_status_r": { "velocity": [ -0.8263423928296376, -2.020494546540519, -0.2901481739936429, 0.5902538392366097, 5.381351922272515, 0.6154949022785239, -4.914756448901159 ], "torque": [ 22.81494140625, 3.34716796875, 9.649658203125, -4.461669921875, 2.9351806640625, 5.716552734375, -0.838623046875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.3, -9.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -17.3, -9.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -18.2, -1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -18.2, -1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "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": [ 0.2600926669621541, -0.6518222147685978, -0.06783624436655983, -0.7566182915931466, 0.03181233564511852, -0.9734661758902452, 0.2517808076835834 ], "act_joint_pos_r": [ -0.6757383499121792, -0.7195902004974657, 0.16169175362014185, -1.3449143124219651, 0.6770515616897071, 0.5230625261489622, -1.1122021688099946 ], "act_eef_pose_l": [ 554.3342875079825, 376.9174907697837, 92.078031447888, 1.7092156411235464, -0.08994112093797971, 0.7366116870302618 ], "act_eef_pose_r": [ 491.5942644042035, -220.3147481268787, -8.631056653080122, 1.5448100965978495, 0.01370796359922425, 2.3626570445574933 ], "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": [ 0.27388330696769886, -0.5659444611842239, -0.0760355571373264, -0.9293202531258482, 0.030833661377667573, -0.8772625225573563, 0.2379050941854737 ], "joint_pos_r": [ -0.6651847984696097, -0.697592917431614, 0.1647331549471543, -1.3474171258538692, 0.6226879530505893, 0.5173319326745849, -1.0620580423941883 ], "eef_pose_l": [ 535.053587049618, 374.49578873444153, 94.82970433974519, 1.710925520473104, -0.07679599871221457, 0.7478765344573736 ], "eef_pose_r": [ 491.0410586883977, -228.3193477710606, -5.587125577877202, 1.561431122818152, 0.02806327744965217, 2.367592178313659 ], "joint_status_l": { "velocity": [ -1.4893451947104452, -9.274523849652994, 0.8854996628262501, 18.65126175597087, 0.10569370361554475, -10.389688132479868, 1.4985328609316007 ], "torque": [ -37.001953125, 1.845703125, -9.466552734375, 1.458740234375, -3.01025390625, -2.6898193359375, 0.51361083984375 ] }, "joint_status_r": { "velocity": [ -1.1397499406697875, -2.3756365054588002, -0.32846165585853626, 0.27029587869620286, 5.871096574286305, 0.6188858421700694, -5.415405934045658 ], "torque": [ 21.35009765625, 1.4208984375, 9.326171875, -4.67529296875, 3.2830810546875, 5.548095703125, -0.6719970703125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.6, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.6, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.9, -0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.9, -0.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -391, "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": [ 0.2608143572860288, -0.6669553205101839, -0.0669240444741983, -0.7299009994188931, 0.028247811894692148, -0.9894057732676768, 0.2522976839856013 ], "act_joint_pos_r": [ -0.6797220404600548, -0.7276798296838181, 0.1606189293663066, -1.3435232230450715, 0.7011732846038994, 0.5251959342520063, -1.1331689749782718 ], "act_eef_pose_l": [ 556.9638875079825, 375.9054907697836, 90.88603144788799, 1.7069430940323969, -0.08602344751541521, 0.7332633352657416 ], "act_eef_pose_r": [ 492.13426440420346, -217.8467481268787, -9.715856653079982, 1.5383312555409283, 0.007328816869771966, 2.358285658484912 ], "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": [ 0.27168797314041454, -0.5815675807985953, -0.07459689620951579, -0.8982714151924779, 0.03064000478522672, -0.8946633897877754, 0.2402376079788263 ], "joint_pos_r": [ -0.667225666328996, -0.701837412016726, 0.16414830530677604, -1.3469135290672225, 0.6333590045830709, 0.5184388209739441, -1.071844531589669 ], "eef_pose_l": [ 538.7252703399782, 374.9774927994063, 94.15319490556813, 1.710379691853399, -0.07845983922821911, 0.7457141932589247 ], "eef_pose_r": [ 491.16440615291833, -226.77643801980813, -6.1585292812278, 1.5580969859062828, 0.02526965996900411, 2.366642556302259 ], "joint_status_l": { "velocity": [ -1.1743158776782447, -9.22160391218263, 0.8286435478792598, 18.18346861080844, -0.25834921257503196, -10.231875642787713, 1.3024497950282488 ], "torque": [ -38.3349609375, 1.09130859375, -8.917236328125, 1.1962890625, -4.654541015625, -2.647705078125, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ -1.349568602756257, -2.790898794885699, -0.38116135981747234, 0.36614225160569447, 7.32372624049038, 0.7297467113018818, -6.622844555609575 ], "torque": [ 21.328125, 3.8818359375, 9.857177734375, -4.510498046875, 2.677001953125, 5.58837890625, -0.73516845703125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -15.9, -12.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.7, -15.9, -12.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.9, -3.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.9, -3.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -356, "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": [ 0.2653711346604036, -0.6809139522261519, -0.06630333172160845, -0.7152346071997363, 0.017464954572040187, -0.99849651347801, 0.2571627032740923 ], "act_joint_pos_r": [ -0.6834398411466817, -0.7370935772684784, 0.15936456630720608, -1.3401140079491014, 0.7145738606728811, 0.5265061269126801, -1.1462067728013121 ], "act_eef_pose_l": [ 558.9046875079824, 372.06949076978367, 89.146831447888, 1.7000812190508896, -0.07982409188192097, 0.7273586683233132 ], "act_eef_pose_r": [ 492.4638644042035, -214.6707481268787, -11.71345665308013, 1.535375691209977, 0.002584792004460285, 2.3576543827260883 ], "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": [ 0.2703396793501253, -0.5984239417639277, -0.07316204823053654, -0.8666538262716816, 0.0288581707809016, -0.9125602703717091, 0.24298302888795353 ], "joint_pos_r": [ -0.6698546574582002, -0.7074688425725197, 0.16338273610003867, -1.3459293890035344, 0.6468612982420694, 0.5197813812473734, -1.0841584306506207 ], "eef_pose_l": [ 542.4237112059399, 374.84596032189006, 93.25289961307925, 1.7089523194706995, -0.07880411539960767, 0.7427749521691194 ], "eef_pose_r": [ 491.37898832589406, -224.81282751630025, -6.98906204335475, 1.5540863796980868, 0.021598345549072095, 2.3652676817945353 ], "joint_status_l": { "velocity": [ -0.5365870007023599, -8.908658383085744, 0.7407195366092578, 16.352793359911466, -1.2304310609327351, -9.28084053172018, 1.5313596686636899 ], "torque": [ -39.76318359375, 2.4169921875, -8.258056640625, 1.531982421875, -5.1708984375, -2.5433349609375, 0.52459716796875 ] }, "joint_status_r": { "velocity": [ -1.4671565668855635, -3.1993769865836796, -0.43394953896847, 0.6280426307512244, 7.312741064758654, 0.7262511122214654, -6.701023316155741 ], "torque": [ 21.1083984375, 3.4716796875, 9.844970703125, -4.1259765625, 2.720947265625, 5.419921875, -0.79559326171875 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.2, -8.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.4, -16.2, -8.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.0, -1.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.0, -1.9, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -343, "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": [ 0.26929449033614283, -0.6920793707590229, -0.06581095502299657, -0.7004476319263157, 0.008979993386281306, -1.0091744888856573, 0.2621043507717174 ], "act_joint_pos_r": [ -0.6853782242357744, -0.7422429798589771, 0.15862610892353202, -1.3336548551310161, 0.7173519410344521, 0.5260917905511456, -1.1504238549237766 ], "act_eef_pose_l": [ 560.2014875079824, 369.6366907697837, 87.59643144788792, 1.694752579538773, -0.07579827315353968, 0.7221614474583362 ], "act_eef_pose_r": [ 493.3574644042035, -214.14914812687869, -13.963056653080002, 1.5378280353685156, 0.002510920787859679, 2.355043943149841 ], "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": [ 0.26990392140982306, -0.6142688064566807, -0.07189380831382476, -0.8382130313225024, 0.025886287396652635, -0.9289594535099048, 0.24604774398319518 ], "joint_pos_r": [ -0.6722807999666709, -0.7128511971691729, 0.16264871691213387, -1.3443309065342108, 0.6582692500422811, 0.520845686022424, -1.094778341654917 ], "eef_pose_l": [ 545.672660701486, 374.2385478047345, 92.2651996113609, 1.7068850706021406, -0.07827261022514552, 0.7394507576903855 ], "eef_pose_r": [ 491.65654279228863, -223.07920813018697, -7.969485875463448, 1.5511031038395442, 0.018486240803410325, 2.3638901081059824 ], "joint_status_l": { "velocity": [ -0.06581661480042911, -8.403293102770881, 0.6569287803308566, 14.878224325018508, -1.8258259032635782, -8.662968319987918, 1.734062389723734 ], "torque": [ -39.63134765625, 1.6259765625, -7.91015625, 1.080322265625, -5.4473876953125, -2.9168701171875, 0.5804443359375 ] }, "joint_status_r": { "velocity": [ -1.4144801032021093, -3.174218911915716, -0.4344288499749105, 1.152979546231947, 6.38074243721487, 0.5665625792317108, -6.009538191181107 ], "torque": [ 21.54052734375, 3.544921875, 9.19189453125, -3.80859375, 2.4407958984375, 5.8099365234375, -0.76629638671875 ] }, "eef_FT_l": { "raw_value": [ 1.2, -16.7, -9.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 1.2, -16.7, -9.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.5, -1.4, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.5, -1.4, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -366, "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": [ 0.2722317172081857, -0.694779468382661, -0.06579693129278058, -0.6970498273780631, 0.0013303502438305375, -1.0120144906525752, 0.2660466365670212 ], "act_joint_pos_r": [ -0.685458101066466, -0.7472908490295067, 0.15796928266687454, -1.3305164042994755, 0.7390470419871238, 0.5166754924696195, -1.1812650018224364 ], "act_eef_pose_l": [ 560.4102875079824, 368.9846907697837, 87.10283144788814, 1.6899047255834674, -0.07325067151221847, 0.7216844121326081 ], "act_eef_pose_r": [ 495.7806644042035, -214.36994812687868, -15.612656653079966, 1.5419358118836595, 0.01264821427620205, 2.34259596813198 ], "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": [ 0.2700388990530756, -0.6242693091031458, -0.07112622556453957, -0.8206066115470529, 0.023204174557061075, -0.939273059062025, 0.24835547083328224 ], "joint_pos_r": [ -0.6744408157244365, -0.7181166097467012, 0.16193100683204126, -1.3423062649292228, 0.6698454712690055, 0.5208993942961153, -1.1065750229018225 ], "eef_pose_l": [ 547.6272206032495, 373.7008793128196, 91.58963416470027, 1.7051009475831944, -0.07758293695665584, 0.7372179976561387 ], "eef_pose_r": [ 492.16173911303594, -221.62668818385413, -9.06534173853754, 1.549075144208138, 0.016751971938352796, 2.361450321170805 ], "joint_status_l": { "velocity": [ 0.23681737619662968, -7.614872613524781, 0.5755468065042901, 13.343739137702038, -2.362303353415779, -7.855842916077549, 1.910589549417141 ], "torque": [ -32.021484375, 0.8935546875, -7.9345703125, 1.788330078125, -5.5059814453125, -2.3675537109375, 0.60150146484375 ] }, "joint_status_r": { "velocity": [ -1.1898317247283074, -3.150724916878289, -0.4278535909709724, 1.2732673949980011, 7.473549217004383, -0.456167943307495, -8.066279821218991 ], "torque": [ 21.9873046875, 4.0576171875, 9.72900390625, -3.131103515625, 2.5836181640625, 4.130859375, -0.88897705078125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -16.6, -7.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.8, -16.6, -7.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.3, -2.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.5, -17.3, -2.4, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -356, "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": [ 0.273853369287504, -0.6976134647451937, -0.06567301018940568, -0.6911670477176486, -0.003590698134893671, -1.0144402787996798, 0.26932456832422735 ], "act_joint_pos_r": [ -0.6843081261546948, -0.7499278707703656, 0.15762488820336112, -1.3280138459252298, 0.7494321262139851, 0.5110186817786191, -1.201980231932706 ], "act_eef_pose_l": [ 561.0142875079824, 369.20309076978367, 86.73403144788794, 1.68709490051277, -0.07270606547778334, 0.7232282181234198 ], "act_eef_pose_r": [ 497.4574644042035, -214.7299481268787, -16.23105665308003, 1.5446139615901804, 0.02445985872021085, 2.3355239884056784 ], "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": [ 0.27051631208160737, -0.6360651865446679, -0.07024117951217429, -0.7998702937597172, 0.019253403659818556, -0.95140631473943, 0.25150016058518776 ], "joint_pos_r": [ -0.6763937247489045, -0.7239291917029733, 0.16114323162420993, -1.3397951483607597, 0.6840990162886189, 0.5194625897432533, -1.1230317634034839 ], "eef_pose_l": [ 549.8827208193251, 373.02943858968666, 90.77123813362536, 1.7025214087497549, -0.07659606167309592, 0.7347435027770457 ], "eef_pose_r": [ 493.06242987629366, -220.30137051789, -10.32450092746899, 1.5477447131409163, 0.017338975575242926, 2.35711553287342 ], "joint_status_l": { "velocity": [ 0.3603915490559828, -6.647018002340133, 0.4933477363453509, 11.739604331421738, -2.467090230892033, -6.807467342989426, 1.9249792615876338 ], "torque": [ -25.90576171875, 3.7646484375, -7.53173828125, 1.6845703125, -5.5389404296875, -2.4554443359375, 0.56488037109375 ] }, "joint_status_r": { "velocity": [ -0.8547301429073784, -2.8077745283949795, -0.37996988283905964, 1.2723431372823057, 7.0557677731919455, -0.9119151646808099, -8.526183134826226 ], "torque": [ 21.2841796875, 2.54150390625, 9.70458984375, -4.00390625, 2.4407958984375, 3.673095703125, -0.75714111328125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.5, -7.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.5, -7.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.2, -1.6, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -3.0, -17.2, -1.6, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -391, "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": [ 0.2756534551388699, -0.6992715567978924, -0.06562894006230201, -0.6874575119657496, -0.010611848463764515, -1.0169068967523915, 0.27528473450132707 ], "act_joint_pos_r": [ -0.6831111040955431, -0.7537553071201847, 0.15710110759443707, -1.3232727541786231, 0.7634813381458558, 0.5077071272582763, -1.2217474437595188 ], "act_eef_pose_l": [ 561.2886875079824, 369.3230907697837, 86.77883144788807, 1.682385409606345, -0.07363996367271337, 0.7240926867756625 ], "act_eef_pose_r": [ 499.62946440420353, -215.2763481268787, -16.699856653080133, 1.5451391858831547, 0.032261138987449166, 2.3269732894995077 ], "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": [ 0.27131713053662976, -0.648561117506253, -0.06931941579937995, -0.7777443362369334, 0.014153580981392093, -0.964259289623986, 0.25551410383067297 ], "joint_pos_r": [ -0.6776739954118123, -0.728906673465397, 0.1604690609842451, -1.3372405413927746, 0.6970478670921219, 0.5176402513852925, -1.1389566660915216 ], "eef_pose_l": [ 552.2386096067114, 372.3429475080295, 89.9126313810448, 1.699207995715768, -0.07563619139483249, 0.7324454119277101 ], "eef_pose_r": [ 494.08200641348134, -219.3787647986269, -11.369701779558369, 1.5469836546592648, 0.019399230581373782, 2.3524359109975554 ], "joint_status_l": { "velocity": [ 0.4683092449988546, -5.476565920819354, 0.3985596247166878, 9.750689440075178, -2.67458749733529, -5.685773876930256, 2.1351651391008364 ], "torque": [ -24.61669921875, 3.31787109375, -7.855224609375, 1.2451171875, -5.723876953125, -2.545166015625, 0.72784423828125 ] }, "joint_status_r": { "velocity": [ -0.5871904195871025, -2.6835732869532336, -0.36372823850849834, 1.5084765289916646, 7.174603270191149, -1.0727457667729645, -8.941140283306837 ], "torque": [ 21.2255859375, 2.87841796875, 9.698486328125, -3.64990234375, 2.376708984375, 3.3599853515625, -0.728759765625 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -6.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -6.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.1, -1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.1, -1.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -391, "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": [ 0.27430460976099336, -0.6966263246496308, -0.06601146897198777, -0.7003002854884227, -0.011342783358676434, -1.007648166691543, 0.27631154445675205 ], "act_joint_pos_r": [ -0.6822978725828728, -0.754772910919531, 0.15692713410987283, -1.3192323951218252, 0.7913509213853849, 0.5025865962290811, -1.2585762565328653 ], "act_eef_pose_l": [ 561.1822875079824, 367.4382907697837, 88.02283144788798, 1.6804041968191403, -0.07534007172481588, 0.7234143268481383 ], "act_eef_pose_r": [ 502.5766644042035, -218.1699481268787, -17.00945665307995, 1.5459407131694411, 0.045685235340673154, 2.3097474469864876 ], "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": [ 0.27198657507146556, -0.6573364236317326, -0.06869448966654598, -0.7627068530929051, 0.009722143168901177, -0.9729002585452777, 0.2590837523378457 ], "joint_pos_r": [ -0.6786648266423764, -0.7340315785746198, 0.15976989469837088, -1.3339226686018095, 0.7139187540077954, 0.514997560030788, -1.1602458046381032 ], "eef_pose_l": [ 553.8843082326956, 371.7124763021074, 89.4181268217792, 1.6961774211313074, -0.07524263402327411, 0.7308782023947299 ], "eef_pose_r": [ 495.6045651639804, -218.9232451350133, -12.412623118120365, 1.546351645725799, 0.023710876287194142, 2.345094346890673 ], "joint_status_l": { "velocity": [ 0.250340363074697, -4.243184163905234, 0.28975768906608357, 6.739710524148457, -2.2749449690630668, -3.7526634009052984, 1.860546674950836 ], "torque": [ -24.90234375, 3.36181640625, -7.45849609375, 1.470947265625, -5.91064453125, -2.4920654296875, 0.5657958984375 ] }, "joint_status_r": { "velocity": [ -0.39235738961007627, -2.2399978280454036, -0.3070090888088739, 1.586502744441276, 8.36242744016591, -1.3403445592348184, -10.619375602892944 ], "torque": [ 20.67626953125, 2.5341796875, 9.50927734375, -4.150390625, 2.662353515625, 3.5980224609375, -0.73699951171875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.5, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.5, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.2, -1.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.9, -17.2, -1.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -345, "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": [ 0.2731312368087394, -0.6968390828625646, -0.06610062454746866, -0.7038033510223448, -0.007766901875931385, -1.006946592163541, 0.27226904714716343 ], "act_joint_pos_r": [ -0.6802192749482336, -0.7518082250628745, 0.15727229185483863, -1.3175299958160867, 0.8189896747628129, 0.4985560844816738, -1.2954727419307073 ], "act_eef_pose_l": [ 560.9726875079824, 366.1038907697837, 88.21563144788801, 1.681907345621175, -0.0736613134777798, 0.720023099218117 ], "act_eef_pose_r": [ 505.3454644042034, -222.45554812687868, -15.979856653080105, 1.545328930372608, 0.06134356378552066, 2.291676336758546 ], "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": [ 0.2723239934349905, -0.6647819446785791, -0.06819495647452314, -0.7512105616294148, 0.006047208638514561, -0.979408646274135, 0.2619932504867674 ], "joint_pos_r": [ -0.6789727988044808, -0.73643167784811, 0.15943653160592927, -1.331948629153205, 0.7256696911103341, 0.513142902122764, -1.1752978780966443 ], "eef_pose_l": [ 555.2760637151094, 370.8144120324449, 89.15256688293039, 1.6933745826407227, -0.0750216863146421, 0.7291498296387159 ], "eef_pose_r": [ 496.71009335886527, -219.13348242163963, -12.863440782087764, 1.5459792945654383, 0.027638442441639516, 2.3392874330473887 ], "joint_status_l": { "velocity": [ 0.08717971313676465, -3.462068815609065, 0.22618117726463938, 5.1198277443162965, -1.4918799349134955, -2.974010442306607, 1.109753308898398 ], "torque": [ -25.43701171875, 0.0, -7.318115234375, 1.226806640625, -5.7000732421875, -2.3419189453125, 0.5328369140625 ] }, "joint_status_r": { "velocity": [ -0.13461545325466062, -1.6606181218810079, -0.23373099959056454, 1.5571664742388691, 10.078260992048449, -1.5753298433676122, -12.978502513607992 ], "torque": [ 21.8408203125, 4.50439453125, 9.686279296875, -2.7587890625, 2.6971435546875, 3.544921875, -1.4849853515625 ] }, "eef_FT_l": { "raw_value": [ 0.5, -17.1, -7.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.5, -17.1, -7.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.6, -3.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.3, -17.6, -3.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -330, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 26, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27341687811691595, -0.7014000088530395, -0.0657198199611979, -0.6899119944478811, -0.0074595462949836955, -1.0153964759658465, 0.2725792014113928 ], "act_joint_pos_r": [ -0.6791160748183468, -0.7515745649555339, 0.1572276000620463, -1.3130150805946175, 0.829288659147763, 0.4959563233744494, -1.3129408893821388 ], "act_eef_pose_l": [ 561.7318875079824, 367.38229076978365, 87.48763144788795, 1.6828246955716248, -0.0737087831248428, 0.7206964961150372 ], "act_eef_pose_r": [ 507.20626440420347, -224.9027481268787, -16.352656653079976, 1.5474174312910327, 0.07194880270252212, 2.2821633296408015 ], "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": [ 0.2724787615843819, -0.6701627285069287, -0.06783407611391058, -0.7424468401004194, 0.0039849774099700985, -0.9845422798965913, 0.26358806461222967 ], "joint_pos_r": [ -0.6790503392095196, -0.7383526094218984, 0.15916056804085763, -1.329806034946391, 0.7381726104299386, 0.5111171990016133, -1.19170200470972 ], "eef_pose_l": [ 556.2494672565714, 370.26214231776015, 88.91576196423244, 1.6917656284872729, -0.07476381031733813, 0.7278302863869732 ], "eef_pose_r": [ 497.9646961270428, -219.7202463735334, -13.225675725057613, 1.5457597661124418, 0.03267877165542411, 2.332531047338959 ], "joint_status_l": { "velocity": [ 0.1013135974288204, -3.373526780525715, 0.228332930173214, 5.673595996705139, -1.2359721070862757, -3.332154898822992, 0.9710141357786028 ], "torque": [ -24.96826171875, 2.35107421875, -6.7138671875, 0.665283203125, -5.5572509765625, -2.4224853515625, 0.56854248046875 ] }, "joint_status_r": { "velocity": [ -0.00709923637298715, -1.427929083115842, -0.2087543848301454, 1.8133695875164335, 9.840243039070273, -1.6373262773767827, -13.093413375036889 ], "torque": [ 24.78515625, 3.6328125, 9.686279296875, -2.587890625, 2.5909423828125, 3.40576171875, -0.9759521484375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.7, -8.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.7, -8.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.3, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.3, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -391, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 129, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2735570930772352, -0.70267188080806, -0.06565037216279279, -0.6874755758563132, -0.008578127669161825, -1.0159831625196745, 0.27398864672113593 ], "act_joint_pos_r": [ -0.6772562276632121, -0.7542261133851489, 0.1567352826174484, -1.3028910069121067, 0.8224753855039304, 0.4984606012744581, -1.3055245256161163 ], "act_eef_pose_l": [ 562.0894875079824, 367.4654907697836, 87.45243144788815, 1.6821569981801028, -0.07442430684350144, 0.7214066901454405 ], "act_eef_pose_r": [ 508.9782644042035, -226.1715481268787, -16.977456653080026, 1.548401070933017, 0.07388947184734128, 2.279922762503325 ], "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": [ 0.2726585749835315, -0.6758122492854324, -0.06745335021223757, -0.7329158988600322, 0.0018502294817449496, -0.9900559160494657, 0.2653179639502671 ], "joint_pos_r": [ -0.6789538864990582, -0.7408444432267923, 0.15879019459080165, -1.3262489453083777, 0.7538867759863682, 0.5085821517843951, -1.2127070954676802 ], "eef_pose_l": [ 557.2763718968138, 369.7785953113454, 88.64820600333834, 1.6901438740538783, -0.07459549168260193, 0.7266299550868884 ], "eef_pose_r": [ 499.7403831773539, -220.69871617755857, -13.757707549109512, 1.5458190424754825, 0.039752675928357406, 2.3234075203803544 ], "joint_status_l": { "velocity": [ 0.09703709216379863, -2.900754651258275, 0.19471588650193938, 4.9074101480766075, -1.126229355938627, -2.8000600354260996, 0.9364061214316433 ], "torque": [ -25.13671875, 0.9521484375, -6.8115234375, 1.348876953125, -5.9197998046875, -2.52685546875, 0.61614990234375 ] }, "joint_status_r": { "velocity": [ 0.18334174689549343, -1.4451777538626587, -0.22192394782516445, 2.5225829471899885, 7.407351359745462, -1.0930952159533547, -10.023986814342578 ], "torque": [ 28.63037109375, 1.640625, 9.375, -2.325439453125, 2.274169921875, 3.8580322265625, -0.83953857421875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.9, -8.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.9, -8.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.6, -1.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.6, -1.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -358, "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": [ 0.27093317855274496, -0.7053057908841249, -0.06564895521777897, -0.6916561418169594, -0.005612682991438908, -1.0123774277330602, 0.27282441004959934 ], "act_joint_pos_r": [ -0.6746432898100174, -0.757337360757305, 0.1562467000613116, -1.2957939687061328, 0.8258045503457669, 0.498696972016296, -1.3105851221603513 ], "act_eef_pose_l": [ 562.7702875079824, 364.8886907697837, 88.35003144788793, 1.6822673205085756, -0.0761655890859294, 0.7177659371152726 ], "act_eef_pose_r": [ 511.05026440420346, -227.00674812687868, -16.823856653080156, 1.5478525622401942, 0.07854076432699332, 2.2750740347543417 ], "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": [ 0.2725564523459736, -0.6808232403470703, -0.06713442759876306, -0.7252974885780239, 0.00030136682273425064, -0.9942814260535164, 0.26673521252179555 ], "joint_pos_r": [ -0.6785018888872262, -0.7433912289268754, 0.15839847745089564, -1.3217066580641774, 0.7662072758264312, 0.5068063120155566, -1.229412067610977 ], "eef_pose_l": [ 558.2104302046566, 369.12682240047366, 88.51764142892935, 1.6887557971679277, -0.07470585417885407, 0.7253385131242513 ], "eef_pose_r": [ 501.5234440172171, -221.70331185231268, -14.289831161122436, 1.546086763121815, 0.04605551378170202, 2.3153856567040734 ], "joint_status_l": { "velocity": [ -0.17530839922397234, -2.644037476284389, 0.1604262856259031, 3.6331582959192588, -0.6386985425241246, -1.9543105420822826, 0.6576139377163503 ], "torque": [ -33.11279296875, 2.021484375, -6.988525390625, 0.91552734375, -5.7330322265625, -2.391357421875, 0.640869140625 ] }, "joint_status_r": { "velocity": [ 0.41671640994600523, -1.5061378165253103, -0.23238510424272718, 2.7984879136813134, 6.436315819099647, -0.8757828900849418, -8.766431339260805 ], "torque": [ 31.7138671875, 2.30712890625, 9.637451171875, -2.825927734375, 2.5543212890625, 3.5009765625, -0.79010009765625 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.7, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.7, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.4, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.8, -17.4, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -389, "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": [ 0.2686820557111333, -0.7106262457826917, -0.065248454176282, -0.678214935341859, -0.001134360026914427, -1.0251237420166235, 0.26903722803472185 ], "act_joint_pos_r": [ -0.6743339330814049, -0.7585152045928947, 0.15609382247518977, -1.2946279062621904, 0.8378969197119625, 0.49773559958782954, -1.3256907723988185 ], "act_eef_pose_l": [ 563.1166875079824, 364.93909076978366, 88.49803144788807, 1.6839520756872242, -0.07543874598445567, 0.7125472841065951 ], "act_eef_pose_r": [ 512.0742644042034, -227.63314812687867, -16.711856653080076, 1.546778048989626, 0.08290506373464689, 2.2691128346933795 ], "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": [ 0.27209625408695526, -0.6853050093130651, -0.06685582549132317, -0.7186125985056937, -0.0002862507729912316, -0.9983510524805884, 0.2674109828186153 ], "joint_pos_r": [ -0.6778016794781317, -0.7459254665317334, 0.15800914143476122, -1.317057317099903, 0.7774472599816034, 0.5053166473832452, -1.2446419321670372 ], "eef_pose_l": [ 559.0038452125152, 368.4464196477495, 88.49565751367001, 1.6878352799924297, -0.07486682916879497, 0.7236449029158736 ], "eef_pose_r": [ 503.2926085454465, -222.66670071062458, -14.711197282688232, 1.5462155827493635, 0.05205133420999143, 2.3078761298802903 ], "joint_status_l": { "velocity": [ -0.3687225496984414, -2.7346128856242657, 0.1735909822321302, 4.362818947227787, -0.09159309802967905, -2.8913651936326445, 0.17562930343006933 ], "torque": [ -36.0205078125, 1.6259765625, -6.8603515625, 1.068115234375, -5.6451416015625, -2.3199462890625, 0.55023193359375 ] }, "joint_status_r": { "velocity": [ 0.37450556539564417, -1.3596516098237643, -0.20684834696793608, 2.4223049284088916, 6.528370706876174, -0.8187290147838588, -8.7530165886065 ], "torque": [ 31.77978515625, 2.81982421875, 9.4970703125, -2.89306640625, 2.73193359375, 3.468017578125, -0.80841064453125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.8, -7.7, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.6, -16.8, -7.7, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.4, -2.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.4, -2.1, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -341, "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": [ 0.266397854369961, -0.7187837525584674, -0.06465237355003722, -0.6583251439936544, 0.0015950017796281441, -1.0437678939682333, 0.26715216550475535 ], "act_joint_pos_r": [ -0.6762162577592159, -0.7590713629748731, 0.15608466860633105, -1.2974815717355563, 0.8493420129571577, 0.49470385615771817, -1.3402294748243853 ], "act_eef_pose_l": [ 563.6638875079824, 364.89829076978367, 88.76763144788815, 1.6839444010991, -0.07524500697069537, 0.7054026852797928 ], "act_eef_pose_r": [ 511.8934644042034, -227.32514812687867, -17.45345665308014, 1.5479495647579267, 0.08479977474409814, 2.2658203201511182 ], "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": [ 0.27130777724703925, -0.6902790905643501, -0.06653229186301814, -0.7099930689530731, -0.00015419945337382456, -1.0046068021361545, 0.2674908318209831 ], "joint_pos_r": [ -0.6773673170435756, -0.7480352607462294, 0.15769361192030007, -1.3135757808322543, 0.7882101133583316, 0.5038517644788545, -1.2590142493813299 ], "eef_pose_l": [ 559.7574635501948, 367.88075419354146, 88.51372591582194, 1.6871866188767475, -0.07493241412221267, 0.7211129304070203 ], "eef_pose_r": [ 504.74505312150114, -223.45314525883288, -15.069269987825635, 1.5462599482787527, 0.057264298173472054, 2.30122761252787 ], "joint_status_l": { "velocity": [ -0.5302560316589044, -3.0784127024352514, 0.20302518989406826, 5.579971323160571, 0.1889081616158073, -4.2292731821191865, -0.03657488343411508 ], "torque": [ -37.96875, 2.431640625, -6.842041015625, 1.30615234375, -3.6767578125, -2.3895263671875, -0.02655029296875 ] }, "joint_status_r": { "velocity": [ 0.12431073636154366, -1.1918638885468624, -0.1737607531091534, 1.7381233192370615, 6.602050439603602, -0.9879449608036772, -8.770985661454844 ], "torque": [ 33.193359375, 2.74658203125, 9.423828125, -3.741455078125, 2.2320556640625, 3.424072265625, -1.10687255859375 ] }, "eef_FT_l": { "raw_value": [ -0.7, -17.0, -9.7, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.7, -17.0, -9.7, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.3, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.3, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -385, "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": [ 0.26563834493538335, -0.7241047433969857, -0.06436774488665442, -0.6506026976534602, -0.0010403326635618994, -1.051434209604816, 0.2693502107484251 ], "act_joint_pos_r": [ -0.6779946909841578, -0.761430705327173, 0.15583299439142778, -1.298665670915747, 0.8510309798489031, 0.4938454042378385, -1.3419225389609961 ], "act_eef_pose_l": [ 564.2062875079824, 363.60309076978365, 89.35803144788797, 1.6804309751026092, -0.07582107108644683, 0.7008753253350786 ], "act_eef_pose_r": [ 511.34226440420343, -225.77234812687868, -18.38145665308025, 1.5486617033967027, 0.08229540349583685, 2.267792027700731 ], "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": [ 0.27036411684477196, -0.6958482078761163, -0.06617159585310704, -0.7000896307573052, -0.00010705004475281304, -1.012293344038429, 0.26764958178507353 ], "joint_pos_r": [ -0.6772671444579047, -0.7501236372779693, 0.15739451248145267, -1.3107989971092306, 0.7991168926457034, 0.502184452924657, -1.2734721676082 ], "eef_pose_l": [ 560.5296677362962, 367.24069550391636, 88.6060026083968, 1.6862559306954072, -0.07502735455447068, 0.7178879688174964 ], "eef_pose_r": [ 505.99606701960084, -224.04382592193298, -15.518107833442713, 1.5464617313755, 0.06199238981545203, 2.295033080034334 ], "joint_status_l": { "velocity": [ -0.5103683137053228, -3.051615833655319, 0.19481015875844054, 5.34443114964489, -0.10079155014351195, -4.227088809849455, 0.18366251120571775 ], "torque": [ -40.13671875, 1.17919921875, -6.73828125, 1.287841796875, -5.1251220703125, -2.73193359375, 0.53009033203125 ] }, "joint_status_r": { "velocity": [ -0.07857270745681433, -1.221127334088301, -0.16863897998198318, 1.31036058187739, 5.606556061413137, -0.9005906966734756, -7.392422078266847 ], "torque": [ 28.33740234375, 1.1572265625, 8.87451171875, -4.13818359375, 2.340087890625, 3.544921875, -0.853271484375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -8.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -8.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.2, -1.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.8, -17.2, -1.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "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": [ 0.2651842073595837, -0.7262387787725496, -0.06423366648179793, -0.6457323009467372, -0.0006304145506975165, -1.0558514863742503, 0.2702760107302963 ], "act_joint_pos_r": [ -0.6799806845317325, -0.7632108070302229, 0.15569611115539314, -1.3026008796254205, 0.854146030248796, 0.49239416144310977, -1.3450025110937782 ], "act_eef_pose_l": [ 564.3646875079825, 363.5318907697837, 89.40603144788797, 1.680284058740014, -0.0769487809463042, 0.6990551346258423 ], "act_eef_pose_r": [ 510.3422644042035, -223.76194812687868, -18.993456653080102, 1.548847039421858, 0.07911827955171717, 2.2707027925083643 ], "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": [ 0.26974862721298326, -0.6995028437265497, -0.06593838449943588, -0.6936393587948347, -0.00020666571583252287, -1.0174198917472885, 0.2679045469128124 ], "joint_pos_r": [ -0.6775478713354794, -0.7523894408401208, 0.15708945814214711, -1.3087890839951415, 0.8091551806334133, 0.5005034263756843, -1.2866338972457005 ], "eef_pose_l": [ 561.0175969579294, 366.7890547416816, 88.69529268708663, 1.6855123955223204, -0.07516180197727404, 0.7156654586081992 ], "eef_pose_r": [ 506.9492046077433, -224.22664052704548, -16.0799478517674, 1.5467687221596218, 0.06560671200794968, 2.2900463472875714 ], "joint_status_l": { "velocity": [ -0.4929428055961971, -2.887395825780459, 0.18410411604424803, 5.173809654235306, -0.04576352444241407, -4.150489807558166, 0.2561105387115514 ], "torque": [ -41.52099609375, 3.72802734375, -6.890869140625, 1.580810546875, -5.159912109375, -2.1038818359375, 0.55023193359375 ] }, "joint_status_r": { "velocity": [ -0.26273607620908024, -1.16867308036106, -0.1504770364864072, 0.6683063612875628, 4.858868453796461, -0.8757747831213969, -6.3036243801288805 ], "torque": [ 25.6201171875, 3.02490234375, 9.063720703125, -4.754638671875, 2.109375, 3.585205078125, -0.92742919921875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.8, -8.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -16.8, -8.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.3, -1.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.3, -1.8, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -339, "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": [ 0.2646635844874225, -0.7298713965684644, -0.0640470736803852, -0.640687883522529, -0.0026683149903532046, -1.0618073224415006, 0.27186951972191425 ], "act_joint_pos_r": [ -0.6819776818647765, -0.7672740220870834, 0.15529414104842504, -1.3066313098637024, 0.8443857765638643, 0.49260440038541425, -1.3323233161637429 ], "act_eef_pose_l": [ 564.6046875079825, 362.4702907697837, 89.89723144788813, 1.6774748515370723, -0.07726286325740604, 0.6951197198344276 ], "act_eef_pose_r": [ 508.4270644042035, -219.4803481268787, -19.7262566530801, 1.5485361940864257, 0.07051632866070055, 2.281941225021555 ], "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": [ 0.2689040615904796, -0.704491899906154, -0.06562352235513164, -0.684805276896718, -0.0004285242573379647, -1.0246443469656465, 0.2684387364372153 ], "joint_pos_r": [ -0.6780638595651929, -0.7544045355286237, 0.15683703999907156, -1.3080059794921108, 0.8159843002416636, 0.49918251797960483, -1.2954926398552922 ], "eef_pose_l": [ 561.649378933041, 366.14847174851286, 88.8464585681827, 1.6843834205951171, -0.0754774543227548, 0.7124454817014868 ], "eef_pose_r": [ 507.4051124297645, -223.90477200537794, -16.587874669341545, 1.5470164772741661, 0.06733415671255953, 2.2874881265643725 ], "joint_status_l": { "velocity": [ -0.45795802038051114, -2.7409048008637527, 0.17025143557497513, 4.7645379618765915, -0.24189026499363014, -4.013482980038674, 0.3705136670308917 ], "torque": [ -40.96435546875, 1.83837890625, -6.292724609375, 0.64697265625, -5.44189453125, -2.6678466796875, 0.57220458984375 ] }, "joint_status_r": { "velocity": [ -0.42268034206394134, -1.38986355647841, -0.16662817223456194, 0.14845994127732354, 3.0672689785342655, -0.7104157475801287, -3.9775957283971763 ], "torque": [ 23.04931640625, 2.67333984375, 8.795166015625, -4.18701171875, 1.724853515625, 3.4075927734375, -0.92742919921875 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.0, -8.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -17.0, -8.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.3, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.3, -17.3, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -393, "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": [ 0.26427914301154193, -0.7336028791585291, -0.06381201029375987, -0.6326547964735962, -0.002847506129018099, -1.0694063485314413, 0.27176754515674034 ], "act_joint_pos_r": [ -0.6829720968588782, -0.7713141712139902, 0.15483794523018654, -1.307153771211934, 0.8415981297920457, 0.4934207102377359, -1.3267711889170155 ], "act_eef_pose_l": [ 564.8190875079824, 362.19189076978364, 89.9236314478881, 1.6766229830643922, -0.07677810157501987, 0.6920160965443304 ], "act_eef_pose_r": [ 507.78386440420354, -216.8315481268787, -20.216656653080236, 1.5474248338131318, 0.06467493311832619, 2.287214323829958 ], "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": [ 0.26814297251976704, -0.7090892486363584, -0.06533786102415697, -0.6767680574123853, -0.0008298223842951729, -1.031439166566224, 0.2690423205637073 ], "joint_pos_r": [ -0.6788754161605246, -0.7571286474930825, 0.15651248237198065, -1.3077837863376311, 0.8211522381601103, 0.49799786721157313, -1.3020546852419237 ], "eef_pose_l": [ 562.1975728387318, 365.4992937423221, 89.02412511594738, 1.6831381903440186, -0.07575360723424371, 0.7092904668202326 ], "eef_pose_r": [ 507.5607125547071, -222.88197029120678, -17.211853805019757, 1.5471828740357243, 0.06752028403185323, 2.2868018395008693 ], "joint_status_l": { "velocity": [ -0.4172812798350911, -2.647394015681037, 0.16478701874961255, 4.764091672016413, -0.21790341771230418, -4.10033471933513, 0.29431557567360933 ], "torque": [ -41.59423828125, 3.9404296875, -6.256103515625, 1.89208984375, -5.8502197265625, -2.4444580078125, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ -0.44242846669195757, -1.5319913781866035, -0.180844677585279, 0.06803962685530962, 2.2080911720809837, -0.4943183740335755, -2.6693036700056183 ], "torque": [ 21.68701171875, 3.36181640625, 8.734130859375, -3.77197265625, 2.20458984375, 3.409423828125, -0.6610107421875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.9, -7.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.9, -7.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.3, -1.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.8, -17.3, -1.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -372, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 20, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2645581485601354, -0.7354737491213066, -0.06373671216092207, -0.6309395367589725, -0.004520867938790348, -1.0687863512245588, 0.27365837966564827 ], "act_joint_pos_r": [ -0.6838222933887336, -0.7773074108856525, 0.15412837601625942, -1.305473135766233, 0.8356422363053387, 0.4996590157861826, -1.3159920365035174 ], "act_eef_pose_l": [ 565.3542875079825, 361.8182907697837, 89.8756314478881, 1.6755164060514647, -0.07760316500763055, 0.6927296768254605 ], "act_eef_pose_r": [ 507.0974644042035, -213.3619481268787, -20.120656653080005, 1.5418550509872635, 0.05635843274683647, 2.295182280618138 ], "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": [ 0.2674680427734541, -0.7134786360189787, -0.0650658572667985, -0.6689178795000565, -0.001235912794583787, -1.0381337999837974, 0.269579923352014 ], "joint_pos_r": [ -0.6796610444051329, -0.7600688904041745, 0.15616524894646766, -1.3075512176125839, 0.8243378133544266, 0.49763838011648276, -1.3056475751461534 ], "eef_pose_l": [ 562.6950791939048, 364.9120208263862, 89.1735783144116, 1.6819557842434882, -0.07593558888030234, 0.7062572257917451 ], "eef_pose_r": [ 507.55914660551184, -221.56446354523817, -17.738386699523517, 1.5468118108243518, 0.06642034954150762, 2.287446505955446 ], "joint_status_l": { "velocity": [ -0.3142593064557886, -2.375402156309825, 0.14354343784728218, 4.101540047579455, -0.3547646923490084, -3.310377899625294, 0.440460291190492 ], "torque": [ -40.37109375, 1.640625, -6.231689453125, 1.104736328125, -5.892333984375, -2.3638916015625, 0.5511474609375 ] }, "joint_status_r": { "velocity": [ -0.44940163583628845, -1.8617053039360343, -0.2199757886234277, 0.22442622030993675, 1.2208416718975101, 0.2182222162070424, -1.1171688774584965 ], "torque": [ 21.76025390625, 1.72119140625, 9.375, -3.875732421875, 2.0306396484375, 5.072021484375, -0.52459716796875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.6, -7.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.2, -16.6, -7.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.9, -17.8, -1.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.9, -17.8, -1.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -356, "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": [ 0.2633871041521237, -0.7390562003670008, -0.06360819298824733, -0.6289918179781873, -0.004212791407241193, -1.0680460230708286, 0.27262921645042487 ], "act_joint_pos_r": [ -0.6842824340964002, -0.7892912747560832, 0.15272721762218386, -1.3015585570619321, 0.8203112226564014, 0.5065256499482995, -1.2970365824601515 ], "act_eef_pose_l": [ 566.2622875079824, 360.53349076978367, 90.21163144788788, 1.6749489252624297, -0.07728079677698217, 0.6919551969611735 ], "act_eef_pose_r": [ 506.1038644042035, -206.60754812687867, -20.553456653080275, 1.5358767150289054, 0.04638348188498506, 2.310852082290008 ], "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": [ 0.2667984749888254, -0.7181598043606243, -0.06478932087320882, -0.661140605011187, -0.001874252159833299, -1.0442441614577866, 0.2703258315685374 ], "joint_pos_r": [ -0.680429965158589, -0.7639808632886157, 0.1557040867182511, -1.3069015473023644, 0.8252311374772705, 0.49849074182001735, -1.3061098414989538 ], "eef_pose_l": [ 563.3105084073057, 364.2059923169096, 89.33125109131049, 1.6806237922843514, -0.0762239547491566, 0.7034802147204847 ], "eef_pose_r": [ 507.4211561420613, -219.62818045710785, -18.201741603034833, 1.5455182644950902, 0.063918028535499, 2.289940300894739 ], "joint_status_l": { "velocity": [ -0.36841718447977456, -2.2567442095757784, 0.1275580494523032, 3.4719665993829807, -0.25255479001468417, -2.5705252406194035, 0.24875823051195844 ], "torque": [ -42.392578125, 1.640625, -6.085205078125, 1.50146484375, -6.0003662109375, -2.38037109375, 0.62713623046875 ] }, "joint_status_r": { "velocity": [ -0.41605437441560866, -2.733443819870729, -0.3214923804644165, 0.5770259274964218, -0.5313351297626667, 0.8677444850988536, 0.9798830760843202 ], "torque": [ 21.43798828125, 1.63330078125, 9.002685546875, -5.218505859375, 0.2362060546875, 5.6378173828125, 0.3387451171875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -7.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.8, -7.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.5, 0.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.5, 0.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -356, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26320475676079985, -0.7415507881568217, -0.06345698241820871, -0.6237488977310908, -0.004551201646120658, -1.0718718616366987, 0.27258047753134645 ], "act_joint_pos_r": [ -0.6842583144088312, -0.796039413250136, 0.15197065321078626, -1.2999556034650595, 0.8199835455124553, 0.507276071438411, -1.2962813879320159 ], "act_eef_pose_l": [ 566.5734875079825, 360.46389076978363, 90.18603144788817, 1.6744502346540158, -0.07694419864985327, 0.6910202979341156 ], "act_eef_pose_r": [ 506.1318644042035, -203.32194812687868, -20.86945665308008, 1.5336969992740486, 0.04327521145668788, 2.3153916440449547 ], "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": [ 0.26622965523613235, -0.7217046038626129, -0.06458850977988556, -0.6556252943242151, -0.002273555628182406, -1.0483250569625737, 0.27070235732921544 ], "joint_pos_r": [ -0.6810140397314364, -0.7680218600617549, 0.155229901748107, -1.3060432369932977, 0.8244746554762693, 0.4997325311094366, -1.3047102948877563 ], "eef_pose_l": [ 563.8195549525785, 363.6056896718196, 89.46960532224568, 1.6796697301873846, -0.07636836210168359, 0.7015447387747779 ], "eef_pose_r": [ 507.24117707718443, -217.55593380983493, -18.582231665507976, 1.5440132471919317, 0.06115596129481212, 2.2932362606759256 ], "joint_status_l": { "velocity": [ -0.32667940044195376, -2.1433246897908376, 0.12220135092494422, 3.4425492994936135, -0.24597851518881955, -2.542979903622289, 0.20283099964935047 ], "torque": [ -40.81787109375, 1.38427734375, -6.085205078125, 0.604248046875, -5.9912109375, -2.442626953125, 0.6298828125 ] }, "joint_status_r": { "velocity": [ -0.35037133150872535, -3.025806502952477, -0.3519884606859591, 0.6574450307450519, -0.4850255710273643, 0.8146783278761838, 0.9102951035018236 ], "torque": [ 22.63916015625, 4.833984375, 9.2041015625, -3.021240234375, -0.1556396484375, 5.819091796875, 0.58135986328125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.7, -8.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.1, -16.7, -8.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.5, -1.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.5, -1.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -374, "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": [ 0.26306686361136383, -0.7437039911373782, -0.06336406404874086, -0.6215181982620502, -0.005063831299327373, -1.0738996029951298, 0.2725288313693955 ], "act_joint_pos_r": [ -0.6832085205374816, -0.8042825249118144, 0.1510993378330492, -1.3007139598287836, 0.8267216528710382, 0.5105834253101191, -1.3006191606309847 ], "act_eef_pose_l": [ 566.8062875079825, 359.75029076978365, 90.24203144788798, 1.6736088667307814, -0.07642706694236112, 0.6893048585060578 ], "act_eef_pose_r": [ 506.1870644042035, -198.84754812687868, -19.55265665308002, 1.5256566160074003, 0.03823149807259375, 2.3204411496294517 ], "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": [ 0.26568681481411927, -0.7253386982551537, -0.06438304676311397, -0.6498596539551087, -0.0027060513913388894, -1.0526061616014277, 0.2710314236229016 ], "joint_pos_r": [ -0.6815415616434092, -0.7733375279464619, 0.15461538250634102, -1.3050001892340637, 0.8239764384412661, 0.5012115078964486, -1.303410451143414 ], "eef_pose_l": [ 564.3299401836965, 363.01500183214245, 89.59447094969926, 1.678699239325726, -0.07642584510944152, 0.6995847010618639 ], "eef_pose_r": [ 507.07390416417655, -214.84378771165248, -18.949335994567804, 1.5418650792518145, 0.05775722690790812, 2.297358611723361 ], "joint_status_l": { "velocity": [ -0.2829463848401659, -1.9833931342265743, 0.11004688749288727, 3.060786941765592, -0.2546327200721177, -2.299623846739429, 0.16171526708452788 ], "torque": [ -40.65673828125, 0.41015625, -6.26220703125, 2.020263671875, -6.1376953125, -2.51953125, 0.60882568359375 ] }, "joint_status_r": { "velocity": [ -0.1800262509688011, -3.3419611063836285, -0.3797216254248781, 0.462899123290228, 0.2964744143696407, 1.0121372292841713, 0.3014504845353372 ], "torque": [ 22.90283203125, 4.0283203125, 9.14306640625, -3.387451171875, -0.15380859375, 6.1395263671875, 0.79742431640625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.7, -8.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -16.7, -8.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.5, -1.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -17.5, -1.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "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": [ 0.26356378329660535, -0.7443324068282537, -0.06332712562128727, -0.6200547733825277, -0.006211088842060027, -1.075204334625362, 0.27262893927452253 ], "act_joint_pos_r": [ -0.6816486506593272, -0.8124360551543433, 0.15022284974254216, -1.2990985589704045, 0.8386039763171405, 0.5110730399371687, -1.3120985654583364 ], "act_eef_pose_l": [ 566.8174875079824, 359.7478907697837, 90.12203144788809, 1.672867436882681, -0.07554137286112633, 0.6891436468908546 ], "act_eef_pose_r": [ 507.2870644042035, -195.65394812687867, -18.770256653080196, 1.5203118221153453, 0.03685483692189451, 2.320174717081828 ], "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": [ 0.26531218087525527, -0.7284287789558355, -0.06421136252064205, -0.6450353138196573, -0.0032231191924629574, -1.0562539336614867, 0.27128888693163866 ], "joint_pos_r": [ -0.6816604491376254, -0.7792357336691138, 0.1539501810940855, -1.3041348769354457, 0.8256096166022096, 0.5028009070297726, -1.3040933773302368 ], "eef_pose_l": [ 564.7460333728045, 362.48272292172595, 89.68334105693918, 1.6777815569022778, -0.07631283801511014, 0.6978769783035121 ], "eef_pose_r": [ 507.06858815355827, -211.89518562583964, -18.996824679059074, 1.538690705373613, 0.05438757355059485, 2.3011136527196974 ], "joint_status_l": { "velocity": [ -0.1888213695058205, -1.7175411540515384, 0.09549476866266282, 2.6978187992980907, -0.32269120488813074, -2.0465829433611304, 0.14472138470211782 ], "torque": [ -42.5390625, 3.0029296875, -6.35986328125, 1.1474609375, -6.0955810546875, -2.30712890625, 0.59600830078125 ] }, "joint_status_r": { "velocity": [ 0.0012741980759400917, -3.5855289708806026, -0.4025399136866614, 0.5439062985672649, 1.403349459632608, 0.8933640056354442, -0.8645348197422464 ], "torque": [ 25.546875, 2.8564453125, 9.185791015625, -3.45458984375, 1.787109375, 6.2713623046875, -0.25634765625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.9, -8.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -16.9, -8.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.4, -2.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.5, -17.4, -2.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -349, "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": [ 0.26440438301151814, -0.7415435533660979, -0.0635514975520251, -0.6286125686099603, -0.006719574577388023, -1.0690714961216565, 0.27151656032297633 ], "act_joint_pos_r": [ -0.679822977429998, -0.8185316693568857, 0.14957025710080196, -1.2966885161491275, 0.861649183477537, 0.5055069884043335, -1.3315169834657077 ], "act_eef_pose_l": [ 566.4286875079824, 359.1126907697837, 89.99163144788808, 1.6728472144206687, -0.07376708134578193, 0.689735658272904 ], "act_eef_pose_r": [ 509.67026440420346, -194.8499481268787, -18.825456653079982, 1.5202187201116069, 0.03469533162953112, 2.3109239351708144 ], "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": [ 0.26509694809547246, -0.7308037381347229, -0.06408526847408537, -0.6416636230631515, -0.0037579992018246804, -1.0588425671013062, 0.27141364766599285 ], "joint_pos_r": [ -0.6815017100101699, -0.7852172387443547, 0.15328137672369999, -1.303099941153054, 0.8297250861391073, 0.5036827619867607, -1.3070771604261622 ], "eef_pose_l": [ 565.0575807965321, 361.9811092844468, 89.74187394975897, 1.6769745456021659, -0.07602498114542353, 0.696492689282259 ], "eef_pose_r": [ 507.33597760095756, -209.15939586878577, -18.98318763373888, 1.5356438011437739, 0.05130922861865244, 2.3034423526874073 ], "joint_status_l": { "velocity": [ -0.07479482311167907, -1.1598658365743475, 0.0576455594176184, 1.4094723107813678, -0.31984070736341963, -1.104691753056386, 0.011114239157006267 ], "torque": [ -42.0556640625, 1.5380859375, -6.33544921875, 1.153564453125, -6.0406494140625, -2.6898193359375, 0.146484375 ] }, "joint_status_r": { "velocity": [ 0.18129777156694615, -3.5978523931685658, -0.40078909863039414, 0.6924134787809066, 3.4477008280493493, 0.19701064257926504, -2.6394230426483034 ], "torque": [ 29.89013671875, 2.29248046875, 9.173583984375, -3.60107421875, 2.2393798828125, 6.097412109375, -0.70770263671875 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.9, -9.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.9, -9.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.2, -1.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.2, -1.8, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "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": [ 0.26516066571871305, -0.7406091933187787, -0.06361772656350273, -0.630868936726034, -0.007306912568515415, -1.0664803464993264, 0.2709834897063919 ], "act_joint_pos_r": [ -0.678945684199789, -0.8235173169023801, 0.14915680445186866, -1.3032583672615883, 0.9098482925708459, 0.4891800291578832, -1.3561871127104466 ], "act_eef_pose_l": [ 566.3934875079824, 359.1918907697837, 89.7044314478881, 1.673017098731464, -0.07257150073375956, 0.6911465445056089 ], "act_eef_pose_r": [ 512.0030644042035, -193.89554812687868, -19.33825665308018, 1.525061671570781, 0.011845326185347019, 2.295139697855655 ], "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": [ 0.2650598378421496, -0.7325971919313624, -0.06399836675630147, -0.6396107018644644, -0.0043479075033034395, -1.0603587351075399, 0.2713716902955304 ], "joint_pos_r": [ -0.6811176358278428, -0.7916034085948553, 0.152584095423463, -1.3026198188849831, 0.84016366909551, 0.5023813362407998, -1.3138521460136268 ], "eef_pose_l": [ 565.298016514621, 361.48398704742647, 89.75252639045459, 1.676265927028297, -0.07548642811313351, 0.6954579791289678 ], "eef_pose_r": [ 508.0180457799453, -206.55145122807133, -18.993927669169977, 1.5332099320217325, 0.046135049508308226, 2.3030945890837202 ], "joint_status_l": { "velocity": [ 0.010889089512300387, -0.8652706300473767, 0.04110792840872346, 0.9440827907170046, -0.31956312203241033, -0.6611145317814149, -0.041924427132356 ], "torque": [ -38.67919921875, 2.60009765625, -9.490966796875, 1.409912109375, -6.097412109375, -2.3748779296875, 0.11993408203125 ] }, "joint_status_r": { "velocity": [ 0.2345638577390119, -3.4466004451658705, -0.3701365083395025, -0.06896119077204332, 7.525717376165808, -1.4256991162073795, -4.572041558098761 ], "torque": [ 31.54541015625, 2.05810546875, 8.99658203125, -7.330322265625, 2.1734619140625, 4.1033935546875, -0.794677734375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -9.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -9.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.4, -1.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.7, -17.4, -1.7, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -314, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 108, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2679045960682906, -0.7322010769166477, -0.06432355894859097, -0.6583598144168568, -0.011091675453320586, -1.0474111820150183, 0.274201303480874 ], "act_joint_pos_r": [ -0.6768146806770625, -0.8267772523329114, 0.14880887661029163, -1.3009250230414366, 0.9038259780872232, 0.4873249861150329, -1.3075991166452334 ], "act_eef_pose_l": [ 565.1254875079824, 356.74389076978366, 89.64843144788806, 1.6710081991071217, -0.07238115243788888, 0.6918275534602991 ], "act_eef_pose_r": [ 512.5462644042035, -192.44514812687868, -19.208656653080197, 1.525880684595252, -0.030617991830261457, 2.300172893610659 ], "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": [ 0.26535059064712074, -0.7331774661301863, -0.06400127213151578, -0.6407994700212337, -0.005247536683095305, -1.0595443691529214, 0.2716231136674799 ], "joint_pos_r": [ -0.6805216558228463, -0.7975703060221425, 0.15194351485317278, -1.302500633050134, 0.8518854856319938, 0.49986272193285786, -1.3165045091519614 ], "eef_pose_l": [ 565.3697403289884, 360.8357690890599, 89.73797212869766, 1.6754890586563493, -0.07495827529102221, 0.6947631329499844 ], "eef_pose_r": [ 508.81513187816313, -204.19230767552722, -19.0234663929609, 1.5316510619565649, 0.03588957063277202, 2.3020307565788745 ], "joint_status_l": { "velocity": [ 0.27582445047902304, 0.10544692507163944, -0.03480594969751394, -1.8964612615919307, -0.631148372458118, 1.3103455643168616, 0.2784362878072155 ], "torque": [ -31.318359375, 7.12646484375, -8.85009765625, -2.64892578125, -6.1505126953125, -0.6500244140625, 0.59967041015625 ] }, "joint_status_r": { "velocity": [ 0.4003415083033701, -3.154257171720687, -0.3385309457948349, 0.17016086231258498, 5.609407744525896, -1.3540355331818077, 0.9617540253081813 ], "torque": [ 33.0615234375, 0.75439453125, 9.051513671875, -4.559326171875, 1.849365234375, 3.74267578125, 0.20599365234375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.3, -8.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -17.3, -8.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.1, -1.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.1, -1.3, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "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": [ 0.26812528169480104, -0.7365429636170016, -0.06395714818587851, -0.6441298344626973, -0.01213256810455861, -1.058403329213381, 0.27416298036120085 ], "act_joint_pos_r": [ -0.6768693285164425, -0.8264322253306796, 0.14889065411828883, -1.303338415043536, 0.9121684790844622, 0.4844743177163714, -1.3066311562650972 ], "act_eef_pose_l": [ 565.5254875079823, 357.9022907697837, 89.31083144788799, 1.6703001031477689, -0.07134942452275683, 0.6910192899213516 ], "act_eef_pose_r": [ 512.6766644042035, -192.5379481268787, -19.178256653080098, 1.5268077421291624, -0.03982632967140194, 2.297780598573299 ], "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": [ 0.26582706306622944, -0.7334947830625266, -0.06401690832527739, -0.6422985354261807, -0.0063982868147924215, -1.0586395045875807, 0.27207463481226873 ], "joint_pos_r": [ -0.6799169398736418, -0.8023421588433605, 0.15143521847648694, -1.3024488863568566, 0.8611407632177825, 0.4975567445337227, -1.3149573700475499 ], "eef_pose_l": [ 565.3742111115332, 360.2427376102047, 89.68386886246617, 1.6746156972352995, -0.07439115155349511, 0.6941517803931739 ], "eef_pose_r": [ 509.46873445619786, -202.28755337714531, -19.038759636200098, 1.5306495212812032, 0.0241923323844768, 2.301387043830554 ], "joint_status_l": { "velocity": [ 0.248200291609324, -0.3291937908311837, 0.006453904707381941, -0.197774462897371, -0.6192841144861128, 0.02550618814911587, 0.22553466749508644 ], "torque": [ -28.23486328125, 2.87841796875, -8.831787109375, -3.082275390625, -5.9014892578125, -1.0986328125, 0.5841064453125 ] }, "joint_status_r": { "velocity": [ 0.3291323193383988, -2.6016504490522507, -0.27480484574970987, -0.09606626483815717, 5.5108307803353185, -1.4128604261833821, 0.8992045678830607 ], "torque": [ 32.86376953125, 1.962890625, 8.935546875, -6.89697265625, 2.098388671875, 3.4002685546875, 0.45318603515625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.2, -1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.2, -1.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -335, "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": [ 0.2700019041563188, -0.7404026260105695, -0.06360089966311998, -0.6294306709772844, -0.01697715206128503, -1.0678751901608472, 0.2768780804570954 ], "act_joint_pos_r": [ -0.672940909904804, -0.8227329672371941, 0.1495033047154986, -1.3206060270603226, 0.960870740587306, 0.4624328352280032, -1.323048009531596 ], "act_eef_pose_l": [ 566.0446875079824, 359.73829076978365, 88.64523144788795, 1.6678710564317667, -0.07035038602550085, 0.6933207330735761 ], "act_eef_pose_r": [ 513.8870644042036, -193.0403481268787, -17.49185665308005, 1.5343742083002503, -0.06923333942262838, 2.2835553477275683 ], "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": [ 0.26641664286745537, -0.7344314249314646, -0.0639668839479525, -0.6409408973391117, -0.007887652447418377, -1.0596695099888735, 0.2727243286415335 ], "joint_pos_r": [ -0.6789873556105088, -0.8062335376666054, 0.15104625552175033, -1.3043236890383298, 0.8750070726902768, 0.49305130096255717, -1.3151181310922249 ], "eef_pose_l": [ 565.4587061140164, 360.0646213426357, 89.54658458817786, 1.6736364523990126, -0.07377115124807085, 0.6938932747993659 ], "eef_pose_r": [ 510.21317658751553, -200.6506408723386, -18.845099027932832, 1.5304151199562044, 0.010023720801389947, 2.299080511104456 ], "joint_status_l": { "velocity": [ 0.38719679943799434, -0.6448706970987317, 0.03952513703037175, 1.2430677847525828, -0.9816370064616788, -0.8861873218748428, 0.44859196556767955 ], "torque": [ -25.94970703125, 1.9482421875, -8.5205078125, 0.860595703125, -5.914306640625, -2.0709228515625, 0.53924560546875 ] }, "joint_status_r": { "velocity": [ 0.6529968771031847, -1.7818858397093962, -0.16663377247483346, -1.7584406439414835, 9.273002640284744, -3.3066967735235764, -0.8564016132357466 ], "torque": [ 33.90380859375, 3.27392578125, 8.87451171875, -8.160400390625, 2.0745849609375, 3.28857421875, -0.362548828125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.7, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.7, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.2, -2.4, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.7, -17.2, -2.4, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -337, "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": [ 0.2712684425544334, -0.7372939451543989, -0.06381813785260197, -0.6370660618857097, -0.019221716009093722, -1.0607658659231844, 0.27826550932924954 ], "act_joint_pos_r": [ -0.6686561790037774, -0.8205056992080112, 0.1498624475441609, -1.3302461949224977, 0.9980832394830639, 0.4530483203617589, -1.3369857342661275 ], "act_eef_pose_l": [ 565.8558875079824, 359.7630907697837, 88.50443144788805, 1.6671468115889478, -0.07012184184170404, 0.6962652510698022 ], "act_eef_pose_r": [ 515.4102644042034, -193.93314812687868, -14.873456653079984, 1.5340969225368564, -0.08872235421359381, 2.272721825472264 ], "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": [ 0.26694206192399866, -0.7350032811649985, -0.06393338564464641, -0.6399340497798265, -0.009163557921146676, -1.0602904825858306, 0.2733284147696308 ], "joint_pos_r": [ -0.6775671665071181, -0.8087244312736273, 0.15082832381933112, -1.307959290725061, 0.892824008001494, 0.48708433531614664, -1.317808084742732 ], "eef_pose_l": [ 565.5220217345015, 360.0242365983911, 89.42452546652714, 1.6728692457998062, -0.07332279794812929, 0.6939891828368485 ], "eef_pose_r": [ 511.0529131787119, -199.5426988484051, -18.272128339207853, 1.530550523434256, -0.004817170584168326, 2.295060223140528 ], "joint_status_l": { "velocity": [ 0.467235327717308, -0.24738441464133842, 0.01244639445402429, 0.3097335574615556, -1.086249036295478, -0.051339886245393984, 0.5331904868259851 ], "torque": [ -26.27197265625, 3.662109375, -8.30078125, 0.775146484375, -6.1468505859375, -1.380615234375, 0.61614990234375 ] }, "joint_status_r": { "velocity": [ 0.9623582671212105, -1.2723394112681419, -0.10431156121337715, -2.4069146651690687, 11.367661728748146, -3.6757812037024884, -2.0711250639564582 ], "torque": [ 34.65087890625, 3.3544921875, 9.130859375, -8.7158203125, 2.208251953125, 3.6712646484375, -0.7708740234375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.7, -7.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.1, -16.7, -7.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.2, -1.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.7, -17.2, -1.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -351, "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": [ 0.2728668101782463, -0.7356894699004073, -0.06394310721098612, -0.6417314712311832, -0.02266834517429293, -1.057415119723117, 0.279977348180303 ], "act_joint_pos_r": [ -0.6664578431082302, -0.8244708930885717, 0.1494684921467943, -1.3324656969181254, 1.049058700902851, 0.4538873041924082, -1.3783572583390535 ], "act_eef_pose_l": [ 565.5982875079824, 359.49909076978366, 88.33803144788799, 1.665212413209844, -0.06908968045363695, 0.6973052223174524 ], "act_eef_pose_r": [ 518.1334644042036, -194.4723481268787, -12.707056653080144, 1.5266626790998723, -0.09527502912957492, 2.2566916850097463 ], "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": [ 0.26774617952210245, -0.7352866199295093, -0.0639217013876893, -0.6397336718804867, -0.01101735508327872, -1.060173922247416, 0.2742395246781598 ], "joint_pos_r": [ -0.6759134357539337, -0.8110017708584881, 0.15063570306672022, -1.3118137776703764, 0.9145062060278688, 0.48156103003744133, -1.3245140297484637 ], "eef_pose_l": [ 565.5620567979439, 359.96447994119916, 89.26406882385083, 1.6718132386860476, -0.07273803609756625, 0.6944193397359119 ], "eef_pose_r": [ 512.0952177128239, -198.71994043211166, -17.40173218797841, 1.5298345411922034, -0.019004135801895635, 2.28955554061383 ], "joint_status_l": { "velocity": [ 0.5530118006522589, -0.04350651370010894, -0.0023117607342859614, -0.21575596649281437, -1.2582698191449249, 0.2979418852984139, 0.6196666621400837 ], "torque": [ -26.57958984375, 4.10888671875, -8.001708984375, -0.738525390625, -6.15966796875, -0.750732421875, 0.5108642578125 ] }, "joint_status_r": { "velocity": [ 1.02117388782208, -1.454622299057462, -0.12605506155694002, -2.230341498350441, 14.531240870456763, -2.9886742450284665, -5.8148971865588095 ], "torque": [ 35.56640625, 2.24853515625, 9.442138671875, -9.674072265625, 2.2210693359375, 3.936767578125, -0.86700439453125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.9, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.9, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.1, -18.1, -1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -18.1, -1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -332, "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": [ 0.2731429360147337, -0.7358023687853958, -0.06393596075397709, -0.6415015718949205, -0.023167101749375106, -1.057813487249812, 0.27999564952626077 ], "act_joint_pos_r": [ -0.6640418069441508, -0.8262734069183295, 0.1492475557174063, -1.329985119587252, 1.0546799824922068, 0.4542465387127445, -1.3826427010345683 ], "act_eef_pose_l": [ 565.5598875079825, 359.46949076978365, 88.26923144788798, 1.6649087392728084, -0.06863274710587693, 0.6971638371300822 ], "act_eef_pose_r": [ 519.4238644042034, -194.63714812687869, -11.803856653079947, 1.5247238818130702, -0.09462701244106927, 2.2539251431544165 ], "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": [ 0.268737883888819, -0.7353724699289689, -0.0639251341024047, -0.6400915849324306, -0.013262660354904431, -1.0596866204135416, 0.27532575789998975 ], "joint_pos_r": [ -0.6737075934692285, -0.8139373529569083, 0.1503731527308174, -1.315653943483242, 0.9422709758182306, 0.4760415553594105, -1.335881105315604 ], "eef_pose_l": [ 565.5657434919169, 359.8721225591839, 89.08380023337855, 1.6705345506201363, -0.07201340060922885, 0.6949475887141462 ], "eef_pose_r": [ 513.566871806994, -197.93719591738684, -16.198490063553464, 1.5281897321816917, -0.03406590915104532, 2.2821159343173756 ], "joint_status_l": { "velocity": [ 0.47573159864522374, -0.04642770718188416, -0.0011692438847688003, -0.15227410086460225, -1.069648123017783, 0.20229241538771703, 0.5043334211178863 ], "torque": [ -27.3193359375, 4.85595703125, -8.135986328125, -2.30712890625, -5.994873046875, -0.5859375, 0.50811767578125 ] }, "joint_status_r": { "velocity": [ 1.0438741572862398, -1.3322545350868964, -0.12156089220161093, -1.5477213716295068, 12.13981467609404, -2.35379237644473, -5.050103392809646 ], "torque": [ 35.478515625, 1.98486328125, 9.063720703125, -9.4970703125, 2.1734619140625, 3.900146484375, -0.8514404296875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -9.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -9.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.7, -17.2, -1.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -17.2, -1.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -358, "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": [ 0.2733474883144926, -0.7359486235002491, -0.06391685825324768, -0.640613725103385, -0.022981714488307794, -1.0587174110867315, 0.2798737715231307 ], "act_joint_pos_r": [ -0.661203152495311, -0.829130758871258, 0.14891586081576522, -1.3272900722130292, 1.0672093506979472, 0.4556562072916079, -1.3931201442810146 ], "act_eef_pose_l": [ 565.5006875079824, 359.58229076978364, 88.11323144788803, 1.66517381777789, -0.06842938036907588, 0.6969550550910473 ], "act_eef_pose_r": [ 521.1702644042035, -194.75074812687868, -10.469456653079988, 1.5209231595068284, -0.09429798359231524, 2.2491013173396 ], "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": [ 0.26952862062809474, -0.7354569784910068, -0.06392593830320743, -0.6402892898947669, -0.015003076046012857, -1.0594079615428162, 0.2761443516946374 ], "joint_pos_r": [ -0.6717162538109902, -0.8164026780978256, 0.15014114561530395, -1.317919752466735, 0.9633920693687776, 0.47232822615700243, -1.3451910895802615 ], "eef_pose_l": [ 565.5613345708116, 359.80628490376466, 88.93106380975414, 1.6695525686199817, -0.07140601284440337, 0.6953239679296785 ], "eef_pose_r": [ 514.8360384609033, -197.395193446134, -15.195310819704844, 1.5267036209087377, -0.04461357767905309, 2.27635081579259 ], "joint_status_l": { "velocity": [ 0.4124255462896187, -0.053096095012250544, 0.0009806164739112333, -0.035037969140283565, -0.8616675382422667, 0.07457724971882129, 0.4027654625449184 ], "torque": [ -26.97509765625, 4.0869140625, -7.891845703125, -1.605224609375, -5.972900390625, -0.57861328125, 0.56671142578125 ] }, "joint_status_r": { "velocity": [ 1.1353814558070496, -1.3745921821008977, -0.1323268555781798, -1.011964686297162, 11.211935705182974, -1.800524933818437, -5.176185244256004 ], "torque": [ 36.3720703125, 2.9150390625, 9.051513671875, -8.77685546875, 1.72119140625, 3.6126708984375, -0.772705078125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.0, -8.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -17.0, -8.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.3, -17.3, -1.6, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.3, -17.3, -1.6, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -383, "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": [ 0.2736419816540375, -0.7325246588344678, -0.0641597277903556, -0.6490672541038527, -0.02339298015341118, -1.0512789403277232, 0.28063325184933546 ], "act_joint_pos_r": [ -0.6598412857978677, -0.8305376446778356, 0.14875354847306715, -1.3258951026753982, 1.0711659770006818, 0.45610290420637944, -1.4043282230697238 ], "act_eef_pose_l": [ 565.2822875079825, 359.51589076978365, 88.24283144788801, 1.6653707309378172, -0.06913500607801534, 0.6993143823159614 ], "act_eef_pose_r": [ 521.9166644042034, -194.67794812687868, -9.909456653080042, 1.519487499299935, -0.0860706620180131, 2.247156550494732 ], "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": [ 0.270271761705572, -0.7353030437881451, -0.06394173315537804, -0.640960134401222, -0.016540987525608248, -1.058741095153458, 0.27690411018511485 ], "joint_pos_r": [ -0.6706304049966555, -0.8177101678938246, 0.1500144858696061, -1.3188106359677263, 0.9738349560910932, 0.47068311338355523, -1.3502888857675142 ], "eef_pose_l": [ 565.534532721696, 359.75839615130576, 88.78618206241563, 1.668735328331957, -0.07089780325324332, 0.6958000708288892 ], "eef_pose_r": [ 515.5148712954498, -197.14270150384945, -14.66616595991016, 1.5258579076949452, -0.04925357457801438, 2.2734514402766113 ], "joint_status_l": { "velocity": [ 0.36397301962365347, 0.30005672529664906, -0.023542726221958965, -0.8755431051197249, -0.7399933788646285, 0.8058889527555735, 0.4027354216893375 ], "torque": [ -26.4111328125, 5.74951171875, -7.5927734375, -2.716064453125, -5.9161376953125, -0.487060546875, 0.5859375 ] }, "joint_status_r": { "velocity": [ 1.1651905080114489, -1.3853266346481874, -0.13617722249370523, -0.7650998390147379, 10.511440239876713, -1.5746161503140677, -5.836076302767168 ], "torque": [ 34.921875, 2.40966796875, 9.1552734375, -8.648681640625, 1.900634765625, 3.7371826171875, -0.74066162109375 ] }, "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": [ -3.4, -17.3, -2.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.4, -17.3, -2.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "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": [ 0.27294533951881095, -0.7264661592739726, -0.0646159918261122, -0.6652312127701241, -0.02198665530027637, -1.0407689535158102, 0.279731756902418 ], "act_joint_pos_r": [ -0.6567874423454348, -0.8341680383869727, 0.1483062126456985, -1.319757720767277, 1.0553012824688857, 0.4527934068077911, -1.3921311102839922 ], "act_eef_pose_l": [ 564.4326875079825, 358.58149076978367, 88.96923144788802, 1.6659136934363705, -0.06972848265874008, 0.6994496628268735 ], "act_eef_pose_r": [ 522.8950644042035, -193.5163481268787, -10.240656653080123, 1.5226011525141978, -0.08140763056462151, 2.251327245901029 ], "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": [ 0.2708174158097922, -0.7343749735586488, -0.064013173874294, -0.6435589910042595, -0.017651078945875864, -1.0566639350197637, 0.2774984544202136 ], "joint_pos_r": [ -0.6686327410476107, -0.8200852329026919, 0.14977834973149937, -1.3198822396020162, 0.9905760535401498, 0.4680076136928791, -1.3594838055398801 ], "eef_pose_l": [ 565.4313449449496, 359.64870300136, 88.74259816516283, 1.668173176966006, -0.07063662457531242, 0.6964303744588954 ], "eef_pose_r": [ 516.7123800571752, -196.69097754758062, -13.780768240749978, 1.524522962423651, -0.055546653260779066, 2.2687513191247604 ], "joint_status_l": { "velocity": [ 0.22980898272040307, 0.8541267516237738, -0.0651024187031668, -2.3405309204438396, -0.46822843661567526, 1.716607373799306, 0.24118955457241853 ], "torque": [ -26.88720703125, 6.9287109375, -13.348388671875, -3.448486328125, -5.9234619140625, -0.413818359375, 0.5621337890625 ] }, "joint_status_r": { "velocity": [ 1.279254530239804, -1.5208981358094675, -0.15898611622167103, 0.013447637536856405, 6.990118561776448, -1.6430858833618167, -3.5258049243065415 ], "torque": [ 34.13818359375, 3.03955078125, 9.3017578125, -8.99658203125, 1.8182373046875, 3.6932373046875, -0.8258056640625 ] }, "eef_FT_l": { "raw_value": [ 0.1, -17.0, -9.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -17.0, -9.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.9, -17.3, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.9, -17.3, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -322, "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": [ 0.2721517512784459, -0.727021920310923, -0.06450458253040066, -0.6595914925559753, -0.02213391221460097, -1.0459168444234164, 0.27936089512575385 ], "act_joint_pos_r": [ -0.6541362403179631, -0.8385956671456913, 0.14774729158666003, -1.3105300292285094, 1.0307114030595814, 0.44684638191480747, -1.3716133117149536 ], "act_eef_pose_l": [ 564.4382875079824, 359.61189076978366, 89.37483144788807, 1.6653084947354004, -0.06993465652828548, 0.6994857492325031 ], "act_eef_pose_r": [ 523.9622644042036, -192.3563481268787, -11.965456653080082, 1.530295089975657, -0.0766530649397479, 2.2565847112595385 ], "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": [ 0.27110409987337647, -0.733039342348332, -0.06410718541658525, -0.6467544200588329, -0.018434262180424488, -1.054434471205128, 0.27785147198446924 ], "joint_pos_r": [ -0.6663472363519009, -0.8228944310816404, 0.14947776433284216, -1.3191948909302653, 1.0002470448569634, 0.46488882311658575, -1.363776754331006 ], "eef_pose_l": [ 565.2582970189859, 359.5774322682454, 88.82821669047456, 1.6677006281700526, -0.07050555200105595, 0.696968401688439 ], "eef_pose_r": [ 517.906240988185, -196.06431321876343, -13.26663357778827, 1.5246289855788457, -0.05974512229527162, 2.2659454298022577 ], "joint_status_l": { "velocity": [ 0.11314301477249877, 0.6498624133737252, -0.042917622504412556, -1.3863629411012823, -0.3995504195813404, 0.9198765621158955, 0.16301289145048692 ], "torque": [ -26.21337890625, 9.45556640625, -8.99658203125, -3.84521484375, -5.899658203125, -0.128173828125, 0.53924560546875 ] }, "joint_status_r": { "velocity": [ 1.318748677252124, -1.6956834834065404, -0.18688554469337149, 0.9357774645089023, 3.2900536509368195, -1.9485261810845422, -0.8463232364963602 ], "torque": [ 35.6689453125, 1.51611328125, 9.161376953125, -5.4931640625, 1.8548583984375, 3.44970703125, -0.39825439453125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.1, -7.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -17.1, -7.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.7, -16.9, -1.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -16.9, -1.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -381, "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": [ 0.271804684221183, -0.7271367204307918, -0.06446990280717758, -0.6576913353986661, -0.021207265233053586, -1.0468891743878503, 0.27909038865288577 ], "act_joint_pos_r": [ -0.6535146575391333, -0.842448973481459, 0.1472641611909597, -1.3020731350788497, 1.0164933625279922, 0.44372675772165737, -1.360681743117939 ], "act_eef_pose_l": [ 564.5158875079824, 360.0902907697837, 89.36123144788807, 1.6660552056389755, -0.07046663273704283, 0.7000370626823689 ], "act_eef_pose_r": [ 524.9462644042035, -191.97874812687868, -13.953456653080138, 1.5361931426456117, -0.07311799410417404, 2.2578709109444786 ], "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": [ 0.27123332005682915, -0.7321357869566814, -0.06416452984803847, -0.648539827959824, -0.018916265005735147, -1.0532250467050142, 0.2780573623200687 ], "joint_pos_r": [ -0.6643125138200777, -0.8256448275477556, 0.14917206995751867, -1.317399112626548, 1.0046309741196198, 0.4617857571047345, -1.3645850772466595 ], "eef_pose_l": [ 565.1415391936091, 359.62426847093815, 88.90993859575289, 1.6673997734017587, -0.07046703829571294, 0.6973979333587356 ], "eef_pose_r": [ 518.958007011257, -195.44997201515739, -13.143727153291337, 1.5257918385309779, -0.062362979424436055, 2.2644226187114107 ], "joint_status_l": { "velocity": [ 0.06170550984352374, 0.5398832617906635, -0.03297930691431583, -0.9883336540514875, -0.24742072726610664, 0.6842540292595345, 0.11156355355290692 ], "torque": [ -25.986328125, 10.5029296875, -9.222412109375, -3.399658203125, -5.830078125, -0.054931640625, 0.5950927734375 ] }, "joint_status_r": { "velocity": [ 1.1661340850563917, -1.8147942363446745, -0.20604806972546186, 1.6551567589129235, 1.2811001640740116, -1.950314411923948, 0.42154765301916086 ], "torque": [ 35.95458984375, 2.36572265625, 9.149169921875, -3.900146484375, 1.585693359375, 3.6639404296875, -0.71136474609375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.7, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.7, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.8, -17.1, -2.0, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.8, -17.1, -2.0, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -328, "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": [ 0.27157200652500013, -0.7266742297507189, -0.06448471876200058, -0.6577007845497458, -0.02053970049836812, -1.0473380203854497, 0.27904226301038276 ], "act_joint_pos_r": [ -0.652068789168299, -0.8507672775830286, 0.14621963209416958, -1.2824862858337047, 1.0174718248250505, 0.4290555207374626, -1.3663524488380894 ], "act_eef_pose_l": [ 564.3942875079824, 360.28789076978364, 89.41883144788794, 1.6664592443755661, -0.07095374453648988, 0.6998643713454568 ], "act_eef_pose_r": [ 529.2166644042035, -193.9171481268787, -19.631056653080122, 1.5554765674846747, -0.06476967061181636, 2.2445306044334687 ], "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": [ 0.27130808603637685, -0.7311997212137294, -0.06422019422865248, -0.6501589576804825, -0.01924600321692183, -1.0521554602633578, 0.2782345794269735 ], "joint_pos_r": [ -0.662299112414493, -0.8292157060916535, 0.14875942327355013, -1.313277104871871, 1.00679889295964, 0.4575349523522518, -1.364303802755312 ], "eef_pose_l": [ 565.0179335270626, 359.72942732444494, 88.99609675192508, 1.667206739043423, -0.07052301238760976, 0.6978451192088804 ], "eef_pose_r": [ 520.3391713426321, -194.9805364051021, -13.708003623028702, 1.5290179966765296, -0.06367083505513296, 2.262291613279128 ], "joint_status_l": { "velocity": [ 0.028502572132715898, 0.4887386634289115, -0.028567807039137083, -0.814493279684747, -0.13971518571706532, 0.5202681623259764, 0.08722725437770862 ], "torque": [ -28.60107421875, 10.23193359375, -9.5703125, -3.4912109375, -5.8795166015625, -0.2655029296875, 0.5401611328125 ] }, "joint_status_r": { "velocity": [ 1.1048423250068495, -2.3275010750927194, -0.27428935764106654, 3.3253103813351004, 1.1526426460868322, -3.0756879018318806, -0.22124725160033165 ], "torque": [ 36.36474609375, 2.4462890625, 9.4482421875, -3.564453125, 1.4959716796875, 3.134765625, -0.2618408203125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.8, -9.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -9.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -16.5, -2.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -16.5, -2.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -314, "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": [ 0.2715893425566161, -0.7246217262806849, -0.06458461906770152, -0.6598301819756551, -0.01940177192314866, -1.0467561273034354, 0.277875547914759 ], "act_joint_pos_r": [ -0.6534071643560567, -0.8533045940087912, 0.1458873030312457, -1.2742429243162663, 1.0156196108240607, 0.42126372344614244, -1.3651061356628003 ], "act_eef_pose_l": [ 563.9526875079824, 360.7734907697837, 89.38203144788808, 1.6674580947854853, -0.07051020895887537, 0.7001363226824143 ], "act_eef_pose_r": [ 530.4678644042035, -195.2035481268787, -23.375056653080037, 1.5671063597136634, -0.06353269029467011, 2.2386527966417002 ], "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": [ 0.2713564737294415, -0.7301954236034001, -0.06427690099417019, -0.6517042170218394, -0.019361555475849824, -1.0512458182793778, 0.27826133712108814 ], "joint_pos_r": [ -0.6605868044496321, -0.8332091500659652, 0.14828640533452137, -1.3072386684287058, 1.0085524091724798, 0.4519377472076219, -1.364576159246515 ], "eef_pose_l": [ 564.8644432127635, 359.87704416940625, 89.06693771374745, 1.6671736417869938, -0.07055509147718286, 0.6982292536783754 ], "eef_pose_r": [ 522.0219532479933, -194.8814770860613, -15.039090597068707, 1.5345388180083408, -0.0637971437343481, 2.2587173608986473 ], "joint_status_l": { "velocity": [ 0.02514909160211687, 0.6019415575364562, -0.033232571799046706, -0.8775783322230168, -0.004343248210997297, 0.4848723248578324, -0.041664005469455034 ], "torque": [ -27.70751953125, 10.30517578125, -10.150146484375, -3.1982421875, -4.75341796875, -0.311279296875, 0.0164794921875 ] }, "joint_status_r": { "velocity": [ 0.7753782615473881, -2.1702439379014393, -0.25909540714330603, 3.5634352662388125, 0.7632352679500798, -3.3126968634684673, -0.05723576487959292 ], "torque": [ 35.68359375, 1.41357421875, 9.405517578125, -4.2724609375, 1.60400390625, 3.3709716796875, -0.59600830078125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.9, -8.1, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -16.9, -8.1, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -16.7, -1.6, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -16.7, -1.6, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -11, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2708620853074688, -0.7192889335400187, -0.06495126459458025, -0.6714907990235546, -0.016985244460086268, -1.0401710275937204, 0.27631156758771225 ], "act_joint_pos_r": [ -0.6561878071348208, -0.8553209520682772, 0.1456515718283533, -1.2696770290226662, 1.01723824291581, 0.4189771248438951, -1.365914607415065 ], "act_eef_pose_l": [ 563.0366875079824, 360.5014907697837, 89.88523144788796, 1.6688324668159855, -0.07098439036782919, 0.6999040200351935 ], "act_eef_pose_r": [ 530.7214644042035, -195.6971481268787, -26.10065665308025, 1.5728053639521016, -0.06529221012170058, 2.2351724235367496 ], "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": [ 0.27131558113454013, -0.7286081796697402, -0.06437268145296073, -0.6544567728898261, -0.01909597830027971, -1.0497089219270064, 0.278016642390371 ], "joint_pos_r": [ -0.6595178729283769, -0.8369075764389255, 0.14784522724617094, -1.3010755344405764, 1.0099186560423965, 0.44634945417310046, -1.3647281557594 ], "eef_pose_l": [ 564.6021112091305, 360.00649966724194, 89.17859540344014, 1.6673799297791057, -0.07059773998170228, 0.6985400381664029 ], "eef_pose_r": [ 523.5596846442716, -194.96577139766768, -16.71929416532882, 1.5407111041299557, -0.06390663520172997, 2.254913052235663 ], "joint_status_l": { "velocity": [ -0.04897610485077308, 1.006448898386303, -0.06248513639428577, -1.839620565734279, 0.22795253164034635, 1.0300622079348898, -0.1841426476900665 ], "torque": [ -27.7001953125, 11.72607421875, -14.410400390625, -3.070068359375, -3.658447265625, -0.135498046875, -0.318603515625 ] }, "joint_status_r": { "velocity": [ 0.35963649879278137, -1.988585917763075, -0.2369077979023082, 3.3909385747463716, 0.7904920680106287, -2.9561243813263083, -0.1281329997304681 ], "torque": [ 36.78955078125, 1.875, 9.429931640625, -3.38134765625, 1.6717529296875, 3.7115478515625, -0.52001953125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.8, -8.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -16.8, -8.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.5, -16.9, -1.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -16.9, -1.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -328, "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": [ 0.26927909524149823, -0.7204785097946574, -0.06484234547040008, -0.6672495703587262, -0.014429126872564963, -1.0442748105625437, 0.27456900519421107 ], "act_joint_pos_r": [ -0.6583112892479517, -0.8574682739301972, 0.14543438202739228, -1.2678580991409982, 1.02306592706171, 0.41586051749335395, -1.3694908153725585 ], "act_eef_pose_l": [ 563.1310875079824, 360.7734907697837, 90.25883144788786, 1.669830685294825, -0.07153305838381697, 0.698402316012463 ], "act_eef_pose_r": [ 530.8086644042035, -195.4955481268787, -28.132656653080176, 1.5773900675275407, -0.06872184968337013, 2.2323653017149527 ], "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": [ 0.27116644359916997, -0.7275028782952954, -0.0644392662267767, -0.6563569732177763, -0.01868144455432908, -1.0487454100568756, 0.2777005060102985 ], "joint_pos_r": [ -0.6591235324156438, -0.8400894751791431, 0.14746894076158362, -1.2957826185576486, 1.0115421482050049, 0.441624858047794, -1.3651810537252342 ], "eef_pose_l": [ 564.4117515830064, 360.08568299914714, 89.2889148516503, 1.6676218487193781, -0.0706757945296172, 0.6986240891723013 ], "eef_pose_r": [ 524.7697542283706, -195.0666195526543, -18.412339295419116, 1.5463124064336724, -0.06441224536984315, 2.2514542192430858 ], "joint_status_l": { "velocity": [ -0.2038276110547521, 0.7586094240803476, -0.0435312744250238, -1.1763657961676444, 0.4592367651661544, 0.48281050565357475, -0.33819211369423563 ], "torque": [ -32.080078125, 9.8291015625, -9.99755859375, -3.057861328125, -3.0743408203125, -0.3955078125, -0.37628173828125 ] }, "joint_status_r": { "velocity": [ 0.08771967495757593, -1.8768549102370358, -0.21972586282492657, 3.015759151937303, 1.2445314110323125, -2.782466715410603, -0.4654405304744813 ], "torque": [ 35.47119140625, 1.61865234375, 9.527587890625, -4.083251953125, 1.5106201171875, 3.5467529296875, -0.706787109375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.8, -8.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.8, -8.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.8, -17.0, -1.8, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.8, -17.0, -1.8, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -366, "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": [ 0.2686228928417105, -0.7220227273173965, -0.06472524193929981, -0.6631908854300885, -0.013727392634952672, -1.0481062001061399, 0.27390439519362614 ], "act_joint_pos_r": [ -0.6581340198894146, -0.8599955185152597, 0.14516390472103896, -1.2645731723072753, 1.0262821955594195, 0.41319044065537236, -1.371906090132595 ], "act_eef_pose_l": [ 563.2398875079824, 360.82949076978366, 90.40843144788805, 1.6698183112314262, -0.07149607517529516, 0.6970255907709979 ], "act_eef_pose_r": [ 531.5870644042035, -195.3787481268787, -29.140656653079986, 1.580379252990574, -0.06917380653413438, 2.2298850313838936 ], "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": [ 0.27078543120220255, -0.7263722516741382, -0.0645020906563778, -0.657990237686066, -0.017879002773479306, -1.0482312203674478, 0.27709891079639376 ], "joint_pos_r": [ -0.6589671395643664, -0.8433444116552028, 0.1470897117861449, -1.2906084797952277, 1.0138115477695682, 0.4368769888285869, -1.3661172013499865 ], "eef_pose_l": [ 564.1940545677467, 360.21182737391524, 89.47120110696687, 1.6680118184092931, -0.07082269005037067, 0.6984843903686094 ], "eef_pose_r": [ 525.921267517028, -195.1325183141251, -20.205612273570978, 1.5520110881060662, -0.06523760444246264, 2.247880710172968 ], "joint_status_l": { "velocity": [ -0.2335472548251616, 0.4697347764412996, -0.0240996277749983, -0.5616533912728983, 0.448360671269743, 0.013501790007808268, -0.34499750994143596 ], "torque": [ -35.2734375, 10.48828125, -10.223388671875, -3.9306640625, -2.933349609375, -1.0638427734375, -0.40283203125 ] }, "joint_status_r": { "velocity": [ 0.08997427124590729, -1.7982665038500656, -0.2079810289590256, 2.811730281147007, 1.3467902398494047, -2.55807175641376, -0.6251815497773094 ], "torque": [ 36.1669921875, 1.0400390625, 9.307861328125, -3.741455078125, 1.549072265625, 3.687744140625, -0.673828125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.7, -8.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -16.7, -8.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.3, -17.0, -1.8, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.3, -17.0, -1.8, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -349, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2676336773991958, -0.7275360153557227, -0.06431371525870823, -0.6489546086543493, -0.013725474704836415, -1.0590670346583653, 0.27326403847874287 ], "act_joint_pos_r": [ -0.6535375677354508, -0.8697764274731584, 0.14403806726930263, -1.245134961952757, 1.0194607084880412, 0.409092509925478, -1.364719173343579 ], "act_eef_pose_l": [ 563.9110875079824, 361.3150907697837, 90.516431447888, 1.6690222001767618, -0.07109630621037408, 0.6949511218653729 ], "act_eef_pose_r": [ 535.7998644042035, -195.79554812687869, -31.035856653080145, 1.586505828176499, -0.06511035600446552, 2.2235310932497248 ], "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": [ 0.270331752076551, -0.7260007369092523, -0.06451187388598603, -0.6578832954807354, -0.01714482491234854, -1.0489994110708858, 0.2764879227427465 ], "joint_pos_r": [ -0.6584987663378258, -0.8467869966056714, 0.14669194323715484, -1.2849268677096004, 1.0153698229615595, 0.4326875628044701, -1.366550678401192 ], "eef_pose_l": [ 564.0746302603472, 360.35612687487804, 89.64502727826033, 1.6682716907999229, -0.07091445506245445, 0.6980760832715632 ], "eef_pose_r": [ 527.1813782418388, -195.19972221475098, -21.81809278349266, 1.557113670529305, -0.06562039796326166, 2.2444548336938457 ], "joint_status_l": { "velocity": [ -0.2913834712583441, -0.16580518205611128, 0.02140050057197751, 0.9642697376346376, 0.3692789311114386, -1.0872712800953366, -0.3481692318099139 ], "torque": [ -37.12646484375, 4.50439453125, -10.90087890625, -0.811767578125, -2.6495361328125, -1.636962890625, -0.5145263671875 ] }, "joint_status_r": { "velocity": [ 0.5357936466685587, -2.482785307849511, -0.2866101514134023, 4.297399076728325, 0.44180260658777115, -2.5481905560682527, 0.19779671251995978 ], "torque": [ 36.52587890625, 3.1640625, 9.271240234375, -3.5400390625, 1.34765625, 3.64013671875, 0.1318359375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.7, -8.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.7, -8.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.4, -16.9, -1.8, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.4, -16.9, -1.8, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "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": [ 0.26768401388521856, -0.7289950908956517, -0.0642130009984141, -0.6456052146210199, -0.013210962520509767, -1.0611743352602798, 0.27286398608399576 ], "act_joint_pos_r": [ -0.6502934593180333, -0.8763294902265805, 0.14330189973256463, -1.2317823042515892, 1.0196340492880296, 0.4076471491853495, -1.3666638370681221 ], "act_eef_pose_l": [ 564.1006875079825, 361.39109076978366, 90.26843144788795, 1.6695241392682325, -0.0707919697300412, 0.6946269612673853 ], "act_eef_pose_r": [ 538.9254644042035, -196.4627481268787, -31.91985665308016, 1.5890197477260415, -0.05973288462777895, 2.217431581198107 ], "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": [ 0.26985833913957874, -0.7263773889433331, -0.06446957610049649, -0.6560631314201381, -0.016503157821098888, -1.0509313916176115, 0.2758890684245545 ], "joint_pos_r": [ -0.6573270099560314, -0.851605338748987, 0.14613718330938028, -1.2764419721070777, 1.0161556501870364, 0.428123009891266, -1.366344669689676 ], "eef_pose_l": [ 564.0607964757445, 360.53124180254594, 89.78152274659291, 1.668436790478121, -0.07092875427037294, 0.697499790016812 ], "eef_pose_r": [ 529.0642017632279, -195.353149786462, -23.641313705897858, 1.562862265124492, -0.06516958464793585, 2.240057533659815 ], "joint_status_l": { "velocity": [ -0.23482020181941898, -0.28270347295755727, 0.027709293782984812, 1.129421703792488, 0.3555466061770096, -1.106205287626949, -0.3266992573009997 ], "torque": [ -38.0859375, 2.7392578125, -11.395263671875, 0.054931640625, -2.8509521484375, -2.2137451171875, -0.53375244140625 ] }, "joint_status_r": { "velocity": [ 0.7596010656687469, -2.670129608316252, -0.30620159536276503, 4.823101878606906, 0.3756560235252948, -2.2113277366138107, -0.034469060260278184 ], "torque": [ 37.22900390625, 2.46826171875, 8.75244140625, -3.643798828125, 1.39892578125, 3.585205078125, -0.06134033203125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.9, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.9, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.4, -17.0, -1.9, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.4, -17.0, -1.9, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -389, "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": [ 0.26873844146677445, -0.7261665111451501, -0.06442770968501774, -0.6532054693343846, -0.013434593909400504, -1.054351168885281, 0.27234863321983366 ], "act_joint_pos_r": [ -0.6474303350176149, -0.8800425370571847, 0.14287555184558434, -1.221965498000331, 1.0165203306165989, 0.4080769794469653, -1.3657295563642686 ], "act_eef_pose_l": [ 563.8478875079825, 361.1982907697837, 89.90603144788797, 1.6702663625316014, -0.06971850440186667, 0.6966822759634665 ], "act_eef_pose_r": [ 541.1998644042035, -197.3667481268787, -32.01025665307998, 1.5894785080508202, -0.05438603137944399, 2.2135995726473756 ], "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": [ 0.2695378714626339, -0.7266292966740389, -0.06443951433251568, -0.6547389517762543, -0.015900017611595606, -1.0522816742629948, 0.27527295417180103 ], "joint_pos_r": [ -0.6553861499151737, -0.8576273929398363, 0.14544652507445946, -1.2651723196548679, 1.0165446551326471, 0.42357740076376366, -1.3662986290341672 ], "eef_pose_l": [ 564.047455117562, 360.67727779751687, 89.84257709860816, 1.668703909812204, -0.07081330601169157, 0.6971326751264703 ], "eef_pose_r": [ 531.5961714368775, -195.70626672509312, -25.53959812331405, 1.5688208463886286, -0.0633065324669582, 2.2344818926863472 ], "joint_status_l": { "velocity": [ -0.0863358932119418, 0.04997936305706219, 0.0012748643297144646, 0.1656112192804926, 0.26625790697987206, -0.2234988274611993, -0.3158173482777915 ], "torque": [ -37.96875, 6.92138671875, -11.962890625, 1.2451171875, -2.7685546875, -2.252197265625, -0.57769775390625 ] }, "joint_status_r": { "velocity": [ 0.8592026681082388, -2.4207641680513703, -0.2776569196654144, 4.6661991165031225, -0.002626970254659966, -1.673996130337585, 0.061458035741424055 ], "torque": [ 37.40478515625, 1.8896484375, 8.837890625, -3.509521484375, 0.399169921875, 3.775634765625, 0.3094482421875 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.8, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.8, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.3, -17.6, -0.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.3, -17.6, -0.8, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "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": [ 0.2696962848463498, -0.7197725877226581, -0.06491126880771195, -0.6698930842164748, -0.013051020902472297, -1.0418578763039703, 0.271966078812731 ], "act_joint_pos_r": [ -0.646073350044694, -0.8829430090096702, 0.14254626838441378, -1.2137467960329746, 1.0192953251899066, 0.409574977823747, -1.369051641116206 ], "act_eef_pose_l": [ 563.0174875079824, 360.53509076978366, 89.84363144788794, 1.6713048664028447, -0.06936135289763462, 0.6987212399967173 ], "act_eef_pose_r": [ 543.0838644042035, -198.5635481268787, -32.33825665307995, 1.589288059434995, -0.05123472591557109, 2.2082857497971693 ], "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": [ 0.26946210897267214, -0.7261816673745339, -0.0644656732202846, -0.6554565681312438, -0.015472424107861066, -1.051895906978746, 0.27476997929097274 ], "joint_pos_r": [ -0.6544095391950236, -0.86032532688928, 0.14513727460543674, -1.2598191529067053, 1.0167031646242422, 0.42191533782374063, -1.3664274588988659 ], "eef_pose_l": [ 563.9671182263149, 360.72469441083626, 89.84903793918204, 1.669021505460629, -0.07061144105798435, 0.6971764289981123 ], "eef_pose_r": [ 532.9579584733807, -195.99601523753617, -26.394911264665723, 1.571427360529367, -0.06197004667899497, 2.231458737087382 ], "joint_status_l": { "velocity": [ 0.025290248460985154, 0.6921601882288186, -0.048122904132918976, -1.5590977540744788, 0.26150383353870654, 1.0840753397829417, -0.30281232067808084 ], "torque": [ -35.58837890625, 11.0009765625, -12.774658203125, -2.69775390625, -2.7081298828125, -0.692138671875, -0.55206298828125 ] }, "joint_status_r": { "velocity": [ 0.9002818758405695, -2.442637627255273, -0.27982041900842525, 4.9756677928858295, 0.27994508455186917, -1.3327195735368669, -0.2834033209371256 ], "torque": [ 37.9541015625, -0.1611328125, 8.58154296875, -2.398681640625, 1.549072265625, 3.563232421875, 0.28564453125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.9, -8.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -16.9, -8.8, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.6, -17.1, -1.6, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.6, -17.1, -1.6, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -339, "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": [ 0.2697165865167818, -0.7135236947629888, -0.06542353263785514, -0.6879780150909311, -0.012228872331945504, -1.0301592827527655, 0.2713409163438204 ], "act_joint_pos_r": [ -0.6454242852073016, -0.884135056138962, 0.14242285325924917, -1.2113343314027865, 1.020395754578857, 0.40955389579672635, -1.3706559331159152 ], "act_eef_pose_l": [ 562.0110875079824, 359.16149076978365, 90.33723144788819, 1.6716162692844436, -0.06946203533329659, 0.6984647502332861 ], "act_eef_pose_r": [ 543.7070644042035, -198.7443481268787, -32.38945665308006, 1.589367667885265, -0.049949954853317664, 2.206827722342272 ], "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": [ 0.26950149777626187, -0.7248536754619463, -0.06456141893984882, -0.6586239161115469, -0.015038258772498658, -1.0497320533414145, 0.274281582223923 ], "joint_pos_r": [ -0.652907132488762, -0.8643766622504633, 0.1446737441555585, -1.2515672491970398, 1.017209796775346, 0.4197325327854523, -1.366961875759352 ], "eef_pose_l": [ 563.770191698399, 360.6347862384728, 89.8683099615649, 1.6694125692535082, -0.07040513791489894, 0.6974183672259001 ], "eef_pose_r": [ 534.6679351748411, -196.41979124544096, -27.392862992961398, 1.5743873389119643, -0.06016498117165092, 2.227572727225842 ], "joint_status_l": { "velocity": [ 0.023228898876404003, 1.2236018272808735, -0.0931055333837083, -3.17014919122105, 0.3034047871338791, 2.1137968804678664, -0.317582548454709 ], "torque": [ -35.64697265625, 8.59130859375, -14.520263671875, -4.06494140625, -2.7044677734375, -0.3240966796875, -0.57403564453125 ] }, "joint_status_r": { "velocity": [ 0.808123672063843, -2.133843605603758, -0.243089047273104, 4.345026972059074, 0.344073294879621, -1.0992603738309015, -0.3989464282128097 ], "torque": [ 38.13720703125, 1.845703125, 8.489990234375, -3.6865234375, 1.3934326171875, 3.900146484375, -0.65093994140625 ] }, "eef_FT_l": { "raw_value": [ 0.1, -17.0, -8.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -17.0, -8.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.7, -17.1, -0.8, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -17.1, -0.8, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -335, "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": [ 0.26942913242196614, -0.7207872710352412, -0.06466328707764712, -0.6571733335983546, -0.01491804728554989, -1.0516554701873175, 0.2712809523047245 ], "act_joint_pos_r": [ -0.6425413328243357, -0.8858475840888875, 0.14222780696519846, -1.2062387352652553, 1.0199878936165927, 0.41012153075363506, -1.3755929602090757 ], "act_eef_pose_l": [ 563.1142875079825, 363.25029076978365, 90.09163144788799, 1.6700725862076529, -0.06821894455931655, 0.7011184828008584 ], "act_eef_pose_r": [ 545.2902644042034, -199.4147481268787, -31.569456653080124, 1.5880974642111256, -0.04192706428707215, 2.204378240331994 ], "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": [ 0.26952953632419874, -0.7230308096445981, -0.06469101041929963, -0.6628203931951362, -0.014625253724912583, -1.0469759034999635, 0.27372305450432094 ], "joint_pos_r": [ -0.6516341604719591, -0.8676502899963753, 0.14430081073881332, -1.2448774490683001, 1.0177274945255952, 0.4180676446627332, -1.3676425020636849 ], "eef_pose_l": [ 563.4923909976171, 360.53851100034103, 89.94370803867488, 1.669763954308916, -0.07016505032130496, 0.6977320842317614 ], "eef_pose_r": [ 536.1913674105592, -196.80726444498268, -28.217169248773843, 1.576847818029279, -0.05837808339622616, 2.224114369046412 ], "joint_status_l": { "velocity": [ -0.010843301635032887, 0.24229502370065603, 0.0029940325942390267, 0.6098644494620942, -0.03162077194400481, -0.5053782968973408, -0.2637392589830423 ], "torque": [ -35.2587890625, 11.27197265625, -14.6484375, -2.423095703125, -2.9150390625, -0.3076171875, -0.56671142578125 ] }, "joint_status_r": { "velocity": [ 0.9819964235076029, -1.9652498000466423, -0.22387780462751472, 4.172858018860026, 0.24411590201367517, -0.8581549922541676, -0.8586241559349617 ], "torque": [ 37.93212890625, 2.27783203125, 8.65478515625, -3.90625, 1.45751953125, 3.7701416015625, -0.6536865234375 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.0, -8.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -17.0, -8.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.3, -1.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.3, -1.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -351, "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": [ 0.2716073333953853, -0.7176255490069029, -0.06502457337048691, -0.6723269512070341, -0.01581882081797719, -1.0409248188550437, 0.27294513152810607 ], "act_joint_pos_r": [ -0.6405690746606076, -0.8853555456405604, 0.14220729008774727, -1.1998922412973485, 1.011599871713801, 0.413219266587781, -1.3699643324342587 ], "act_eef_pose_l": [ 562.4838875079824, 361.04869076978366, 89.41643144788809, 1.6702346635606418, -0.06776157107888789, 0.6999420745096414 ], "act_eef_pose_r": [ 546.5254644042035, -201.2411481268787, -31.004656653080247, 1.5866886263608024, -0.03627702189819739, 2.202512068099246 ], "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": [ 0.2697575784177792, -0.7222773555168509, -0.06472687726473497, -0.6635319225780878, -0.014778667916511367, -1.046592413238985, 0.2734790609867849 ], "joint_pos_r": [ -0.6498570830150113, -0.8708254654317591, 0.14393252413429278, -1.2375007255499133, 1.0174067396257587, 0.41692875662227546, -1.3685647903745366 ], "eef_pose_l": [ 563.3554389680279, 360.7699689182914, 89.89323531077551, 1.6698362302600134, -0.06976939898906373, 0.6981980140028579 ], "eef_pose_r": [ 537.9193628564987, -197.41781599948845, -28.781036044319166, 1.5787392217023353, -0.054988119541985715, 2.2204525400913666 ], "joint_status_l": { "velocity": [ 0.1997676457496933, 0.502380286159898, -0.0321502312007893, -0.9498350780381415, -0.11233320026765581, 0.6120821410684485, -0.05766268086748738 ], "torque": [ -29.08447265625, 10.10009765625, -10.125732421875, -3.11279296875, -4.66552734375, -0.3314208984375, -0.56671142578125 ] }, "joint_status_r": { "velocity": [ 1.0030753181506924, -1.5692023814004585, -0.1863197818186002, 4.061596508890375, -0.6271232384804648, -0.4006131082734399, -0.15114608463484558 ], "torque": [ 37.59521484375, 1.48681640625, 8.990478515625, -2.99072265625, -0.3350830078125, 3.812255859375, -0.60882568359375 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.1, -7.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -17.1, -7.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.3, -1.4, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.9, -17.3, -1.4, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -374, "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": [ 0.27319860307882504, -0.7164753315230173, -0.06510884567083879, -0.6750744104181892, -0.018776108849734886, -1.0390424885753542, 0.2741338670217469 ], "act_joint_pos_r": [ -0.6416151341962908, -0.8808399986572195, 0.14258125405778824, -1.1975168336028796, 1.0063752498351297, 0.4165579836985635, -1.368883084131736 ], "act_eef_pose_l": [ 562.2334875079824, 361.0022907697837, 89.12923144788788, 1.6687612653953245, -0.0663974658215504, 0.7008695609131831 ], "act_eef_pose_r": [ 546.5398644042035, -204.30914812687868, -31.283856653080193, 1.5867973969639442, -0.030262032491051187, 2.199398176653279 ], "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": [ 0.27024123287316, -0.7213828264328639, -0.0647853266404589, -0.6652878153217802, -0.015283372933428437, -1.045448279690963, 0.2735254257431344 ], "joint_pos_r": [ -0.648304726775073, -0.8730066841375653, 0.1436596064674629, -1.2306472154309611, 1.0159313154252676, 0.41655963618390823, -1.368719377237907 ], "eef_pose_l": [ 563.1848405129261, 360.8109968881029, 89.78210724366309, 1.669733086663636, -0.06928731456768786, 0.6985892783962461 ], "eef_pose_r": [ 539.4546460420862, -198.34733201012537, -29.21461609412836, 1.5801743009234384, -0.05116428059601355, 2.21700349713832 ], "joint_status_l": { "velocity": [ 0.3193865624087078, 0.5299938189313735, -0.03493902480955491, -1.0569210981907773, -0.37720435391334906, 0.6918050367872297, 0.06570972008557163 ], "torque": [ -27.4951171875, 10.458984375, -10.943603515625, -2.67333984375, -5.0830078125, -0.172119140625, 0.2801513671875 ] }, "joint_status_r": { "velocity": [ 0.7224546908464191, -0.8459730174816826, -0.11645862548137487, 3.5779757106801924, -1.0320246457959925, -0.00017846315403247104, -0.017679823093530445 ], "torque": [ 36.84814453125, 2.6953125, 9.02099609375, -3.35693359375, -0.750732421875, 4.82666015625, 0.0274658203125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.1, -8.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -17.1, -8.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.4, -1.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.4, -1.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -343, "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": [ 0.27532481234334566, -0.717342651443126, -0.06500695733509661, -0.6707342419146234, -0.022290398109304745, -1.0398695453055213, 0.2766841230016866 ], "act_joint_pos_r": [ -0.6439777011856975, -0.8679662620950284, 0.14389236504099323, -1.211426700885323, 1.0193776573164683, 0.4162008726334628, -1.3851519303356348 ], "act_eef_pose_l": [ 562.5318875079824, 361.9950907697837, 88.3284314478879, 1.667783302139036, -0.06586064501932798, 0.7040525454882329 ], "act_eef_pose_r": [ 544.4326644042035, -208.0819481268787, -29.95585665307999, 1.586090187390751, -0.026062364937664728, 2.1951173508043804 ], "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": [ 0.2710320693295518, -0.7206244412207801, -0.06482968738187322, -0.6664712121252316, -0.016343794772091327, -1.044419909077232, 0.27395439091282814 ], "joint_pos_r": [ -0.6474196853155357, -0.8727693096179823, 0.14363417315255667, -1.2265424307503832, 1.0158803084025583, 0.41651434026114914, -1.3707985499194808 ], "eef_pose_l": [ 563.055024655368, 360.96969485249195, 89.56578366263679, 1.6694331627336323, -0.06871096921767818, 0.6993924841301448 ], "eef_pose_r": [ 540.4538369487929, -199.8668109527246, -29.424197876006502, 1.5812778178119462, -0.046942673720113966, 2.2133390946456735 ], "joint_status_l": { "velocity": [ 0.46360257226263357, 0.3544228428431495, -0.01914459030860627, -0.46039363866956506, -0.6422142193231173, 0.49142479354546964, 0.29480237086532135 ], "torque": [ -27.392578125, 9.89501953125, -11.65771484375, -3.11279296875, -5.4803466796875, -0.4852294921875, 0.37078857421875 ] }, "joint_status_r": { "velocity": [ 0.37172332262880303, 0.518713833832507, 0.027883901559500046, 1.6324506788674142, 0.37770254296098926, -0.03385350533458009, -1.5501193666178636 ], "torque": [ 37.47802734375, 7.47802734375, 13.427734375, -3.82080078125, 0.9906005859375, 4.874267578125, -0.63812255859375 ] }, "eef_FT_l": { "raw_value": [ 0.7, -17.2, -8.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.7, -17.2, -8.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.3, -1.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -2.9, -17.3, -1.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.27612160696121985, -0.715419380827082, -0.06518258642406513, -0.6773394203742875, -0.02407250610989855, -1.0338401862208155, 0.2783292517955725 ], "act_joint_pos_r": [ -0.6461255318893353, -0.8566983480550844, 0.14511488986955948, -1.2269838344942985, 1.0278929795606615, 0.4157590125897959, -1.3958276310147772 ], "act_eef_pose_l": [ 562.4510875079824, 361.54309076978365, 88.32443144788799, 1.6669867341399143, -0.06621124100796577, 0.7056736213615885 ], "act_eef_pose_r": [ 541.7966644042035, -210.01634812687868, -28.322256653080103, 1.5845054364378692, -0.02459003940605811, 2.1953477401972794 ], "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": [ 0.27182768881530456, -0.7198679030002513, -0.06487864821770753, -0.6679173813270742, -0.017522486725888502, -1.0429914805927203, 0.2745887871154472 ], "joint_pos_r": [ -0.6470817868970083, -0.8705000885664421, 0.1438338883265856, -1.2258303793160186, 1.0175717846197037, 0.4164032325880361, -1.3746817183716935 ], "eef_pose_l": [ 562.9610418857084, 361.08692958753795, 89.36235176348936, 1.6690647331884296, -0.06828715132557006, 0.7003401494566442 ], "eef_pose_r": [ 540.8354201147779, -201.5603082019211, -29.319539170351504, 1.5819415093893168, -0.04307025553645588, 2.2101369765460666 ], "joint_status_l": { "velocity": [ 0.46372948278894377, 0.4804262252884328, -0.032824358183858315, -1.0175502060603137, -0.7073812303789034, 0.9883106435024658, 0.4039582713410983 ], "torque": [ -25.89111328125, 10.04150390625, -12.59765625, -3.22265625, -5.716552734375, -0.0054931640625, 0.46966552734375 ] }, "joint_status_r": { "velocity": [ 0.103272494969886, 1.4905440139809656, 0.13834408640023277, -0.12456948527272971, 1.114656178596185, -0.06957370784332895, -2.283691211580674 ], "torque": [ 36.9140625, 10.20263671875, 15.264892578125, -6.597900390625, 1.4703369140625, 3.9166259765625, -0.7470703125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -17.0, -8.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -17.0, -8.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.1, -0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.1, -0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -330, "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": [ 0.2771469704298052, -0.7128410229736153, -0.06543194600524106, -0.6869210521165384, -0.027323471114894353, -1.026781474727621, 0.28131376076461634 ], "act_joint_pos_r": [ -0.6508960128171046, -0.8291231401318099, 0.14823483717447244, -1.2622446032357921, 0.9983785985296559, 0.43336469928658417, -1.3554641421782723 ], "act_eef_pose_l": [ 562.1438875079824, 360.54709076978367, 88.56603144788805, 1.664814776624857, -0.06686539974560037, 0.706346522626127 ], "act_eef_pose_r": [ 533.0998644042035, -211.7851481268787, -21.268656653080143, 1.566064509159369, -0.04028568152452074, 2.21722082007534 ], "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": [ 0.2724427462501647, -0.7191213884898521, -0.06493493029404515, -0.669795615264599, -0.018582331674030676, -1.0413292733253356, 0.2752753552106936 ], "joint_pos_r": [ -0.6474111289384444, -0.8656622785232625, 0.14433866425803193, -1.2295126876588993, 1.0162028374029846, 0.418056596355724, -1.3738768014063372 ], "eef_pose_l": [ 562.8765470555254, 361.07255603921635, 89.24958001510029, 1.6686373202305207, -0.06808189010330686, 0.7010591284301262 ], "eef_pose_r": [ 540.1398952321372, -203.04095807616866, -28.477298630963674, 1.5804796523025895, -0.041844350029597494, 2.2100268862186514 ], "joint_status_l": { "velocity": [ 0.5080412275260127, 0.678259471559528, -0.05367611371681624, -1.8494926321395155, -0.9440152173727234, 1.5711159109663697, 0.6521285663194654 ], "torque": [ -25.48095703125, 9.404296875, -13.26904296875, -3.985595703125, -5.7110595703125, -0.15380859375, 0.498046875 ] }, "joint_status_r": { "velocity": [ -0.37635635885724383, 3.9461105619675862, 0.42077426490183534, -3.5349426247446303, -1.924961024629468, 1.653226357227755, 1.988508548706136 ], "torque": [ 27.890625, 12.1728515625, 16.015625, -8.148193359375, -0.53466796875, 6.2713623046875, 0.24993896484375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.9, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.9, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.6, -0.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.6, -0.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -381, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 108, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27800896669400027, -0.7209378735286874, -0.06465781356981337, -0.6569443716052128, -0.030737722102878434, -1.04929958047482, 0.28248989475427844 ], "act_joint_pos_r": [ -0.6506379929008078, -0.7964592357612187, 0.1521855045152294, -1.298666352068825, 0.9162372395695765, 0.4711287176751802, -1.2436441474193136 ], "act_eef_pose_l": [ 562.9934875079824, 363.7390907697837, 87.86443144788795, 1.6627266923980162, -0.0655870502884799, 0.706502613768545 ], "act_eef_pose_r": [ 521.5862644042035, -211.6075481268787, -8.155056653080237, 1.530446117360542, -0.0739066122308218, 2.2663742309535895 ], "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": [ 0.27333664407135133, -0.7185947641503361, -0.06496699054799177, -0.6706621653929976, -0.02037401207999455, -1.0403806950283334, 0.2764277973945848 ], "joint_pos_r": [ -0.6479981700097313, -0.8555159644819756, 0.14547334484143748, -1.2394098984780288, 1.0037822992660352, 0.4250245961036028, -1.3580032045481305 ], "eef_pose_l": [ 562.8112204696943, 361.2093283036722, 89.07783459464477, 1.6678049457577162, -0.06777629478807334, 0.7020010163088464 ], "eef_pose_r": [ 537.7513066757557, -204.67469864375147, -25.695559657096368, 1.5735848674673312, -0.04546712003863572, 2.216195135476867 ], "joint_status_l": { "velocity": [ 0.5045959609837336, -0.253048349599716, 0.03339012885406056, 1.481478035222139, -1.1192476720259248, -0.9632112198234566, 0.6546872058796893 ], "torque": [ -25.12939453125, 8.03466796875, -13.885498046875, -0.5859375, -5.85205078125, -1.13525390625, 0.5548095703125 ] }, "joint_status_r": { "velocity": [ -0.2850924638835295, 6.377938594599009, 0.7248918652267289, -6.399508244399499, -9.454587599062592, 4.979098279076055, 12.350413913924996 ], "torque": [ 26.14013671875, 10.0927734375, 17.327880859375, -8.148193359375, -0.985107421875, 6.859130859375, 0.6884765625 ] }, "eef_FT_l": { "raw_value": [ 0.6, -17.8, -7.2, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ 0.6, -17.8, -7.2, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -18.6, -2.5, 1.3, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -18.6, -2.5, 1.3, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -339, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 19, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2789165497882454, -0.7211717586874098, -0.0647516911596712, -0.6628400514514243, -0.03214615360546749, -1.0427545529652782, 0.28441711888775106 ], "act_joint_pos_r": [ -0.64185856175656, -0.7611469819176531, 0.15684356156219365, -1.333106901453557, 0.8248177774794221, 0.5115123308640599, -1.1199795057503665 ], "act_eef_pose_l": [ 563.3222875079824, 362.36629076978363, 87.5676314478881, 1.6622239655780733, -0.06601363796475175, 0.7071066548357702 ], "act_eef_pose_r": [ 510.3230644042035, -212.1851481268787, 8.616943346919925, 1.4932594388188989, -0.10223437465772964, 2.3244879735587998 ], "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": [ 0.2742853246204152, -0.7190545622320439, -0.06491531337350107, -0.6684940825499227, -0.02243468792500715, -1.0415947871539433, 0.2777127148023064 ], "joint_pos_r": [ -0.6474225974143883, -0.8391904849730036, 0.14741006971891918, -1.255665685788797, 0.9746575428957582, 0.43938461377763993, -1.3194229869718948 ], "eef_pose_l": [ 562.8710993096797, 361.5872860320134, 88.82609091441358, 1.6668102167309902, -0.06738238294153687, 0.7028894499043232 ], "eef_pose_r": [ 533.5638097573799, -206.41402439373962, -19.84549407142046, 1.5589075042394203, -0.05512766551722998, 2.2314578641677056 ], "joint_status_l": { "velocity": [ 0.5001575667666902, -0.2286504734936301, 0.017670677924908063, 0.6106173494417888, -1.0488073605700865, -0.12525101354299295, 0.7240542863882204 ], "torque": [ -25.8984375, 4.38720703125, -14.19677734375, 0.775146484375, -5.672607421875, -1.893310546875, 0.626220703125 ] }, "joint_status_r": { "velocity": [ 0.600898128503502, 8.428449746141098, 1.0187870715550051, -8.363404626360094, -16.182217395974696, 7.78956370443229, 21.539260705388585 ], "torque": [ 34.6728515625, 10.9423828125, 17.913818359375, -7.293701171875, -1.219482421875, 6.558837890625, 0.7672119140625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.3, -8.4, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.3, -8.4, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.1, -18.8, 0.1, 1.2, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -18.8, 0.1, 1.2, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -356, "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": [ 0.27742498381890496, -0.7282179958688414, -0.06437205501091255, -0.6533306184660386, -0.032033414585134805, -1.0467704466179084, 0.2831680345095572 ], "act_joint_pos_r": [ -0.6258145124278403, -0.7257627492298321, 0.1621114708453334, -1.3690610314898737, 0.7780792170112166, 0.5360232725278488, -1.0579723569678947 ], "act_eef_pose_l": [ 564.8014875079824, 361.18069076978367, 87.79243144788806, 1.6612781181031713, -0.06538744244231501, 0.7057577762811451 ], "act_eef_pose_r": [ 502.57586440420346, -215.6035481268787, 27.09534334691989, 1.4620524004994122, -0.1037640237987084, 2.3607922204749845 ], "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": [ 0.275032693474831, -0.7200599629953117, -0.06485177733157385, -0.666608535210305, -0.024260832343108295, -1.0421589343693276, 0.2788728170833087 ], "joint_pos_r": [ -0.6452712126057113, -0.825303055510867, 0.1491738096067908, -1.2695183405146526, 0.9498149096457555, 0.45151585845327624, -1.2863738415785306 ], "eef_pose_l": [ 563.0846373813393, 361.63232057473937, 88.60752097801497, 1.6658615450602359, -0.0670647776844051, 0.703566227035059 ], "eef_pose_r": [ 530.2278889344286, -207.7906585500639, -14.021888453605271, 1.545526778715646, -0.062363290070958005, 2.245320556237905 ], "joint_status_l": { "velocity": [ 0.25835973724674943, -0.8810415654094683, 0.05180848262198445, 1.4339727156169602, -0.8394141249425946, -0.4980286342766149, 0.4638698009262754 ], "torque": [ -25.0927734375, 3.0908203125, -14.3310546875, 1.458740234375, -5.7037353515625, -1.9464111328125, 0.58319091796875 ] }, "joint_status_r": { "velocity": [ 2.1012616458113698, 10.750036022987963, 1.3972262047783346, -10.750293562363566, -18.546907792725165, 9.12653154739429, 24.6666328345011 ], "torque": [ 39.35302734375, 11.865234375, 18.81103515625, -11.04736328125, -2.0086669921875, 7.9742431640625, 1.20849609375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.6, -6.8, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -15.6, -6.8, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -6.3, -19.6, 1.3, 1.5, -0.1, 0.0 ], "actual_contact_FT": [ -6.3, -19.6, 1.3, 1.5, -0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -330, "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": [ 0.27614428257714285, -0.7319327154203857, -0.06424350552376214, -0.6523619579244795, -0.03126459129800069, -1.0473492155366904, 0.2828072507692124 ], "act_joint_pos_r": [ -0.6170267432106785, -0.7135145147380404, 0.16402613175044492, -1.371821131119238, 0.760913606055917, 0.557224940434363, -1.0332981359087743 ], "act_eef_pose_l": [ 565.4262875079825, 359.2894907697837, 88.1908314478881, 1.6605167550069981, -0.06575317797965509, 0.702445993617973 ], "act_eef_pose_r": [ 501.3126644042035, -219.10434812687868, 35.77134334692005, 1.4422414787976567, -0.10065778801231214, 2.3724154305775116 ], "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": [ 0.27534567639397733, -0.7218214136695948, -0.06475591780919841, -0.6641776936604611, -0.025569059179428325, -1.0430239965692554, 0.27960126141282426 ], "joint_pos_r": [ -0.6416867787094855, -0.8084013121805255, 0.15138476747634164, -1.286003881912367, 0.9208286750618148, 0.4663393813309018, -1.2477423357654296 ], "eef_pose_l": [ 563.4436761727571, 361.39116629181547, 88.49710887580724, 1.6649871950936184, -0.06679459637013785, 0.7036670107508566 ], "eef_pose_r": [ 526.2977901883185, -209.55418771736828, -6.524862136817518, 1.5290013240512306, -0.0697550062734946, 2.2623563261657695 ], "joint_status_l": { "velocity": [ 0.08624692406478118, -1.0919883826092658, 0.055338894693723883, 1.2760618240541532, -0.615099327420876, -0.46710987181342034, 0.3462366387858573 ], "torque": [ -24.85107421875, 2.51953125, -10.31494140625, 1.2451171875, -5.6378173828125, -2.0819091796875, 0.5474853515625 ] }, "joint_status_r": { "velocity": [ 2.6632052868302836, 10.247471890761695, 1.3652270763828689, -9.267989569599067, -17.27031809183277, 9.815350894873287, 23.159290537757116 ], "torque": [ 35.82275390625, 9.462890625, 16.97998046875, -10.015869140625, -1.4593505859375, 6.2786865234375, 0.72235107421875 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.2, -8.1, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -16.2, -8.1, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.7, -16.7, -2.7, 1.0, 0.0, 0.0 ], "actual_contact_FT": [ -4.7, -16.7, -2.7, 1.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -385, "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": [ 0.2734908988362033, -0.7544886410664849, -0.06269690130207019, -0.5973392460023655, -0.031243860514591403, -1.0862535092755121, 0.2829855283823893 ], "act_joint_pos_r": [ -0.6001347633201002, -0.6964800960429556, 0.16658457088864254, -1.3685530486250177, 0.7504642890189536, 0.5977383535737872, -1.0118460979080883 ], "act_eef_pose_l": [ 568.3814875079825, 360.7854907697837, 87.88123144788806, 1.658301516536457, -0.06669446492227048, 0.6962786020316548 ], "act_eef_pose_r": [ 501.36226440420353, -226.5659481268787, 51.514543346919936, 1.4023503683667662, -0.08917590709267817, 2.3828408299268267 ], "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": [ 0.2751775482133752, -0.7260289388539067, -0.06449715643227427, -0.6560263236505565, -0.026503038777428097, -1.0481251127406324, 0.2801484284604967 ], "joint_pos_r": [ -0.6351189789269719, -0.7885419772513157, 0.15406315554971758, -1.301857744380129, 0.8894196670827016, 0.48809176987357916, -1.204783722068776 ], "eef_pose_l": [ 564.1272023796959, 361.22922053275335, 88.4019951313289, 1.6640084431691473, -0.06670124736681837, 0.7027701115287558 ], "eef_pose_r": [ 522.5202998661428, -212.64161684902626, 3.73866001496134, 1.5055340003151874, -0.0753472967546437, 2.2810604733592688 ], "joint_status_l": { "velocity": [ -0.18215276042621298, -3.0735571892348545, 0.19442181989703933, 6.338017456172018, -0.5119936471681963, -4.117745379358162, 0.30639775484564424 ], "torque": [ -33.56689453125, 1.06201171875, -7.8857421875, 1.580810546875, -5.9307861328125, -2.3638916015625, 0.51361083984375 ] }, "joint_status_r": { "velocity": [ 3.7781838539663326, 9.942389935386764, 1.3522729734443129, -7.202880420845048, -15.006738230799677, 11.841481793785302, 20.836648865246943 ], "torque": [ 35.76416015625, 11.57958984375, 18.084716796875, -9.222412109375, -1.5673828125, 6.7144775390625, 0.7305908203125 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.9, -8.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.3, -16.9, -8.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.9, -17.9, -2.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.9, -17.9, -2.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -322, "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": [ 0.2711993088451043, -0.7710782216144362, -0.06180737703536613, -0.5677262949547507, -0.03126143396266546, -1.105521127111162, 0.284917192122816 ], "act_joint_pos_r": [ -0.5883238293894926, -0.6891480089205108, 0.16772333677492654, -1.358391947739097, 0.7755006837089504, 0.6254975551936546, -1.0450917456573263 ], "act_eef_pose_l": [ 570.7670875079824, 359.13749076978365, 88.00443144788805, 1.6560684509302204, -0.06909074856289399, 0.6901982085089389 ], "act_eef_pose_r": [ 504.8182644042035, -234.46674812687868, 62.67134334691991, 1.3689260205078204, -0.062348812276386854, 2.367125425908961 ], "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": [ 0.27464168143729095, -0.732579596277238, -0.06410082645502777, -0.6430368327802808, -0.027284390798817625, -1.0565674557072993, 0.28083280884648326 ], "joint_pos_r": [ -0.6298586190323857, -0.7764115246418019, 0.1557232328171452, -1.309530167972317, 0.8737134396362287, 0.5039111075507295, -1.1828664608005488 ], "eef_pose_l": [ 565.144212562458, 361.001053057367, 88.31093070284581, 1.6628222621532533, -0.06692427499770996, 0.7010176915692705 ], "eef_pose_r": [ 520.7420651425857, -215.23552720762282, 10.84391132351044, 1.4886596642564591, -0.07588832476381357, 2.2908604115696916 ], "joint_status_l": { "velocity": [ -0.37176527532567505, -4.157728910757719, 0.2476852322380596, 8.133298206349338, -0.42950799403443374, -5.286840584588504, 0.441100384283466 ], "torque": [ -35.91064453125, 0.8642578125, -6.70166015625, 1.0498046875, -5.8392333984375, -2.735595703125, 0.48797607421875 ] }, "joint_status_r": { "velocity": [ 4.485624984995162, 9.42418174651749, 1.2959730047596985, -5.276916580475799, -10.606664813289868, 13.130949068794529, 14.879230396026344 ], "torque": [ 36.96533203125, 10.01953125, 18.316650390625, -8.013916015625, -1.3824462890625, 7.0001220703125, 0.3424072265625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.0, -8.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -17.0, -8.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -18.7, -7.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -18.7, -7.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -368, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -162, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26708158835516904, -0.7759560416087528, -0.061642435106751825, -0.563480244533316, -0.028089203750615077, -1.110831978230988, 0.28419650991590867 ], "act_joint_pos_r": [ -0.5793874300963076, -0.6867284284089917, 0.16784031230668378, -1.3400064280817616, 0.8328720197764699, 0.6226670741294883, -1.121332636494319 ], "act_eef_pose_l": [ 571.4046875079824, 357.06149076978363, 89.63483144788806, 1.6551049687147195, -0.07207952800613404, 0.683839838348047 ], "act_eef_pose_r": [ 514.0822644042034, -246.52914812687868, 67.0545433469199, 1.3587495920005612, -0.028071348512866006, 2.312150995421878 ], "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": [ 0.2735141188182075, -0.7400011881433944, -0.06367453905164572, -0.6291862019950887, -0.02758779556820955, -1.0658921589392554, 0.2814641405382173 ], "joint_pos_r": [ -0.6223861633055456, -0.7618913536410987, 0.15770442808348328, -1.316237188574931, 0.8617042942416662, 0.5236952698684737, -1.165714041708441 ], "eef_pose_l": [ 566.269383355104, 360.4425133659155, 88.44154564253648, 1.6614953035085736, -0.0676479889341869, 0.6983056449727182 ], "eef_pose_r": [ 519.4702190324169, -219.5074556479063, 19.868190112414396, 1.4671919063670171, -0.07187799747972193, 2.298109956537854 ], "joint_status_l": { "velocity": [ -0.6946928011393183, -3.883009651010738, 0.21946075339968063, 7.096034119531858, -0.05415048661652766, -4.853357341383813, 0.2950871896589824 ], "torque": [ -38.14453125, 3.61083984375, -6.561279296875, 1.116943359375, -4.8980712890625, -2.5946044921875, 0.51910400390625 ] }, "joint_status_r": { "velocity": [ 4.643726227213207, 8.117356516434526, 1.0946432113299043, -2.567002157054077, -3.113793805802345, 10.68863961561517, 4.793050399660714 ], "torque": [ 37.33154296875, 11.748046875, 17.926025390625, -5.77392578125, -0.7196044921875, 5.5718994140625, -0.252685546875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.4, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.2, -16.4, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -16.7, -7.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.8, -16.7, -7.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -312, "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": [ 0.2658979589246337, -0.7831283053596445, -0.06117473264000687, -0.5431243026903201, -0.028878218125092472, -1.1264320266935965, 0.2866198795251572 ], "act_joint_pos_r": [ -0.5739808810997403, -0.6828188083191539, 0.16826486414499764, -1.3262027870758737, 0.8978655972391021, 0.6086259566030674, -1.2130959819212137 ], "act_eef_pose_l": [ 572.0686875079824, 358.06949076978367, 89.954831447888, 1.6534176376721863, -0.07474132443347038, 0.6815692766686954 ], "act_eef_pose_r": [ 522.8526644042034, -259.3075481268787, 68.51934334691987, 1.3592142284513233, 0.010064154963343487, 2.249057354667689 ], "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": [ 0.2722432292674537, -0.7471676469991986, -0.06326246912350184, -0.6152718143780347, -0.027765483359842517, -1.0755982503108013, 0.28222070628382634 ], "joint_pos_r": [ -0.613867986740063, -0.7474008833568256, 0.15965109696064073, -1.319735189530082, 0.8609400758730141, 0.5413922215303929, -1.1639406081593076 ], "eef_pose_l": [ 567.304556089179, 359.98976001255244, 88.66804558704118, 1.6601605909287556, -0.06869879369030218, 0.6954928373528222 ], "eef_pose_r": [ 519.6082829630001, -225.6413973598064, 28.880665862005998, 1.4466270345141212, -0.061085734909443794, 2.29627602841925 ], "joint_status_l": { "velocity": [ -0.6852689860963324, -3.8836365611896184, 0.225468890368008, 7.79170145832353, -0.12017181036891311, -5.489885933810612, 0.4750966978357418 ], "torque": [ -38.3349609375, 2.08740234375, -6.378173828125, 1.141357421875, -5.7623291015625, -2.6385498046875, 0.53466796875 ] }, "joint_status_r": { "velocity": [ 4.307680360913224, 6.974658397514766, 0.9302594193756342, -0.6984799343801029, 3.987838692521173, 7.261029235238858, -5.308623796796752 ], "torque": [ 36.064453125, 14.1943359375, 18.5546875, -5.157470703125, 1.4776611328125, 5.67626953125, -1.18011474609375 ] }, "eef_FT_l": { "raw_value": [ 0.7, -17.1, -6.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.7, -17.1, -6.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.1, -16.9, -6.9, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.1, -16.9, -6.9, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.2656582887145979, -0.783068325609997, -0.06119793962967604, -0.5432674890005574, -0.02910185115875324, -1.126554739040352, 0.288262673397842 ], "act_joint_pos_r": [ -0.5720954303773653, -0.6824870084003731, 0.16816327066629402, -1.3142091966649836, 0.9339343571418723, 0.6033921117349967, -1.2624077114406238 ], "act_eef_pose_l": [ 572.0702875079824, 358.0414907697837, 90.15163144788816, 1.6530128382745048, -0.07646133969668774, 0.6813183184995522 ], "act_eef_pose_r": [ 527.9774644042035, -266.8867481268787, 68.35614334691991, 1.3598085538200155, 0.029401641429302173, 2.2133044074775685 ], "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": [ 0.2710942870630849, -0.7535190254337487, -0.06289595850388546, -0.6025316853161027, -0.027987459603988105, -1.0845999365417396, 0.2831838945953962 ], "joint_pos_r": [ -0.6066796668386832, -0.7359583061953172, 0.16116675834719182, -1.3200139563092657, 0.8700694391395304, 0.5529023417576667, -1.1761871534108226 ], "eef_pose_l": [ 568.1900493219553, 359.6719159698356, 88.9010177599329, 1.6589120291975659, -0.06993269880567668, 0.693001789368469 ], "eef_pose_r": [ 520.8964470163538, -232.11459140834336, 35.76422550396188, 1.4316294026945118, -0.04696142105568413, 2.2862226024656147 ], "joint_status_l": { "velocity": [ -0.5870705069177529, -3.1912302987278096, 0.18338062989203818, 6.400344434010385, -0.12035073835930943, -4.530985035589907, 0.5484919337592764 ], "torque": [ -39.90234375, 2.900390625, -6.158447265625, 1.220703125, -5.859375, -2.4298095703125, 0.55206298828125 ] }, "joint_status_r": { "velocity": [ 3.7349873802581257, 5.774729845301252, 0.7556010452014483, 0.6268955522870101, 6.897207721984877, 5.4527343377488435, -9.311545637858742 ], "torque": [ 37.17041015625, 12.19482421875, 18.39599609375, -2.801513671875, 2.4114990234375, 5.5206298828125, -1.51336669921875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.7, -9.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -16.7, -9.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.7, -16.6, -6.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -16.6, -6.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -358, "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": [ 0.2649996382886853, -0.7774543206610159, -0.06152170892340487, -0.5545587896863984, -0.02954274669213856, -1.1199054952706384, 0.2892461477242966 ], "act_joint_pos_r": [ -0.5690193748465076, -0.6830244305552247, 0.16776669925999654, -1.2973816624843295, 1.0379614593709112, 0.5813896571774508, -1.3876665317941481 ], "act_eef_pose_l": [ 571.4054875079825, 358.19589076978366, 91.04123144788814, 1.6522019385243203, -0.07807484221185829, 0.6823523126140859 ], "act_eef_pose_r": [ 538.8270644042035, -282.48274812687873, 66.86094334691984, 1.3670805582487677, 0.0611659673225284, 2.1304627346947753 ], "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": [ 0.270135121488175, -0.7578183944332483, -0.06264901589845613, -0.5939120193441165, -0.028214514142070234, -1.0908357420284207, 0.28411664361804284 ], "joint_pos_r": [ -0.60034309410078, -0.7265428802898405, 0.16237520705296787, -1.3177743313655736, 0.8888618295200972, 0.5602429421106108, -1.2004630528930758 ], "eef_pose_l": [ 568.7840283900471, 359.4315915316831, 89.18595782780085, 1.6578558460936257, -0.07114831219814303, 0.6911813064517653 ], "eef_pose_r": [ 523.2413739340672, -239.24679042385952, 41.322679799938754, 1.4198064271080904, -0.030780036168554663, 2.2684881813905817 ], "joint_status_l": { "velocity": [ -0.5546158280256286, -2.120617488328591, 0.12174556261212999, 4.250023455291796, -0.14344488472661787, -3.1394407573035465, 0.5539701050003565 ], "torque": [ -40.78857421875, 1.81640625, -6.16455078125, 1.617431640625, -6.0333251953125, -2.7667236328125, 0.589599609375 ] }, "joint_status_r": { "velocity": [ 3.382861907283541, 4.6998539565557, 0.5822639854007328, 2.202343284531949, 16.10228511237377, 2.28377787079026, -20.21737944158275 ], "torque": [ 38.02001953125, 12.71484375, 18.07861328125, 1.26953125, 3.1512451171875, 5.09033203125, -2.48565673828125 ] }, "eef_FT_l": { "raw_value": [ 0.6, -17.1, -8.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -17.1, -8.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.0, -17.1, -9.2, 1.1, 0.5, 0.0 ], "actual_contact_FT": [ 2.0, -17.1, -9.2, 1.1, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -349, "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": [ 0.264666326238735, -0.7765726326501686, -0.06154727315833593, -0.5544038521594776, -0.029324623911484174, -1.1192358459578744, 0.2899821549746396 ], "act_joint_pos_r": [ -0.5672336218643216, -0.6905672360126944, 0.16621543231423871, -1.2745838733693249, 1.1191201873148822, 0.571582904566635, -1.4848705666303834 ], "act_eef_pose_l": [ 571.4446875079824, 358.85029076978367, 91.19723144788809, 1.6525143626268162, -0.07937422737755478, 0.6838788247916519 ], "act_eef_pose_r": [ 547.9414644042035, -294.06594812687865, 64.16734334691978, 1.3720005763126886, 0.08530798127524641, 2.0669820125046217 ], "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": [ 0.2695506676491783, -0.760021070139403, -0.06252218715835661, -0.5894689881756948, -0.028361155396482207, -1.094106107285878, 0.28470640487522064 ], "joint_pos_r": [ -0.595115213979026, -0.7197198308191671, 0.16319343200684167, -1.3134208929573699, 0.9169365361338553, 0.5632887799840827, -1.2355063532173969 ], "eef_pose_l": [ 569.0896225838019, 359.30676787048134, 89.3936320148349, 1.6572199589536827, -0.07194041025510584, 0.6902057174698137 ], "eef_pose_r": [ 526.5181754140305, -246.63187826126162, 45.381388629052765, 1.411356830235732, -0.014080401513492156, 2.2441363278782864 ], "joint_status_l": { "velocity": [ -0.5274933147443317, -1.787516031194869, 0.10528760671030257, 3.7869230004288212, -0.1040515307843548, -2.713931733437036, 0.5697642064399489 ], "torque": [ -40.49560546875, 2.2119140625, -5.853271484375, 1.287841796875, -6.064453125, -2.5872802734375, 0.5877685546875 ] }, "joint_status_r": { "velocity": [ 3.011123140058025, 3.1483873823772157, 0.3263664075361383, 4.1942744119971564, 21.835190333034937, 0.8957390365047502, -26.930540774760203 ], "torque": [ 36.9140625, 13.10302734375, 18.7255859375, -2.28271484375, 2.896728515625, 6.1962890625, -0.88531494140625 ] }, "eef_FT_l": { "raw_value": [ 0.4, -17.3, -8.9, 1.5, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -17.3, -8.9, 1.5, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.3, -3.8, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.0, -17.3, -3.8, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -114, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.265184335583082, -0.7710260776829096, -0.061848885675033966, -0.5648191416385175, -0.03171699711254161, -1.110235886370733, 0.2936031874611596 ], "act_joint_pos_r": [ -0.5673328821032179, -0.6991292444419984, 0.1647242212822124, -1.2597306744516765, 1.1940538585587674, 0.5721020139372608, -1.5669015457409614 ], "act_eef_pose_l": [ 571.1342875079824, 359.59669076978366, 91.62283144788812, 1.6514250881419188, -0.08214335782893059, 0.6882343164137993 ], "act_eef_pose_r": [ 554.2622644042035, -301.7723481268787, 62.69774334691988, 1.3693479421394477, 0.09682926966237956, 2.0180503264471183 ], "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": [ 0.26867183569305614, -0.7626735585352583, -0.06236379651338749, -0.5837349033647286, -0.028748757696559737, -1.0980835904263977, 0.2860147127476507 ], "joint_pos_r": [ -0.5901953870328118, -0.7154170288768947, 0.16357942345935733, -1.3050768049491372, 0.9601375982256779, 0.5648068842576923, -1.2877552705245252 ], "eef_pose_l": [ 569.5168656523734, 359.2890102788135, 89.76699702653656, 1.6562358790424128, -0.0735742077951968, 0.6893788521773951 ], "eef_pose_r": [ 531.3683051869142, -255.40245566346985, 48.723766369088224, 1.4031995461534765, 0.005282618047334326, 2.2092099682194424 ], "joint_status_l": { "velocity": [ -0.3766389035066986, -0.9020454635368935, 0.05560873045040715, 2.042842016026114, -0.32056040250233453, -1.3124092545453436, 0.8195310982812565 ], "torque": [ -41.6748046875, 2.255859375, -5.670166015625, 0.836181640625, -6.156005859375, -2.618408203125, 0.611572265625 ] }, "joint_status_r": { "velocity": [ 2.469077710841816, 1.7590288391868825, 0.12363451846297835, 4.8972376574223375, 25.26221104688542, 0.7878507689769165, -30.146908587832755 ], "torque": [ 36.51123046875, 10.986328125, 17.950439453125, -2.984619140625, 2.9022216796875, 5.980224609375, -1.0491943359375 ] }, "eef_FT_l": { "raw_value": [ 0.4, -17.3, -9.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.4, -17.3, -9.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -16.9, -4.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -16.9, -4.3, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -375, "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": [ 0.26551751692764114, -0.764600826340477, -0.06219327272458145, -0.5762052296866694, -0.034429969911015754, -1.101608823796286, 0.29754799301126367 ], "act_joint_pos_r": [ -0.5695580226796905, -0.7131177684625281, 0.16231499415162803, -1.2344724775118712, 1.2748736118248305, 0.5771246947297538, -1.640746313023916 ], "act_eef_pose_l": [ 570.5838875079825, 360.46149076978367, 92.30763144788789, 1.6498262123296272, -0.08523000668701379, 0.6922304833307144 ], "act_eef_pose_r": [ 561.8342644042035, -310.9227481268787, 58.65614334691986, 1.3695529313388501, 0.09530575560505437, 1.9641947981817294 ], "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": [ 0.2680838319200662, -0.7635985159124222, -0.06230233392572658, -0.5813683416140175, -0.029506573377142527, -1.0994912758379585, 0.2876952218844914 ], "joint_pos_r": [ -0.5858785170274247, -0.7139046723463718, 0.16350600915110303, -1.2927753381425415, 1.0173594810433426, 0.5669067856396881, -1.3531931901010665 ], "eef_pose_l": [ 569.7579818321937, 359.4183305683356, 90.15250413169704, 1.6552497190741893, -0.07535043841910843, 0.6895122962449409 ], "eef_pose_r": [ 537.4528245380993, -265.38083451028484, 51.40796918655295, 1.3943774116158587, 0.024048524648386947, 2.165353364302635 ], "joint_status_l": { "velocity": [ -0.27715384496618256, -0.10824633367523262, 0.01177826234244339, 0.5575996426312457, -0.5317111436763666, -0.22868843469403544, 1.064067898686183 ], "torque": [ -40.81787109375, 1.3623046875, -9.14306640625, 1.07421875, -6.199951171875, -2.49755859375, 0.56854248046875 ] }, "joint_status_r": { "velocity": [ 1.7625614055862826, 0.0849831130125267, -0.12862582632733321, 6.296523242086849, 27.81070589147472, 1.1035016356863991, -31.054821362671348 ], "torque": [ 35.7568359375, 10.458984375, 11.2548828125, -2.11181640625, 2.7081298828125, 6.3519287109375, -0.83038330078125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.1, -9.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -17.1, -9.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.6, -17.2, -4.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.6, -17.2, -4.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26589489324120485, -0.7635704961272816, -0.06222279949429464, -0.5764138359584497, -0.035769916131454305, -1.1011035312551236, 0.2990122065727504 ], "act_joint_pos_r": [ -0.5701518256462506, -0.720324078899512, 0.16103798530171273, -1.218460431063297, 1.298353636872914, 0.5714070765997808, -1.6597640806072158 ], "act_eef_pose_l": [ 570.5102875079824, 361.07349076978363, 92.36123144788807, 1.649148277909719, -0.08601533124746671, 0.6937608577290361 ], "act_eef_pose_r": [ 565.5966644042035, -314.8499481268787, 54.65134334691993, 1.379559397352277, 0.09444993622988365, 1.94483793456325 ], "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": [ 0.26768387096032553, -0.7637034188049328, -0.06228612056713177, -0.5805316721579356, -0.030393820793229765, -1.0998100284056878, 0.28940005664310325 ], "joint_pos_r": [ -0.583067748489788, -0.7146736927361711, 0.1631344968389122, -1.2804490366512988, 1.0658491373463996, 0.5679928538167551, -1.4064316514062458 ], "eef_pose_l": [ 569.890398782018, 359.62503680526794, 90.50943678709683, 1.6543202431628632, -0.0770193361171338, 0.6900406711944563 ], "eef_pose_r": [ 542.6929508590225, -273.5605518891353, 52.532460494917274, 1.389371455058224, 0.03672339133666916, 2.1280200544445003 ], "joint_status_l": { "velocity": [ -0.19320389542087923, 0.014355225801843119, 0.006838474176429354, 0.4447131934304238, -0.5806011726119942, -0.13969418767878494, 1.0380815758224138 ], "torque": [ -40.7080078125, 5.26611328125, -8.6181640625, 1.171875, -5.9490966796875, -2.3492431640625, 0.54840087890625 ] }, "joint_status_r": { "velocity": [ 1.3948785273596442, -0.6102237080547468, -0.22641656821775769, 6.694571957657658, 25.10974537650945, 0.36872518559860623, -27.359095440315784 ], "torque": [ 35.7568359375, 6.2109375, 11.07177734375, -2.9296875, 2.5634765625, 6.0626220703125, -0.84136962890625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.6, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.6, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.5, -17.5, -4.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.5, -17.5, -4.7, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -330, "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": [ 0.26722761912332893, -0.766539029296583, -0.06189856480521673, -0.5609761506905704, -0.03790420285772482, -1.1106808180504184, 0.3005313695646443 ], "act_joint_pos_r": [ -0.5758995349890736, -0.7264387838464389, 0.16000666620651363, -1.2060253459477464, 1.3575539090857731, 0.5591802558493101, -1.7219744938506252 ], "act_eef_pose_l": [ 570.8230875079825, 363.6142907697837, 91.60683144788804, 1.6488546590167728, -0.08600568180821867, 0.6969359106301318 ], "act_eef_pose_r": [ 569.4126644042035, -321.5875481268787, 46.783343346919764, 1.4007009807347102, 0.10083137182734918, 1.9081636885337159 ], "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": [ 0.26745669585054566, -0.7639719559227666, -0.062241137637597484, -0.5781681283092843, -0.03168715530397911, -1.1010227380249689, 0.29148401093729237 ], "joint_pos_r": [ -0.5814251195505259, -0.7165917987839113, 0.1625948200811018, -1.2670023547618505, 1.1180302328730514, 0.5669386813186793, -1.4629684220785673 ], "eef_pose_l": [ 570.0494915072055, 360.16888927502686, 90.80521002692004, 1.6532547009256944, -0.07882043062032501, 0.6910963609424933 ], "eef_pose_r": [ 548.0703623390967, -282.02267333152537, 52.27330750425162, 1.3881647395179675, 0.04832370263562436, 2.088186888785399 ], "joint_status_l": { "velocity": [ -0.024739556885311487, -0.27723574774007886, 0.03699677473562035, 1.8566788230058862, -0.671421333290817, -1.043041879872142, 0.9770859141453592 ], "torque": [ -37.94677734375, 1.6552734375, -7.928466796875, 1.788330078125, -5.88134765625, -2.5140380859375, 0.5584716796875 ] }, "joint_status_r": { "velocity": [ 0.5967455325679438, -1.0634430221774238, -0.2795123746788253, 6.585322728211551, 25.867794101167796, -0.8378852385879654, -27.97183076633125 ], "torque": [ 35.86669921875, 4.599609375, 10.711669921875, -2.899169921875, 2.4078369140625, 4.1217041015625, -0.98602294921875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.0, -8.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -17.0, -8.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.0, -3.6, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.8, -17.0, -3.6, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -368, "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": [ 0.2691038080967892, -0.7645396236980133, -0.06202587978458211, -0.565787607981971, -0.04158496872321671, -1.1055636089909269, 0.3017122432402515 ], "act_joint_pos_r": [ -0.5793460930191457, -0.7256141706189652, 0.1600017189851443, -1.2014137201937156, 1.3954423908551457, 0.5459317619049422, -1.7783861341274205 ], "act_eef_pose_l": [ 570.7798875079824, 363.7942907697837, 91.25803144788806, 1.6472674703825159, -0.08439173378115825, 0.7000563573056069 ], "act_eef_pose_r": [ 571.0510644042035, -327.23714812687865, 41.45934334691992, 1.4194958691020423, 0.12301547683281576, 1.8828927633524983 ], "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": [ 0.26755146966490845, -0.7642816754369047, -0.06218974751345552, -0.5754753566173367, -0.033051771232978235, -1.1023614080479638, 0.29316880306043347 ], "joint_pos_r": [ -0.5809290546455201, -0.7177848146477339, 0.1622683690049111, -1.2590499468530465, 1.1504171092649325, 0.5651910840848663, -1.498886880165809 ], "eef_pose_l": [ 570.1865009405202, 360.790604543898, 90.92031302924448, 1.6523650148425497, -0.0799662060012404, 0.6923473573352669 ], "eef_pose_r": [ 551.1930413752455, -287.21676065073603, 51.55743582772962, 1.38935933654449, 0.055959240352042625, 2.063567845852061 ], "joint_status_l": { "velocity": [ 0.1676476061411858, -0.027857590583657554, 0.017697192767562875, 1.046245995243389, -0.9215581490410185, -0.345827502202134, 0.9226643268904766 ], "torque": [ -33.84521484375, 4.5263671875, -7.586669921875, 1.824951171875, -5.9564208984375, -2.310791015625, 0.60150146484375 ] }, "joint_status_r": { "velocity": [ 0.17095481360662745, -0.8455455068618889, -0.2447909824108141, 6.224528896542125, 26.461949958246578, -2.0799454507196558, -30.18502916800614 ], "torque": [ 37.09716796875, 2.2265625, 10.760498046875, -2.276611328125, 3.5980224609375, 3.358154296875, -0.76080322265625 ] }, "eef_FT_l": { "raw_value": [ -0.1, -17.0, -8.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -17.0, -8.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -16.8, -4.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.8, -4.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -354, "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": [ 0.27089525171360357, -0.7576645539964059, -0.06256163196976898, -0.5879670716333982, -0.04323295811046493, -1.0908156701579552, 0.3036076657953166 ], "act_joint_pos_r": [ -0.5795782732559749, -0.7226577257651914, 0.1602038608282324, -1.1948026879037759, 1.3988064201190582, 0.5142528395476403, -1.810605210894567 ], "act_eef_pose_l": [ 569.8254875079824, 361.8558907697837, 91.13643144788811, 1.6466812459986981, -0.08406326693101579, 0.6998156098275925 ], "act_eef_pose_r": [ 572.3182644042034, -330.99634812687873, 34.499343346919886, 1.4530739212627426, 0.15675521712166443, 1.8761501161802736 ], "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": [ 0.267891207415228, -0.7639213218917208, -0.06219600564179761, -0.575293647844765, -0.03444283299323314, -1.1019904868588668, 0.29457579789887844 ], "joint_pos_r": [ -0.580682315080273, -0.71890012588027, 0.16190748873168898, -1.2491906543209212, 1.1908936058558135, 0.5601840859634684, -1.5467074976519595 ], "eef_pose_l": [ 570.2228459417797, 361.1331982514353, 90.9644563318717, 1.6515538741153242, -0.08062050336076333, 0.6934982815803872 ], "eef_pose_r": [ 554.9869247676411, -293.9557277361902, 49.817979168073066, 1.394601484589604, 0.06843747704853871, 2.0320895660013543 ], "joint_status_l": { "velocity": [ 0.3244272157552075, 0.6757110036632596, -0.03948647882939804, -1.3686894018363205, -0.9493055143914853, 1.2068446097197594, 0.9754129645473952 ], "torque": [ -28.76220703125, 6.97265625, -7.4951171875, -3.997802734375, -5.9454345703125, -0.6134033203125, 0.4925537109375 ] }, "joint_status_r": { "velocity": [ 0.11923300043559237, -0.40580881888008236, -0.1839863871848646, 5.873727136730622, 22.453921697408674, -4.960428312896781, -28.500112464314498 ], "torque": [ 37.0751953125, 3.77197265625, 10.760498046875, -2.178955078125, 2.3602294921875, 2.5286865234375, -0.8148193359375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.5, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.5, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -16.8, -3.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.2, -16.8, -3.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -328, "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": [ 0.2697366720538959, -0.7604569591698377, -0.06236691247238492, -0.580422924134801, -0.04068570517026921, -1.0944102473284198, 0.29942645785854927 ], "act_joint_pos_r": [ -0.5821463569535759, -0.7227734347545033, 0.16007142396773807, -1.1898049380679916, 1.4001974912092958, 0.4801707868953319, -1.8293761486443139 ], "act_eef_pose_l": [ 570.4214875079824, 362.40949076978364, 91.05723144788799, 1.6484629140303455, -0.08196372970282043, 0.7005313107687461 ], "act_eef_pose_r": [ 572.9158644042035, -332.18914812687865, 25.581743346919893, 1.491044933777511, 0.17612760654763082, 1.8785467812739913 ], "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": [ 0.26829161030229864, -0.7631301756108851, -0.06223867875255854, -0.576683112812628, -0.035709561798939374, -1.1004203075561692, 0.29570088876529244 ], "joint_pos_r": [ -0.5807769010190217, -0.7195775580590466, 0.16159132844673404, -1.2390104444178545, 1.2278113117267266, 0.5482171404081719, -1.5954849975493375 ], "eef_pose_l": [ 570.2208897254515, 361.32295103793984, 90.9865371141558, 1.6508875732051949, -0.08099920324127415, 0.6946933009185016 ], "eef_pose_r": [ 558.659293804765, -300.7292173256242, 46.33883570048806, 1.4080074667292148, 0.08554693579139776, 2.001791563046652 ], "joint_status_l": { "velocity": [ 0.156062066367868, 0.2886988609160923, -0.013848833291696394, -0.4038877107630512, -0.5374076341126965, 0.6490673613788189, 0.4023495954048606 ], "torque": [ -28.271484375, 8.86962890625, -7.855224609375, -2.94189453125, -5.965576171875, -0.49072265625, 0.54290771484375 ] }, "joint_status_r": { "velocity": [ -0.14789687894634085, -0.3451445036164458, -0.16414484253846062, 5.314037956614115, 18.617158300383352, -7.348789438427872, -25.259499329145285 ], "torque": [ 28.89404296875, 4.04296875, 10.26611328125, -2.11181640625, 2.1148681640625, 3.53759765625, -0.908203125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.9, -8.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.1, -16.9, -8.8, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.0, -16.6, -3.9, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -16.6, -3.9, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -343, "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": [ 0.2691554867124311, -0.764767308073321, -0.06206912833072897, -0.568761885706819, -0.03842567069625569, -1.1010343703416088, 0.29696146101540327 ], "act_joint_pos_r": [ -0.5848767055353578, -0.7238075034653644, 0.15988345483844255, -1.1872086358827503, 1.3994188403044099, 0.47178462029725277, -1.8319631911042744 ], "act_eef_pose_l": [ 571.0790875079824, 363.1486907697837, 90.59003144788817, 1.6503424364036174, -0.08094558804875951, 0.700758702350108 ], "act_eef_pose_r": [ 572.8046644042034, -332.31634812687867, 21.931343346919903, 1.502718975673737, 0.1792801669944166, 1.8800321845678665 ], "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": [ 0.26848930165073026, -0.7630862581983137, -0.0622317323922373, -0.5761844753426302, -0.036364590994022325, -1.1000165481204072, 0.2961144192908372 ], "joint_pos_r": [ -0.5812906070166945, -0.7202454697805432, 0.16130390016946458, -1.230052255501814, 1.2582131888370964, 0.535351841280892, -1.6370962400853093 ], "eef_pose_l": [ 570.3225837619794, 361.5882825911174, 90.9526004130316, 1.6506444384371568, -0.08106899900158682, 0.6957476762026948 ], "eef_pose_r": [ 561.6104592621156, -306.4151689284969, 42.461000078066974, 1.4230236455318261, 0.10132052816791906, 1.9773795999091597 ], "joint_status_l": { "velocity": [ 0.07194586473358022, -0.18154803202818925, 0.017560720717124667, 0.8016160382666726, -0.22259004289881812, -0.1099215579269952, 0.09147780825946583 ], "torque": [ -28.86474609375, 3.251953125, -7.92236328125, 0.57373046875, -6.03515625, -1.6241455078125, 0.51361083984375 ] }, "joint_status_r": { "velocity": [ -0.387287217590071, -0.3846882921854089, -0.15340357135396054, 4.626974453541877, 15.249760590823058, -6.865057392188234, -21.045010020655397 ], "torque": [ 26.1767578125, 4.50439453125, 10.09521484375, -1.519775390625, 1.7706298828125, 3.6456298828125, -0.81390380859375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -17.0, -9.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -17.0, -9.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.6, -16.5, -3.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -16.5, -3.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -337, "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": [ 0.26803257317842905, -0.7595278508446666, -0.06242232862306318, -0.5823467316231778, -0.02804169756497956, -1.0859376122601472, 0.29248135242136436 ], "act_joint_pos_r": [ -0.5908929615255896, -0.7253536267050281, 0.1596373700655503, -1.1846416552445584, 1.4067544587437606, 0.46296892348524504, -1.8464277281728236 ], "act_eef_pose_l": [ 571.1094875079824, 363.2086907697837, 89.57243144788804, 1.6599013472743875, -0.08252389213375211, 0.7046004362320559 ], "act_eef_pose_r": [ 572.2694644042035, -332.81954812687866, 16.198543346919905, 1.5182524586578265, 0.18556861598866614, 1.8789479252440668 ], "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": [ 0.26846557727904674, -0.7627231965545275, -0.0622474935343125, -0.5765840846961683, -0.03542040109323473, -1.098293988276717, 0.29569959241302646 ], "joint_pos_r": [ -0.5825590362004576, -0.7210055204176838, 0.16104261668100503, -1.2227192989029478, 1.282254511295196, 0.5239068984908749, -1.6707636772356425 ], "eef_pose_l": [ 570.461381694758, 361.87005364826484, 90.7587309223417, 1.651801931130461, -0.08123415384887374, 0.6971155878558254 ], "eef_pose_r": [ 563.7331416678519, -310.83008494589046, 38.547973125617375, 1.4372820896367362, 0.11441270428130895, 1.9589965387507577 ], "joint_status_l": { "velocity": [ -0.04676306366402372, 0.3450871588643878, -0.01888163270108434, -0.622347512957866, 0.796876478436126, 1.3344492523135187, -0.34755966837485275 ], "torque": [ -33.03955078125, 7.91748046875, -7.97119140625, -2.40478515625, -3.372802734375, -0.4449462890625, -0.325927734375 ] }, "joint_status_r": { "velocity": [ -0.9000373899299419, -0.46958162946264537, -0.15176215848367036, 4.112264230355933, 13.445597767736572, -6.581107201226732, -18.971157976819697 ], "torque": [ 24.55078125, 4.75341796875, 10.211181640625, -1.861572265625, 1.6497802734375, 3.4405517578125, -0.963134765625 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.7, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -16.7, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -16.2, -3.5, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -1.2, -16.2, -3.5, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -341, "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": [ 0.26857748077108595, -0.7495664788588409, -0.06297766530713231, -0.600219239690489, -0.018463657696867194, -1.0691760610428451, 0.2890212925099791 ], "act_joint_pos_r": [ -0.5949202065392587, -0.7280937854953349, 0.15924427656506346, -1.1816871398263846, 1.4184576769311077, 0.45810733788729935, -1.8639879616881128 ], "act_eef_pose_l": [ 570.1494875079824, 364.73669076978365, 88.11003144788792, 1.669980461843909, -0.08426845550101006, 0.7105559433239625 ], "act_eef_pose_r": [ 572.3222644042035, -333.19234812687864, 12.193743346919746, 1.5281263234481777, 0.19108702123088414, 1.8755641091887012 ], "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": [ 0.268455882335501, -0.7610738272829326, -0.062338901366848484, -0.5795482212458476, -0.033126563584586835, -1.0943712369233207, 0.29478008583801074 ], "joint_pos_r": [ -0.5844869899586521, -0.7220835094179814, 0.1607497994850833, -1.2156534555246468, 1.305587772855434, 0.5125839571605729, -1.7038041045743275 ], "eef_pose_l": [ 570.4644740363219, 362.2590756438247, 90.39263004221644, 1.6542934256937483, -0.08159778076797683, 0.6990115041535686 ], "eef_pose_r": [ 565.553551637629, -314.8616578335332, 34.240697639724914, 1.452172981821016, 0.12723503547840886, 1.9423889528523308 ], "joint_status_l": { "velocity": [ 0.013132243728231074, 1.2427569766444435, -0.06898447096242988, -2.232404150779743, 1.5835471316476002, 2.720998743523495, -0.6219313365432022 ], "torque": [ -32.87841796875, 11.08154296875, -13.39111328125, -2.203369140625, -2.9241943359375, -0.0384521484375, -0.47698974609375 ] }, "joint_status_r": { "velocity": [ -1.126754158867982, -0.6490906724474499, -0.16259167997700885, 3.668253906047525, 12.189590127428929, -5.883301362815452, -17.299346351340006 ], "torque": [ 23.98681640625, 4.57763671875, 9.893798828125, -1.824951171875, 1.435546875, 3.57421875, -0.736083984375 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.5, -8.1, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.3, -16.5, -8.1, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -16.7, -2.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.6, -16.7, -2.3, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -332, "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": [ 0.2696997439364634, -0.7332508620487035, -0.06381961344310687, -0.623183949756575, -0.013350497983718625, -1.0573603640676121, 0.28198723583593027 ], "act_joint_pos_r": [ -0.5969639817968884, -0.7301946333393251, 0.15896740117121874, -1.1803305367877333, 1.4317028108151248, 0.4574098568001347, -1.8796500393248838 ], "act_eef_pose_l": [ 567.1870875079824, 367.5046907697837, 87.85483144788809, 1.6754505787088392, -0.08030284108758014, 0.7146868807842582 ], "act_eef_pose_r": [ 572.5710644042035, -333.5515481268787, 10.384143346919927, 1.531653520208812, 0.1935409848624196, 1.8709923380508895 ], "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": [ 0.2686025118952986, -0.7573409726036613, -0.06253891898438634, -0.585537842995522, -0.030139066861715417, -1.0888959509047913, 0.293039624257615 ], "joint_pos_r": [ -0.5861127888999105, -0.7230993999727163, 0.16051674483919026, -1.2108154604009025, 1.3224148049356628, 0.5049515399284998, -1.7274155861760865 ], "eef_pose_l": [ 570.0923763966102, 362.9803914799982, 89.97618656708622, 1.6575261655912397, -0.08151073950245968, 0.7013563882917324 ], "eef_pose_r": [ 566.7125718910376, -317.5150074883601, 31.08783952345948, 1.4626539589967213, 0.13607772246664568, 1.9313456744891437 ], "joint_status_l": { "velocity": [ 0.11849756554682678, 2.601655208217757, -0.1383109222791723, -4.065659619973516, 1.8131119639447357, 3.405742931397171, -1.19362274552115 ], "torque": [ -28.48388671875, 12.06298828125, -14.16015625, -2.655029296875, -2.6092529296875, 0.43212890625, -0.574951171875 ] }, "joint_status_r": { "velocity": [ -1.171894269699436, -0.7662626038857923, -0.1673241811781523, 3.292274649773219, 11.802756531285041, -5.1343503482943476, -16.44083604352886 ], "torque": [ 24.08203125, 4.31396484375, 10.589599609375, -1.52587890625, 1.6717529296875, 3.665771484375, -0.72784423828125 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.7, -8.2, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.6, -16.7, -8.2, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.0, -3.0, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -17.0, -3.0, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -368, "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": [ 0.2722651006452773, -0.7143852884835373, -0.06489706397499832, -0.6522014617947568, -0.008763003285747268, -1.036452650679529, 0.27378115736574987 ], "act_joint_pos_r": [ -0.5980408449199088, -0.7354596410513864, 0.15818749311665598, -1.1728800667222155, 1.4284573740764326, 0.4548358952849686, -1.881385505073353 ], "act_eef_pose_l": [ 564.3830875079824, 370.7374907697837, 86.9588314478879, 1.6822932628714498, -0.07474037050712752, 0.7244736778413776 ], "act_eef_pose_r": [ 573.4646644042035, -332.8891481268787, 7.900943346919803, 1.536708925030058, 0.19838579287121233, 1.8715938134491508 ], "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": [ 0.2690380554510619, -0.7515042026761805, -0.06285662801632501, -0.5946129200975995, -0.026922808344203582, -1.0816320575481984, 0.29040644388657255 ], "joint_pos_r": [ -0.5878375903781292, -0.7245560377972525, 0.16022532934870215, -1.2056508068658045, 1.3387701855747405, 0.49754935890113194, -1.75064915827067 ], "eef_pose_l": [ 569.3659503738705, 364.05782454630554, 89.51590041024158, 1.6612045253042553, -0.08063713597444808, 0.7044858713548343 ], "eef_pose_r": [ 567.838420551306, -319.96812244036187, 27.822341797075723, 1.4731658464770157, 0.14494271652899055, 1.9210304996113985 ], "joint_status_l": { "velocity": [ 0.3485106022043105, 4.008724501797012, -0.22036058434865557, -6.219379072511799, 1.961201103778648, 4.8792320365596, -1.795477989456451 ], "torque": [ -29.1064453125, 11.81396484375, -14.35546875, -2.33154296875, -2.7008056640625, 0.0164794921875, -0.6170654296875 ] }, "joint_status_r": { "velocity": [ -1.1019189911483096, -1.1775544213357136, -0.22007982215366262, 3.5391355542842007, 9.68593068692769, -4.612918019801349, -14.119109033826405 ], "torque": [ 23.3056640625, 5.537109375, 10.36376953125, -2.2216796875, 1.3677978515625, 3.511962890625, -0.75439453125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.9, -7.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -16.9, -7.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -17.0, -2.2, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -17.0, -2.2, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -351, "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": [ 0.2746550585968027, -0.7063558159800839, -0.0653738584826188, -0.6637105002801703, -0.009173177324073672, -1.0302119021703975, 0.2735510056003493 ], "act_joint_pos_r": [ -0.5990480238350013, -0.7384782705723361, 0.15779634790887084, -1.1707212220961103, 1.428387239239564, 0.45330515811970784, -1.882277370663623 ], "act_eef_pose_l": [ 562.7742875079824, 372.0550907697837, 86.34763144788808, 1.6836991034598463, -0.07338111644993425, 0.7271704635172974 ], "act_eef_pose_r": [ 573.7086644042034, -331.8475481268787, 6.465743346919908, 1.5395865280604972, 0.19843456949200855, 1.8730723553611708 ], "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": [ 0.269658950482868, -0.7457655551283605, -0.0631746361976579, -0.6034478276294072, -0.02442808190489919, -1.0749019326740685, 0.28807885433321806 ], "joint_pos_r": [ -0.5897142309205953, -0.7267015349856702, 0.15983682051740292, -1.1997010080329265, 1.3546225776563177, 0.48988689061617313, -1.7738287485524138 ], "eef_pose_l": [ 568.5895612409429, 365.097773666731, 89.09373120631281, 1.6642780118838965, -0.07960996358109894, 0.7074289788656892 ], "eef_pose_r": [ 569.0015130584652, -322.23550914629993, 24.23994616254481, 1.4843451064148951, 0.15422538351238949, 1.9113479976001166 ], "joint_status_l": { "velocity": [ 0.5395637627221284, 4.2561263002784955, -0.23750900182217816, -6.508176697871626, 1.6474811048713123, 4.826380947900333, -1.5689613891072263 ], "torque": [ -28.33740234375, 9.4482421875, -14.776611328125, -3.90625, -2.662353515625, 0.032958984375, -0.57769775390625 ] }, "joint_status_r": { "velocity": [ -1.0080199047974858, -1.2718499321513477, -0.22036454241680659, 3.1297245748831415, 7.966348496099229, -3.950710589637918, -11.712105757913704 ], "torque": [ 23.94287109375, 5.2734375, 9.8876953125, -1.72119140625, 1.318359375, 3.3929443359375, -0.81390380859375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.9, -9.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.9, -9.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.7, -16.9, -1.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -16.9, -1.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -341, "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": [ 0.2810585032638003, -0.6835081356683265, -0.0668619059167232, -0.7014206611852396, -0.00560711585947908, -1.0075996583322393, 0.2662554766119179 ], "act_joint_pos_r": [ -0.5988243318703943, -0.7427270479140584, 0.15732679608222042, -1.171017795281062, 1.4115519901456954, 0.44681303424678614, -1.8667745819769443 ], "act_eef_pose_l": [ 558.1886875079824, 374.53429076978364, 84.1436314478879, 1.6912791377895233, -0.06562106356723883, 0.7342088404287266 ], "act_eef_pose_r": [ 573.5646644042034, -327.6115481268787, 5.053743346919873, 1.5447594599660948, 0.19615652452058616, 1.8860133529019496 ], "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": [ 0.2709144071939321, -0.737469908133998, -0.06364994730327175, -0.6162941041325323, -0.021523663461439545, -1.065686366939657, 0.2850862669192024 ], "joint_pos_r": [ -0.5913515252848985, -0.7290306563830392, 0.15944876225019183, -1.1945943720507526, 1.366686497253546, 0.4830416768447953, -1.792102512946608 ], "eef_pose_l": [ 567.3474111930078, 366.50444815145306, 88.44395076919594, 1.6681947447751901, -0.07791163745183513, 0.7112921400244989 ], "eef_pose_r": [ 569.9293773543186, -323.7315129831031, 21.041317200827223, 1.4942469357288637, 0.16181205068773313, 1.9046007193208967 ], "joint_status_l": { "velocity": [ 1.0955300646136035, 5.82769954748219, -0.34688129953569513, -9.193397016940885, 1.7189364436913102, 6.273179512061411, -2.033665373432747 ], "torque": [ -26.59423828125, 15.1171875, -14.95361328125, -9.112548828125, -2.457275390625, 0.8935546875, -0.63262939453125 ] }, "joint_status_r": { "velocity": [ -0.8070393088805972, -1.4791666596609687, -0.2291655872632692, 2.5461951951140094, 4.84533032697243, -3.9125780052655657, -8.064345610115708 ], "torque": [ 24.375, 3.5302734375, 10.009765625, -1.873779296875, 0.574951171875, 3.3746337890625, -0.7855224609375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.6, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.6, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.6, -2.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.1, -17.6, -2.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.2820094652923476, -0.6649925054854348, -0.06834234071919101, -0.7411919413417223, 0.0026317734123739263, -0.98740324724389, 0.25591566808088856 ], "act_joint_pos_r": [ -0.5970257208601302, -0.7466790697887464, 0.1568192590498223, -1.1678791924891447, 1.3730728975855013, 0.4432691908630613, -1.8284545937358152 ], "act_eef_pose_l": [ 554.0670875079825, 373.29109076978364, 84.29803144788802, 1.697223202740047, -0.06019541129338, 0.7322029802972634 ], "act_eef_pose_r": [ 573.4878644042035, -323.1867481268787, 4.903343346919883, 1.545771383957414, 0.192881880758947, 1.9037870635487015 ], "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": [ 0.2727765346854027, -0.7265940037947325, -0.06432459052687649, -0.6342127739181294, -0.018115445712701017, -1.0539599519700567, 0.2810113066080382 ], "joint_pos_r": [ -0.5925430973142022, -0.7317372412385186, 0.15903698648487138, -1.190199536320671, 1.3718446837245513, 0.4763806309552896, -1.8025422243618892 ], "eef_pose_l": [ 565.5204801741274, 367.89716035967984, 87.63311401596334, 1.6727671461528975, -0.07512676589845864, 0.71514069319673 ], "eef_pose_r": [ 570.6268581398626, -324.11517576853566, 18.212127472309675, 1.5031818352008899, 0.16762785535399422, 1.9021962756712112 ], "joint_status_l": { "velocity": [ 0.9971270968582857, 6.65276560457162, -0.4339042234489665, -11.553409332153208, 2.2406335815530753, 7.1879121142908176, -2.7102490264101498 ], "torque": [ -26.89453125, 8.37158203125, -15.41748046875, -4.522705078125, -2.5286865234375, -0.2874755859375, -0.7818603515625 ] }, "joint_status_r": { "velocity": [ -0.48410906492701855, -1.6136698907756042, -0.23950749908929758, 2.410526039138716, 0.1326431848802656, -3.5759300635413993, -2.798453356412267 ], "torque": [ 24.93896484375, 4.05029296875, 10.04638671875, -2.410888671875, 1.00341796875, 3.9532470703125, -0.2508544921875 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.8, -8.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.8, -8.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.7, -2.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -0.6, -17.7, -2.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -335, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 108, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2817522167892872, -0.6629075547987172, -0.06849069147246456, -0.7416417159298032, 0.004761054556173012, -0.9893598417463179, 0.2524165313905038 ], "act_joint_pos_r": [ -0.5965555083510107, -0.7478807189628012, 0.15672935384245132, -1.1695504087454878, 1.3569109550634684, 0.4441735133910758, -1.8123848766212591 ], "act_eef_pose_l": [ 553.4078875079824, 374.03109076978365, 84.32043144788808, 1.6985999572005306, -0.058142489570354575, 0.7317614485493354 ], "act_eef_pose_r": [ 573.0014644042035, -320.5099481268787, 5.520943346919921, 1.5434183987028949, 0.19045794638715102, 1.9127497900423607 ], "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": [ 0.2742794367624472, -0.7163458487260126, -0.06499371055138527, -0.6518257864302114, -0.014580967577065205, -1.04313203739885, 0.2766823665907521 ], "joint_pos_r": [ -0.5932952782374462, -0.7344822868128611, 0.15863715204403417, -1.1863966457273813, 1.3706737599521581, 0.47060391849628463, -1.805743587661811 ], "eef_pose_l": [ 563.6840005720162, 368.8891322368019, 87.02713851904184, 1.6769373347160392, -0.07234226616240581, 0.717857487370918 ], "eef_pose_r": [ 571.1197188054276, -323.7127827831615, 15.914115915394063, 1.5104797060466473, 0.17189992973514037, 1.9031208249320488 ], "joint_status_l": { "velocity": [ 0.8070364406309594, 5.77116553271928, -0.37766280090761883, -9.699834304634614, 2.0888767822622305, 5.807225855502196, -2.6206329101907677 ], "torque": [ -26.08154296875, 10.0341796875, -15.203857421875, -3.8818359375, -2.3931884765625, -0.1336669921875, -0.589599609375 ] }, "joint_status_r": { "velocity": [ -0.35209446779305154, -1.4469879955631981, -0.20603612906033852, 1.8193399354817785, -1.4863390907500218, -2.8543995653476095, -0.717238053812963 ], "torque": [ 24.04541015625, 3.78662109375, 9.942626953125, -1.59912109375, -1.0198974609375, 3.7884521484375, -0.59417724609375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.8, -7.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.8, -7.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.0, -3.6, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.1, -17.0, -3.6, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -345, "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": [ 0.2802338455148474, -0.6627892815969595, -0.06844435358364596, -0.7362093398430501, 0.011167106306667398, -0.9980040991162654, 0.2441298653260394 ], "act_joint_pos_r": [ -0.5944521656301318, -0.7521052384314061, 0.15622271490888315, -1.1674821674368645, 1.3183319373597309, 0.44537987938037543, -1.7768878692280543 ], "act_eef_pose_l": [ 552.6638875079824, 374.85989076978365, 84.20203144788802, 1.702302993113207, -0.05392450290211187, 0.7281377088742766 ], "act_eef_pose_r": [ 572.7830644042035, -315.5963481268787, 6.454543346919763, 1.539778228386463, 0.18970968712735864, 1.930489278026029 ], "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": [ 0.2756310688407884, -0.7055884938549645, -0.06569228877652032, -0.6693460086558058, -0.010054415385725636, -1.033179107083128, 0.2709786582363572 ], "joint_pos_r": [ -0.5937459434816567, -0.738287748111374, 0.15810969738030284, -1.1821042565110282, 1.3615674036431393, 0.46454518264674594, -1.801923736174182 ], "eef_pose_l": [ 561.6091182246608, 370.0565612589689, 86.42236039854134, 1.6817281375187592, -0.06888225786000933, 0.7202139692987793 ], "eef_pose_r": [ 571.5484435205767, -322.18125952480716, 13.615319467698072, 1.5176134246327255, 0.17619460551616478, 1.9081204054442216 ], "joint_status_l": { "velocity": [ 0.49708522005342815, 4.622178599993809, -0.2972142333043104, -7.221026795420471, 2.291856748076873, 3.79878882113438, -2.899584115652276 ], "torque": [ -24.4921875, 11.044921875, -14.7216796875, -3.277587890625, -2.38037109375, 0.025634765625, -0.6463623046875 ] }, "joint_status_r": { "velocity": [ -0.07626974257934904, -1.4922449431509222, -0.2037880965048977, 1.5791390457930987, -4.669292645182566, -2.0697917075249705, 2.703793886045247 ], "torque": [ 24.80712890625, 4.82666015625, 9.87548828125, -2.16064453125, -1.790771484375, 3.8177490234375, 0.61981201171875 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.4, -8.1, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -16.4, -8.1, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.4, -2.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ 0.1, -17.4, -2.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "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": [ 0.2781463837504253, -0.6636558643685697, -0.06837635552505006, -0.7321330471784483, 0.01608392292994648, -1.009097423431188, 0.24023116001803782 ], "act_joint_pos_r": [ -0.5920695328180203, -0.7563912356005239, 0.15570278140216326, -1.1647523729444418, 1.272111312604461, 0.44621143562363397, -1.7325353675377642 ], "act_eef_pose_l": [ 551.6870875079824, 374.31349076978364, 84.73083144788806, 1.7035798891063754, -0.05299297394197029, 0.719788911913008 ], "act_eef_pose_r": [ 572.3886644042035, -310.27874812687867, 7.266543346919889, 1.537101828256619, 0.18752148802558027, 1.9513363920071198 ], "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": [ 0.27629436880900965, -0.6980837154485002, -0.0661739741920656, -0.6808740999000525, -0.005947760865702574, -1.0277597180390563, 0.2659504624626606 ], "joint_pos_r": [ -0.5936631508172568, -0.7403380798513767, 0.15783440849501418, -1.1800647327888916, 1.3527862080986153, 0.4621898948882267, -1.7955707803198828 ], "eef_pose_l": [ 559.9903176721538, 370.8931712380673, 86.04292154880423, 1.6854959587079088, -0.06606672747008484, 0.7209472105573175 ], "eef_pose_r": [ 571.6846802764737, -320.9435110492277, 12.794107441396818, 1.5200859602269987, 0.17774923094891565, 1.9125141821207512 ], "joint_status_l": { "velocity": [ 0.20001171464256728, 3.7180982571864973, -0.23785016894650735, -5.53580303628376, 2.3793516747036003, 2.015468374588103, -2.777602743005536 ], "torque": [ -24.345703125, 9.1259765625, -14.947509765625, -3.240966796875, -2.40966796875, 0.003662109375, -0.743408203125 ] }, "joint_status_r": { "velocity": [ 0.17210566793224302, -1.7336896884634356, -0.23020893637837325, 1.6536860903375583, -8.71263174803083, -1.725622706055141, 6.807623800337836 ], "torque": [ 31.7724609375, 3.2958984375, 9.47265625, -2.850341796875, -2.1697998046875, 3.760986328125, 1.50421142578125 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.8, -9.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.5, -16.8, -9.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.7, -2.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.2, -17.7, -2.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -377, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 139, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27689092208849425, -0.6642368338998254, -0.06835288912013686, -0.7308893429293266, 0.019938531792227415, -1.0136271587116263, 0.23722680759330247 ], "act_joint_pos_r": [ -0.5912015234103362, -0.7610293323310146, 0.15522918795530236, -1.1659268986263753, 1.2240804519070307, 0.4439115642620433, -1.6877906786820307 ], "act_eef_pose_l": [ 551.2558875079824, 373.8046907697837, 84.86363144788815, 1.70526367775186, -0.052330573871195225, 0.7154673668651148 ], "act_eef_pose_r": [ 571.0734644042035, -303.1851481268787, 6.851343346919975, 1.5386981979579277, 0.18443009075429942, 1.9772801811723975 ], "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": [ 0.2765488660129777, -0.692030341957824, -0.06656201009937451, -0.6898648413252726, -0.001828383457473285, -1.0247232894030363, 0.2612284912945117 ], "joint_pos_r": [ -0.5933630559050788, -0.7431807879343009, 0.15746318495318795, -1.1775990219469754, 1.3374147484796586, 0.45946213063283137, -1.783243454796342 ], "eef_pose_l": [ 558.5174041008032, 371.4837787647798, 85.80556468604411, 1.6888097849265011, -0.0636569291366982, 0.720435873569656 ], "eef_pose_r": [ 571.7608360978049, -318.83828635301154, 11.91393831072628, 1.5226985337335988, 0.1792257891704004, 1.920157254021353 ], "joint_status_l": { "velocity": [ 0.036940966640086614, 3.001610342499461, -0.19340922994198761, -4.43051550216822, 2.3507575150808377, 1.1983467713241325, -2.5921053896689195 ], "torque": [ -27.2021484375, 9.36767578125, -15.283203125, -3.5888671875, -2.3236083984375, -0.2838134765625, -0.5877685546875 ] }, "joint_status_r": { "velocity": [ 0.2334386245284037, -1.9275859437364318, -0.24126456005402197, 1.2605521406268139, -12.239743037920192, -1.6794116364469147, 10.308595784566776 ], "torque": [ 33.99169921875, 5.16357421875, 9.661865234375, -1.77001953125, -1.878662109375, 3.71337890625, 0.84136962890625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.1, -7.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -17.1, -7.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.2, -2.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -17.2, -2.1, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -326, "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": [ 0.2756965288196935, -0.6662015283193349, -0.06819979391037348, -0.7261321522206109, 0.024853558361299027, -1.0207005874418058, 0.2309822447091339 ], "act_joint_pos_r": [ -0.5923037236531726, -0.7667239775151345, 0.1546470090015111, -1.1670443118521598, 1.1742144029553623, 0.43985136921818424, -1.641234597717515 ], "act_eef_pose_l": [ 550.9510875079824, 373.4446907697837, 84.63403144788803, 1.7079421040066725, -0.048696034482429484, 0.7109015916149817 ], "act_eef_pose_r": [ 569.2446644042035, -295.4571481268787, 4.701743346920011, 1.54463704233108, 0.17994757483178028, 2.005207792519729 ], "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": [ 0.2764862978678265, -0.6876566375821471, -0.06684119461220389, -0.6961359031249711, 0.0022388700100985227, -1.0236026972894772, 0.25666160971653273 ], "joint_pos_r": [ -0.5930755422021348, -0.7468256501265943, 0.15701819456353347, -1.1756312624107268, 1.313093503621503, 0.4563639464280649, -1.762368092527087 ], "eef_pose_l": [ 557.3049590540679, 371.8346248449939, 85.62337392110723, 1.6917826626218675, -0.061406297981449254, 0.7191103432022334 ], "eef_pose_r": [ 571.53171423848, -315.32802910368486, 10.933373319500959, 1.5255111001761508, 0.17976643449863855, 1.932875731423409 ], "joint_status_l": { "velocity": [ -0.08529254162925604, 2.317083461660374, -0.14672439679747074, -3.239499358402398, 2.4423143097195013, 0.3134186197613076, -2.773289626993858 ], "torque": [ -30.68115234375, 9.9755859375, -15.142822265625, -3.826904296875, -2.2869873046875, -0.0146484375, -0.64361572265625 ] }, "joint_status_r": { "velocity": [ 0.08335394489478176, -2.14895597789333, -0.25608048800807026, 0.927363309205731, -14.998500514817437, -1.7833057428755517, 13.08203160553667 ], "torque": [ 34.51171875, 4.27001953125, 9.124755859375, -2.142333984375, -2.1734619140625, 3.50830078125, 1.14715576171875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.7, -8.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.7, -8.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -16.8, -2.5, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -16.8, -2.5, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -353, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 139, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27479009777270325, -0.6683071049757174, -0.06801143363790477, -0.7200761222423993, 0.027457095839824395, -1.026670313145713, 0.22792497768710404 ], "act_joint_pos_r": [ -0.5933650701971516, -0.7704186754448881, 0.15421507589929, -1.1646899305260774, 1.1486428487559799, 0.43788500990653506, -1.6167562788730163 ], "act_eef_pose_l": [ 551.0062875079824, 373.6350907697837, 84.52283144788798, 1.709370500010005, -0.04708944024464892, 0.708698490459057 ], "act_eef_pose_r": [ 568.5886644042034, -292.16914812687867, 2.858543346919987, 1.549127309858037, 0.17752548404876084, 2.017742343441301 ], "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": [ 0.276319929667989, -0.683925286745599, -0.06707585169923552, -0.7012609015496316, 0.006314114608183087, -1.0232656253754926, 0.2520311241663626 ], "joint_pos_r": [ -0.5929644253426445, -0.7501517278099424, 0.1566219662649063, -1.1741846329907621, 1.2898825567225007, 0.453620145092141, -1.742090680695964 ], "eef_pose_l": [ 556.1910168299632, 372.1262850326181, 85.44382453547658, 1.6946767161702796, -0.059099200455249995, 0.7175443152155507 ], "eef_pose_r": [ 571.1948261799429, -311.93687193355913, 9.974023110401163, 1.5282340641541314, 0.179772242669783, 1.945164006802035 ], "joint_status_l": { "velocity": [ -0.16521697187688034, 1.686713884180513, -0.1010398693646053, -2.0319839046560872, 2.2833746284824237, -0.36769543458614606, -2.6033870369637224 ], "torque": [ -32.255859375, 10.0634765625, -15.191650390625, -3.1494140625, -2.2412109375, -0.10986328125, -0.54290771484375 ] }, "joint_status_r": { "velocity": [ -0.04326836815415902, -2.1887657903771895, -0.2599364930695458, 1.0253976236995754, -15.253438584261758, -1.6993444805595281, 13.535716182270008 ], "torque": [ 35.2294921875, 3.99169921875, 9.326171875, -1.531982421875, -1.7047119140625, 3.629150390625, 0.780029296875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.7, -7.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.7, -7.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.0, -2.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -2.3, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -349, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 139, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27434330379037397, -0.669537436766166, -0.06791140610561287, -0.7170374721178591, 0.0295877959283681, -1.0314668172662174, 0.22580080328146515 ], "act_joint_pos_r": [ -0.5961955014487054, -0.7782839424635657, 0.15332937258047952, -1.1613250112635654, 1.1223642906568507, 0.4320539028484157, -1.5958328903479722 ], "act_eef_pose_l": [ 550.7566875079824, 373.38789076978367, 84.37803144788795, 1.7104399906114918, -0.04580607916433184, 0.7055547008282228 ], "act_eef_pose_r": [ 567.8574644042035, -286.8179481268787, -1.2494566530799602, 1.5590141592158462, 0.17684262188141417, 2.0334768758942037 ], "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": [ 0.2760180149446506, -0.6814965646137489, -0.06721836961754077, -0.7040111462241496, 0.01003035633210401, -1.0243665912335294, 0.24782848827148368 ], "joint_pos_r": [ -0.5933546565747617, -0.7546226334722443, 0.15609646255045947, -1.1721261827833727, 1.2619448422653399, 0.4501800423227858, -1.7175694505347299 ], "eef_pose_l": [ 555.3149291959589, 372.34344623954007, 85.27901125351107, 1.6971952969667667, -0.0569916085167849, 0.7156917102583151 ], "eef_pose_r": [ 570.7204185661805, -307.73192331057305, 8.367686291891232, 1.5324353943652054, 0.17935525910010772, 1.9600975874014765 ], "joint_status_l": { "velocity": [ -0.1808634703790446, 1.2915477153763177, -0.07484573325483579, -1.4068017051211967, 2.112141182122232, -0.7668017959190365, -2.3789198164325676 ], "torque": [ -34.72412109375, 11.02294921875, -15.374755859375, -2.99072265625, -2.3876953125, -2.21923828125, -0.5859375 ] }, "joint_status_r": { "velocity": [ -0.3068021977385982, -2.555346005160608, -0.29883690303456056, 1.1664921202942935, -15.074254982332391, -1.9575653279293448, 13.147160745392128 ], "torque": [ 26.35986328125, 4.37255859375, 9.46044921875, -1.953125, -1.845703125, 3.87451171875, 0.9356689453125 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.8, -9.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.8, -9.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.0, -16.9, -2.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.0, -16.9, -2.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 97, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2742333902023206, -0.6688662332002707, -0.06796180929094894, -0.7181859063896328, 0.03075945170728067, -1.0344370728669883, 0.22494241530853107 ], "act_joint_pos_r": [ -0.5971043195322379, -0.7891915909618789, 0.15183460417701192, -1.1411396233333448, 1.0929096042131539, 0.4319138098723323, -1.5703966418531756 ], "act_eef_pose_l": [ 550.0750875079824, 372.9518907697837, 84.43483144788802, 1.7106915412821857, -0.04520185398578288, 0.7020423708882062 ], "act_eef_pose_r": [ 569.7478644042035, -285.5299481268787, -5.568656653080097, 1.5668782487568107, 0.1801065999464121, 2.038893874181302 ], "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": [ 0.2757109793559747, -0.6793153288712733, -0.06734591765803132, -0.7064285394020473, 0.01360481505150655, -1.0259174079633506, 0.24384842864500675 ], "joint_pos_r": [ -0.5938744894468785, -0.7591462834331133, 0.15555470519333878, -1.1691775520014134, 1.2372868450373562, 0.44719204875504004, -1.696078432843895 ], "eef_pose_l": [ 554.4452207981954, 372.4813260940674, 85.12879714091662, 1.6995429392479833, -0.0549694166605379, 0.7135146387086512 ], "eef_pose_r": [ 570.4153598588407, -304.13384297621735, 6.633489639843617, 1.5367429598989306, 0.17920468929912076, 1.9727472192400257 ], "joint_status_l": { "velocity": [ -0.15957492218410252, 1.1284690500534822, -0.0665143346196273, -1.2697581851428552, 1.8526461179471236, -0.9200966727922477, -2.0417892209854127 ], "torque": [ -36.05712890625, 10.9716796875, -15.216064453125, -3.94287109375, -2.578125, -2.3455810546875, -0.5474853515625 ] }, "joint_status_r": { "velocity": [ -0.34881136157771664, -3.244797512919284, -0.4017590605132071, 3.0280069898598327, -15.59228213923447, -1.6500011351503474, 13.573233105885762 ], "torque": [ 24.78515625, 1.7724609375, 8.97216796875, 1.20849609375, -2.958984375, 3.680419921875, 0.794677734375 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.8, -8.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.5, -16.8, -8.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.0, -1.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.1, -17.0, -1.8, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -330, "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": [ 0.27424452323677323, -0.6698692892726743, -0.06785881041263027, -0.7147036618316103, 0.03076498435571118, -1.0383093040956417, 0.22528955685781732 ], "act_joint_pos_r": [ -0.5953556260085535, -0.8033035155103534, 0.14998633153145188, -1.1159600989811975, 1.0855630558508214, 0.43255055480266097, -1.5634779983526323 ], "act_eef_pose_l": [ 549.9942875079824, 373.1246907697837, 84.35563144788789, 1.7105799722835706, -0.045196422406607005, 0.7006365258598507 ], "act_eef_pose_r": [ 573.8054644042035, -285.76834812687866, -8.731056653080032, 1.5711301219371652, 0.18328016971719988, 2.033139538670907 ], "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": [ 0.2754691779396531, -0.6776973154499226, -0.06743692256583687, -0.7080150335409353, 0.016425507619903357, -1.0277031534049923, 0.24077489672877467 ], "joint_pos_r": [ -0.5942552704054624, -0.7652976066239902, 0.1547843974527195, -1.1624056822227442, 1.2129209353626027, 0.4447350649205951, -1.6748227189085005 ], "eef_pose_l": [ 553.7218884918138, 372.57293962725987, 85.0099836404182, 1.7013477584157335, -0.053379936403120935, 0.7114658279254505 ], "eef_pose_r": [ 570.7041827838765, -301.03911668847803, 4.453852549682722, 1.541517204171658, 0.1797180235977529, 1.9833276730320164 ], "joint_status_l": { "velocity": [ -0.13225880714617944, 0.8454018933470309, -0.04556254365828405, -0.7223505508013872, 1.548617813426287, -1.1454304919231717, -1.6723673822240936 ], "torque": [ -36.767578125, 9.814453125, -10.4248046875, -4.19921875, -2.354736328125, -2.1881103515625, -0.53375244140625 ] }, "joint_status_r": { "velocity": [ -0.11883490028541388, -4.10451710346571, -0.5181758367176492, 5.0159750518119495, -13.754245327492143, -1.3158882826869167, 12.024875165300486 ], "torque": [ 25.0048828125, 4.73876953125, 10.0341796875, -0.40283203125, -1.4556884765625, 3.7188720703125, 0.70220947265625 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.9, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.9, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.5, -16.3, -4.0, 1.0, 0.6, 0.0 ], "actual_contact_FT": [ 2.5, -16.3, -4.0, 1.0, 0.6, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -335, "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": [ 0.2733576180505275, -0.6653836054794992, -0.06829726501390737, -0.7284792010949989, 0.03288013208210286, -1.0308852618723572, 0.22296277905070913 ], "act_joint_pos_r": [ -0.5927896733284159, -0.8198037848411382, 0.1480819899074228, -1.0945372309729262, 1.1346348492900553, 0.4269388115580483, -1.624818224325532 ], "act_eef_pose_l": [ 549.0918875079824, 371.67189076978366, 85.085231447888, 1.7109450482087554, -0.04497641543750752, 0.6986705569164752 ], "act_eef_pose_r": [ 579.7182644042035, -287.5267481268787, -11.459856653080124, 1.575102777061527, 0.20135441004131524, 2.008506657812697 ], "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": [ 0.27515256780730074, -0.6758070773879634, -0.06756099233905855, -0.7107521099970993, 0.019199526899735975, -1.028740660127959, 0.2377743982775866 ], "joint_pos_r": [ -0.5941945995230132, -0.773658573465726, 0.15374664333470411, -1.1520628827269521, 1.1952839274561555, 0.44202256791676786, -1.6612372542580525 ], "eef_pose_l": [ 552.9649337692483, 372.5045790802844, 84.97849037988874, 1.703009918617986, -0.05191261613375355, 0.7093100036580531 ], "eef_pose_r": [ 571.8878400590318, -298.5051858521342, 1.8872450147918869, 1.5468465641386755, 0.1821803006982351, 1.9897609660249427 ], "joint_status_l": { "velocity": [ -0.19384885646522854, 1.1257017653152346, -0.07951510371101422, -1.9144693743164964, 1.4774617842895632, -0.23161015741823832, -1.5996076985957952 ], "torque": [ -36.5625, 12.5390625, -14.959716796875, -3.91845703125, -2.5396728515625, -2.1221923828125, -0.53375244140625 ] }, "joint_status_r": { "velocity": [ 0.15172755405146177, -4.983535847010501, -0.6117645271161987, 6.212587158971772, -6.549907262751731, -1.628997642024732, 3.933139230971605 ], "torque": [ 31.58203125, 4.453125, 9.307861328125, -1.59912109375, -1.541748046875, 3.6419677734375, 0.73150634765625 ] }, "eef_FT_l": { "raw_value": [ 0.4, -17.2, -9.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.4, -17.2, -9.8, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.5, -16.7, 1.9, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.5, -16.7, 1.9, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -335, "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": [ 0.2729362229824515, -0.665459319258256, -0.0682629929574676, -0.726741097556473, 0.033212419328812484, -1.0328822361071792, 0.22284768802354074 ], "act_joint_pos_r": [ -0.5910616308662541, -0.8317551785550192, 0.14662431970588352, -1.0698721078371884, 1.1249991329303803, 0.43262736167098703, -1.6135282440337773 ], "act_eef_pose_l": [ 549.0302875079824, 371.9902907697837, 85.24763144788794, 1.7109545833207302, -0.04523909524587762, 0.6982825911839122 ], "act_eef_pose_r": [ 583.3462644042035, -288.5451481268787, -13.247856653080134, 1.5742688126195303, 0.20325314998035401, 2.0020688474010315 ], "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": [ 0.27478210067032216, -0.6739736615049464, -0.0676868525144196, -0.7136673699429631, 0.0216602483178713, -1.0293715058671724, 0.23514107550839897 ], "joint_pos_r": [ -0.5937511995703756, -0.7831660637882301, 0.1525805973650995, -1.1391085817474835, 1.1834733391218022, 0.43999754503894817, -1.6535240703404428 ], "eef_pose_l": [ 552.2756366622208, 372.3961355095913, 85.01928842684742, 1.7044057245739828, -0.05071954870761492, 0.7073655857043016 ], "eef_pose_r": [ 573.733566283268, -296.7062786527631, -0.6790327229518027, 1.55159545989947, 0.18577155522140376, 1.9923267561684876 ], "joint_status_l": { "velocity": [ -0.19934891080830575, 0.9195218427962004, -0.06222133272903996, -1.4119209398764099, 1.247597673255163, -0.3791476835566243, -1.3276466915188578 ], "torque": [ -36.30615234375, 11.220703125, -14.84375, -2.972412109375, -2.4169921875, -2.0599365234375, -0.6573486328125 ] }, "joint_status_r": { "velocity": [ 0.2904648532418008, -5.24746962896927, -0.6432590152847251, 7.47731865058654, -6.315028016878443, -0.7959563282629034, 4.319421846583182 ], "torque": [ 33.896484375, 2.95166015625, 8.905029296875, -1.617431640625, -1.695556640625, 3.651123046875, 0.66558837890625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.4, -7.8, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.4, -7.8, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.6, -16.4, -0.9, 0.9, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -16.4, -0.9, 0.9, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -360, "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": [ 0.27218969750148414, -0.6604826636361394, -0.0685895694184056, -0.7333154863989252, 0.03390283943651568, -1.029712448617923, 0.22227770362374002 ], "act_joint_pos_r": [ -0.5885939091634058, -0.8539583428384623, 0.14414953784637247, -1.0317637423726962, 1.1359895814330583, 0.43521918955051747, -1.626778910198225 ], "act_eef_pose_l": [ 548.2030875079824, 372.8454907697837, 85.99403144788793, 1.7110567835391026, -0.046239847160747846, 0.6997304012024388 ], "act_eef_pose_r": [ 589.8982644042035, -289.89154812687866, -17.145456653080146, 1.5769756013665532, 0.2116758724269097, 1.984588843945782 ], "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": [ 0.2743944069440777, -0.6720123634767253, -0.06781841912620012, -0.7165585023894413, 0.023637280310617806, -1.0295909657760929, 0.23305578128944787 ], "joint_pos_r": [ -0.5931309938593678, -0.792448590491776, 0.15146391491816102, -1.1253258555192485, 1.1755411660416388, 0.4391013887798271, -1.6485909452670147 ], "eef_pose_l": [ 551.6518516927205, 372.42639903445684, 85.14201913694214, 1.7054885472307098, -0.04992865654548673, 0.7060259906259799 ], "eef_pose_r": [ 575.8224672885921, -295.63000296081117, -2.946606014430813, 1.5551700542748088, 0.18910028836306203, 1.9922350513812719 ], "joint_status_l": { "velocity": [ -0.23810159736892267, 1.2451708584322319, -0.08328177529348668, -1.8097008987494334, 1.108647687781239, -0.013119759970869893, -1.163998057608806 ], "torque": [ -36.7822265625, 11.0302734375, -15.240478515625, -2.83203125, -2.720947265625, -1.3128662109375, -0.5218505859375 ] }, "joint_status_r": { "velocity": [ 0.4899906956605804, -6.642857332836982, -0.7899294260302892, 10.104410206178471, -4.271445158186893, -0.41926515120094265, 2.35563031182906 ], "torque": [ 35.93994140625, 3.3251953125, 9.4482421875, -0.421142578125, -0.794677734375, 3.511962890625, 0.7415771484375 ] }, "eef_FT_l": { "raw_value": [ 1.2, -16.4, -6.0, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 1.2, -16.4, -6.0, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 2.9, -15.6, -3.1, 0.8, 0.6, 0.0 ], "actual_contact_FT": [ 2.9, -15.6, -3.1, 0.8, 0.6, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -366, "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": [ 0.2725561427947013, -0.659613966064326, -0.0685801364269207, -0.7308948353296988, 0.033096524105200816, -1.0333642827032035, 0.22286456769267105 ], "act_joint_pos_r": [ -0.586059828726595, -0.8683911198526167, 0.14285333740459552, -1.0186496125974298, 1.1344911922474825, 0.43620522980527754, -1.6312413376366284 ], "act_eef_pose_l": [ 547.7734875079824, 373.7238907697837, 85.99563144788799, 1.7106242337500508, -0.046062670213008264, 0.699482002393053 ], "act_eef_pose_r": [ 592.6238644042035, -285.6363481268787, -17.8974566530801, 1.575421281285787, 0.216682621750734, 1.9861446177139626 ], "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": [ 0.27405077584457566, -0.669864340855649, -0.06795357621913091, -0.7192162234348866, 0.025350704224268213, -1.0300726553641655, 0.2312240841644176 ], "joint_pos_r": [ -0.5919873638299855, -0.8057048497158072, 0.14993495952391575, -1.1061593115099464, 1.1678953675488157, 0.4384787767434298, -1.6449712147801923 ], "eef_pose_l": [ 550.9907106368646, 372.6124599498902, 85.29384431448929, 1.7064132201327566, -0.04925363028243857, 0.7048749106053233 ], "eef_pose_r": [ 578.887266453717, -294.147631334113, -5.768016602852214, 1.5590294182407807, 0.19384574346837752, 1.9908493335706412 ], "joint_status_l": { "velocity": [ -0.16141560868776494, 1.1070078280122075, -0.06766650672429542, -1.2612528859738958, 0.8365238751878445, -0.3554852681384446, -0.9028011522520529 ], "torque": [ -37.9541015625, 10.52490234375, -14.9169921875, -3.424072265625, -2.603759765625, -2.281494140625, -0.589599609375 ] }, "joint_status_r": { "velocity": [ 0.6401549108066007, -6.769917506731282, -0.7647926325335952, 9.450768747027993, -3.60754453370582, -0.2455358276285402, 1.482782999158161 ], "torque": [ 37.6318359375, 2.36572265625, 8.734130859375, -2.05078125, -1.446533203125, 3.8232421875, 0.65185546875 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.5, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.5, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.2, -1.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.5, -17.2, -1.2, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "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": [ 0.2746053182619869, -0.6519767549406127, -0.06910761416058983, -0.7417798073256795, 0.030902229281505007, -1.0264907060824526, 0.22479882317238062 ], "act_joint_pos_r": [ -0.5820413170242266, -0.8752090111362285, 0.1423823844354725, -1.0153242828551032, 1.0710001846450687, 0.44963662817335553, -1.5682553897967624 ], "act_eef_pose_l": [ 546.4086875079824, 375.00949076978367, 85.91883144788794, 1.7102883105553521, -0.04656156612193023, 0.7032381440246869 ], "act_eef_pose_r": [ 591.7726644042035, -277.2139481268787, -14.604656653080156, 1.5631035388432424, 0.21078419306781493, 2.015722684011229 ], "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": [ 0.2740384148161062, -0.6679166425942514, -0.06807783929009609, -0.7216228473185707, 0.02613838684775121, -1.0298971288629277, 0.23033672874075747 ], "joint_pos_r": [ -0.590613202621642, -0.8166883231166289, 0.14872393044135862, -1.0914423705290892, 1.156088730967582, 0.4394409729926984, -1.636449176933095 ], "eef_pose_l": [ 550.4709688127156, 372.86612881164837, 85.37490037139261, 1.7069134952503784, -0.04889176011987406, 0.7045157779123018 ], "eef_pose_r": [ 581.1381152947586, -291.9927415798269, -7.449069201633961, 1.5602793732698599, 0.1969751827940481, 1.9928526435860763 ], "joint_status_l": { "velocity": [ 0.06122376645656402, 1.7214570949306562, -0.11121240597872228, -2.1768874769030333, 0.5144798090745417, 0.36788281016875146, -0.5980761620711927 ], "torque": [ -31.06201171875, 11.4111328125, -15.130615234375, -4.1748046875, -2.5543212890625, -0.8074951171875, -0.57586669921875 ] }, "joint_status_r": { "velocity": [ 0.9257363413874842, -6.320047906267945, -0.6848667695702471, 8.220511017777987, -9.189291979151193, 1.1010982843528971, 7.364711800160961 ], "torque": [ 38.818359375, 2.65869140625, 9.552001953125, -2.3193359375, -1.5289306640625, 5.92529296875, 0.74798583984375 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.7, -7.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.7, -16.7, -7.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.7, -2.2, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -17.7, -2.2, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "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": [ 0.27683134966461576, -0.6459835063763684, -0.06955716113366271, -0.751572115374285, 0.03028183160950864, -1.0188370558094069, 0.2241840682256951 ], "act_joint_pos_r": [ -0.5800777278546909, -0.875743385228085, 0.14256316173895, -1.0238349169415186, 1.0417525170522453, 0.4607033527586329, -1.540373709033133 ], "act_eef_pose_l": [ 545.4062875079824, 375.8574907697836, 85.32203144788791, 1.7114866613760926, -0.04508387705699567, 0.7071591827966532 ], "act_eef_pose_r": [ 589.7854644042035, -270.96674812687866, -10.789456653080151, 1.550281101739546, 0.2067433112744799, 2.035926284477468 ], "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": [ 0.2743298327293564, -0.6645836011525271, -0.06829852187222112, -0.726027788090571, 0.026927390852918072, -1.0286375043532094, 0.229304781722814 ], "joint_pos_r": [ -0.588876044238582, -0.8270955730222738, 0.1476230912155512, -1.0789444166832214, 1.1377439712530557, 0.4424924509904175, -1.6212456944870917 ], "eef_pose_l": [ 549.6721978638177, 373.3246504353043, 85.41662313420434, 1.707612804820881, -0.048345622098346024, 0.7046250157378419 ], "eef_pose_r": [ 582.8797239067026, -288.76266967151076, -8.256836832384693, 1.5589468339680757, 0.19894553162473574, 1.9988798171712778 ], "joint_status_l": { "velocity": [ 0.27015586118661616, 2.0087509908819356, -0.1359290312231698, -2.7587059829574656, 0.36226891716117926, 1.0584172263836678, -0.5530207472137505 ], "torque": [ -28.2861328125, 11.91650390625, -15.435791015625, -3.18603515625, -2.552490234375, -0.16845703125, -0.54656982421875 ] }, "joint_status_r": { "velocity": [ 0.950190145100116, -5.253808765420587, -0.5464562666068762, 5.951650437557632, -10.366771302113165, 1.966719385679383, 8.733916835920397 ], "torque": [ 39.90966796875, 4.16748046875, 9.8388671875, -1.7333984375, -1.3128662109375, 6.59912109375, 0.8111572265625 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.5, -5.8, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -16.5, -5.8, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.9, -1.5, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -17.9, -1.5, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -343, "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": [ 0.2789939691630391, -0.6426644620646205, -0.06985397993622032, -0.7589947560871746, 0.028054789707795784, -1.012811312347625, 0.22472397451925985 ], "act_joint_pos_r": [ -0.5784832001027995, -0.8714806792096813, 0.14320337229830485, -1.0387296258949539, 1.0227211304002557, 0.4736882075587196, -1.5229364103700713 ], "act_eef_pose_l": [ 544.8486875079824, 375.84309076978366, 84.83643144788793, 1.7110750068489247, -0.04353127360907483, 0.7094775430230235 ], "act_eef_pose_r": [ 586.8982644042035, -266.0611481268787, -5.609456653080088, 1.5338923325284042, 0.20376512819565215, 2.053299100205233 ], "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": [ 0.27492680887946525, -0.6612407733461729, -0.06853092883458338, -0.7308646562353216, 0.027287573863597356, -1.026508830168471, 0.22850933062081313 ], "joint_pos_r": [ -0.587119482810062, -0.8351597216716933, 0.14680913357904135, -1.0710776506154025, 1.1183735071355971, 0.44734866521412164, -1.6047493692580728 ], "eef_pose_l": [ 548.9296215173288, 373.7472701459825, 85.35477810463416, 1.708213033570238, -0.04766879577003141, 0.7052399484537387 ], "eef_pose_r": [ 583.8372307948608, -285.0736986705737, -7.999295956328552, 1.554923351656327, 0.1999201316779744, 2.007199692749149 ], "joint_status_l": { "velocity": [ 0.43924035592390887, 2.0061824492190183, -0.14288530479994455, -3.0379611841242493, 0.08285686744075038, 1.4792882953749142, -0.40880640186746753 ], "torque": [ -25.39306640625, 9.7265625, -15.4052734375, -3.41796875, -2.6495361328125, -0.120849609375, -0.509033203125 ] }, "joint_status_r": { "velocity": [ 0.932691024133625, -3.922547724741321, -0.3894107332640395, 3.4934836350162257, -10.330152015869842, 2.8445866766171335, 8.83553896961331 ], "torque": [ 39.55810546875, 2.16064453125, 9.53369140625, -1.837158203125, -1.593017578125, 6.62109375, 0.80657958984375 ] }, "eef_FT_l": { "raw_value": [ 1.2, -16.8, -8.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 1.2, -16.8, -8.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.2, -1.1, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -17.2, -1.1, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -400, "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": [ 0.27954163919361236, -0.6417073333917135, -0.06995595584694368, -0.7616920350738645, 0.02786937021517377, -1.0110268693680928, 0.22427007918953834 ], "act_joint_pos_r": [ -0.5772943216253044, -0.8674777659092432, 0.1437112288558615, -1.0481379980349819, 1.0141001746279752, 0.47870994645834164, -1.5162819959173086 ], "act_eef_pose_l": [ 544.6278875079825, 375.6414907697837, 84.687631447888, 1.7111731236757708, -0.04271007929027184, 0.709625294063254 ], "act_eef_pose_r": [ 585.2398644042034, -264.1843481268787, -2.72385665308002, 1.5264474389801166, 0.20392749557597814, 2.0615472781889372 ], "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": [ 0.2757426900903029, -0.6576469579039828, -0.0687897928389262, -0.7364139462664447, 0.027416681193487957, -1.0237662329919648, 0.22775477477010048 ], "joint_pos_r": [ -0.5853370806465058, -0.8415212753877184, 0.1461915119539275, -1.0661483337167394, 1.099205233586617, 0.4529606635194634, -1.5884450857478185 ], "eef_pose_l": [ 548.146183468713, 374.1335264758417, 85.23906268182793, 1.708760059020772, -0.04681006107924854, 0.706053288740148 ], "eef_pose_r": [ 584.3063251722983, -281.2992251024541, -7.1272224921368945, 1.5496209152631875, 0.20062405642731113, 2.016538366218757 ], "joint_status_l": { "velocity": [ 0.41027440276075744, 1.7214286765003806, -0.12594189040832093, -2.7299530755389156, 0.04888897243890411, 1.3758106940118253, -0.3763360232631463 ], "torque": [ -24.755859375, 9.287109375, -15.36865234375, -3.607177734375, -3.6419677734375, -0.069580078125, -0.48431396484375 ] }, "joint_status_r": { "velocity": [ 0.8685923565279197, -2.8032182998201094, -0.2678626744039292, 1.9450588871841035, -9.191075291258066, 2.7808405408911163, 7.793383848126112 ], "torque": [ 38.701171875, 3.8671875, 9.088134765625, -1.42822265625, -1.3055419921875, 6.6925048828125, 0.60516357421875 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.8, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.7, -16.8, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -17.0, -2.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.0, -17.0, -2.3, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -372, "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": [ 0.2805923159708911, -0.6463543649558962, -0.0695144695097594, -0.749301531728464, 0.024739997112858233, -1.0196463908780913, 0.22597705630917478 ], "act_joint_pos_r": [ -0.5759046373411723, -0.8669552072528888, 0.14376315135557635, -1.0475766708070642, 0.9994456270811359, 0.48621469006809737, -1.5037607391243484 ], "act_eef_pose_l": [ 545.2854875079825, 376.37829076978363, 84.11643144788813, 1.709546936825252, -0.0413457482991146, 0.7092999381671284 ], "act_eef_pose_r": [ 584.7374644042035, -263.2251481268787, -0.8438566530801381, 1.5198919936012272, 0.2058284567653463, 2.0677606248999476 ], "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": [ 0.2765510706093252, -0.6550328921402128, -0.0689723234545859, -0.740128273321773, 0.027233487308401732, -1.0220983159081667, 0.22724264329149454 ], "joint_pos_r": [ -0.5839968751176257, -0.8454164627120971, 0.14581947657504754, -1.0633662431836837, 1.085028085405832, 0.4575138294975071, -1.5764156843977783 ], "eef_pose_l": [ 547.5413199328609, 374.4858532641473, 85.08268120592427, 1.7090742821779539, -0.04591491416030631, 0.7067001465820331 ], "eef_pose_r": [ 584.4781812459527, -278.65665827249853, -6.249920427590922, 1.545247221983426, 0.20125487801296904, 2.023583792669105 ], "joint_status_l": { "velocity": [ 0.43644162689115973, 0.9372532930980171, -0.05855004711741163, -0.9906826892986942, -0.26928899886424773, 0.26480009338669674, -0.13667936294825545 ], "torque": [ -23.38623046875, 11.19140625, -15.850830078125, -2.57568359375, -4.5721435546875, 0.025634765625, -0.5072021484375 ] }, "joint_status_r": { "velocity": [ 0.8739359044955819, -2.3261158052862996, -0.22207657390449498, 1.7052235237962066, -9.242632902181747, 3.099601523763429, 7.846502669304201 ], "torque": [ 39.67529296875, 2.6513671875, 8.85009765625, -2.630615234375, -1.2030029296875, 6.5313720703125, 0.7818603515625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.3, -7.2, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.3, -7.2, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.1, -2.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.1, -2.3, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -345, "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": [ 0.2806465342729132, -0.6497690904196252, -0.06925138148149249, -0.7431677334853839, 0.02475673709699934, -1.023474009620891, 0.2265733989347466 ], "act_joint_pos_r": [ -0.5756509031826873, -0.867323783976893, 0.14368681159084226, -1.044149687290055, 0.9912330057228855, 0.48947132258115555, -1.4974426233088656 ], "act_eef_pose_l": [ 545.8286875079824, 376.16869076978367, 83.74843144788797, 1.709636033995983, -0.04140831600940374, 0.708131725577124 ], "act_eef_pose_r": [ 584.8190644042035, -263.4523481268787, -0.7262566530800996, 1.518607759875172, 0.2081462074488644, 2.069361026589734 ], "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": [ 0.2772185831135596, -0.6538046117083304, -0.0690461617488398, -0.7412798805241171, 0.026824541905988746, -1.0219176529713025, 0.22706924003579326 ], "joint_pos_r": [ -0.5825478047709354, -0.8492512688490834, 0.1454503967582292, -1.0603274225410013, 1.0693042429235458, 0.46282319183263854, -1.563114132066619 ], "eef_pose_l": [ 547.2029308051417, 374.78575853623454, 84.90119933193449, 1.7091559018564473, -0.04516661875590955, 0.7070592170822919 ], "eef_pose_r": [ 584.6023520115785, -275.98412722267756, -5.231837906470361, 1.540357137325902, 0.20220232845695263, 2.031171164187107 ], "joint_status_l": { "velocity": [ 0.37020780651464413, 0.435823445255501, -0.022163077461390124, -0.20388210663480066, -0.22331633300767817, -0.16808156085446058, -0.05354925956213563 ], "torque": [ -23.98681640625, 9.7119140625, -11.29150390625, -2.264404296875, -5.0830078125, -1.248779296875, -0.538330078125 ] }, "joint_status_r": { "velocity": [ 0.744843403548856, -1.9517740693038022, -0.1904615807137855, 1.747143877848245, -8.431444945495414, 2.8779132413254693, 7.092313769224035 ], "torque": [ 40.23193359375, 2.16796875, 8.294677734375, -2.3681640625, -1.468505859375, 6.4947509765625, 0.84503173828125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.7, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -16.7, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.2, -16.7, -2.7, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.2, -16.7, -2.7, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -322, "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": [ 0.2792383721263439, -0.6500234158203335, -0.06937035140090363, -0.7497412729381145, 0.026621282151647406, -1.016843391794272, 0.22540926542501608 ], "act_joint_pos_r": [ -0.5762748063031555, -0.8672320919089817, 0.14368260101747884, -1.0429821461107405, 0.9913851207175117, 0.4892389671454437, -1.5001480249840167 ], "act_eef_pose_l": [ 546.2774875079824, 374.5286907697837, 84.25083144788805, 1.710037383571762, -0.04237513262087811, 0.7076833656352486 ], "act_eef_pose_r": [ 584.8614644042035, -263.9611481268787, -1.2742566530801014, 1.5197540690186557, 0.21086774029291264, 2.068233727042239 ], "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": [ 0.277689133976866, -0.6530737990750031, -0.0690999486811398, -0.7424651634598868, 0.02666862329337657, -1.0213762602453857, 0.2268288015790709 ], "joint_pos_r": [ -0.5815629456483803, -0.8519854676755257, 0.14518227438971318, -1.0577555920994806, 1.0574685428705641, 0.4668451358633614, -1.5534146130423747 ], "eef_pose_l": [ 547.0003009505361, 374.84084347683535, 84.7460044780843, 1.7092970831047298, -0.04457750126507469, 0.7072050950510191 ], "eef_pose_r": [ 584.6851730438738, -274.16018525754856, -4.563552998062903, 1.5369502156373493, 0.20336458065946034, 2.0366308340038777 ], "joint_status_l": { "velocity": [ 0.1673127855168488, 0.3294316754365312, -0.029202632448876997, -0.7857966478148626, -0.005112692515935047, 0.4895353546467973, -0.15330538313751418 ], "torque": [ -24.33837890625, 10.2685546875, -12.0849609375, -3.466796875, -4.222412109375, -0.0311279296875, -0.5072021484375 ] }, "joint_status_r": { "velocity": [ 0.5711022055256976, -1.6465868537292039, -0.16195994744805375, 1.595485110466477, -7.136799103892422, 2.418462449727876, 5.752621845790173 ], "torque": [ 40.11474609375, 3.3251953125, 8.251953125, -2.47802734375, -1.4447021484375, 6.2786865234375, 0.68206787109375 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.7, -7.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -16.7, -7.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -16.6, -2.1, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -16.6, -2.1, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -347, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 22, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.27909205523230574, -0.6505103305150115, -0.06930507740531038, -0.747450947125646, 0.026593549019519536, -1.0181289790038703, 0.22508473795667175 ], "act_joint_pos_r": [ -0.5770179655791536, -0.8678707149814228, 0.14358120820746065, -1.0395873825777988, 0.9906056908705513, 0.4899235653469517, -1.5010532394143028 ], "act_eef_pose_l": [ 546.4158875079825, 374.91269076978364, 84.24843144788797, 1.7100919478935468, -0.04213264882641943, 0.7082325495951336 ], "act_eef_pose_r": [ 585.1342644042035, -264.72034812687866, -2.0582566530799795, 1.5208566455064483, 0.213045996852332, 2.0665193725493634 ], "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": [ 0.2779273106920604, -0.6526272751228213, -0.06913703592524413, -0.7434028750936378, 0.026657711145531723, -1.0207761471022385, 0.2265588158598412 ], "joint_pos_r": [ -0.5807018766429484, -0.8547447197915654, 0.14490703447335784, -1.0548058618052116, 1.0457069121237528, 0.4708726471975985, -1.5440866697991498 ], "eef_pose_l": [ 546.8973538425712, 374.8330141089678, 84.66410419908294, 1.709424841384767, -0.04418788179191224, 0.7073455067832994 ], "eef_pose_r": [ 584.7793680888902, -272.4563711440398, -4.026934766033548, 1.5338354946622452, 0.20490550395665189, 2.041864755664509 ], "joint_status_l": { "velocity": [ 0.12578870040713674, 0.22862327476058653, -0.01814794460208713, -0.43717888555505624, -0.006929305240405137, 0.2858857228762446, -0.1591957183157966 ], "torque": [ -23.671875, 10.6201171875, -13.1591796875, -3.729248046875, -4.5501708984375, -0.1336669921875, -0.50445556640625 ] }, "joint_status_r": { "velocity": [ 0.3978506609119137, -1.4175656716393092, -0.14318501370080838, 1.6435472827254216, -5.950756387168354, 2.0574384792255707, 4.647473411662162 ], "torque": [ 40.1513671875, 1.8017578125, 8.544921875, -2.05078125, -1.26708984375, 6.2713623046875, 0.7342529296875 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.9, -7.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.9, -7.8, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.4, -17.0, -1.6, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.4, -17.0, -1.6, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "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": [ 0.2791759440385508, -0.6498316671359686, -0.0693259198832505, -0.7470453842115791, 0.02792574308982789, -1.0177246983566215, 0.22344048259703067 ], "act_joint_pos_r": [ -0.5776949269080784, -0.872654320616781, 0.14296138350344717, -1.024505825146226, 0.9763350506781041, 0.49198148391990076, -1.4929879598605322 ], "act_eef_pose_l": [ 546.3590875079824, 375.4926907697837, 83.98283144788802, 1.7115320602529747, -0.0413255074880569, 0.7095455045160812 ], "act_eef_pose_r": [ 586.5134644042035, -266.0587481268787, -4.591056653080159, 1.525543041590263, 0.220785892181786, 2.0653488451575197 ], "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": [ 0.2781438191301359, -0.6521674551949868, -0.06916937367649116, -0.7440674985263384, 0.026814252125888508, -1.0202571573865704, 0.22609097461098346 ], "joint_pos_r": [ -0.5801635929405395, -0.8573783744899962, 0.14462742382858387, -1.0508039246256813, 1.0352290962033603, 0.47420922058212195, -1.5362099598716248 ], "eef_pose_l": [ 546.8052495604354, 374.92027232351194, 84.55691693193734, 1.7097243173543761, -0.043722056230415106, 0.7076672033444412 ], "eef_pose_r": [ 585.0006308224307, -271.34011811054813, -3.925315375717531, 1.531999611087652, 0.20702746733445487, 2.045649380212963 ], "joint_status_l": { "velocity": [ 0.11146620258872808, 0.25225767043135505, -0.016906491699664183, -0.3216021688565718, 0.12003748378910939, 0.27349750885719004, -0.2862446951710229 ], "torque": [ -23.583984375, 10.25390625, -14.007568359375, -3.5400390625, -3.511962890625, -0.142822265625, -0.465087890625 ] }, "joint_status_r": { "velocity": [ 0.266608068320906, -1.6497535248127804, -0.17992704845015695, 2.840110979185795, -6.360369327662596, 1.9193478323416002, 4.6678383306666404 ], "torque": [ 39.9755859375, 3.17138671875, 8.38623046875, -1.995849609375, -1.0528564453125, 6.2017822265625, 0.8367919921875 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.6, -8.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -16.6, -8.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.0, -0.9, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.5, -17.0, -0.9, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -375, "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": [ 0.27871163017367834, -0.649316449011987, -0.06937037541748245, -0.7481915211340802, 0.02890725917852531, -1.017418342835654, 0.22276610997343424 ], "act_joint_pos_r": [ -0.5765038199751769, -0.8779698512156844, 0.14235130807371807, -1.012027630944148, 0.9686898788641756, 0.4937276059849926, -1.4886979571517618 ], "act_eef_pose_l": [ 546.2374875079825, 375.4054907697837, 84.14203144788785, 1.7119461693874007, -0.04150972608958666, 0.7090862299930845 ], "act_eef_pose_r": [ 588.2366644042035, -266.65554812687867, -5.60065665308025, 1.5270210695650557, 0.22601403006793136, 2.063279398846988 ], "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": [ 0.27825430754711716, -0.6517616477693932, -0.06919755840021158, -0.7446335276828825, 0.02708059768970178, -1.0198422708351078, 0.22562156633675456 ], "joint_pos_r": [ -0.579608638339304, -0.8606080005189606, 0.14427217261637182, -1.044913053432885, 1.024055705268093, 0.4775251845367405, -1.5281412409134412 ], "eef_pose_l": [ 546.7255552702152, 374.99854737735, 84.48541617794575, 1.7100401633038858, -0.04337580295561922, 0.7079059864433487 ], "eef_pose_r": [ 585.4639704683568, -270.4900768522815, -4.113378831783535, 1.530824220677709, 0.21000249386385642, 2.048773721058037 ], "joint_status_l": { "velocity": [ 0.04938938700638218, 0.2640736773633634, -0.01866368740921498, -0.3842519598240557, 0.19727362251845126, 0.2617765032555397, -0.3083801920509277 ], "torque": [ -25.51025390625, 9.2724609375, -14.66064453125, -4.254150390625, -3.1256103515625, -0.1483154296875, -0.59326171875 ] }, "joint_status_r": { "velocity": [ 0.33531049387214296, -1.8750245743515137, -0.20744725227705985, 3.55152088227495, -5.979332900626133, 1.7498099085266894, 4.259749011682246 ], "torque": [ 41.66015625, 2.32177734375, 8.349609375, -1.361083984375, -0.9576416015625, 6.4837646484375, 0.589599609375 ] }, "eef_FT_l": { "raw_value": [ 0.5, -17.0, -7.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -17.0, -7.8, 1.4, 0.0, 0.1 ] }, "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": -393, "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": [ 0.27694675933345575, -0.6474232427178399, -0.0695705585922996, -0.7542546735239751, 0.03072771727819521, -1.0134456593005274, 0.2220044296112799 ], "act_joint_pos_r": [ -0.5732361582087507, -0.8840306147341175, 0.14168191202068608, -0.9986503792048504, 0.9563672905014204, 0.49606745797412927, -1.4790485351327036 ], "act_eef_pose_l": [ 546.0926875079824, 374.80069076978367, 85.04363144788799, 1.7120529302405987, -0.04324767604425525, 0.7085962533152746 ], "act_eef_pose_r": [ 590.3302644042035, -266.70674812687867, -5.551856653079994, 1.526958224081567, 0.23105504920962697, 2.063095788022589 ], "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": [ 0.27819062732980737, -0.6512852498355705, -0.0692360143581047, -0.7455652698642603, 0.02746577068057638, -1.019218895694358, 0.22516972561035545 ], "joint_pos_r": [ -0.5786909481710002, -0.8643616353498274, 0.14385701107601054, -1.0375891074151555, 1.012876046038797, 0.48065394436690045, -1.520078468721285 ], "eef_pose_l": [ 546.6476002947416, 375.0116393913482, 84.50241123561662, 1.7103136987049128, -0.04324008327281938, 0.7080340280845945 ], "eef_pose_r": [ 586.2783945655062, -269.7981997704396, -4.359448850563098, 1.52989602847832, 0.2136893159062557, 2.051334720396663 ], "joint_status_l": { "velocity": [ -0.13433378164284804, 0.41708446746646644, -0.036129711704135925, -0.938427917796858, 0.3522798426042473, 0.6234911416456157, -0.34184188581276587 ], "torque": [ -28.11767578125, 9.4482421875, -15.44189453125, -3.912353515625, -2.7813720703125, -0.0567626953125, -0.53741455078125 ] }, "joint_status_r": { "velocity": [ 0.5890999413491471, -2.124187123952126, -0.23490376985879635, 4.205258619240482, -6.102765606586402, 1.6646103745219243, 4.431102139196952 ], "torque": [ 42.01171875, 2.578125, 8.331298828125, -2.557373046875, -0.9832763671875, 6.4471435546875, 0.8441162109375 ] }, "eef_FT_l": { "raw_value": [ 0.8, -16.8, -7.9, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.8, -16.8, -7.9, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -17.1, -1.6, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.0, -17.1, -1.6, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -343, "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": [ 0.27565834763037617, -0.6490633936185135, -0.0693446996145882, -0.7463268832451108, 0.030155479579650903, -1.01943209909458, 0.2223528915236958 ], "act_joint_pos_r": [ -0.5701058209882649, -0.8896183896581028, 0.14107658874020884, -0.9862273129559911, 0.939949292544279, 0.5008874757822298, -1.4651271863162485 ], "act_eef_pose_l": [ 546.4614875079824, 375.95029076978363, 85.59803144788798, 1.7110794147074257, -0.04400230931552326, 0.7089973866682275 ], "act_eef_pose_r": [ 591.9614644042035, -266.2243481268787, -5.096656653080117, 1.5251488786157554, 0.23530776226796277, 2.0656498274619275 ], "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": [ 0.27787780427424, -0.6507206722571287, -0.06927887976400207, -0.7465300219418127, 0.028001250923525605, -1.0186297717411013, 0.22463519938030782 ], "joint_pos_r": [ -0.5774828465141032, -0.8681509129968017, 0.14343922633242795, -1.0299520992912683, 1.0019532506707967, 0.48366727816903005, -1.5119486492064669 ], "eef_pose_l": [ 546.5765361058325, 375.0573549411758, 84.63785187109528, 1.7105519868776007, -0.04329441966387708, 0.7081615968821668 ], "eef_pose_r": [ 587.08017445541, -269.3050242750293, -4.469830003659808, 1.5290792169867409, 0.21677089120056942, 2.0532305307545826 ], "joint_status_l": { "velocity": [ -0.23969424813352624, 0.17898081421385825, -0.007108334214189771, 0.021938332207760425, 0.23264983322149324, -0.08664879860553754, -0.24648197891674606 ], "torque": [ -30.91552734375, 10.4150390625, -16.41845703125, -2.093505859375, -2.51220703125, -1.1865234375, -0.52276611328125 ] }, "joint_status_r": { "velocity": [ 0.7966952595204191, -2.3184191013037037, -0.2551573344964364, 4.722137652204417, -6.696229982917856, 1.8597264925244161, 5.056568856618426 ], "torque": [ 41.97509765625, 2.33642578125, 8.538818359375, -3.045654296875, -1.1773681640625, 6.5130615234375, 0.62347412109375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.7, -8.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.7, -8.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.1, -1.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -17.1, -1.4, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -332, "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": [ 0.27576145289160797, -0.6488069871489794, -0.06932834712086332, -0.7449379862122705, 0.02994322173384611, -1.0198940274972224, 0.22282337708003092 ], "act_joint_pos_r": [ -0.5689968941856115, -0.8920839391999574, 0.1408168847867162, -0.9806175014649153, 0.9315118848449976, 0.5037484719112267, -1.457858859319688 ], "act_eef_pose_l": [ 546.4950875079825, 376.53669076978366, 85.54443144788802, 1.7112258179116546, -0.044417900421038055, 0.7101202827168362 ], "act_eef_pose_r": [ 592.5486644042035, -265.9147481268787, -4.9766566530802265, 1.5241873888332693, 0.23704014871497403, 2.067446252061167 ], "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": [ 0.27749424096454295, -0.6504056297713425, -0.06928911281896993, -0.7463748186984133, 0.02836390671318563, -1.0188113030797776, 0.22427207621984996 ], "joint_pos_r": [ -0.5759485662972244, -0.8725197748654346, 0.14295987188507273, -1.0209795353256528, 0.9891689069339455, 0.48728308167020035, -1.502181689579018 ], "eef_pose_l": [ 546.559390690829, 375.2655922595289, 84.80301925964758, 1.7106580474303732, -0.0434556984680146, 0.7084053594636808 ], "eef_pose_r": [ 588.1069235076874, -268.712798601993, -4.541743992953144, 1.5279772429414846, 0.22052181563226297, 2.0556269011572312 ], "joint_status_l": { "velocity": [ -0.1871355926077456, 0.17264831122609792, -0.004237179635491195, 0.15517333191095162, 0.17056099180376427, -0.11693078839414284, -0.15645489271021162 ], "torque": [ -33.7939453125, 11.396484375, -15.93017578125, -0.701904296875, -2.611083984375, -1.4227294921875, -0.50537109375 ] }, "joint_status_r": { "velocity": [ 0.7507584456174499, -2.112867432434662, -0.2314357807891021, 4.358971095979491, -6.22677473670219, 1.7782097005389907, 4.7867244911152795 ], "torque": [ 41.0595703125, 3.85986328125, 8.111572265625, -2.03857421875, -1.1334228515625, 6.1358642578125, 0.7452392578125 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.8, -7.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.6, -16.8, -7.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.1, -1.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -17.1, -1.8, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -389, "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": [ 0.2756302098211722, -0.6479858964780407, -0.06937033578708938, -0.7453041518261136, 0.031479849187460655, -1.0202797804341035, 0.22154912393258364 ], "act_joint_pos_r": [ -0.5675189617294563, -0.8958317112913583, 0.1404558881348367, -0.9742772640581836, 0.9234415393064063, 0.5066032428742833, -1.4515636332190307 ], "act_eef_pose_l": [ 546.2422875079824, 376.8102907697837, 85.43323144788796, 1.7124170543715216, -0.04407299602429619, 0.7099688258230366 ], "act_eef_pose_r": [ 593.3590644042035, -265.0947481268787, -4.781456653080113, 1.5228674677927336, 0.23926417275435308, 2.0694679310296813 ], "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": [ 0.27719991583166664, -0.6500836183067049, -0.06929859021147854, -0.7461650113196376, 0.028734332263416814, -1.0190171113857736, 0.22394204095752449 ], "joint_pos_r": [ -0.5745332006400761, -0.876451184267971, 0.14253548033224936, -1.0130441808141208, 0.9779576219081979, 0.49055406422649817, -1.4935517053679186 ], "eef_pose_l": [ 546.5308971557653, 375.4942724711851, 84.916887409042, 1.710837433513092, -0.043589526766779824, 0.7086758729046194 ], "eef_pose_r": [ 589.0201656224979, -268.1398340834349, -4.567632643712756, 1.5269383073886562, 0.2237462887916754, 2.057819903366257 ], "joint_status_l": { "velocity": [ -0.16952324931263085, 0.2265472758411491, -0.007748293642251269, 0.09297008329500756, 0.29650708278777804, -0.13636423537111142, -0.2584274167845013 ], "torque": [ -35.9619140625, 11.21337890625, -16.119384765625, -0.482177734375, -2.578125, -1.58935546875, -0.50994873046875 ] }, "joint_status_r": { "velocity": [ 0.7575154606227485, -2.093035187752612, -0.22458933341229503, 4.186703529421187, -5.887563276597341, 1.7332601741841813, 4.534578051849536 ], "torque": [ 40.40771484375, 1.259765625, 8.251953125, -2.0263671875, -0.8807373046875, 6.448974609375, 0.69671630859375 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.9, -7.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.9, -7.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.3, -16.9, -2.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -16.9, -2.3, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -339, "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": [ 0.2766990644977951, -0.6434682677146535, -0.06968981636383345, -0.7516516211099908, 0.03317761196441555, -1.0177418759934653, 0.22008703567194102 ], "act_joint_pos_r": [ -0.5665419713031308, -0.8972658989526417, 0.14035080562590885, -0.9735135281590462, 0.9184133353641668, 0.5082573590625725, -1.4468487777632326 ], "act_eef_pose_l": [ 545.1110875079825, 377.3830907697837, 85.0204314478879, 1.7143863221720046, -0.04317627743997758, 0.7103960251164321 ], "act_eef_pose_r": [ 593.4262644042035, -263.97314812687864, -4.218256653080061, 1.5212441136793442, 0.23916190783702201, 2.072545192424087 ], "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": [ 0.27698024948357636, -0.6493613421664303, -0.0693351878937357, -0.7464599405896746, 0.02937574842808039, -1.0190728153066921, 0.22338427179257742 ], "joint_pos_r": [ -0.5731827778740178, -0.88003966216237, 0.14215593314165773, -1.0061036819036555, 0.9677513234592608, 0.49357834907740955, -1.4855958236177442 ], "eef_pose_l": [ 546.3952240881518, 375.7845655172645, 84.98464139075, 1.711278181756795, -0.04361618455972459, 0.7089501322563132 ], "eef_pose_r": [ 589.8161321705793, -267.49556448288774, -4.519500540490014, 1.525866317018032, 0.22649633007807393, 2.060101277316138 ], "joint_status_l": { "velocity": [ -0.030367082835214276, 0.636433270195802, -0.038298745209441876, -0.5606849596748731, 0.410589152244456, 0.14373720652649524, -0.3560909986861649 ], "torque": [ -34.05029296875, 9.76318359375, -16.253662109375, -3.3203125, -2.464599609375, -0.5035400390625, -0.51910400390625 ] }, "joint_status_r": { "velocity": [ 0.7171859573871231, -1.8603787044124687, -0.19494802201625028, 3.5196327983975095, -5.328345563119008, 1.5852863228764669, 4.184557535360511 ], "torque": [ 40.3125, 2.28515625, 8.233642578125, -2.789306640625, -0.81298828125, 6.1578369140625, 0.80657958984375 ] }, "eef_FT_l": { "raw_value": [ 1.1, -16.7, -6.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 1.1, -16.7, -6.8, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.3, -2.3, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -17.3, -2.3, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -374, "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": [ 0.27644784294888647, -0.6404181638205676, -0.06993642582472749, -0.7573263774167317, 0.035619166267704346, -1.0109772380318518, 0.21821775371599356 ], "act_joint_pos_r": [ -0.5662198246342607, -0.8983344196714043, 0.14026429625115727, -0.9723735532638116, 0.9114079417416932, 0.510815884933448, -1.4395103816309647 ], "act_eef_pose_l": [ 545.0254875079825, 377.9446907697837, 84.94443144788788, 1.7167464365706273, -0.04364931960012027, 0.7140532184193468 ], "act_eef_pose_r": [ 593.2582644042035, -263.0051481268787, -3.976656653079999, 1.5199324256390654, 0.23820123029336512, 2.076328947761301 ], "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": [ 0.27691593518392055, -0.6481421561781603, -0.06941221961141278, -0.7477076322222486, 0.030189828059699348, -1.0184444023878358, 0.22269266915364452 ], "joint_pos_r": [ -0.5725174631498192, -0.8817689463826975, 0.14197510065351585, -1.0028451611016385, 0.9627398439747381, 0.49507640718482976, -1.481632827533806 ], "eef_pose_l": [ 546.1639661136084, 376.10031961772387, 84.98599064102439, 1.711966549736036, -0.04356300672244737, 0.7094167267268608 ], "eef_pose_r": [ 590.1825587846092, -267.1403535821331, -4.47510109958111, 1.5253073960364718, 0.22774983824319045, 2.0613363190896217 ], "joint_status_l": { "velocity": [ -0.050552470418407935, 0.8341665721927072, -0.05661260133849044, -1.0387938434170962, 0.5863512329593312, 0.8064299660661689, -0.48327661378455566 ], "torque": [ -36.2255859375, 12.12890625, -15.252685546875, -4.8095703125, -2.26318359375, 0.2105712890625, -0.5548095703125 ] }, "joint_status_r": { "velocity": [ 0.6801249004686483, -1.7890183509043922, -0.18476142620782454, 3.2908365884480872, -5.5436819390104475, 1.6998134635324291, 4.549089989270172 ], "torque": [ 41.103515625, 3.11279296875, 7.806396484375, -1.483154296875, -0.7086181640625, 6.053466796875, 0.6719970703125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.3, -7.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.3, -17.3, -7.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -16.8, -2.0, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -16.8, -2.0, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -406, "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": [ 0.2745381356285929, -0.6391008522221874, -0.07002972267596749, -0.7590481822442185, 0.040468092418892064, -1.0121633841555155, 0.2137946342658868 ], "act_joint_pos_r": [ -0.5670564239744915, -0.9010274277687864, 0.1400643849101109, -0.9717057433275984, 0.9085958835378438, 0.5109285690082093, -1.4355108035281976 ], "act_eef_pose_l": [ 544.5550875079824, 377.89269076978366, 85.36523144788798, 1.7191814240736611, -0.043027794863784635, 0.7119706404690253 ], "act_eef_pose_r": [ 593.0926644042034, -261.32514812687873, -4.7526566530800665, 1.5207789484886294, 0.23534324942771342, 2.0796917425767267 ], "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": [ 0.2766954793045276, -0.6466815089242329, -0.06951163054302831, -0.7495324523759872, 0.0314993967532854, -1.0172096681629, 0.2215825518373632 ], "joint_pos_r": [ -0.5713637083884542, -0.8850186765267829, 0.14164291771232068, -0.9970555759414257, 0.9529127425402834, 0.49805669968539534, -1.473494514584336 ], "eef_pose_l": [ 545.9297601206791, 376.4229307754587, 85.00807907249379, 1.7129912100442002, -0.04352701177777804, 0.710082070612539 ], "eef_pose_r": [ 590.7744414403791, -266.30152016767414, -4.39389283348072, 1.5241839314795569, 0.22961411254655484, 2.0642091857098754 ], "joint_status_l": { "velocity": [ -0.23298624543910407, 0.8186867779453877, -0.0559523001325557, -1.0276685163059796, 0.96859056483381, 0.5449825993952828, -0.8410702916772372 ], "torque": [ -36.826171875, 10.48095703125, -15.203857421875, -3.3203125, -2.5048828125, -0.0164794921875, -0.64910888671875 ] }, "joint_status_r": { "velocity": [ 0.4651729971634211, -1.728894143129267, -0.17047651470258884, 2.7377011781135607, -4.786079614390815, 1.3901208874398385, 4.102119808507609 ], "torque": [ 39.88037109375, 2.109375, 7.708740234375, -2.276611328125, -0.87890625, 6.1669921875, 0.780029296875 ] }, "eef_FT_l": { "raw_value": [ 0.8, -17.6, -7.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.8, -17.6, -7.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.7, -16.9, -2.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -16.9, -2.3, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -356, "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": [ 0.2716722042541895, -0.6410237533353593, -0.06974561424047636, -0.7490441837534111, 0.048144611696333814, -1.0226988803537034, 0.2050693802332535 ], "act_joint_pos_r": [ -0.5688402193889193, -0.8998549595661303, 0.14027297926359397, -0.9793378941092464, 0.9186880537435824, 0.510273845214738, -1.4432381671294816 ], "act_eef_pose_l": [ 544.3942875079824, 379.02629076978366, 85.41963144788797, 1.7237379064402618, -0.039492701260081406, 0.7090024953400922 ], "act_eef_pose_r": [ 592.0974644042035, -260.1019481268787, -4.5750566530800825, 1.518835421921363, 0.23098457571660985, 2.0801122819870685 ], "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": [ 0.27599064301814974, -0.6455581706794103, -0.06957117398973611, -0.7500860339811417, 0.03395137765515785, -1.0175062978623939, 0.21922100023863164 ], "joint_pos_r": [ -0.5708135397468033, -0.8873805944304132, 0.14141542556219236, -0.9936510985505279, 0.946772114939018, 0.4999725403432735, -1.4681778093193234 ], "eef_pose_l": [ 545.6696447501454, 376.8089206927166, 85.07869380398688, 1.7145948496380232, -0.04304471812441286, 0.7100646211961105 ], "eef_pose_r": [ 591.079005824894, -265.48405305923586, -4.42749927684244, 1.5234815608314172, 0.2302368142339731, 2.0665257596059337 ], "joint_status_l": { "velocity": [ -0.46637763143486666, 0.4897026301513563, -0.01883899145355139, 0.11251650609800379, 1.5328240682176697, -0.5607823696696101, -1.5283298849002591 ], "torque": [ -36.51123046875, 10.9423828125, -10.51025390625, -0.32958984375, -2.5433349609375, -1.5325927734375, -0.611572265625 ] }, "joint_status_r": { "velocity": [ 0.2131123132400603, -1.347191701362327, -0.1233805613336525, 1.545780489299986, -3.0329891558738, 1.1125081144451876, 2.6934019188598057 ], "torque": [ 41.93115234375, 2.99560546875, 8.001708984375, -3.057861328125, -0.5859375, 6.2603759765625, 0.692138671875 ] }, "eef_FT_l": { "raw_value": [ 0.6, -17.0, -8.1, 1.5, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -8.1, 1.5, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.1, -2.2, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.1, -2.2, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -341, "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": [ 0.26893226558690797, -0.644551649272874, -0.06940178805729148, -0.739436645249488, 0.055642610675171914, -1.033347755874682, 0.19706050431331762 ], "act_joint_pos_r": [ -0.569664795511725, -0.8998480034120846, 0.140309529685064, -0.9814406001719921, 0.9228956449698913, 0.51125974738852, -1.4462330236694478 ], "act_eef_pose_l": [ 544.3798875079824, 379.10869076978366, 85.35563144788789, 1.7279624159733875, -0.036009298636209684, 0.7039957825062539 ], "act_eef_pose_r": [ 591.7670644042034, -259.6187481268787, -4.466256653080109, 1.5171749142042419, 0.2290671983522322, 2.0800180518352613 ], "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": [ 0.2750081832699427, -0.645163636500081, -0.06956565241237928, -0.7489591428966991, 0.03703046912791471, -1.0194191267708652, 0.2160979354407244 ], "joint_pos_r": [ -0.5705240934981133, -0.8895856655073386, 0.141216066801369, -0.9912720124582044, 0.9421099915019441, 0.501864982918084, -1.463984205306121 ], "eef_pose_l": [ 545.4607515643235, 377.17762962248605, 85.13242752756938, 1.7164968074013904, -0.04213919692711016, 0.7093640830884389 ], "eef_pose_r": [ 591.2431118344784, -264.5032787852701, -4.440963119268218, 1.5225057567192641, 0.2302320221254336, 2.068884785154253 ], "joint_status_l": { "velocity": [ -0.6561797567805616, 0.06609267123991458, 0.017696828409408116, 1.0283994148796438, 2.0100520037888425, -1.504247577801543, -2.0559819238143984 ], "torque": [ -37.236328125, 10.84716796875, -10.479736328125, 0.439453125, -2.435302734375, -1.93359375, -0.70220947265625 ] }, "joint_status_r": { "velocity": [ 0.09280144549794755, -1.1082998061571203, -0.09790312106283672, 1.0617612119387942, -2.0750882240063717, 1.0146046386427798, 1.9170710757716591 ], "torque": [ 40.99365234375, 2.48291015625, 7.940673828125, -1.849365234375, -0.85693359375, 6.1944580078125, 0.582275390625 ] }, "eef_FT_l": { "raw_value": [ 0.7, -17.0, -7.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.7, -17.0, -7.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.1, -2.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.1, -2.3, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -318, "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": [ 0.2675017748935649, -0.6432693376995441, -0.06954735368697096, -0.743973771366931, 0.060514208518667394, -1.0331795141528821, 0.1925724713956444 ], "act_joint_pos_r": [ -0.5710862129705876, -0.8999642330323859, 0.14036135073223024, -0.9852065681026314, 0.9253861564072778, 0.5131262576896496, -1.4467639433525776 ], "act_eef_pose_l": [ 543.7614875079825, 378.22069076978363, 85.57323144788806, 1.7304522614597633, -0.03480979485962691, 0.700561068781311 ], "act_eef_pose_r": [ 590.9574644042035, -258.2603481268787, -4.398256653080125, 1.5149178718672678, 0.22529879157133417, 2.08248700871246 ], "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": [ 0.2737724893348694, -0.6449107323550383, -0.06955310585342524, -0.7477874673780073, 0.040870977080183245, -1.0218628406233086, 0.2122255152644367 ], "joint_pos_r": [ -0.5704746490742044, -0.8914085134830747, 0.14105951980607415, -0.9898052689862127, 0.9388923037297491, 0.5036606349144821, -1.4608839273963263 ], "eef_pose_l": [ 545.2019940519474, 377.41271850337955, 85.2021635331599, 1.7187748922302173, -0.04095050910058838, 0.7079900794441101 ], "eef_pose_r": [ 591.2836203051135, -263.5448522910981, -4.438619708299683, 1.5213841596573547, 0.22975435793946675, 2.0710067002176555 ], "joint_status_l": { "velocity": [ -0.6772171862077236, 0.1772653946296998, 0.000621215655360885, 0.4118670218282716, 2.121406427818162, -1.2221646953731735, -2.1224661390371047 ], "torque": [ -37.8076171875, 11.62353515625, -10.247802734375, 0.921630859375, -2.3638916015625, -2.164306640625, -0.63079833984375 ] }, "joint_status_r": { "velocity": [ -0.06604695285883366, -0.9239904596833881, -0.07540003617001467, 0.4966450476642237, -1.4586208911033793, 1.0222571098563726, 1.5249133018127026 ], "torque": [ 34.00634765625, 1.06201171875, 7.763671875, -2.11181640625, -0.6390380859375, 6.3336181640625, 0.80108642578125 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.9, -7.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.7, -16.9, -7.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.2, -2.0, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.5, -17.2, -2.0, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -366, "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": [ 0.2651681228770449, -0.6433805852833678, -0.06953598958462387, -0.7436488144161622, 0.06391662441511434, -1.0339531817742844, 0.19114955301956219 ], "act_joint_pos_r": [ -0.5714215726468312, -0.8998705756661932, 0.1403629505062172, -0.984778730292512, 0.918517894316138, 0.5154623429520304, -1.437722558002883 ], "act_eef_pose_l": [ 543.8766875079824, 378.18389076978366, 86.26523144788807, 1.7317648863458421, -0.03670836058721546, 0.6994707813284227 ], "act_eef_pose_r": [ 590.5254644042035, -257.7835481268787, -4.438256653080089, 1.5143685769154442, 0.22247465096208233, 2.086048536108157 ], "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": [ 0.27240043842166384, -0.6446330734722122, -0.06955080646464439, -0.7470765048017818, 0.04472800375470877, -1.0239510264811487, 0.20859012575868377 ], "joint_pos_r": [ -0.5706069587315407, -0.8929144837673326, 0.1409361929908232, -0.9889613321545843, 0.9360090896309494, 0.5055026724306386, -1.4577354958179523 ], "eef_pose_l": [ 544.961777852739, 377.54512568704484, 85.35122481409417, 1.7209597428327388, -0.040103652789191806, 0.706519504769509 ], "eef_pose_r": [ 591.2009153730115, -262.57816568189975, -4.432733597115202, 1.5201882562535751, 0.22876336373088246, 2.0732686926059096 ], "joint_status_l": { "velocity": [ -0.7810670424779342, 0.13526473497549318, 0.0016001758476047456, 0.37017964378271984, 2.0723099118100663, -1.0802009128356715, -1.8835263041863115 ], "torque": [ -36.6796875, 11.44775390625, -10.400390625, 0.48828125, -2.178955078125, -2.244873046875, -0.64361572265625 ] }, "joint_status_r": { "velocity": [ -0.08797570814689237, -0.7512357685621751, -0.06190836244801545, 0.45170767869784356, -1.8889933811188087, 1.0756126928095355, 2.1613335389023547 ], "torque": [ 31.91162109375, 1.94091796875, 7.7880859375, -2.032470703125, -0.8917236328125, 6.1614990234375, 1.0272216796875 ] }, "eef_FT_l": { "raw_value": [ 0.8, -16.5, -7.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.8, -16.5, -7.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.0, -2.6, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -2.6, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -396, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -177, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26415089313190226, -0.6437356683833366, -0.06948950939176496, -0.7420896186017255, 0.06562412303264405, -1.0353842302337433, 0.18972578380582958 ], "act_joint_pos_r": [ -0.5727458643435237, -0.8987442628840208, 0.14048839044533812, -0.9875712751877356, 0.9215229603617309, 0.5159872213781561, -1.439127147090109 ], "act_eef_pose_l": [ 543.9438875079825, 378.36389076978367, 86.48203144788799, 1.732599906530518, -0.036758550260512626, 0.6990858898074669 ], "act_eef_pose_r": [ 589.9302644042035, -257.6803481268787, -4.615856653080073, 1.5138043764479623, 0.2200583208283277, 2.0862419670536902 ], "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": [ 0.27111030051245305, -0.6444624886677308, -0.06954374747686054, -0.7463579227601375, 0.048052360197911585, -1.0257376736897048, 0.20558136144409 ], "joint_pos_r": [ -0.5708464730671203, -0.894063170173813, 0.14084388333925116, -0.9884231603521224, 0.9331331697674407, 0.5073014705619164, -1.4542983134929497 ], "eef_pose_l": [ 544.7913016240689, 377.66297350190905, 85.52729041050094, 1.722796497129268, -0.0395702993003144, 0.7052960393607887 ], "eef_pose_r": [ 591.0438912900448, -261.7245022518512, -4.444724963834261, 1.5191062857524444, 0.22747852845094735, 2.0755180728125158 ], "joint_status_l": { "velocity": [ -0.751593830024655, 0.07849427564998734, 0.005857540431419839, 0.46096325372424474, 1.8976944166461118, -1.0417973805845193, -1.7123518818131789 ], "torque": [ -38.1005859375, 10.89111328125, -10.552978515625, 0.787353515625, -2.2540283203125, -2.274169921875, -0.65093994140625 ] }, "joint_status_r": { "velocity": [ -0.20512820791829256, -0.5055431025056123, -0.03839210022826833, 0.09200088433303222, -1.2538656350269406, 0.9380334223365594, 1.638437648370683 ], "torque": [ 29.86083984375, 2.13134765625, 11.4501953125, -2.374267578125, -0.494384765625, 6.1248779296875, 0.62713623046875 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.9, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.9, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.0, -2.2, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -17.0, -2.2, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -146, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.26410908557598745, -0.6455536565239117, -0.06933077705287803, -0.7380216383056517, 0.06597602807840382, -1.0388786569572457, 0.1882516820002086 ], "act_joint_pos_r": [ -0.5746731593482934, -0.8966690780035367, 0.14075579818258502, -0.9950844188645915, 0.928297972180257, 0.5148068973720482, -1.4455810862321774 ], "act_eef_pose_l": [ 544.0902875079825, 378.35029076978367, 86.27163144788805, 1.7328732744012918, -0.0350182893670961, 0.6980270056613344 ], "act_eef_pose_r": [ 588.7646644042035, -256.8435481268787, -4.705456653080091, 1.5133209220720594, 0.21775182364425558, 2.087317892440244 ], "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": [ 0.2698762281021062, -0.6444901202032838, -0.06952052486423928, -0.7452538687212582, 0.05118941925960605, -1.0277433878242712, 0.20265135752094451 ], "joint_pos_r": [ -0.5712942961117392, -0.8947702381711419, 0.1407965682131634, -0.9887091270587166, 0.9314740816193418, 0.5087685959527105, -1.451990960746575 ], "eef_pose_l": [ 544.6554300692405, 377.7815956441147, 85.68167061731353, 1.7245324905301305, -0.038943451789180565, 0.7040846791502581 ], "eef_pose_r": [ 590.7829922070342, -260.9604481916335, -4.480438961467485, 1.5181383429593525, 0.2260340225837074, 2.0774645969759553 ], "joint_status_l": { "velocity": [ -0.6228330233426504, -0.11485853505543986, 0.02049215924310177, 0.7810578488154363, 1.5969066541859367, -1.202573598348522, -1.5551190904536938 ], "torque": [ -38.44482421875, 5.28076171875, -10.333251953125, 0.7080078125, -2.384033203125, -2.186279296875, -0.6134033203125 ] }, "joint_status_r": { "velocity": [ -0.3649064672064384, -0.20506865372116323, -0.004403033442068605, -0.688511208481124, -0.34300970289091737, 0.6521173201159414, 0.6922460308498302 ], "torque": [ 28.9599609375, 2.04345703125, 9.36279296875, -4.8095703125, -0.3533935546875, 6.3006591796875, 0.6097412109375 ] }, "eef_FT_l": { "raw_value": [ 0.6, -17.0, -8.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -8.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.3, -2.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.5, -17.3, -2.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -379, "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": [ 0.2642993581199035, -0.6487921262032851, -0.06903947338678443, -0.730223610210837, 0.06565422213877814, -1.0437015899432083, 0.18854318045204696 ], "act_joint_pos_r": [ -0.5756091755377623, -0.8956462415356404, 0.14091455641159584, -1.0005324768949888, 0.930457880651158, 0.5130041791103758, -1.448637026118901 ], "act_eef_pose_l": [ 544.6134875079824, 378.70629076978366, 85.85003144788793, 1.733061150317766, -0.03442070772389606, 0.69778703482277 ], "act_eef_pose_r": [ 587.9414644042034, -255.76114812687868, -4.79025665307995, 1.5138385654831705, 0.21692640656149412, 2.089622884560386 ], "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": [ 0.2689444784877284, -0.644943099363047, -0.06946431234352773, -0.7433951834322163, 0.05359263020994387, -1.0299881958783537, 0.2003091536156654 ], "joint_pos_r": [ -0.5719591959419368, -0.8950322207192198, 0.14080080647491097, -0.9902291467571208, 0.9310682519464466, 0.5097062392687656, -1.4510779796539774 ], "eef_pose_l": [ 544.6094722814569, 377.9032688795483, 85.7449384260392, 1.7259024304560986, -0.03826657478408564, 0.7030528186497829 ], "eef_pose_r": [ 590.3701721595039, -260.15214285734373, -4.528801517001767, 1.517329300482912, 0.22451203311032897, 2.0793719168444538 ], "joint_status_l": { "velocity": [ -0.5016582041073026, -0.41568263884173007, 0.04588125413307331, 1.4224879538700108, 1.3026135097822245, -1.4810028791583107, -1.2706876247425836 ], "torque": [ -37.8955078125, 4.34326171875, -9.77783203125, 0.7568359375, -2.2247314453125, -2.032470703125, -0.54656982421875 ] }, "joint_status_r": { "velocity": [ -0.3941861704488403, -0.06631229239673075, 0.012284630846126632, -1.1127268367658871, -0.06591815574008564, 0.3561669983094262, 0.2636152068742348 ], "torque": [ 27.451171875, 1.259765625, 9.4482421875, -7.04345703125, -0.41748046875, 6.4306640625, 0.63446044921875 ] }, "eef_FT_l": { "raw_value": [ 0.6, -16.4, -7.1, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -16.4, -7.1, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.4, -1.9, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -17.4, -1.9, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -332, "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": [ 0.2647899952032361, -0.6502137062982851, -0.06894313319668167, -0.72832494615061, 0.06455267516530173, -1.044684007039502, 0.18970035153192183 ], "act_joint_pos_r": [ -0.5753041552251243, -0.8963991306701343, 0.14082315429916373, -0.9982017433412017, 0.9175306163512689, 0.513182999691814, -1.4351061896459991 ], "act_eef_pose_l": [ 544.8398875079824, 378.4590907697837, 85.64123144788805, 1.7324482084436448, -0.03444552391498722, 0.697365091471477 ], "act_eef_pose_r": [ 587.7510644042035, -255.07874812687868, -5.342256653080085, 1.5162727914959953, 0.21564616695601502, 2.0949141301211345 ], "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": [ 0.2681850130827311, -0.6458027896310333, -0.06937705628822198, -0.7408270656492528, 0.05558640222402092, -1.0325366451262552, 0.19837465932991602 ], "joint_pos_r": [ -0.5725783460883901, -0.8952054472912999, 0.14081306827111562, -0.9918506850932283, 0.9298500639775623, 0.5103047009176476, -1.4494842910411732 ], "eef_pose_l": [ 544.6411267465772, 378.0129892283679, 85.73872975453853, 1.7270770154599675, -0.03760741820428364, 0.7020586565180686 ], "eef_pose_r": [ 589.9282389867772, -259.3150329181427, -4.624347445443675, 1.5169247032667335, 0.22306304329979842, 2.081638142656763 ], "joint_status_l": { "velocity": [ -0.36665111718892085, -0.4763649504297973, 0.04686231175637934, 1.3501890841558506, 0.9683289183234911, -1.3118763949044876, -0.9367976128147326 ], "torque": [ -38.203125, 3.09814453125, -9.173583984375, 1.318359375, -2.347412109375, -2.3016357421875, -0.54656982421875 ] }, "joint_status_r": { "velocity": [ -0.29437870453108417, -0.12891400279890775, 0.0010892589030753186, -0.6858940614167253, -1.330461103787428, 0.31084709966444635, 1.5527891536102345 ], "torque": [ 27.42919921875, 0.57861328125, 9.53369140625, -6.475830078125, -0.6793212890625, 6.3189697265625, 0.732421875 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.8, -7.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.7, -16.8, -7.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.4, -16.9, -2.6, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.4, -16.9, -2.6, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -312, "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": [ 0.26530516668768517, -0.6483234808845103, -0.069123056383861, -0.7334016571048064, 0.06451982772990712, -1.0389886063692644, 0.19066426126860064 ], "act_joint_pos_r": [ -0.5754642836654438, -0.8964215022466218, 0.14082436334813112, -0.9984019275797429, 0.9147572807760698, 0.5125057529535962, -1.432544340718524 ], "act_eef_pose_l": [ 544.8382875079824, 378.4470907697837, 85.51803144788805, 1.7329001157583546, -0.035731274732545074, 0.699646749957454 ], "act_eef_pose_r": [ 587.5886644042034, -254.8035481268787, -5.6358566530800545, 1.5174728173970513, 0.2154080649875891, 2.0964140599184016 ], "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": [ 0.26764966817460895, -0.6463444673288216, -0.0693230092665654, -0.7392563616461237, 0.05716757516916588, -1.0339666566657573, 0.19696244234616275 ], "joint_pos_r": [ -0.5730380019386936, -0.8954032963015996, 0.1408148135416331, -0.9929092030834923, 0.9276248418975521, 0.5107290491386239, -1.4469358844395641 ], "eef_pose_l": [ 544.6769749063874, 378.08958122816296, 85.7066110328997, 1.7280774014958054, -0.03721838625679926, 0.7015105329156277 ], "eef_pose_r": [ 589.5618844483221, -258.5973967378228, -4.764129898270255, 1.51690414632866, 0.22182866061026232, 2.0839274127165544 ], "joint_status_l": { "velocity": [ -0.253198692891754, -0.2137271604683022, 0.02159427444303752, 0.6322894420822678, 0.7940198581961044, -0.5423545720857348, -0.6801834954368591 ], "torque": [ -37.6904296875, 3.310546875, -9.246826171875, 1.42822265625, -2.2064208984375, -2.2137451171875, -0.53741455078125 ] }, "joint_status_r": { "velocity": [ -0.26203069830632586, -0.10996299887633398, 0.0010313486835666907, -0.5931967501915381, -1.3896556154193718, 0.19187835286738064, 1.5542408819886333 ], "torque": [ 27.4658203125, 1.04736328125, 9.41162109375, -6.622314453125, -0.457763671875, 6.32080078125, 0.802001953125 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.6, -7.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.7, -16.6, -7.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.2, -2.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.5, -17.2, -2.8, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -375, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -183, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2660774164205114, -0.6460537258093529, -0.06931565690771253, -0.738272582702832, 0.06323692543302474, -1.0352476176481542, 0.19128539234732778 ], "act_joint_pos_r": [ -0.5760496995365663, -0.8940952070941665, 0.1410309856817442, -1.0006705168402301, 0.91814604435109, 0.5091829377882043, -1.4362674613995419 ], "act_eef_pose_l": [ 544.5214875079824, 378.4550907697836, 85.54123144788791, 1.7322494202086922, -0.035665172869490024, 0.7009522905883527 ], "act_eef_pose_r": [ 587.3982644042035, -255.88194812687868, -6.108656653080061, 1.5202953431691044, 0.21602669702292077, 2.0942344862009463 ], "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": [ 0.2673513859043303, -0.6464136823569662, -0.06931187153204932, -0.7388435245206665, 0.058231484884348185, -1.0343700980469435, 0.19599714093431253 ], "joint_pos_r": [ -0.5735091984536285, -0.8954155937246072, 0.1408313998592479, -0.9940439322040829, 0.9255940846930303, 0.5108036045263307, -1.44465978203132 ], "eef_pose_l": [ 544.6678533759482, 378.1487957707737, 85.67838024593655, 1.728795321554892, -0.036968149499406786, 0.7013484905942156 ], "eef_pose_r": [ 589.2015728175029, -258.0031967150379, -4.952975260159349, 1.5172090533743579, 0.22073992921473817, 2.0859798171810566 ], "joint_status_l": { "velocity": [ -0.13758464641022705, 0.03887416061054694, -0.0004088085144293707, 0.06165989776452108, 0.5405716359488943, -0.09476932185847886, -0.508853839552792 ], "torque": [ -38.40087890625, 6.6650390625, -9.307861328125, 1.104736328125, -2.2723388671875, -2.1185302734375, -0.55206298828125 ] }, "joint_status_r": { "velocity": [ -0.27436602496422324, 0.142597550397916, 0.021554633109488464, -0.7156500337339722, -0.8043646334634502, -0.17502684557690884, 0.9063438970482451 ], "torque": [ 26.748046875, 7.236328125, 9.36279296875, -6.195068359375, -0.5657958984375, 4.5831298828125, 0.65093994140625 ] }, "eef_FT_l": { "raw_value": [ 0.9, -16.7, -7.3, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.9, -16.7, -7.3, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.0, -16.5, -2.9, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 1.0, -16.5, -2.9, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -345, "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": [ 0.26780185248211086, -0.6435171218073076, -0.06948268131008056, -0.741235573720262, 0.059960157284593744, -1.0318285412724946, 0.19288396464523544 ], "act_joint_pos_r": [ -0.576342132891241, -0.8931808665273545, 0.1411065869187693, -1.001175831897993, 0.9206194948747708, 0.5080074855494922, -1.4385043563122888 ], "act_eef_pose_l": [ 544.2590875079824, 379.25269076978367, 85.32603144788804, 1.7309153758492384, -0.03506095810646159, 0.7043565715967928 ], "act_eef_pose_r": [ 587.4094644042035, -256.5315481268787, -6.317456653080171, 1.5212809072895934, 0.21612569178627483, 2.0925546092138774 ], "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": [ 0.26734345378207763, -0.6460303718224094, -0.06933358952019829, -0.7391159784217962, 0.05870354490690193, -1.0340943730155268, 0.19536551899769852 ], "joint_pos_r": [ -0.5739794653592499, -0.8951162127142448, 0.14087213929196146, -0.9952520021765797, 0.9244555486526972, 0.5104323048603714, -1.4433372332240177 ], "eef_pose_l": [ 544.6090492213468, 378.30338675248873, 85.6268751036782, 1.7292379600812333, -0.03666110174904162, 0.7017063697282971 ], "eef_pose_r": [ 588.8846322030845, -257.6743082596882, -5.173172813231957, 1.5178279448912406, 0.21991490813051545, 2.087321975442103 ], "joint_status_l": { "velocity": [ 0.04950559951399924, 0.2714229964384529, -0.016101438420679237, -0.2289095409073738, 0.13571013423424594, 0.2447026111305206, -0.26799996582971275 ], "torque": [ -34.775390625, 9.06005859375, -9.478759765625, -2.337646484375, -2.4517822265625, -0.46142578125, -0.604248046875 ] }, "joint_status_r": { "velocity": [ -0.2551605678959845, 0.20901122372851688, 0.025319596933526256, -0.6397547413543592, -0.41428158943457305, -0.26187276205069665, 0.521935312807642 ], "torque": [ 26.75537109375, 8.1591796875, 9.857177734375, -7.3974609375, -0.59326171875, 4.22607421875, 0.67108154296875 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.7, -7.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.5, -16.7, -7.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.7, -17.0, -2.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.7, -17.0, -2.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -351, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -183, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.268657462672428, -0.643280793010912, -0.06949737512457987, -0.7414605027651888, 0.05771195724513177, -1.031019074770507, 0.19428896231087228 ], "act_joint_pos_r": [ -0.5763715613836524, -0.8931265969561184, 0.1411025313831489, -1.0006472832450435, 0.9184505341536032, 0.5085911630115365, -1.4360515434819974 ], "act_eef_pose_l": [ 544.2942875079824, 379.4062907697837, 85.24043144788793, 1.7296863002900964, -0.034862721348301096, 0.7054592499306086 ], "act_eef_pose_r": [ 587.3526644042034, -256.5515481268787, -6.362256653080067, 1.5213174831670528, 0.2158200847066669, 2.0932718361305866 ], "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": [ 0.26745687177638466, -0.6457297298755563, -0.0693514729084199, -0.739371377316998, 0.0586832454414993, -1.0337803262143062, 0.1951867961867436 ], "joint_pos_r": [ -0.5744009134709479, -0.8947671880934475, 0.14091308051781795, -0.9962327764642969, 0.9235039659416932, 0.5100771324565223, -1.4421736322726149 ], "eef_pose_l": [ 544.5722349723645, 378.4215875620233, 85.58666273687408, 1.72933844431307, -0.036465959417510484, 0.7020847821058808 ], "eef_pose_r": [ 588.6172945967265, -257.47438548116867, -5.381656055080924, 1.518444396369896, 0.21920737653237343, 2.088340609231654 ], "joint_status_l": { "velocity": [ 0.12965999265546202, 0.2644773810382972, -0.01575697461814185, -0.22561889413097447, -0.10489603146462967, 0.29820636080390983, -0.09696319881746795 ], "torque": [ -30.6591796875, 9.35302734375, -9.698486328125, -2.374267578125, -4.4659423828125, -0.2655029296875, -0.55206298828125 ] }, "joint_status_r": { "velocity": [ -0.2128236976721709, 0.1771786172275469, 0.020460090017548893, -0.47675267125146803, -0.5457545369447203, -0.16047996695522926, 0.6611660893351967 ], "torque": [ 26.9970703125, 8.4375, 10.015869140625, -7.8857421875, -0.7232666015625, 4.2169189453125, 0.73333740234375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -17.0, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -17.0, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.3, -16.9, -2.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -16.9, -2.8, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -353, "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": [ 0.2695747309002236, -0.6432501275717837, -0.0695155819193393, -0.7422987987806899, 0.05533583861219224, -1.0296925629049385, 0.19626728590407608 ], "act_joint_pos_r": [ -0.5764295461304721, -0.893880254266099, 0.14107365045537398, -1.0024028926236017, 0.9197953016291622, 0.5081127234969312, -1.4373316169115735 ], "act_eef_pose_l": [ 544.3702875079824, 379.29269076978363, 85.14203144788807, 1.7283176785314975, -0.035100103981509846, 0.7062152317088802 ], "act_eef_pose_r": [ 587.1838644042034, -255.5739481268787, -6.248656653080161, 1.5208241016185162, 0.21490120218258613, 2.0945690994813697 ], "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": [ 0.26776260834174337, -0.6452641562762894, -0.06938061754338998, -0.7398382972624898, 0.0582955609692346, -1.0331444186964234, 0.19518698231356496 ], "joint_pos_r": [ -0.5747314219598567, -0.8945825273803402, 0.1409409663511091, -0.9971566087101003, 0.9228249526819867, 0.5097788575442448, -1.4413116365267709 ], "eef_pose_l": [ 544.526446763931, 378.5978894925346, 85.51272411885981, 1.7292855870776924, -0.03618352701500014, 0.7027874220063721 ], "eef_pose_r": [ 588.3910380056708, -257.2119710551251, -5.53057280668915, 1.5188625356239653, 0.21854740102624146, 2.0892997894384986 ], "joint_status_l": { "velocity": [ 0.19570346435049402, 0.2175086850106922, -0.014575722714516015, -0.2657263267860088, -0.3196405872654129, 0.3727894306448931, 0.11666934679666063 ], "torque": [ -27.22412109375, 10.18798828125, -9.9609375, -2.813720703125, -4.9365234375, -0.3131103515625, 0.1483154296875 ] }, "joint_status_r": { "velocity": [ -0.1833920015679169, 0.07584325946119463, 0.01432946063562035, -0.5665819522162607, -0.3271926636729816, -0.17993717014697097, 0.42982944130010026 ], "torque": [ 27.07763671875, 9.0087890625, 10.052490234375, -7.32421875, -0.5621337890625, 4.1619873046875, 0.65643310546875 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.8, -7.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.7, -16.8, -7.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.0, -2.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -2.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -353, "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": [ 0.27043980752436697, -0.6441831857396545, -0.06946534626386783, -0.7417757622380168, 0.05379960103154691, -1.0307393137062548, 0.1972956138436075 ], "act_joint_pos_r": [ -0.5761809853031298, -0.8952039638663098, 0.14095004381208184, -1.0007405784667038, 0.9161294282321206, 0.5098669809096759, -1.4326826356700324 ], "act_eef_pose_l": [ 544.3454875079824, 378.81509076978364, 84.89083144788792, 1.7273687634924615, -0.03443932418889689, 0.7050029135685758 ], "act_eef_pose_r": [ 587.2534644042034, -254.9643481268787, -6.161456653079995, 1.5198585274403267, 0.21366660933042497, 2.0964150673582806 ], "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": [ 0.26811078225602386, -0.6449872791598024, -0.06939988587421456, -0.740212398695918, 0.05771972598107816, -1.032637776166919, 0.19542433510135934 ], "joint_pos_r": [ -0.575006941436222, -0.8945900226335981, 0.1409521314563717, -0.9979188533966756, 0.921924658064678, 0.509658758606867, -1.4401455237367549 ], "eef_pose_l": [ 544.499470364318, 378.6841924085346, 85.43722844518314, 1.7290701240753046, -0.03596763852541483, 0.7032800819966787 ], "eef_pose_r": [ 588.1852821717831, -256.8613107519717, -5.649206461961427, 1.5191142482241742, 0.21778042861694644, 2.090416327779604 ], "joint_status_l": { "velocity": [ 0.2515273105794247, 0.08683952818078211, -0.00706951357837271, -0.16883828292701963, -0.423361008183909, 0.2050278987777432, 0.20209214377353568 ], "torque": [ -26.484375, 10.5029296875, -10.089111328125, -2.642822265625, -5.3631591796875, -0.2252197265625, 0.3533935546875 ] }, "joint_status_r": { "velocity": [ -0.12679299806617195, -0.06630369760962651, -0.00022545893374470438, -0.3047373198157288, -0.6258663629745698, 0.022487345474164755, 0.8059681404475327 ], "torque": [ 26.66015625, 3.3251953125, 10.25390625, -7.373046875, -0.5657958984375, 5.0848388671875, 0.66925048828125 ] }, "eef_FT_l": { "raw_value": [ 0.8, -16.8, -7.7, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.8, -16.8, -7.7, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.0, -16.8, -2.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.0, -16.8, -2.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -391, "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": [ 0.27121790978120397, -0.643202472485126, -0.0695866572259723, -0.74573525438484, 0.052919661658111426, -1.0269160376887763, 0.1979434012314238 ], "act_joint_pos_r": [ -0.5764101806138151, -0.895375206061903, 0.14095962941093287, -1.0022007092857765, 0.9150573080164133, 0.5094639482849727, -1.4313763567370832 ], "act_eef_pose_l": [ 544.2974875079824, 378.4430907697837, 84.72603144788813, 1.7270868249320441, -0.0344226709877087, 0.7059292643487284 ], "act_eef_pose_r": [ 586.9630644042035, -254.25954812687868, -6.228656653079952, 1.520087888635884, 0.21261478755451976, 2.0982550758435243 ], "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": [ 0.2686071569230753, -0.6447645645478957, -0.06942100704755377, -0.7407934186805478, 0.056915231843624375, -1.0320032314826306, 0.19582478277224974 ], "joint_pos_r": [ -0.5752547423054619, -0.8947254037437661, 0.14095281848023042, -0.9986170293458645, 0.9207081636725607, 0.5096526410035255, -1.438587356972419 ], "eef_pose_l": [ 544.4671209154325, 378.68189964277434, 85.32216884015256, 1.7287264390665664, -0.03567899967986568, 0.7036717473427392 ], "eef_pose_r": [ 587.9772953376995, -256.4226444475283, -5.7539343350839545, 1.5192816500697066, 0.2168845171840327, 2.091759142803932 ], "joint_status_l": { "velocity": [ 0.28195299291877696, 0.16870096721000039, -0.01788969164090437, -0.5337025153488995, -0.43150885336207256, 0.5494007260287148, 0.22880404537595211 ], "torque": [ -26.33056640625, 10.84716796875, -10.699462890625, -2.60009765625, -5.452880859375, -0.03662109375, 0.4266357421875 ] }, "joint_status_r": { "velocity": [ -0.12478365700552274, -0.07017658061059251, 0.0007355588216295672, -0.3870260187879282, -0.6102744117830738, -0.020378212580496324, 0.7787650569692772 ], "torque": [ 26.5576171875, 2.32177734375, 10.48583984375, -7.269287109375, -0.556640625, 5.06103515625, 0.721435546875 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.7, -7.5, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.5, -16.7, -7.5, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -17.0, -2.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ 0.1, -17.0, -2.3, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.2715644116144173, -0.6450002088962618, -0.0694464303091427, -0.7425667035554697, 0.0511042095535013, -1.0298508304519884, 0.19918985396393293 ], "act_joint_pos_r": [ -0.576945042912985, -0.8942928148874583, 0.14108115668507878, -1.0049027804249044, 0.9166619156675466, 0.5078689680804679, -1.4325117589115197 ], "act_eef_pose_l": [ 544.4670875079825, 378.18549076978366, 84.69803144788811, 1.7256671521470712, -0.03406011457693255, 0.7046577435719186 ], "act_eef_pose_r": [ 586.5814644042035, -254.16354812687868, -6.399056653079924, 1.521105297881096, 0.21157082380917505, 2.0986145486458994 ], "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": [ 0.2690937433649995, -0.6446179934773713, -0.06944018478582081, -0.7414387187238674, 0.05607788417299245, -1.0313153765417469, 0.19628924374851262 ], "joint_pos_r": [ -0.575519388884055, -0.8947181541804343, 0.14096773619076236, -0.9995555634233223, 0.9198901133435616, 0.5094392964751395, -1.4374405134950023 ], "eef_pose_l": [ 544.4496001674506, 378.6208456555065, 85.21490107359861, 1.7283324941752962, -0.03543244197892732, 0.7039781427328698 ], "eef_pose_r": [ 587.755815414654, -256.028834081083, -5.857636334247843, 1.519540603921753, 0.21601206547168905, 2.092950080072477 ], "joint_status_l": { "velocity": [ 0.26682430137481283, -0.04127804780829081, -0.0006744966255523011, -0.12181876896022459, -0.5371410167776536, 0.15816631282827842, 0.3132566642538581 ], "torque": [ -27.20947265625, 7.236328125, -10.943603515625, -2.923583984375, -5.5755615234375, -0.208740234375, 0.45867919921875 ] }, "joint_status_r": { "velocity": [ -0.1539660941372034, 0.04593528885266096, 0.012249052119717163, -0.5774824042372728, -0.3486350665680149, -0.16959046482112328, 0.5322897959683104 ], "torque": [ 26.34521484375, 7.001953125, 10.845947265625, -7.04345703125, -0.498046875, 4.1400146484375, 0.58319091796875 ] }, "eef_FT_l": { "raw_value": [ 0.9, -16.7, -6.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.9, -16.7, -6.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -17.0, -2.2, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -17.0, -2.2, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "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": [ 0.27144422298161985, -0.6466313376614051, -0.06930776596466899, -0.7390808721852946, 0.05063667622809487, -1.0333966309877425, 0.19949921020197017 ], "act_joint_pos_r": [ -0.5772128032176779, -0.893991194676156, 0.14111804853826265, -1.0058514125905107, 0.9200389309518489, 0.5072725151228841, -1.4358050664185693 ], "act_eef_pose_l": [ 544.5638875079824, 378.0558907697837, 84.71163144788788, 1.7250714114141388, -0.0337542484700007, 0.7030844309985562 ], "act_eef_pose_r": [ 586.5614644042034, -254.3091481268787, -6.421456653080213, 1.5210712553386445, 0.21149603482527124, 2.0974106962638994 ], "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": [ 0.2695235941467288, -0.6447803569189303, -0.06943323129157405, -0.7414355950127862, 0.05517132842553228, -1.0312624781882516, 0.19682007264453674 ], "joint_pos_r": [ -0.5757331211808242, -0.8946415028765222, 0.1409856459655186, -1.0003539772514123, 0.9196376158913369, 0.5091863534825746, -1.4369467661695932 ], "eef_pose_l": [ 544.4583707517802, 378.53603193369224, 85.12430961840528, 1.7278264361158386, -0.035172152079693104, 0.7040056481438702 ], "eef_pose_r": [ 587.5919970535627, -255.7777504421428, -5.9346027039146065, 1.5197572054377153, 0.21539055834658397, 2.0936685499291765 ], "joint_status_l": { "velocity": [ 0.20742179658927995, -0.19990002445080535, 0.01354985567414424, 0.2543025651160491, -0.48972799356816754, -0.23048170464967654, 0.2893383226252322 ], "torque": [ -25.95703125, 5.7421875, -11.358642578125, -0.140380859375, -5.6524658203125, -1.0968017578125, 0.48980712890625 ] }, "joint_status_r": { "velocity": [ -0.1598009469025996, 0.07023121428062495, 0.014299056128264098, -0.5937055062146257, 0.04334074826761736, -0.20668844689675225, 0.12329993657367311 ], "torque": [ 26.59423828125, 7.11181640625, 11.04736328125, -7.2509765625, 0.3863525390625, 4.02099609375, 0.61798095703125 ] }, "eef_FT_l": { "raw_value": [ 1.0, -16.8, -8.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 1.0, -16.8, -8.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.0, -2.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -2.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "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": [ 0.2715432342198724, -0.6470435152307132, -0.06928378769895682, -0.7387489290800778, 0.05027707043322093, -1.0321905211552442, 0.2001596852205412 ], "act_joint_pos_r": [ -0.5776474893643453, -0.8927663389772106, 0.14117846086746172, -1.003837898325661, 0.9227764040091859, 0.507799589046838, -1.438389705216122 ], "act_eef_pose_l": [ 544.8366875079824, 378.10629076978364, 84.64123144788805, 1.7250349903744395, -0.03429882588754124, 0.7041612558006063 ], "act_eef_pose_r": [ 586.8358644042034, -256.0003481268787, -6.692656653080121, 1.5214533148233564, 0.21267295033473335, 2.0935913162145234 ], "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": [ 0.269875655037647, -0.6451595692002138, -0.06940802618478485, -0.7409774281808177, 0.05432424565468637, -1.0314878183134362, 0.19737700088380228 ], "joint_pos_r": [ -0.5760495212990098, -0.8943721645017406, 0.1410166691189184, -1.001072223512074, 0.9200535528218422, 0.5089143935316667, -1.4370706246735352 ], "eef_pose_l": [ 544.5114529821328, 378.45727887833107, 85.04242847473287, 1.7273351249473934, -0.03498930762689995, 0.7039773015189309 ], "eef_pose_r": [ 587.4446976869432, -255.73125978064806, -6.055003345836013, 1.5200375218783575, 0.2148503674908621, 2.093848959322069 ], "joint_status_l": { "velocity": [ 0.18009324011392103, -0.20346017055672405, 0.013417360745504592, 0.24067080467382596, -0.4370820328727931, -0.07588966866833857, 0.3005210449733564 ], "torque": [ -25.693359375, 4.65087890625, -11.572265625, 0.860595703125, -5.8502197265625, -1.60400390625, 0.5712890625 ] }, "joint_status_r": { "velocity": [ -0.1725754612147412, 0.17342404178144477, 0.017472993504297207, -0.2986840706515892, 0.29405925541858835, -0.12039533349117448, -0.1424564970680109 ], "torque": [ 27.0849609375, 9.44091796875, 11.285400390625, -7.48291015625, 1.4080810546875, 4.0521240234375, -0.3826904296875 ] }, "eef_FT_l": { "raw_value": [ 0.7, -16.7, -7.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.7, -16.7, -7.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.6, -17.0, -2.5, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -2.5, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -358, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -183, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2716442174421235, -0.6483287026171292, -0.06918571227606427, -0.736528984943003, 0.05007175860224589, -1.0333554649146182, 0.20024690416722812 ], "act_joint_pos_r": [ -0.5787733083499336, -0.8898980285566629, 0.14146166943082805, -1.0082777371483953, 0.9337176828890792, 0.5044050075335271, -1.4497660316045646 ], "act_eef_pose_l": [ 545.0678875079824, 378.0318907697836, 84.48843144788798, 1.7249878881840495, -0.03402596606469403, 0.7039712166439382 ], "act_eef_pose_r": [ 586.5430644042035, -257.2275481268787, -6.951056653080059, 1.5229591973022862, 0.21337308747243264, 2.0890719859112816 ], "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": [ 0.27016119251004794, -0.6456143053146698, -0.06937653484950673, -0.7403605685576417, 0.05363574095635788, -1.0317347949262559, 0.1978443032433914 ], "joint_pos_r": [ -0.5764040648134021, -0.8938431109996645, 0.1410693977085734, -1.0019336488285302, 0.9215551447761376, 0.5084075289497936, -1.4384024032300962 ], "eef_pose_l": [ 544.5911204448242, 378.391118797006, 84.9592001108613, 1.726952029974608, -0.034844152074515806, 0.7039852414103823 ], "eef_pose_r": [ 587.3240389067299, -255.8948592041093, -6.176671030484698, 1.5203959822302564, 0.21458951958814765, 2.093355614867936 ], "joint_status_l": { "velocity": [ 0.16016196893930967, -0.29314626277798794, 0.020608230124563587, 0.4137988260373149, -0.3848987422625516, -0.17502719659123755, 0.2594732470200256 ], "torque": [ -25.70068359375, 4.48974609375, -11.456298828125, 1.068115234375, -5.8740234375, -1.6607666015625, 0.5291748046875 ] }, "joint_status_r": { "velocity": [ -0.25587075544120097, 0.4260563379849813, 0.04236409654123641, -0.6851413313810895, 1.3135153761325569, -0.4322595641426119, -1.2272356690594677 ], "torque": [ 27.45849609375, 9.5361328125, 11.7919921875, -7.7880859375, 1.6424560546875, 4.03564453125, -0.4888916015625 ] }, "eef_FT_l": { "raw_value": [ 0.8, -16.5, -7.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.8, -16.5, -7.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.6, -16.8, -2.2, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.6, -16.8, -2.2, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "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": [ 0.27181786916614514, -0.648734362357579, -0.069204970758041, -0.7383494274713562, 0.049943186493072174, -1.0312792611262802, 0.20069816496653045 ], "act_joint_pos_r": [ -0.5794495402632198, -0.887472756492675, 0.14169617168951845, -1.0115856435749957, 0.9344143640276226, 0.5008720390689528, -1.4505895553341663 ], "act_eef_pose_l": [ 545.2302875079824, 377.42389076978367, 84.406831447888, 1.7248893001589858, -0.03432927300859842, 0.7037928657144201 ], "act_eef_pose_r": [ 586.0542644042035, -257.7691481268787, -7.471856653080067, 1.5262189374372475, 0.2131464829107778, 2.089050713096664 ], "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": [ 0.2704245902433331, -0.6461063153625191, -0.06934733768984801, -0.7399360979552745, 0.053035330438831775, -1.0317669408167942, 0.1982902011729427 ], "joint_pos_r": [ -0.5769282476094464, -0.8928236695909693, 0.14117001350609168, -1.0035061902542715, 0.923932930921617, 0.50725223385615, -1.440643479088271 ], "eef_pose_l": [ 544.687983655399, 378.2634561801089, 84.87265685482188, 1.726618020545043, -0.03474370723473811, 0.7039620660869647 ], "eef_pose_r": [ 587.1233452765546, -256.20966440191876, -6.380605790421271, 1.521237873183249, 0.21433361171049586, 2.0925325430741593 ], "joint_status_l": { "velocity": [ 0.15046968579746078, -0.2838207046220731, 0.015375175168641508, 0.17135535840751004, -0.3339416970581932, 0.05266785322088907, 0.2600524198712595 ], "torque": [ -25.87646484375, 3.12744140625, -11.42578125, 1.025390625, -5.85205078125, -0.919189453125, 0.58135986328125 ] }, "joint_status_r": { "velocity": [ -0.2722915757962241, 0.5778815709103213, 0.05682340789325835, -0.8725552239967627, 1.1319613900315773, -0.6890407148478772, -1.074144554355172 ], "torque": [ 26.396484375, 10.65673828125, 14.1357421875, -6.9091796875, 1.7779541015625, 3.85986328125, -0.66650390625 ] }, "eef_FT_l": { "raw_value": [ 0.9, -16.9, -6.1, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.9, -16.9, -6.1, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.5, -17.1, -1.7, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.5, -17.1, -1.7, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -347, "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": [ 0.27139251474194404, -0.6491262405958391, -0.06920711512680226, -0.7392817173314238, 0.04956650781882966, -1.030668690426576, 0.20187308807140394 ], "act_joint_pos_r": [ -0.5814604822528606, -0.8771468679678798, 0.14255991126534448, -1.0162069040596209, 0.9369481278155192, 0.49764190111391426, -1.4490719355740345 ], "act_eef_pose_l": [ 545.3534875079824, 376.94789076978367, 84.70283144788804, 1.7241411533841606, -0.035557347025562056, 0.7030299418313993 ], "act_eef_pose_r": [ 584.9886644042035, -262.87314812687873, -8.127056653080217, 1.531308685543462, 0.21142842641965806, 2.0831286497867043 ], "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": [ 0.2706343677264999, -0.6466524988584054, -0.06932069529793647, -0.739753647170137, 0.05240333088613281, -1.0315978061048703, 0.19889346144157366 ], "joint_pos_r": [ -0.5775696567348476, -0.8907788020181987, 0.14135397826995688, -1.0053558907805398, 0.9259419467015894, 0.505838861701804, -1.4421073151392818 ], "eef_pose_l": [ 544.8062416448948, 378.0447766708227, 84.82195226356163, 1.7261967595033818, -0.03482044075444992, 0.7038329456130318 ], "eef_pose_r": [ 586.8329827743364, -257.0455366059536, -6.635174540682357, 1.5226221604508554, 0.21393965891120484, 2.091280493530125 ], "joint_status_l": { "velocity": [ 0.08187746282128927, -0.2671562282907658, 0.012266296707474922, 0.050966919392436694, -0.30636785543186607, 0.10034153384097522, 0.32179018532740855 ], "torque": [ -25.62744140625, 3.01025390625, -11.04736328125, -0.2197265625, -5.9344482421875, -0.2435302734375, 0.53466796875 ] }, "joint_status_r": { "velocity": [ -0.420196762903835, 1.4722054570555088, 0.13023692236924234, -1.1718748715390248, 1.1886325034629053, -0.8852456345675996, -0.7521568232728981 ], "torque": [ 26.98974609375, 10.83984375, 14.520263671875, -5.9814453125, 2.01416015625, 3.636474609375, -0.7177734375 ] }, "eef_FT_l": { "raw_value": [ 0.5, -16.8, -7.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.5, -16.8, -7.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.6, -17.1, -2.3, 1.1, 0.5, 0.0 ], "actual_contact_FT": [ 1.6, -17.1, -2.3, 1.1, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -347, "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": [ 0.27113244361785094, -0.6496636821410497, -0.06914221941205531, -0.7371349481078383, 0.049405454648092484, -1.0324555862009248, 0.2027756574702038 ], "act_joint_pos_r": [ -0.5831144627881587, -0.8541391160356615, 0.1446632919743659, -1.0325349674954676, 0.9775073522756738, 0.48907824105421793, -1.4801338923312832 ], "act_eef_pose_l": [ 545.4254875079824, 377.18309076978363, 84.804431447888, 1.723905799678247, -0.03642373141847291, 0.7027609038219655 ], "act_eef_pose_r": [ 583.8518644042035, -274.82994812687866, -6.284656653079992, 1.534025922176121, 0.2099610863857829, 2.0571980134168797 ], "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": [ 0.270729656400175, -0.6471198168846167, -0.06929470023183087, -0.7394338166053877, 0.051918796709425584, -1.0316467021846085, 0.19948514664267844 ], "joint_pos_r": [ -0.5782066127474311, -0.8875469217522896, 0.14164383578818077, -1.0078130543497543, 0.9298287469130072, 0.5042018121014543, -1.444880434689132 ], "eef_pose_l": [ 544.9122039294783, 377.88051143464475, 84.81363563557309, 1.7258037696283148, -0.03505963877356137, 0.7036560857988092 ], "eef_pose_r": [ 586.5297253585567, -258.5608839143659, -6.735964659200761, 1.5239480655246374, 0.21349530505954636, 2.088600319444666 ], "joint_status_l": { "velocity": [ 0.04349973655282113, -0.2747293449854027, 0.016467442854550818, 0.24827047538877878, -0.2714329371374391, -0.08735689730787755, 0.3553646884515427 ], "torque": [ -28.24951171875, 2.548828125, -10.906982421875, 1.8798828125, -5.8245849609375, -1.5087890625, 0.5657958984375 ] }, "joint_status_r": { "velocity": [ -0.5300321719357015, 3.6079366069934338, 0.32609165054875433, -2.669887875603294, 5.149137513473789, -1.6332975015664886, -3.8072611361865683 ], "torque": [ 27.802734375, 14.2236328125, 15.2587890625, -10.235595703125, 3.662109375, 3.3270263671875, -0.70037841796875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.6, -5.7, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.0, -16.6, -5.7, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 1.7, -16.5, -4.9, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 1.7, -16.5, -4.9, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -326, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -211, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2716333688927797, -0.6490460477945493, -0.06918889634126653, -0.7381826629216283, 0.04791880914548125, -1.0318690109359694, 0.20390326692693808 ], "act_joint_pos_r": [ -0.5837337232179753, -0.83937480237525, 0.14609463694441122, -1.0435827695662785, 0.9966055883764692, 0.4829549470903934, -1.4979263481080547 ], "act_eef_pose_l": [ 545.3078875079824, 377.22789076978364, 84.84603144788802, 1.7229526452884196, -0.03653527034117389, 0.7031009384132056 ], "act_eef_pose_r": [ 582.7486644042035, -281.7035481268787, -5.078256653080189, 1.5369869527035642, 0.213103958159235, 2.0442777862854835 ], "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": [ 0.2708456973743552, -0.6474765833434474, -0.06927427582641299, -0.7391601045120355, 0.05135774549954234, -1.0317213351168149, 0.20013824918013204 ], "joint_pos_r": [ -0.5793216290306022, -0.878766611065606, 0.1424483524638706, -1.0143243039314902, 0.942137107023075, 0.5002902454452972, -1.4543954850159793 ], "eef_pose_l": [ 544.9784650741518, 377.77903056974225, 84.81633747333959, 1.7254209451575886, -0.03527754686905923, 0.703552920526393 ], "eef_pose_r": [ 585.9034281594269, -262.83921803553216, -6.50305099697411, 1.5262845436395571, 0.21307095049038294, 2.0803029101329087 ], "joint_status_l": { "velocity": [ 0.08506601510172018, -0.16949716166703155, 0.00922071244546796, 0.10556057842148192, -0.3713941725530523, -0.015948518091946084, 0.4066099243362764 ], "torque": [ -25.5029296875, 3.57421875, -10.614013671875, 1.59912109375, -5.7330322265625, -0.7855224609375, 0.54656982421875 ] }, "joint_status_r": { "velocity": [ -0.4764921188522564, 4.25418986793602, 0.39378710976833986, -3.1598210946155447, 5.8824224933884395, -1.8721570060105108, -4.701194559620703 ], "torque": [ 27.38525390625, 12.22412109375, 15.5517578125, -6.33544921875, 2.6806640625, 3.6090087890625, -0.6591796875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.1, -5.5, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.1, -5.5, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 2.2, -16.9, -2.6, 1.1, 0.5, 0.0 ], "actual_contact_FT": [ 2.2, -16.9, -2.6, 1.1, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -362, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": -141, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2728879905675445, -0.6500727631471559, -0.06899419952282111, -0.7305177772063756, 0.045355629919297466, -1.037475432009644, 0.20663824306702844 ], "act_joint_pos_r": [ -0.5846336823547023, -0.803913675769796, 0.1497122627361015, -1.0672351743296262, 1.0197159030550056, 0.4695218421325654, -1.5089013465052783 ], "act_eef_pose_l": [ 545.3310875079824, 378.67029076978366, 84.38443144788816, 1.7221004028417628, -0.03682786969799933, 0.7042745535908803 ], "act_eef_pose_r": [ 579.3334644042035, -297.1971481268787, -2.3758566530800636, 1.5464418946787348, 0.21079585987853638, 2.022436709246321 ], "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": [ 0.27114307389795017, -0.6478834662841084, -0.069234643988369, -0.7380213425657837, 0.05042669639490298, -1.0324539762510934, 0.20114860235837498 ], "joint_pos_r": [ -0.5801485106682482, -0.8682892477837617, 0.14345600773538508, -1.0218032633612988, 0.9536993044898052, 0.49592457375277454, -1.462790205699138 ], "eef_pose_l": [ 545.0400314561701, 377.8631810250436, 84.76295152305943, 1.7248787192227404, -0.03553322183428829, 0.7036185170330388 ], "eef_pose_r": [ 585.1218911528952, -267.7644049434985, -5.985776997965644, 1.5289587852334932, 0.21276887877725698, 2.071697814059912 ], "joint_status_l": { "velocity": [ 0.18844544241480854, -0.23643708787002282, 0.025967236416513106, 0.8103611584910908, -0.5476590270258042, -0.5423012276031258, 0.5928637109540169 ], "torque": [ -24.25048828125, 2.70263671875, -10.357666015625, 1.9775390625, -5.8831787109375, -1.46484375, 0.59051513671875 ] }, "joint_status_r": { "velocity": [ -0.48438425598718027, 6.952356728707976, 0.6756556126801261, -4.906501675047359, 7.129582369249654, -2.851410917113384, -4.979856334051291 ], "torque": [ 26.923828125, 13.19091796875, 16.015625, -5.523681640625, 2.6513671875, 3.5028076171875, -0.648193359375 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.4, -8.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.3, -16.4, -8.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 3.0, -17.0, -2.3, 1.2, 0.6, 0.0 ], "actual_contact_FT": [ 3.0, -17.0, -2.3, 1.2, 0.6, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -375, "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": [ 0.272424935265409, -0.6556098060184292, -0.06854796900558932, -0.7193631278739991, 0.04463690372433825, -1.0445770688802694, 0.21004726400772483 ], "act_joint_pos_r": [ -0.5856171339077134, -0.7558112781075264, 0.1554099027333164, -1.1083193806104732, 1.0522065174542155, 0.45104919142893024, -1.5186854666650205 ], "act_eef_pose_l": [ 546.2814875079824, 378.63749076978365, 84.194831447888, 1.7214315114100698, -0.039304517025059556, 0.7025014710872332 ], "act_eef_pose_r": [ 573.1182644042035, -314.4379481268787, 2.945743346919926, 1.556009604389728, 0.19842369492691234, 2.000023600395835 ], "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": [ 0.2713776775930466, -0.6488681920286179, -0.06914476212817598, -0.7355290692911961, 0.049511933623136745, -1.0340808489139568, 0.2024357572366162 ], "joint_pos_r": [ -0.5807846482802037, -0.8567082607080435, 0.1446552415367051, -1.030490913882291, 0.9643614596774643, 0.49126534577393854, -1.4693066629914813 ], "eef_pose_l": [ 545.1968659829732, 377.99284227544325, 84.67810096553464, 1.724350186151375, -0.036018214312437825, 0.7035231249054359 ], "eef_pose_r": [ 584.1238329618185, -272.8502587113681, -5.192979530349447, 1.5316813493412749, 0.21156013747550245, 2.0635874779081322 ], "joint_status_l": { "velocity": [ 0.1131004928944801, -0.7280728375391732, 0.06445175633645883, 1.7458701813692912, -0.5264877011455504, -1.1335583238452074, 0.8220184871403635 ], "torque": [ -24.42626953125, 2.27783203125, -8.0322265625, 1.763916015625, -5.9912109375, -1.5673828125, 0.57861328125 ] }, "joint_status_r": { "velocity": [ -0.5218930553576584, 10.896552744211974, 1.161469153532435, -8.405226507738561, 9.486986436180622, -4.343216572935571, -5.3327535155851535 ], "torque": [ 27.59765625, 13.80615234375, 15.533447265625, -7.891845703125, 2.171630859375, 3.31787109375, -0.8734130859375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.4, -10.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.1, -16.4, -10.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.1, -18.6, -0.1, 1.0, 0.5, 0.0 ], "actual_contact_FT": [ -0.1, -18.6, -0.1, 1.0, 0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -322, "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": [ 0.2710596109772618, -0.667365787578171, -0.06761155190435031, -0.6948290715253611, 0.04353199816926464, -1.0614896470834474, 0.21364170900058074 ], "act_joint_pos_r": [ -0.5826039984767336, -0.708431192598746, 0.16159422213097707, -1.1378889347614582, 1.0184945297630819, 0.43843287806154674, -1.4627945543751717 ], "act_eef_pose_l": [ 548.1046875079824, 378.59989076978366, 83.98363144788804, 1.7199307950019556, -0.041313909336940846, 0.6982431095394185 ], "act_eef_pose_r": [ 566.2342644042035, -329.76514812687867, 9.368143346919851, 1.5664822999546286, 0.18617078151716634, 1.9973019645223447 ], "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": [ 0.2714087745063838, -0.6513867442087113, -0.06893357613736698, -0.729902302756044, 0.04852530669039419, -1.0378451319195565, 0.20418714294481805 ], "joint_pos_r": [ -0.5814218200326179, -0.8354526389336542, 0.14700265629264758, -1.0463836576604453, 0.977462511145163, 0.48324513333520647, -1.4740074181041882 ], "eef_pose_l": [ 545.6029623469748, 378.1076964991692, 84.56406145126056, 1.7236738556961082, -0.03680827536621779, 0.7028574526363909 ], "eef_pose_r": [ 582.0222252377871, -281.58616789476014, -3.4295362760957744, 1.5366141671805251, 0.20819142831694165, 2.051834645983362 ], "joint_status_l": { "velocity": [ -0.03770854899109999, -1.7256857875196374, 0.14277440625981574, 3.7877972578055363, -0.5392614156167208, -2.5535323252894315, 1.021063019378321 ], "torque": [ -29.5751953125, 1.8017578125, -8.0810546875, 1.416015625, -6.01318359375, -1.746826171875, 0.65277099609375 ] }, "joint_status_r": { "velocity": [ -0.12767150649484194, 13.717911615994005, 1.5758426335454878, -9.882278464686145, 4.431327315722378, -4.839580833748691, 1.2109535675683958 ], "torque": [ 27.64892578125, 11.96044921875, 15.924072265625, -9.2529296875, 1.644287109375, 3.4002685546875, 0.5731201171875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.6, -9.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -16.6, -9.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.6, -17.9, -0.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.6, -17.9, -0.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -364, "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": [ 0.27090058993997823, -0.6729821273538584, -0.0672224949885297, -0.6852573948543527, 0.04277519886457618, -1.0673462290579678, 0.2144456055382675 ], "act_joint_pos_r": [ -0.577259823815491, -0.6845445739835301, 0.1653278806344622, -1.1540677653989058, 0.9717498506510465, 0.421373221610906, -1.420293536339351 ], "act_eef_pose_l": [ 549.0214875079824, 378.09109076978365, 83.68523144788792, 1.7192349723446143, -0.04101281631164789, 0.6964736638390555 ], "act_eef_pose_r": [ 562.5974644042035, -335.41474812687864, 12.338543346919778, 1.5817653430559888, 0.1939059710691193, 2.006493770068264 ], "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": [ 0.27135553164073023, -0.6537268149826195, -0.0687443643602551, -0.7249261058724152, 0.04785206393376296, -1.0411651790304766, 0.20542533784445766 ], "joint_pos_r": [ -0.581171850091322, -0.8109426566077371, 0.14990323626986932, -1.0639520926942743, 0.9807026100963816, 0.47385676662683035, -1.4683746531092516 ], "eef_pose_l": [ 545.980255477361, 378.1457796178084, 84.46892988733364, 1.723169572500893, -0.03734284975829136, 0.702169967997601 ], "eef_pose_r": [ 579.2928272429609, -290.8955761746276, -1.1230030049015056, 1.5433106531701661, 0.2047195114829548, 2.0430513177715115 ], "joint_status_l": { "velocity": [ -0.049132254603012626, -2.079512404153938, 0.1643570446944742, 4.284094437339903, -0.5482852566629504, -2.8274700111987627, 0.9741601796127153 ], "torque": [ -30.25634765625, 1.17919921875, -7.965087890625, 3.460693359375, -6.2457275390625, -2.4810791015625, 0.51910400390625 ] }, "joint_status_r": { "velocity": [ 0.4224863772206433, 13.650590320773759, 1.6658124608635028, -9.732205616038492, -0.966869503804979, -5.668055691353313, 5.192607463378351 ], "torque": [ 35.01708984375, 11.63818359375, 16.595458984375, -9.75341796875, -0.1593017578125, 4.0118408203125, 0.76446533203125 ] }, "eef_FT_l": { "raw_value": [ 0.6, -17.4, -7.6, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ 0.6, -17.4, -7.6, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.8, -3.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.0, -17.8, -3.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -370, "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": [ 0.26959421043893655, -0.6863085906203864, -0.06632430083816347, -0.6626863782669988, 0.04308565292338812, -1.0811199445762976, 0.21602318310455174 ], "act_joint_pos_r": [ -0.5694935997889301, -0.6403545975745696, 0.1727127966739664, -1.1820540326420097, 0.9049228447527096, 0.39408188660413396, -1.3504907818023129 ], "act_eef_pose_l": [ 551.2062875079824, 376.81669076978363, 83.14763144788803, 1.7187793541292071, -0.04165917643624178, 0.6917951725448025 ], "act_eef_pose_r": [ 556.0662644042035, -348.16434812687874, 17.96094334691975, 1.6059949092336867, 0.1995015167334167, 2.011041150116289 ], "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": [ 0.2711573312654981, -0.658511337728171, -0.06837953244380272, -0.7154887174744927, 0.046919011803656645, -1.0472973356365316, 0.20726599450529237 ], "joint_pos_r": [ -0.579968772884156, -0.7869772267380167, 0.15297144122701056, -1.0807845478192193, 0.9744124742213974, 0.4632609636188999, -1.4554374410923476 ], "eef_pose_l": [ 546.7634067523147, 378.0408779660566, 84.2645596051166, 1.7223983869699213, -0.03806502187154709, 0.7006877877194514 ], "eef_pose_r": [ 576.429213755773, -299.3732033237638, 1.2837801637025734, 1.5515308343067484, 0.2030374662543501, 2.0379634239304236 ], "joint_status_l": { "velocity": [ -0.1688120704228524, -3.0020147726661506, 0.2219584670939967, 5.702484448621092, -0.413990549070431, -3.652734033861904, 0.9457484753596646 ], "torque": [ -34.32861328125, 2.30712890625, -7.635498046875, 1.275634765625, -5.767822265625, -2.10205078125, 0.574951171875 ] }, "joint_status_r": { "velocity": [ 1.1312853288076852, 15.834776927871275, 2.1320035081888733, -10.936781797724393, -7.504658644543305, -7.471119968689877, 11.333904927667504 ], "torque": [ 37.6904296875, 14.0478515625, 16.912841796875, -7.977294921875, -0.911865234375, 3.2794189453125, 1.966552734375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.0, -10.2, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.0, -10.2, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.1, -16.8, -1.4, 0.9, 0.4, -0.1 ], "actual_contact_FT": [ 0.1, -16.8, -1.4, 0.9, 0.4, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -412, "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": [ 0.26779028749626943, -0.6979260143333528, -0.06558113345785886, -0.6430089068638888, 0.043807031052515516, -1.095763819051987, 0.22121704800170502 ], "act_joint_pos_r": [ -0.5625164519499011, -0.6043590982638904, 0.17936311651217257, -1.1964186844615512, 0.7729939113726307, 0.3812145432308673, -1.191763708195211 ], "act_eef_pose_l": [ 552.7446875079825, 375.3214907697837, 83.09083144788796, 1.7178895443892903, -0.04634783410172821, 0.684515746743052 ], "act_eef_pose_r": [ 549.1262644042035, -356.82594812687864, 21.193743346919746, 1.632813278058624, 0.176055751478154, 2.0328374186706983 ], "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": [ 0.2707454300209086, -0.6640788488752214, -0.06797783438431802, -0.7051182426375946, 0.046350781661241916, -1.0541153165394137, 0.2091517150158889 ], "joint_pos_r": [ -0.5777436387211795, -0.7602778118653103, 0.15669632768372946, -1.098468495348541, 0.9534763964346191, 0.4509604880307646, -1.4267402001953242 ], "eef_pose_l": [ 547.6552858194282, 377.73317264991874, 84.062422464277, 1.7217354327783319, -0.039031553080968784, 0.6985976267080022 ], "eef_pose_r": [ 572.9385266182167, -308.1339273041025, 4.06500016676884, 1.5623799060647297, 0.200312659643198, 2.0369228093670877 ], "joint_status_l": { "velocity": [ -0.3191459799536389, -3.6553860596288956, 0.25883606609589105, 6.7076104331658115, -0.27471696339870233, -4.497905612722342, 1.303017532020334 ], "torque": [ -35.61767578125, 1.4501953125, -7.501220703125, 0.958251953125, -5.9619140625, -2.1661376953125, 0.7086181640625 ] }, "joint_status_r": { "velocity": [ 1.644487669727468, 16.83872443732337, 2.447940995311537, -10.57830843367391, -19.4915335146435, -7.53233988389912, 25.376712689880065 ], "torque": [ 39.052734375, 12.31201171875, 16.39404296875, -10.09521484375, -2.164306640625, 3.61083984375, 3.17138671875 ] }, "eef_FT_l": { "raw_value": [ 0.3, -17.2, -4.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -17.2, -4.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.4, -0.1, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -2.7, -17.4, -0.1, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -351, "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": [ 0.2708973390287529, -0.701930486131599, -0.06534235475207356, -0.6360780370086274, 0.03270431118833486, -1.0960634564033627, 0.2322678339107818 ], "act_joint_pos_r": [ -0.5562819189830681, -0.5731423197747131, 0.18600284497777192, -1.2081257059611932, 0.6302443411203891, 0.37305649881606373, -1.0381169123169465 ], "act_eef_pose_l": [ 553.9486875079824, 375.4862907697837, 82.8444314478882, 1.7108824814632266, -0.05014185910567335, 0.6882948326094063 ], "act_eef_pose_r": [ 542.3278644042035, -363.7435481268787, 22.945743346919926, 1.662893578386697, 0.1656326114290049, 2.0562875895963044 ], "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": [ 0.27048978776699434, -0.6704072397790757, -0.06753356979735252, -0.6935415262128535, 0.04494745854108969, -1.061504856533135, 0.21223407355579138 ], "joint_pos_r": [ -0.5743296775953752, -0.7281223138546772, 0.16155145001507962, -1.1179901805840886, 0.9070983452444892, 0.4370752577010694, -1.3691248435290075 ], "eef_pose_l": [ 548.6906206025835, 377.34499353837595, 83.8530958050361, 1.7204747183609648, -0.04059700079938284, 0.696416793600308 ], "eef_pose_r": [ 568.1806621078783, -317.77200041678634, 7.378509155404885, 1.5775198393079866, 0.19420103433439911, 2.04209625822935 ], "joint_status_l": { "velocity": [ 0.04401423813926719, -3.4044101983603525, 0.23664424544123097, 6.205873801592432, -1.3222209172760735, -3.7322187100770066, 2.163582306889733 ], "torque": [ -33.27392578125, 2.36572265625, -6.964111328125, 1.35498046875, -5.9197998046875, -2.3382568359375, 0.64727783203125 ] }, "joint_status_r": { "velocity": [ 1.9491004444844862, 16.737345719011643, 2.640672773490449, -9.734349641431272, -29.89935061119464, -6.9138220472990675, 35.74780224583485 ], "torque": [ 37.21435546875, 11.953125, 16.778564453125, -8.074951171875, -2.2833251953125, 3.6529541015625, 1.93450927734375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.0, -7.4, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.0, -7.4, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -16.8, -1.3, 1.2, 0.2, 0.0 ], "actual_contact_FT": [ -1.7, -16.8, -1.3, 1.2, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -389, "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": [ 0.2660507929068605, -0.712060412195024, -0.06470876718669201, -0.6175480840197991, 0.036973118265542865, -1.108907441646556, 0.2476290721485259 ], "act_joint_pos_r": [ -0.5400687229919163, -0.5542248044966082, 0.1889967960892798, -1.170552133198037, 0.37155190375253966, 0.43011824962696227, -0.7538003220166072 ], "act_eef_pose_l": [ 555.6606875079824, 374.61669076978365, 83.95323144788794, 1.7115378374716212, -0.06925419342175751, 0.6808496005044781 ], "act_eef_pose_r": [ 536.5678644042034, -370.33234812687874, 23.62654334691979, 1.6963076836880004, 0.13474498934326995, 2.1141553471094867 ], "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": [ 0.2702124018065786, -0.6767112001314232, -0.06710046178451737, -0.6820454562159793, 0.04309055561561608, -1.0685411813180887, 0.21688378294676977 ], "joint_pos_r": [ -0.5695254977668993, -0.6972006014202791, 0.1664308083593573, -1.1318020984673356, 0.8325446509064978, 0.4298741359723375, -1.2821332966215213 ], "eef_pose_l": [ 549.7756222368074, 376.9781191835256, 83.7369791956159, 1.7188469120070573, -0.043597680165468354, 0.6944160615467124 ], "eef_pose_r": [ 563.1371405153561, -326.54479863412274, 11.005104760473927, 1.592354903840757, 0.18626099130114213, 2.0546321553958684 ], "joint_status_l": { "velocity": [ -0.44944050563033855, -3.817602308706647, 0.2582953985496017, 6.965510760429616, -0.66066374857221, -4.359427541031025, 3.320393304023783 ], "torque": [ -36.9580078125, 3.18603515625, -6.9091796875, 1.46484375, -5.8392333984375, -2.5506591796875, 0.8807373046875 ] }, "joint_status_r": { "velocity": [ 3.181237850103713, 15.440930661850594, 2.437054797742366, -4.184880324467954, -49.78574834046956, 0.026363497149350934, 57.05827841336486 ], "torque": [ 39.11865234375, 12.73681640625, 18.365478515625, -7.354736328125, -2.8436279296875, 4.46044921875, 3.11279296875 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.4, -2.8, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.4, -16.4, -2.8, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ 0.3, -16.6, -0.7, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.3, -16.6, -0.7, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -377, "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": [ 0.2640347032648538, -0.7164277627449555, -0.06443800331269495, -0.6087663745688031, 0.03665841692033495, -1.1147367890614253, 0.2552413515843557 ], "act_joint_pos_r": [ -0.5403018148783532, -0.5445879748238185, 0.19159679253787718, -1.1659214729455099, 0.3351877003059043, 0.4454603611248947, -0.6946491160379231 ], "act_eef_pose_l": [ 556.4934875079824, 374.4806907697837, 84.76123144788794, 1.7100971503234599, -0.07756606802464021, 0.6785911015301829 ], "act_eef_pose_r": [ 533.8798644042035, -374.0339481268787, 24.019343346919868, 1.7015063602124219, 0.11145297418421199, 2.1194153349214773 ], "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": [ 0.26925254982625224, -0.6837686055784495, -0.06662508803596513, -0.6690988367134855, 0.0419071047324055, -1.0766725597704945, 0.22334956976691206 ], "joint_pos_r": [ -0.564337311640794, -0.671093611139092, 0.17064396762902184, -1.1382557221474587, 0.7479140868187525, 0.43123496773598696, -1.183639332916982 ], "eef_pose_l": [ 550.9970573283937, 376.548779397637, 83.82634932920473, 1.7173469380039905, -0.04910556947694717, 0.6916226449677368 ], "eef_pose_r": [ 558.5630129043199, -334.06225984445337, 14.330285645895515, 1.6050289395757704, 0.17605393332736136, 2.0700085193919566 ], "joint_status_l": { "velocity": [ -0.5635108087682639, -3.52708494817211, 0.23619818382014657, 6.515713740921747, -0.566841565605325, -4.1108155213969155, 3.44421085471458 ], "torque": [ -37.47802734375, 2.9296875, -6.99462890625, 1.690673828125, -6.0186767578125, -2.3529052734375, 0.64910888671875 ] }, "joint_status_r": { "velocity": [ 2.5957570925809748, 13.662205776829417, 2.262838351306806, -2.98781296535644, -44.573135129039265, 1.5362971753387633, 52.80938589335804 ], "torque": [ 37.30224609375, 13.98193359375, 16.93115234375, -6.8115234375, -2.2760009765625, 5.108642578125, 1.4410400390625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.4, -7.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -16.4, -7.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.1, -16.3, -0.8, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ 0.1, -16.3, -0.8, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -374, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 20, "motor_current": 47, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2648357551980405, -0.7209467869695926, -0.06414300861662185, -0.5985315030543888, 0.023259521070807015, -1.1203842313148749, 0.2695876918817617 ], "act_joint_pos_r": [ -0.5378988964541378, -0.5259419104168018, 0.19569633671362188, -1.1568686251422473, 0.2608174357965871, 0.4701838406526714, -0.619584633102507 ], "act_eef_pose_l": [ 557.6494875079824, 374.8246907697837, 86.2668314478879, 1.6991340513646938, -0.0852799026545284, 0.6805640523868471 ], "act_eef_pose_r": [ 529.0798644042035, -381.8243481268787, 24.506543346919898, 1.7182379921521564, 0.1097405044821254, 2.132451850323362 ], "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": [ 0.26839878972082626, -0.6899311394056623, -0.06621305719737626, -0.6575525194655133, 0.03982831692855934, -1.0838876709408212, 0.23022045265879051 ], "joint_pos_r": [ -0.560583336790275, -0.6510719874752642, 0.1740045015047066, -1.1420577652936859, 0.6819988864084512, 0.4344798422745048, -1.1061171768482287 ], "eef_pose_l": [ 552.1001189075946, 376.2347940906623, 84.09981710590631, 1.7151433991424982, -0.054716350179910604, 0.6894218608439953 ], "eef_pose_r": [ 554.9018391122802, -340.1025761636911, 16.664266272250728, 1.6155508132834837, 0.16708018784435685, 2.0811795571661778 ], "joint_status_l": { "velocity": [ -0.3847963794982867, -3.349591145994424, 0.22355865321149748, 6.37408177890908, -1.7893771777784395, -3.941512271707026, 4.25153644371612 ], "torque": [ -39.70458984375, 2.6953125, -7.421875, 1.6357421875, -6.1614990234375, -1.97021484375, 0.655517578125 ] }, "joint_status_r": { "velocity": [ 2.4498473019187728, 13.513649758518653, 2.342649109820627, -1.5995256881566888, -45.48625512069826, 3.8559181006165844, 52.54396502312808 ], "torque": [ 35.54443359375, 13.2421875, 16.73583984375, -6.414794921875, -1.658935546875, 5.5426025390625, 0.97869873046875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.6, -8.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -16.6, -8.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.0, -16.5, -1.7, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ 0.0, -16.5, -1.7, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -328, "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": [ 0.2764495684801375, -0.7155542345844661, -0.0646363615525279, -0.6162123924763434, -0.015601642756039934, -1.0960927555794586, 0.2717687520803689 ], "act_joint_pos_r": [ -0.5334328110102566, -0.5099682995722478, 0.19931530072289733, -1.149743932371015, 0.21106633291477417, 0.4950755814185926, -0.5640373899634242 ], "act_eef_pose_l": [ 558.9222875079824, 375.08789076978366, 86.7388314478881, 1.6741390021711162, -0.06416349221251438, 0.7026008031333831 ], "act_eef_pose_r": [ 525.2646644042035, -388.1587481268787, 27.200943346919757, 1.7259791289485045, 0.10476025353367713, 2.1426740353383944 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.26848791965764207, -0.6947166071570541, -0.06590141949790017, -0.6488771723098538, 0.034846270277514975, -1.0884759628200362, 0.23681898413037805 ], "joint_pos_r": [ -0.5560356131830143, -0.626489540109793, 0.178315359893428, -1.1444435526111139, 0.5994889493262192, 0.4426756755486059, -1.0109166475409372 ], "eef_pose_l": [ 553.1061476702878, 376.01824567621196, 84.47104435266354, 1.711077028454678, -0.058431224935563505, 0.6891363739916329 ], "eef_pose_r": [ 550.2381836932552, -347.96099891502126, 19.46547158868333, 1.6287559074008178, 0.1575149061548612, 2.0946577805595905 ], "joint_status_l": { "velocity": [ 0.8598327134190509, -2.2503973902363583, 0.13662222864296858, 3.527692178299624, -5.448213921143669, -0.822589357040826, 3.7744636167451606 ], "torque": [ -30.00732421875, 3.3251953125, -7.31201171875, -0.909423828125, -7.532958984375, -1.5399169921875, 0.684814453125 ] }, "joint_status_r": { "velocity": [ 2.441030640307762, 12.583922835089467, 2.267926720659341, -0.5724241313220801, -41.94840537035294, 5.659022929998869, 48.26153642044151 ], "torque": [ 37.25830078125, 14.02587890625, 17.755126953125, -5.517578125, -3.306884765625, 6.42333984375, 0.9576416015625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -17.4, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -17.4, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.1, -1.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.3, -17.1, -1.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -326, "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": [ 0.2801309009146775, -0.7530040371799815, -0.06200052685000794, -0.5231210318068134, -0.03673251906676708, -1.1674689290412112, 0.2789027659013252 ], "act_joint_pos_r": [ -0.5289329667893812, -0.4892723630293828, 0.2054564013950283, -1.1621065483683455, 0.1545526125437426, 0.5075573063184178, -0.5056614383967478 ], "act_eef_pose_l": [ 562.0518875079824, 377.4526907697837, 85.78043144788789, 1.656097693673616, -0.057176649797374225, 0.6925273639452623 ], "act_eef_pose_r": [ 519.6814644042036, -391.2867481268787, 30.761743346919957, 1.7380632316682951, 0.10127613651783698, 2.1570977688534025 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.27035953393586676, -0.7031203632789801, -0.06534557420382861, -0.631370231546494, 0.02326370583142206, -1.0988176237214324, 0.24389743759440508 ], "joint_pos_r": [ -0.5516527747534099, -0.6041101169129177, 0.18255575968164686, -1.146442478201154, 0.5259588358902761, 0.45301242309026635, -0.9268909691777564 ], "eef_pose_l": [ 554.6108414177082, 376.153128398493, 84.68527565571875, 1.7024894942937947, -0.05801996859484948, 0.6900372588281125 ], "eef_pose_r": [ 545.7819898987933, -355.01111268338855, 22.273502443271042, 1.6405871176818803, 0.14951480606038442, 2.107042731925426 ], "joint_status_l": { "velocity": [ 1.055276509994485, -5.3872778920398545, 0.3612544595819056, 11.690568776990595, -6.47940118928142, -7.414122306687254, 3.780463958322988 ], "torque": [ -27.25341796875, 1.91162109375, -6.549072265625, 0.67138671875, -6.2127685546875, -2.889404296875, 0.66741943359375 ] }, "joint_status_r": { "velocity": [ 2.4536668930790206, 12.402111638690982, 2.4731963620174824, -1.6916696849271773, -40.11068911988636, 5.890673652507505, 45.491447625821024 ], "torque": [ 35.79345703125, 13.08837890625, 17.657470703125, -6.73828125, -1.4776611328125, 5.4913330078125, 1.4593505859375 ] }, "eef_FT_l": { "raw_value": [ 1.6, -17.3, -7.7, 1.3, 0.1, 0.1 ], "actual_contact_FT": [ 1.6, -17.3, -7.7, 1.3, 0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.2, 0.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -1.5, -17.2, 0.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -354, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 24, "motor_current": -797, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.28297470874526476, -0.7683511089335597, -0.061351842913490724, -0.5034668044848694, -0.047712700276083264, -1.1816529814346308, 0.2934148970694197 ], "act_joint_pos_r": [ -0.5268238846944393, -0.4695963163624925, 0.2118263547192155, -1.173923864332563, 0.10513268220029602, 0.5234197436694588, -0.4558107974464966 ], "act_eef_pose_l": [ 563.7830875079825, 373.8166907697837, 85.29003144788798, 1.6463196651815808, -0.06384559309969784, 0.6849913293755963 ], "act_eef_pose_r": [ 513.6742644042034, -393.7827481268787, 33.58094334691987, 1.7492389944146594, 0.09799128824013702, 2.173042527138436 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2720907636958126, -0.711994847963081, -0.06476718236099124, -0.6127116130470556, 0.012918501264665622, -1.1107263549861357, 0.2502893320528092 ], "joint_pos_r": [ -0.5478251411640668, -0.5843674128208041, 0.18660020286307075, -1.149536439218282, 0.4627315122007556, 0.4626758169212339, -0.855454014966943 ], "eef_pose_l": [ 555.9954757482964, 376.2187405651635, 84.77528606521147, 1.6946623421370233, -0.05761241480746915, 0.6899199077210615 ], "eef_pose_r": [ 541.5766780257289, -360.79077683578566, 24.738239750255275, 1.6518283690724436, 0.1427758801014952, 2.1183692894428963 ], "joint_status_l": { "velocity": [ 1.1754313978447062, -6.086296679086445, 0.3688457818052382, 11.798091358611984, -6.547976644152922, -7.659849741244784, 4.657423658425808 ], "torque": [ -25.78857421875, 3.69873046875, -6.35986328125, 1.226806640625, -6.2054443359375, -2.574462890625, 0.5987548828125 ] }, "joint_status_r": { "velocity": [ 2.2680688056060383, 12.394912849083894, 2.72434405023092, -2.6337642336180522, -38.6195346177618, 6.560150607508586, 43.160194550314834 ], "torque": [ 34.10888671875, 13.27880859375, 17.4560546875, -6.280517578125, -1.5472412109375, 5.126953125, 0.8935546875 ] }, "eef_FT_l": { "raw_value": [ 0.1, -17.0, -8.8, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -17.0, -8.8, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.6, -0.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.6, -0.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -381, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 80, "motor_current": -1343, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.27913373569923666, -0.7650512769620338, -0.06172638324304997, -0.5191152025598461, -0.03629914655759398, -1.1685673831667862, 0.2935202392846074 ], "act_joint_pos_r": [ -0.5241429766778367, -0.45786984596884306, 0.21637557112745584, -1.1853601807516236, 0.05803735102015661, 0.5197405741088599, -0.4182967737325806 ], "act_eef_pose_l": [ 564.0414875079824, 371.74869076978365, 85.59003144788794, 1.6542108834209854, -0.07089331075269181, 0.682510872526247 ], "act_eef_pose_r": [ 510.61346440420346, -395.4819481268787, 33.958543346919896, 1.7665293862539297, 0.1048160050457356, 2.179137598152401 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2735501482351121, -0.7209761455370234, -0.06423788420163558, -0.5960962521056069, 0.003931277355838241, -1.1212624937536062, 0.2573880212241047 ], "joint_pos_r": [ -0.5438816903764135, -0.5630677801111134, 0.1914511119438569, -1.1548305588569705, 0.39546020977876295, 0.47309986520731173, -0.7815718101821997 ], "eef_pose_l": [ 557.3683467453603, 375.66304380031005, 84.83313518422105, 1.6875718890491738, -0.058804904463995514, 0.6886896128579402 ], "eef_pose_r": [ 536.7050632338148, -366.40276249672365, 27.30253763287223, 1.6651700343147562, 0.13673432361930254, 2.131373853981403 ], "joint_status_l": { "velocity": [ 0.6030096613061087, -4.759973805977147, 0.2712341039050048, 8.313708151226784, -4.344757640873758, -5.108777381288121, 3.902164462345148 ], "torque": [ -25.93505859375, 3.50830078125, -6.45751953125, 2.099609375, -6.2530517578125, -2.490234375, 0.523681640625 ] }, "joint_status_r": { "velocity": [ 2.1317182077784658, 11.361041811349004, 2.6917622025461885, -3.2971019218006603, -36.440593988059874, 5.037048001577116, 39.232546834441884 ], "torque": [ 35.31005859375, 12.94189453125, 17.877197265625, -7.427978515625, -0.992431640625, 4.8614501953125, 1.09954833984375 ] }, "eef_FT_l": { "raw_value": [ 0.6, -17.0, -7.4, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -17.0, -7.4, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.1, -16.8, 0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -16.8, 0.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -322, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 203, "motor_current": -1974, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2729972646064342, -0.7847436560522213, -0.060554891535714174, -0.4723558347732357, -0.011402586794569144, -1.1948160018525924, 0.27978853699926276 ], "act_joint_pos_r": [ -0.5218895381549586, -0.43756002524127074, 0.22419072924152872, -1.200286184000745, -0.012699180098181717, 0.5198086790557347, -0.3627747332795037 ], "act_eef_pose_l": [ 566.4158875079825, 373.00229076978366, 82.866031447888, 1.673820869549684, -0.07012402152355064, 0.6773802846310454 ], "act_eef_pose_r": [ 505.1598644042035, -399.8075481268787, 34.348943346919896, 1.7932080991387602, 0.11597284564906646, 2.1875739280904183 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.27384491671659916, -0.7309911429662721, -0.06366163528626011, -0.5772088962898927, -0.00037240171412333497, -1.1325883641339933, 0.2622269770854103 ], "joint_pos_r": [ -0.540474261041769, -0.5443093567610763, 0.19611206335897718, -1.1609256772489178, 0.33488923785321617, 0.48077229071893496, -0.7178478521907699 ], "eef_pose_l": [ 558.9083692548978, 375.17038469342606, 84.61681593000822, 1.6839512647684656, -0.0606538099004663, 0.6869463295962336 ], "eef_pose_r": [ 532.232474035463, -371.0617551426684, 29.172851514248777, 1.679576615005081, 0.13318770873802982, 2.142793567992734 ], "joint_status_l": { "velocity": [ -0.09154372795983079, -5.805100201003555, 0.3355184294718816, 11.323796666268926, -1.1912248553890532, -6.7203866663980705, 1.8965925336891232 ], "torque": [ -32.314453125, 2.08740234375, -6.353759765625, 0.909423828125, -5.9344482421875, -2.8985595703125, 0.57403564453125 ] }, "joint_status_r": { "velocity": [ 2.007090875794759, 11.528587786617805, 3.032406479267058, -4.250809358275376, -37.53844200158518, 4.2158056018344325, 38.346765865012955 ], "torque": [ 34.24072265625, 17.73193359375, 17.523193359375, -6.01806640625, -1.234130859375, 4.3927001953125, 1.55731201171875 ] }, "eef_FT_l": { "raw_value": [ 0.9, -16.3, -8.6, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.9, -16.3, -8.6, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.8, -16.4, -1.0, 0.9, 0.3, 0.0 ], "actual_contact_FT": [ -1.8, -16.4, -1.0, 0.9, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -335, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 322, "motor_current": -2518, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.27112353254983146, -0.7956140329302064, -0.060230848116648555, -0.4631827171239987, -0.007445357426844067, -1.2157158776851071, 0.2678118712832196 ], "act_joint_pos_r": [ -0.5282219085170796, -0.42414343532258464, 0.22998548902491492, -1.209854975841697, -0.011782854907945062, 0.5201661711410804, -0.3595796786064795 ], "act_eef_pose_l": [ 565.5462875079825, 367.17189076978366, 83.23963144788813, 1.6717465291697884, -0.05806972329478071, 0.6558767999623031 ], "act_eef_pose_r": [ 501.69186440420344, -403.2387481268787, 35.440943346919994, 1.793672396360783, 0.11329380771505272, 2.18320918142891 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2735086735582886, -0.7415762634173054, -0.0630801058284165, -0.5577575875081844, -0.0019290245452931467, -1.1456695440179894, 0.26414074703343376 ], "joint_pos_r": [ -0.5376449007694103, -0.5244678179157504, 0.20149441985669167, -1.1685748723689848, 0.27349875203723056, 0.4877000281596563, -0.6548375706442543 ], "eef_pose_l": [ 560.2495911981297, 374.272495946111, 84.30444692468228, 1.6819803701917826, -0.06101347741875512, 0.6831113139888705 ], "eef_pose_r": [ 527.3655275173785, -375.95997210731986, 30.78261107777857, 1.6961120569197603, 0.13059882291040728, 2.153400563602355 ], "joint_status_l": { "velocity": [ -0.25758763177252675, -5.835906986517259, 0.30771075742730414, 10.2137847620134, -0.5957463806072223, -7.564780924761649, 0.39646972572726646 ], "torque": [ -35.1708984375, 2.6220703125, -5.841064453125, 1.177978515625, -5.91064453125, -2.7996826171875, 0.64178466796875 ] }, "joint_status_r": { "velocity": [ 1.0176531491765672, 10.834713767260862, 3.0769447205343248, -4.45811968983989, -30.809504872305382, 3.5062400309717745, 31.886911885885105 ], "torque": [ 33.1494140625, 15.65185546875, 18.255615234375, -6.45751953125, -0.54931640625, 3.984375, 1.0198974609375 ] }, "eef_FT_l": { "raw_value": [ 0.8, -16.8, -8.4, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.8, -16.8, -8.4, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.1, 1.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.4, -17.1, 1.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -391, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 557, "motor_current": -2083, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2571378882323356, -0.7872532457113076, -0.060770360366566877, -0.483554114502948, 0.031978740445613114, -1.201565337891375, 0.25588276454516495 ], "act_joint_pos_r": [ -0.5302009027509529, -0.41777199831888046, 0.23285638934150807, -1.2059522325650949, -0.01885816770932358, 0.5372107889179749, -0.34525154068954383 ], "act_eef_pose_l": [ 565.1478875079824, 366.51269076978366, 84.45403144788797, 1.699362408850705, -0.07105234392459427, 0.6488042611956958 ], "act_eef_pose_r": [ 499.1798644042035, -405.30754812687866, 35.984143346919836, 1.7945383196467797, 0.10440952298939213, 2.1886870687917197 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.27132446567085816, -0.7500769546040682, -0.06264432337119515, -0.5436031938029119, 0.0020639339166250523, -1.1562710493725417, 0.26328650615470023 ], "joint_pos_r": [ -0.536319120085664, -0.5072559863586127, 0.20650217925177566, -1.174920732292516, 0.22580138804646396, 0.49496067344623845, -0.6046817226474558 ], "eef_pose_l": [ 561.197421104572, 372.9595543301656, 84.25606899719207, 1.683543609293841, -0.06224639470065167, 0.6773960393027256 ], "eef_pose_r": [ 523.0202987148974, -380.4382358834632, 32.05107024996656, 1.7095363076250976, 0.12726698978787743, 2.1609318916322873 ], "joint_status_l": { "velocity": [ -1.5321051763337312, -4.0149210258153545, 0.202382035560833, 6.485109296321845, 3.2307038206148606, -4.8916388888571305, -0.799580511463116 ], "torque": [ -37.412109375, 3.50830078125, -5.95703125, 2.093505859375, -2.75390625, -2.376708984375, -0.3424072265625 ] }, "joint_status_r": { "velocity": [ 0.6607479844289443, 9.663985684269072, 2.8461707463720565, -3.351303188033228, -26.422452733037893, 4.562877896057138, 28.017633315530865 ], "torque": [ 33.66943359375, 13.95263671875, 17.46826171875, -6.207275390625, -0.322265625, 3.9056396484375, 0.64453125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.7, -7.2, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -16.7, -7.2, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.7, -16.9, 1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -1.7, -16.9, 1.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -345, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 682, "motor_current": 219, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.25382736976626524, -0.8139312681954517, -0.059183259599217414, -0.4147909678563865, 0.03444827177914842, -1.2574131552301029, 0.2533642366182534 ], "act_joint_pos_r": [ -0.5235093609013846, -0.41816884436095625, 0.23206650110856897, -1.18380507266684, -0.044684506707340255, 0.596168131918448, -0.3097489975018886 ], "act_eef_pose_l": [ 565.9494875079824, 367.73269076978363, 84.24443144788806, 1.6989055886193263, -0.06712449143595325, 0.6352179902501829 ], "act_eef_pose_r": [ 495.5806644042035, -403.84034812687867, 37.336143346919926, 1.7949790468909266, 0.08550813807837003, 2.224291204514898 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2685750612816021, -0.7595505736737808, -0.06213624342961471, -0.5250657554335736, 0.007293003174738332, -1.1707552569787283, 0.2617519763500364 ], "joint_pos_r": [ -0.5343940882342343, -0.4914844762021064, 0.2110622820840166, -1.1776163393128545, 0.179288842164408, 0.5098607546315322, -0.5543381940138363 ], "eef_pose_l": [ 562.0641811205485, 372.1022786107408, 84.24514173557768, 1.6858961030178476, -0.06349211139565898, 0.6709702772189533 ], "eef_pose_r": [ 518.6170736345737, -384.4413447239835, 33.59608926086949, 1.7208182543583728, 0.12204888596952515, 2.1717702221591675 ], "joint_status_l": { "velocity": [ -1.592703709371479, -5.872941795180608, 0.3189128478512937, 11.909325811547244, 2.932682514429019, -9.358776988776185, -0.905849174439366 ], "torque": [ -39.95361328125, -0.38818359375, -5.474853515625, 0.421142578125, -2.545166015625, -2.8729248046875, -0.53466796875 ] }, "joint_status_r": { "velocity": [ 1.1755158819606315, 7.917854714202477, 2.2683887521015578, -0.6683634899022906, -24.188408279180784, 9.320921841092122, 26.414854158811174 ], "torque": [ 33.662109375, 13.9892578125, 18.9453125, -5.7861328125, -0.29296875, 3.4954833984375, 0.90545654296875 ] }, "eef_FT_l": { "raw_value": [ 1.4, -16.9, -8.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 1.4, -16.9, -8.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.7, 0.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.8, -17.7, 0.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -358, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -322, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.25552371205557983, -0.8184333880335364, -0.058976085268457566, -0.40417379564118155, 0.027338411818447903, -1.2681712085643508, 0.2568359245471734 ], "act_joint_pos_r": [ -0.5225688980569458, -0.4172993425143371, 0.2328528019798367, -1.181228259908845, -0.0573015911405923, 0.605329371644428, -0.2984134692968546 ], "act_eef_pose_l": [ 565.7678875079824, 367.4326907697837, 84.47163144788787, 1.6926099089419182, -0.06624811141620922, 0.6322121227984487 ], "act_eef_pose_r": [ 494.5422644042035, -403.7659481268787, 37.01134334691983, 1.7993740088814507, 0.08377371041141737, 2.231316247911657 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2668388411254578, -0.7667283328622656, -0.06174916570657978, -0.5104032207190556, 0.01020252340520092, -1.1824517085335888, 0.2609452537603208 ], "joint_pos_r": [ -0.5326482967799668, -0.48026903834957824, 0.21432882890274021, -1.1782994554238733, 0.14403582744310767, 0.5238730149972843, -0.5160832651674797 ], "eef_pose_l": [ 562.6319219093768, 371.5709291334901, 84.2442371482569, 1.6869730058883448, -0.06405695939226912, 0.666243689752133 ], "eef_pose_r": [ 515.2294308590747, -387.2078552018363, 34.68143132127699, 1.729506274802887, 0.11741137927596328, 2.181454647925495 ], "joint_status_l": { "velocity": [ -1.2219978986454105, -5.5839812677724865, 0.2994838545130607, 11.472439546893032, 1.8506213674710226, -9.257432969931756, -0.4437944660018456 ], "torque": [ -39.61669921875, 3.81591796875, -5.865478515625, 2.05078125, -2.852783203125, -2.713623046875, -0.43212890625 ] }, "joint_status_r": { "velocity": [ 1.0885429572278227, 6.800526579396227, 2.0005300898453537, -0.31630155556072737, -21.743799907941508, 8.797027063446983, 23.507644633109948 ], "torque": [ 32.578125, 15.76904296875, 18.5546875, -5.279541015625, -0.1336669921875, 3.4881591796875, 0.7763671875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.8, -7.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -16.8, -7.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.4, 0.6, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.4, 0.6, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -387, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -156, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2524476493454024, -0.8407034399886333, -0.057791748681906153, -0.34869824932466376, 0.026213786893101068, -1.315034100751318, 0.27042317134074995 ], "act_joint_pos_r": [ -0.5207395578495104, -0.41623228770720117, 0.23339813569778728, -1.1781242845892235, -0.06802553197473316, 0.6212137861035948, -0.28764610849788846 ], "act_eef_pose_l": [ 565.9542875079825, 367.55029076978366, 85.36043144788805, 1.6884941715165636, -0.0780912694870754, 0.6178256353428754 ], "act_eef_pose_r": [ 492.9502644042035, -402.9179481268787, 37.453743346919964, 1.8012052683498, 0.08022670276103566, 2.243413089157592 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2646164416797575, -0.7774759309862271, -0.06117346903312285, -0.48762108140542504, 0.01315120511425028, -1.2009865332499376, 0.26119835406003894 ], "joint_pos_r": [ -0.5306842186536285, -0.46902933191780843, 0.21765826480239395, -1.1785085551445265, 0.10737102024678102, 0.539855130160679, -0.4765264375851652 ], "eef_pose_l": [ 563.3537489046223, 370.9194232990656, 84.31160599045882, 1.6875598162532428, -0.06546578356971128, 0.6591912946756904 ], "eef_pose_r": [ 511.6185060266916, -389.87069548216107, 35.66907224235692, 1.739161123263826, 0.11221408499792689, 2.192458446130206 ], "joint_status_l": { "velocity": [ -1.3141908121243606, -6.828369580263782, 0.3652150264900067, 15.003223368302177, 1.410717225235364, -12.316774026315258, 0.9962508834675532 ], "torque": [ -41.12548828125, 3.20068359375, -5.877685546875, 2.13623046875, -3.10546875, -2.984619140625, 0.28839111328125 ] }, "joint_status_r": { "velocity": [ 1.0739916911530756, 5.7019126058226455, 1.6998559221319542, 0.04149999599611931, -18.94226896756368, 8.786475698586038, 20.398473920597127 ], "torque": [ 33.15673828125, 15.79833984375, 18.6767578125, -3.533935546875, 0.003662109375, 3.45703125, 0.9136962890625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.9, -3.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.0, -16.9, -3.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.0, -16.8, 1.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -16.8, 1.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -345, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 89, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.25040339456240573, -0.8541172682969893, -0.057146207461532615, -0.3157848283671471, 0.03268843067369618, -1.3340068222094998, 0.27013010170351537 ], "act_joint_pos_r": [ -0.5198148995571108, -0.416708060358311, 0.23368160111581307, -1.1795106202220846, -0.07167199980717331, 0.6231370458108151, -0.2845293301553738 ], "act_eef_pose_l": [ 567.0454875079824, 368.45909076978364, 84.36443144788795, 1.6942908285535667, -0.07949736265390256, 0.6165636529646441 ], "act_eef_pose_r": [ 492.73266440420343, -401.8115481268787, 37.74494334692008, 1.8013885717438052, 0.07975333182908914, 2.2473171288268468 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.26246855462707896, -0.7888373990687354, -0.06057098532791502, -0.4624097005020914, 0.01576546577669457, -1.221103387857018, 0.2626937401660626 ], "joint_pos_r": [ -0.5288339476942558, -0.4597416934606498, 0.220469401246854, -1.1785785050346855, 0.07599673859530946, 0.5544313219292373, -0.44282079649846195 ], "eef_pose_l": [ 564.0539903439305, 370.5260567125515, 84.36267798952923, 1.6880209553246883, -0.06783090360505903, 0.6523061032194079 ], "eef_pose_r": [ 508.45122061680456, -391.91584727695823, 36.42191618844993, 1.747957460881746, 0.10738187147169831, 2.2026407872629434 ], "joint_status_l": { "velocity": [ -1.3029988570876228, -7.050017947486609, 0.36986510098130365, 15.835019161648756, 1.8276263059196078, -12.193211290522754, 0.8031033597772907 ], "torque": [ -41.30126953125, 2.26318359375, -5.377197265625, 2.6611328125, -2.6678466796875, -2.838134765625, 0.50445556640625 ] }, "joint_status_r": { "velocity": [ 0.9740284713775083, 4.6474953045057, 1.426875502404279, -0.10066547126896808, -15.947753393624087, 7.419999338027949, 17.09497417574113 ], "torque": [ 32.96630859375, 16.435546875, 17.962646484375, -4.96826171875, 0.655517578125, 2.9205322265625, 0.8935546875 ] }, "eef_FT_l": { "raw_value": [ -0.3, -15.5, -5.4, 1.2, -0.1, 0.1 ], "actual_contact_FT": [ -0.3, -15.5, -5.4, 1.2, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.7, -16.8, 0.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.7, -16.8, 0.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -353, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 227, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.25564014794175993, -0.8824456106854688, -0.05580171139412251, -0.24475257236174328, 0.014942826039088522, -1.3811338143503227, 0.30044808140581114 ], "act_joint_pos_r": [ -0.5172178364161493, -0.4190495501233677, 0.2329680644358582, -1.1773225833863572, -0.07162547214127236, 0.6267554100302781, -0.2857547254176308 ], "act_eef_pose_l": [ 568.0206875079824, 369.9086907697836, 83.26923144788798, 1.681064001583708, -0.09897010706787461, 0.613711378593937 ], "act_eef_pose_r": [ 493.2910644042035, -400.8443481268787, 38.535343346919944, 1.7991190206102132, 0.08101558148091136, 2.2509493008328887 ], "act_grip_l": false, "act_grip_r": false } } ] }