{ "info": { "version": "1.0.0", "datetime": "2025-08-31-17:42", "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": "cable_match/episode_0028", "episode_id": 28, "task": "Insert the cable of the same color as the port.", "total_steps": 147 }, "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, -0.28469393429433326, 0.27779962033772554, -1.3152536087568052, -0.02999999999999998, 0.7533570687157973, -0.19766064072896 ], "eef_pose_l": [ 457.76548750798236, 348.26789076978366, 116.82043144788787, 1.6656263244780796, -0.0754936507169404, 0.8180631129867807 ], "eef_pose_r": [ 451.81986440420343, -395.37474812687867, 103.95054334691989, 1.6899619082336153, 0.014678289926381654, 2.3499154246584135 ], "joint_status_l": { "velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "torque": [ -13.564453125, 11.396484375, -20.440673828125, -3.265380859375, -4.0447998046875, -2.4188232421875, 0.34332275390625 ] }, "joint_status_r": { "velocity": [ 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "torque": [ 21.533203125, 15.00732421875, 17.510986328125, -4.754638671875, 3.81591796875, 0.1849365234375, -0.4669189453125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.5, -9.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -16.5, -9.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.2, -0.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.2, -17.2, -0.7, 1.0, 0.3, 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": 700, "motor_current": 87, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.35796024155960027, -0.29185868265297066, -0.12847009057949968, -1.519147147131643, -0.10984926145879738, -0.5092536146021344, 0.35808773475403266 ], "act_joint_pos_r": [ -0.480455521469033, -0.2846939284347493, 0.277799626191243, -1.3152536269136816, -0.02999999278066623, 0.7533570419891714, -0.19766064531856292 ], "act_eef_pose_l": [ 457.76548750798236, 348.26789076978366, 116.82043144788787, 1.6656263232034922, -0.07549364575442369, 0.8180631049630251 ], "act_eef_pose_r": [ 451.81986440420343, -395.37474812687867, 103.95054334691989, 1.689961907456498, 0.014678289631629536, 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": [ 0.35795977815132524, -0.29185868066508325, -0.1284700915159376, -1.5191471553048306, -0.10984926491367113, -0.5092536010680074, 0.3580877419357796 ], "joint_pos_r": [ -0.4804558422734281, -0.2846939339538341, 0.2777996206778721, -1.3152536098118974, -0.02999999958048605, 0.753357067162719, -0.19766064099566086 ], "eef_pose_l": [ 457.76548142203313, 348.26789077828204, 116.82040444069169, 1.6656263676350764, -0.0754936098249981, 0.8180631088155275 ], "eef_pose_r": [ 451.81986675299817, -395.37474812851804, 103.95055252022773, 1.6899618937640233, 0.014678304172035523, 2.3499154235468827 ], "joint_status_l": { "velocity": [ 5.004661751684125e-05, -2.1468515853939607e-07, 1.011323247368523e-07, 8.826788189253421e-07, 3.731154274433379e-07, -1.4616423626989672e-06, -7.75605801806023e-07 ], "torque": [ -13.53515625, 11.3818359375, -20.440673828125, -3.265380859375, -4.0447998046875, -2.4224853515625, 0.3424072265625 ] }, "joint_status_r": { "velocity": [ 3.4645853297377016e-05, 5.960436588736684e-07, 5.954263748719768e-07, -1.84693860205698e-06, 7.34358879261876e-07, -2.7186626283537407e-06, -4.6685966204051965e-07 ], "torque": [ 21.533203125, 15.00732421875, 17.620849609375, -4.754638671875, 3.81591796875, 0.1611328125, -0.46600341796875 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.4, -9.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.2, -16.4, -9.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.3, -0.6, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.3, -17.3, -0.6, 1.0, 0.3, 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": 700, "motor_current": 61, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3576341556947483, -0.2974145594924697, -0.12665537430337928, -1.5178506622639698, -0.10477029313235504, -0.5077848062145098, 0.3565391218723662 ], "act_joint_pos_r": [ -0.4718954731225918, -0.2920483163749317, 0.2716868422911967, -1.3033505273415449, -0.034371830951872795, 0.762192101564497, -0.1911731882936273 ], "act_eef_pose_l": [ 458.57348750798235, 346.28069076978363, 115.36043144788783, 1.668716179337667, -0.07658207138008467, 0.8141442647856626 ], "act_eef_pose_r": [ 453.65586440420344, -395.0091481268787, 103.88494334691975, 1.6905328555667647, 0.012020133203233536, 2.354425235865404 ], "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": [ 0.357927420136801, -0.29241129740854893, -0.128289590239532, -1.5190181988308833, -0.10934408373101562, -0.5091075079687801, 0.357933707660774 ], "joint_pos_r": [ -0.4798385910991415, -0.285224197207948, 0.277358879245037, -1.3143953785434308, -0.030315215554702065, 0.753994085955667, -0.1971928847649053 ], "eef_pose_l": [ 457.846274684683, 348.0704902368447, 116.67491054065458, 1.6659340845066155, -0.07560114065394262, 0.8176736446565341 ], "eef_pose_r": [ 451.9524325611352, -395.3489837181439, 103.94518965342242, 1.689999045914595, 0.014485555652819235, 2.3502397520242257 ], "joint_status_l": { "velocity": [ -0.03167162563721959, -0.5403363686937723, 0.17649011580689322, 0.1260902303954481, 0.493954816236819, 0.14284757639737578, -0.15061082311929042 ], "torque": [ -14.4580078125, 5.93994140625, -14.12353515625, -1.26953125, -2.039794921875, -1.424560546875, -0.311279296875 ] }, "joint_status_r": { "velocity": [ 0.8578314410816468, -0.7369831338785993, -0.6125619244665703, 1.1928087497903306, -0.4381015417801448, 0.8853595734690245, 0.6501080449861085 ], "torque": [ 25.1220703125, 10.11474609375, 12.066650390625, -1.702880859375, 2.548828125, 1.2982177734375, 0.12176513671875 ] }, "eef_FT_l": { "raw_value": [ 0.4, -16.4, -10.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.4, -16.4, -10.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.1, -0.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.1, -0.8, 1.0, 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": 700, "motor_current": 19, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.35502255878551564, -0.30237231776005963, -0.12505260293400955, -1.5154689949969626, -0.08706566467214114, -0.5074768219438467, 0.3422130214029825 ], "act_joint_pos_r": [ -0.47099015706223346, -0.2966214217020587, 0.2684060181745261, -1.2996952196282792, -0.024647852401832093, 0.7595858246613182, -0.19777800923325634 ], "act_eef_pose_l": [ 459.30068750798233, 344.64709076978363, 113.87003144788792, 1.6758950437480393, -0.07760595533662086, 0.8089742725718193 ], "act_eef_pose_r": [ 455.30146440420344, -394.6339481268787, 103.67774334691993, 1.6858745783032147, 0.009935283805421833, 2.3515085279226584 ], "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": [ 0.3576158055017233, -0.29378904063893807, -0.12784122714386761, -1.5185748755326345, -0.10677440464078983, -0.5088430094607451, 0.3562621846803585 ], "joint_pos_r": [ -0.4782717724072718, -0.28684393765279526, 0.27605010079148196, -1.312043938055966, -0.030380950424031914, 0.7553558977585676, -0.1965311580656784 ], "eef_pose_l": [ 458.0478414335271, 347.59079821724436, 116.29322349180441, 1.6671393069486375, -0.07587316397616167, 0.8165300880044981 ], "eef_pose_r": [ 452.39323923974064, -395.25977311961054, 103.91650862120011, 1.689756633598055, 0.013862203642746183, 2.3508173435641297 ], "joint_status_l": { "velocity": [ -0.2800623853520534, -0.9269665896627366, 0.301162532350685, 0.3354252050140616, 2.1284811404185255, 0.14754390025073505, -1.5172648846211167 ], "torque": [ -22.90283203125, 4.22607421875, -8.404541015625, -0.42724609375, -0.76904296875, -1.029052734375, -0.5145263671875 ] }, "joint_status_r": { "velocity": [ 0.7863912638939041, -1.0559371341192225, -0.8255365747316112, 1.3336222571034284, 0.6191563253578891, 0.45681863235191855, -0.13465595463313385 ], "torque": [ 27.8173828125, 6.6943359375, 10.85205078125, -0.1220703125, 3.680419921875, 1.7669677734375, -0.14556884765625 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.8, -9.9, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ 0.1, -15.8, -9.9, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.7, -1.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.3, -17.7, -1.3, 1.1, 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": 700, "motor_current": 82, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.34792945115348284, -0.3117632643513412, -0.12255289396697942, -1.5229914505418418, -0.04985773940977335, -0.49189391045839326, 0.31404198873309774 ], "act_joint_pos_r": [ -0.4657651673909937, -0.30527401851805414, 0.2625001981831564, -1.2929570253465141, -0.03392524403542563, 0.757495539933577, -0.1900671829677584 ], "act_eef_pose_l": [ 460.58708750798235, 339.3214907697836, 111.92923144788784, 1.6905329019239441, -0.08345697943034872, 0.8015856998455021 ], "act_eef_pose_r": [ 457.6158644042034, -393.24434812687866, 101.35054334691998, 1.6925522345883954, 0.007751556371056071, 2.3525250344899358 ], "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": [ 0.3566780623728052, -0.2958771950376394, -0.127202556941664, -1.5186066654555228, -0.10085162323429488, -0.5074948594389764, 0.3519213870447225 ], "joint_pos_r": [ -0.47675490884211885, -0.28895258716653804, 0.27443925686134446, -1.309564728042644, -0.029774631392837345, 0.7560120066107233, -0.1964130538632039 ], "eef_pose_l": [ 458.3455234719295, 346.7137172394782, 115.74238350749525, 1.6696688274367055, -0.07654260765915555, 0.8147090719155756 ], "eef_pose_r": [ 453.0089598424587, -395.0924846277969, 103.7680957433745, 1.689354770505253, 0.013057357598617116, 2.350978325302189 ], "joint_status_l": { "velocity": [ -0.9448221456471728, -1.7156448856385786, 0.5021487911790468, -0.47354282292388916, 5.50717702754433, 1.684852797826153, -4.090854364355412 ], "torque": [ -31.2158203125, 2.23388671875, -7.31201171875, -4.486083984375, -0.838623046875, -1.083984375, -1.131591796875 ] }, "joint_status_r": { "velocity": [ 1.18685707224353, -1.762662599009257, -1.2893803090048284, 1.7935789923981815, -0.4482529448855965, 0.16021687352374414, 0.68533384386682 ], "torque": [ 28.2421875, 4.9658203125, 10.7421875, -0.372314453125, 4.119873046875, 1.849365234375, -0.498046875 ] }, "eef_FT_l": { "raw_value": [ 1.2, -15.5, -10.5, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 1.2, -15.5, -10.5, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.3, -0.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.3, -0.9, 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": 700, "motor_current": 78, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3357278983890188, -0.32900022480571417, -0.11779448879632742, -1.5195663431518005, -0.022513419527719996, -0.4805611575227693, 0.28966099833853115 ], "act_joint_pos_r": [ -0.4638366590710033, -0.3112106503512737, 0.2590350056616403, -1.2924003782164282, -0.03562377123766458, 0.7416530612302665, -0.1847638316108631 ], "act_eef_pose_l": [ 464.82868750798235, 333.86309076978364, 111.79003144788777, 1.697548379476257, -0.08680542089349509, 0.7958754988363622 ], "act_eef_pose_r": [ 460.61026440420346, -392.89154812687866, 99.59294334692007, 1.696437527995203, 0.003481875213794927, 2.342027614385817 ], "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": [ 0.3537543766970092, -0.30063105292929937, -0.12584350556415677, -1.518995433533554, -0.08874986561216615, -0.5034576606650707, 0.3424727711803392 ], "joint_pos_r": [ -0.47472715546771405, -0.29209901215372114, 0.27217618528169063, -1.3066039059719534, -0.030583071554609372, 0.7555787146869059, -0.1950581971699815 ], "eef_pose_l": [ 459.2155485381765, 344.7688515301111, 114.99803069882678, 1.6742833986675103, -0.07798872641154006, 0.8115839559195167 ], "eef_pose_r": [ 453.95568915085596, -394.7594230969429, 103.25656622618082, 1.6900715094713255, 0.011903639628692638, 2.3507826432647256 ], "joint_status_l": { "velocity": [ -1.946802239400025, -3.0637802012858373, 0.8692681732312968, -0.06165642031064067, 7.153325201070926, 2.472749409523356, -5.703503251079045 ], "torque": [ -28.95263671875, 1.6552734375, -8.746337890625, -3.814697265625, -0.1629638671875, -0.2911376953125, -0.66925048828125 ] }, "joint_status_r": { "velocity": [ 1.1761389224815844, -2.063996051026251, -1.4192055417354688, 1.5339357565800071, -0.5443795101545412, -1.503926217384155, 1.1117586908149235 ], "torque": [ 29.326171875, 6.05712890625, 10.748291015625, 0.531005859375, 1.9427490234375, 1.8511962890625, 0.538330078125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -16.3, -10.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.1, -16.3, -10.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.2, -0.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.2, -17.2, -0.3, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -305, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 72, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3259580668627918, -0.35014675230283854, -0.11230244125056676, -1.5028695886937378, 0.0016418020857289653, -0.4919813008458996, 0.2750479808819514 ], "act_joint_pos_r": [ -0.4639766618529335, -0.32132169764900015, 0.25290307624841557, -1.2851871943911364, -0.02197344678751145, 0.7325764125516174, -0.1972944806895904 ], "act_eef_pose_l": [ 468.71348750798234, 328.08789076978366, 110.61243144788779, 1.7027022849874145, -0.09342623992453991, 0.776978845381096 ], "act_eef_pose_r": [ 464.14866440420343, -392.12114812687867, 97.39534334691987, 1.6929574551855304, 0.0017649593761753944, 2.334646502751519 ], "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": [ 0.34946468841108624, -0.30803319488234865, -0.12380063358079395, -1.5172122662404324, -0.0743129616909502, -0.5006980476342033, 0.3314862316071634 ], "joint_pos_r": [ -0.472815549553635, -0.29648380782846445, 0.2692428006444197, -1.3033751420637913, -0.03011657734570903, 0.7522137313812914, -0.19448443034659538 ], "eef_pose_l": [ 460.6473159703656, 342.17828724504096, 114.23765335354179, 1.6790066751620514, -0.08011587961331569, 0.806504313825881 ], "eef_pose_r": [ 455.49018058914464, -394.36911348213204, 102.3863485355726, 1.690793148083715, 0.01019464447427503, 2.3484839130104387 ], "joint_status_l": { "velocity": [ -2.5386402540239494, -4.548130061486688, 1.241768147670741, 1.5489634908085748, 8.202872557087515, 0.9413808885914143, -6.095151311444003 ], "torque": [ -28.99658203125, 0.71044921875, -9.918212890625, -1.287841796875, -0.41748046875, -0.3863525390625, -0.74981689453125 ] }, "joint_status_r": { "velocity": [ 0.9545717180881041, -2.682412987075722, -1.7646381895473073, 1.9642404164734728, 0.8794321628201596, -2.120767884900232, -0.3034764864828787 ], "torque": [ 29.94140625, 5.96923828125, 9.466552734375, 0.69580078125, 3.6602783203125, -0.318603515625, -0.26641845703125 ] }, "eef_FT_l": { "raw_value": [ 1.3, -17.0, -9.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 1.3, -17.0, -9.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.4, -16.6, -2.0, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.4, -16.6, -2.0, 1.0, 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": 700, "motor_current": 89, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.322125745592295, -0.3689761806703776, -0.10835137951075706, -1.4989712739331702, 0.01363484436701174, -0.4781708989890538, 0.2711082072944884 ], "act_joint_pos_r": [ -0.46485642314270764, -0.3359342238641705, 0.24492665935529132, -1.2770000360083285, -0.01396206044870274, 0.7232249525542238, -0.20088313067256386 ], "act_eef_pose_l": [ 472.97908750798234, 322.36869076978365, 108.38443144788772, 1.7080386804519712, -0.09892871942113643, 0.7735888451064122 ], "act_eef_pose_r": [ 468.0542644042034, -389.5011481268787, 92.92654334691977, 1.6945208916854484, -0.007358799529316085, 2.3304676480028372 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 7, "colors": { "rgb_main": "colors/000007_rgb_main.jpg", "rgb_wrist_0": "colors/000007_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000007_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000007_depth_main.npz" }, "states": { "joint_pos_l": [ 0.3461732014086471, -0.3149575993030171, -0.1220122713154907, -1.51506996728477, -0.06371097923998305, -0.4984134300206231, 0.3240354155294109 ], "joint_pos_r": [ -0.47136362892772987, -0.3027168511986726, 0.2653485982538325, -1.2991276002556071, -0.027667194744712537, 0.7475632012795423, -0.19543351870258374 ], "eef_pose_l": [ 462.0403967467701, 339.92205830345597, 113.52470208188893, 1.6824895413761471, -0.08208649968802248, 0.8023794585356521 ], "eef_pose_r": [ 457.53073888801526, -393.6742388499426, 100.94765859762802, 1.6912333017518755, 0.007477641713500299, 2.3454817330925 ], "joint_status_l": { "velocity": [ -2.5970486323112496, -5.833834727916987, 1.4753328022961698, 1.738607604483633, 8.35310258796368, 2.1861288749853713, -5.71596990585066 ], "torque": [ -29.86083984375, 1.259765625, -10.394287109375, 0.506591796875, -0.296630859375, 0.34423828125, -0.63079833984375 ] }, "joint_status_r": { "velocity": [ 0.7027574980584816, -3.5873704440381182, -2.2055043531685747, 2.3897064580822303, 1.4801108504329807, -2.6284533402467503, -0.5885407346768456 ], "torque": [ 28.51318359375, 6.65771484375, 9.26513671875, 0.0, 4.434814453125, -0.172119140625, -0.516357421875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.2, -10.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -16.2, -10.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -16.4, -1.4, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -16.4, -1.4, 0.9, 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": 66, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3240047488165495, -0.38264936341438616, -0.10604246197298621, -1.5056278772077187, 0.01526251803075076, -0.4647470279586855, 0.2685821215608848 ], "act_joint_pos_r": [ -0.46591163312583767, -0.3493556791584466, 0.23977625259547167, -1.2878136722447688, -0.015383595093881652, 0.6886636958364067, -0.19440793890310162 ], "act_eef_pose_l": [ 474.22068750798235, 315.2118907697837, 105.94763144788777, 1.710122378219732, -0.09343217872327444, 0.7667868693205758 ], "act_eef_pose_r": [ 472.39586440420345, -383.92194812687865, 88.49854334691989, 1.7014880247194963, -0.016976538546484992, 2.31961058414938 ], "act_grip_l": false, "act_grip_r": false } }, { "idx": 8, "colors": { "rgb_main": "colors/000008_rgb_main.jpg", "rgb_wrist_0": "colors/000008_rgb_wrist_0.jpg", "rgb_wrist_1": "colors/000008_rgb_wrist_1.jpg" }, "depths": { "depth_main": "depths/000008_depth_main.npz" }, "states": { "joint_pos_l": [ 0.3420568884716974, -0.3254943990061316, -0.11943043380579109, -1.5127035356941698, -0.04991822926387579, -0.49386649578211034, 0.3144953049568723 ], "joint_pos_r": [ -0.47034607961245173, -0.3102813567799584, 0.26108876466833836, -1.2965780138722867, -0.025423156018576254, 0.7389045253925927, -0.19558104113128308 ], "eef_pose_l": [ 464.09607700291235, 336.3305088086999, 112.33983873852384, 1.6872778056012698, -0.08439846414382962, 0.7966684628637395 ], "eef_pose_r": [ 459.98298115405527, -392.27957567415064, 98.98477912045774, 1.6924859951253621, 0.003540545243194276, 2.34142653189714 ], "joint_status_l": { "velocity": [ -1.9495735831567274, -6.172554106338879, 1.4458583146313986, 0.7641485791793912, 7.03931309437772, 3.144809773723445, -4.958477564288355 ], "torque": [ -30.46142578125, 1.142578125, -10.296630859375, -1.42822265625, -0.582275390625, -0.3643798828125, -0.69854736328125 ] }, "joint_status_r": { "velocity": [ 0.4789060959744518, -4.219902357509131, -2.30168341934589, 0.9465209796282181, 1.0842406018998219, -5.425849565189544, 0.1266913040833817 ], "torque": [ 27.71484375, 5.6103515625, 10.14404296875, -0.81787109375, 4.163818359375, -0.2362060546875, 0.311279296875 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.3, -10.9, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.2, -16.3, -10.9, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.3, -16.4, -1.5, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -3.3, -16.4, -1.5, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -290, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 95, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3282028109474248, -0.3893500490774595, -0.10524513706342456, -1.5120961139879345, 0.010319652674823513, -0.45291187334721356, 0.27852388749117596 ], "act_joint_pos_r": [ -0.4652057692658076, -0.35598293147804233, 0.23705099951728284, -1.285460656036126, -0.01984742623477453, 0.6792979692440214, -0.19185295811601005 ], "act_eef_pose_l": [ 474.61108750798235, 311.30709076978366, 103.86523144788777, 1.7110201617445957, -0.09488575969811505, 0.7651165372390741 ], "act_eef_pose_r": [ 474.57186440420344, -382.8875481268787, 86.1809433469198, 1.7066278053052701, -0.017472488422868054, 2.315216767855467 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.33906192582174643, -0.3369652915902747, -0.11682030463210698, -1.5120093383646596, -0.03808829428931714, -0.48718465058711796, 0.30680487064185163 ], "joint_pos_r": [ -0.46953742562006845, -0.3174528310112435, 0.25727756182679595, -1.2948716759905534, -0.024276410332642096, 0.7295883122898401, -0.1950998773504158 ], "eef_pose_l": [ 466.11237315176766, 331.9901639141329, 110.81904210401129, 1.6918783806108268, -0.08597683498110734, 0.7907671861826812 ], "eef_pose_r": [ 462.31634699874184, -390.8328852355333, 97.00704036203655, 1.6943750829787771, -6.443916356280354e-06, 2.3373157870205112 ], "joint_status_l": { "velocity": [ -1.172749818020069, -5.657386952906407, 1.250081228242661, -0.009371490916620928, 5.227904083338286, 3.7013507764038778, -3.0542560998045865 ], "torque": [ -30.41748046875, 2.92236328125, -10.858154296875, -2.288818359375, -0.8148193359375, 0.1922607421875, -0.5511474609375 ] }, "joint_status_r": { "velocity": [ 0.46780508908694785, -4.161128124500646, -2.1844043038663497, 1.0163601791379762, 0.47831617538821036, -5.431196864359222, 0.3506569352424993 ], "torque": [ 28.9306640625, 5.2734375, 10.601806640625, -0.28076171875, 4.0924072265625, 0.2471923828125, 0.4632568359375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -16.4, -12.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -16.4, -12.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -16.9, -0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -16.9, -0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -286, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 17, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.32960257449755803, -0.4112160532474839, -0.10131336562546545, -1.496641698563818, 0.025407457704189475, -0.45709060263100854, 0.2635931693564679 ], "act_joint_pos_r": [ -0.46716763361485514, -0.37296629164172146, 0.22936100747201182, -1.272698610439928, -0.004249393603995344, 0.6669872590708675, -0.19640089689706722 ], "act_eef_pose_l": [ 478.13348750798235, 305.5270907697836, 98.84523144788778, 1.7192177270082056, -0.08719884793094455, 0.753161490315801 ], "act_eef_pose_r": [ 479.74466440420343, -381.1939481268787, 81.51294334692014, 1.7059667547225679, -0.031563755782476555, 2.304278328311618 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3372621629137547, -0.3481053376520582, -0.11443603412831575, -1.5106973652880087, -0.02823353321329504, -0.48148382919236893, 0.30052221751794045 ], "joint_pos_r": [ -0.4689136359490671, -0.3273408934737778, 0.25224121591550724, -1.2913709746959225, -0.021420121239185012, 0.7179243075017526, -0.19502011259732543 ], "eef_pose_l": [ 467.9902914239431, 327.8894976826387, 109.07550395590486, 1.6961216530638512, -0.08667370801052925, 0.7851509470660073 ], "eef_pose_r": [ 465.5009660906353, -389.08663226313837, 94.27165567189898, 1.696445230492992, -0.0054405234258693095, 2.3314602773033077 ], "joint_status_l": { "velocity": [ -0.8272111516602898, -6.815756264320072, 1.4172064000393947, 1.5179672361629315, 5.793056162029853, 2.6343907714245773, -3.988219575190577 ], "torque": [ -29.64111328125, -0.50537109375, -10.723876953125, 0.244140625, -0.32958984375, 0.2471923828125, -0.70220947265625 ] }, "joint_status_r": { "velocity": [ 0.18856269073541654, -4.92739767631134, -2.4709896339540904, 2.016555864511105, 1.8543838924710843, -5.501038986063911, -0.14912030630354067 ], "torque": [ 27.861328125, 4.97314453125, 10.284423828125, 0.01220703125, 4.2828369140625, 0.1611328125, -0.369873046875 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.1, -9.7, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.3, -16.1, -9.7, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.4, -16.4, -0.1, 0.9, 0.3, 0.0 ], "actual_contact_FT": [ -2.4, -16.4, -0.1, 0.9, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 34, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.32588622041835175, -0.43076768409624017, -0.09805668865480063, -1.477781887179169, 0.05691239346928959, -0.46669535603257367, 0.24252650346322713 ], "act_joint_pos_r": [ -0.46772879077713814, -0.38377605155050665, 0.2249959000720571, -1.2626965177301228, -0.005687889961526693, 0.6614198964635223, -0.19199336277902773 ], "act_eef_pose_l": [ 481.70868750798235, 301.26069076978365, 95.09163144788778, 1.7312036663483035, -0.09184644425469032, 0.738766603336425 ], "act_eef_pose_r": [ 482.75426440420347, -380.3555481268787, 77.63934334692001, 1.7115599190280724, -0.038396835143460276, 2.299198441433957 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3356399276604184, -0.36067354951118924, -0.11188102391091663, -1.5068523798674078, -0.01647779410374746, -0.4778634211773856, 0.29247390789420946 ], "joint_pos_r": [ -0.46868241691908497, -0.33591669111186107, 0.24804564006061247, -1.2873064649142747, -0.018740414026767026, 0.7089967354431352, -0.19480871082168735 ], "eef_pose_l": [ 470.1184535246726, 323.69590998836696, 106.9250688081614, 1.7011523666457542, -0.0869031002999495, 0.7783929092334178 ], "eef_pose_r": [ 468.2029702502539, -387.7670297678225, 91.81894511886703, 1.6982881835512806, -0.0105584945812886, 2.326464473903543 ], "joint_status_l": { "velocity": [ -1.0533693146763667, -7.569943271642732, 1.4929841744460992, 3.139520615119906, 7.925906495771448, 1.2061154631655135, -5.394160586284169 ], "torque": [ -31.875, 2.36572265625, -10.882568359375, 0.15869140625, -0.4779052734375, -0.025634765625, -0.91644287109375 ] }, "joint_status_r": { "velocity": [ 0.10298858584434356, -5.168658485940281, -2.489298500829351, 2.6577959083891045, 1.4096310242012466, -5.138147068251442, 0.30404862117250353 ], "torque": [ 28.271484375, 6.533203125, 10.064697265625, -0.103759765625, 4.05029296875, -0.106201171875, 0.38909912109375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.9, -8.4, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.1, -15.9, -8.4, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -16.6, 0.3, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -16.6, 0.3, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 57, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.318948874964092, -0.4515741635267727, -0.09499459631386432, -1.4603323979256169, 0.061231389087839254, -0.4683540475644723, 0.23216314892490936 ], "act_joint_pos_r": [ -0.47276001028442544, -0.39898497648224474, 0.21799768896036287, -1.2332919885182407, 0.022555882156522156, 0.6782962854678117, -0.21326804544322053 ], "act_eef_pose_l": [ 487.1150875079823, 296.8830907697837, 95.21883144788791, 1.7295046107612573, -0.08677628997046714, 0.734854383788228 ], "act_eef_pose_r": [ 486.16466440420345, -381.5523481268787, 73.54894334691997, 1.7029767084840894, -0.047964235971870675, 2.2979256508379953 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3336333360236391, -0.3734057583910981, -0.10943043013886906, -1.5010593403722112, -0.004161813627618348, -0.4761238295605864, 0.28366057523822774 ], "joint_pos_r": [ -0.46872317627837135, -0.341765783315918, 0.24523826707776264, -1.2836622778286473, -0.0164346295911268, 0.7041257104973261, -0.19511840331217825 ], "eef_pose_l": [ 472.4083112074746, 319.83395400238777, 104.92468940859838, 1.7059948881563174, -0.08723993258542885, 0.7715856701409302 ], "eef_pose_r": [ 469.9854761317174, -387.0090020779246, 90.12196351286704, 1.699341613294283, -0.014088395389948882, 2.3233429798292318 ], "joint_status_l": { "velocity": [ -1.5858750215476114, -8.441938772977942, 1.5590240721433668, 4.398380060946394, 7.062257603115362, 0.8391117073034415, -5.561558012453283 ], "torque": [ -33.61083984375, -1.67724609375, -10.8154296875, 2.606201171875, -0.4229736328125, 0.3826904296875, -0.655517578125 ] }, "joint_status_r": { "velocity": [ -0.4359652145469184, -6.179490607630012, -2.9418956701046106, 5.439830806290402, 4.210851076332178, -2.7894956314113983, -1.9601035399887667 ], "torque": [ 29.6630859375, 6.96533203125, 11.065673828125, -0.164794921875, 4.3267822265625, -0.3240966796875, 0.57586669921875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.2, -9.9, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -16.2, -9.9, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.7, -0.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.8, -17.7, -0.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -286, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 13, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3087448795031931, -0.4753648640171851, -0.09196733374405343, -1.449529520843436, 0.10616308976491562, -0.46264101412499026, 0.20486592817997618 ], "act_joint_pos_r": [ -0.47355592484128284, -0.4128790166491342, 0.21285539860540686, -1.2203677546582283, 0.026334437468715777, 0.679115494915074, -0.21836273201881756 ], "act_eef_pose_l": [ 491.96068750798236, 289.66469076978365, 93.61243144788779, 1.7431059382183254, -0.10251066693818565, 0.7220855110469806 ], "act_eef_pose_r": [ 489.16146440420346, -379.2531481268787, 69.73854334692012, 1.7047081838218923, -0.0510380225098726, 2.2991917592208275 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3301217024825033, -0.38989783647728327, -0.10648325135418407, -1.4925815318060656, 0.011439580587977378, -0.4742431329666304, 0.27195747484271177 ], "joint_pos_r": [ -0.4694603937610829, -0.35229234898273787, 0.24027025918238457, -1.2743752552530396, -0.009429350805110258, 0.6995830092570176, -0.19847765347595508 ], "eef_pose_l": [ 475.619249160158, 315.09087605442755, 102.87782064989055, 1.7113823705110356, -0.08802161923862521, 0.7636110802097096 ], "eef_pose_r": [ 472.997717833831, -386.05359235706527, 87.13331262717918, 1.6996833307631978, -0.020352436630510756, 2.3188919944714894 ], "joint_status_l": { "velocity": [ -2.3086287923987925, -9.230166745092916, 1.5676728658544636, 4.649480054879973, 10.229837278186576, 1.2529918798773743, -7.245673339863368 ], "torque": [ -32.490234375, 0.84228515625, -9.625244140625, -0.64697265625, -0.44677734375, 0.4156494140625, -1.11602783203125 ] }, "joint_status_r": { "velocity": [ -0.4423043115928671, -6.543167127571969, -2.9607176206152275, 5.832638039777294, 3.8623752189053255, -2.2104263558899717, -2.147525144760465 ], "torque": [ 21.55517578125, 5.93994140625, 11.138916015625, 0.72021484375, 4.43115234375, -0.1373291015625, -0.8203125 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.0, -11.8, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -15.0, -11.8, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.4, -18.3, 0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.4, -18.3, 0.3, 1.1, 0.3, 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": 700, "motor_current": -15, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3023652276525262, -0.4915358048417747, -0.09012371066455128, -1.4335536146436187, 0.13345197189212119, -0.46595642433128603, 0.18305397369345977 ], "act_joint_pos_r": [ -0.47267713379075765, -0.41624064852115644, 0.21268895941870203, -1.2255213406749428, 0.016214067934237963, 0.6702522160517682, -0.21190437624307973 ], "act_eef_pose_l": [ 496.09748750798235, 286.82229076978365, 92.27963144788788, 1.7520148745732484, -0.10681060184168956, 0.7162789490352347 ], "act_eef_pose_r": [ 489.80546440420346, -376.7795481268787, 68.54894334691997, 1.7103378220678456, -0.0499792432832079, 2.300240032777733 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3265966954731795, -0.40358132613239545, -0.10419885873228346, -1.4853449966129213, 0.027016312280140772, -0.4726275575003834, 0.2608156138441524 ], "joint_pos_r": [ -0.47019601606065237, -0.3638930742821046, 0.23508052619821693, -1.2643921127404227, -0.0031130221218318927, 0.6953247316137348, -0.20195310468372396 ], "eef_pose_l": [ 478.339337758303, 311.1935752399513, 101.31709124302277, 1.7165454356464132, -0.09016058684183308, 0.7569073303532553 ], "eef_pose_r": [ 476.1496747704839, -384.75047929718494, 83.83578314804348, 1.700569572672222, -0.026306772601786408, 2.3152071346048206 ], "joint_status_l": { "velocity": [ -2.616921342661449, -9.4988035483774, 1.5200711592127103, 5.593304286993117, 11.49471221967885, 0.7204611333975208, -8.398009450226063 ], "torque": [ -32.83447265625, 3.80126953125, -10.9375, 0.518798828125, -0.7305908203125, 0.538330078125, -0.728759765625 ] }, "joint_status_r": { "velocity": [ -0.26795281200531207, -5.653371280544661, -2.418217890663321, 4.197919572051845, 2.087264165489645, -2.7077518198215245, -1.0747056316622317 ], "torque": [ 20.6982421875, 5.5810546875, 10.60791015625, 0.518798828125, 4.4989013671875, 0.380859375, -1.03546142578125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -16.1, -6.2, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -1.0, -16.1, -6.2, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.9, -0.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -17.9, -0.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -299, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 3, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2922414408620263, -0.5252934604377174, -0.08635831853103278, -1.4128832444271913, 0.1805847448056116, -0.45703626428158095, 0.15378564869661115 ], "act_joint_pos_r": [ -0.4732150372465398, -0.4254796747517332, 0.20976970901460976, -1.2155440094619112, 0.00636454276869447, 0.6707495448133347, -0.2037017832337275 ], "act_eef_pose_l": [ 504.03908750798234, 278.39429076978365, 89.61483144788764, 1.7672014291766351, -0.12263549690731264, 0.7071556193628556 ], "act_eef_pose_r": [ 491.58066440420345, -375.5987481268787, 64.61294334692005, 1.7188946150032622, -0.05371751905264364, 2.300976415573965 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3211699715648152, -0.4229417265661602, -0.10128535674511283, -1.4738553419371736, 0.05115362686878623, -0.4704414690275344, 0.24376398169820276 ], "joint_pos_r": [ -0.4706659559883428, -0.3736854433228108, 0.23095187193202513, -1.2569396528793153, -0.00026818390932334505, 0.6909205997456372, -0.203235922237528 ], "eef_pose_l": [ 482.4462053298184, 306.0694143672487, 99.24158350224656, 1.724468668354922, -0.09446891785038923, 0.7483871851927154 ], "eef_pose_r": [ 478.72452983782625, -383.34891218932637, 80.92588444680445, 1.7025976184944382, -0.03086375287714447, 2.3125819245376458 ], "joint_status_l": { "velocity": [ -3.1241891728672755, -11.053661247816038, 1.6120725815813586, 6.584792323010902, 13.978148473725028, 1.4477194143611705, -9.717373365564441 ], "torque": [ -33.75732421875, 0.95947265625, -10.11962890625, -0.445556640625, -0.21240234375, 0.18310546875, -0.64453125 ] }, "joint_status_r": { "velocity": [ -0.2752926565623426, -5.5936120195556605, -2.2876061257448566, 4.470597635849671, 0.716313354692826, -2.178409683930127, -0.05031150373091542 ], "torque": [ 19.951171875, 3.8525390625, 10.504150390625, 2.069091796875, 3.6090087890625, -0.17578125, -0.82855224609375 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.5, -7.4, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -0.3, -16.5, -7.4, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -16.5, -1.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.2, -16.5, -1.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -305, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": 1, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2813268270387764, -0.5568021958717145, -0.08349711803365618, -1.3951915854074897, 0.2082671638065577, -0.46271937887774667, 0.13647497965994335 ], "act_joint_pos_r": [ -0.4716067813741551, -0.4360520066637505, 0.2065104425366553, -1.206700456122828, -0.0075421240616879714, 0.6709508694002733, -0.19320496342927798 ], "act_eef_pose_l": [ 509.35108750798236, 267.7270907697837, 89.97083144788763, 1.7717756346289286, -0.13201038092675968, 0.6859870128317134 ], "act_eef_pose_r": [ 493.5454644042034, -373.2763481268787, 61.09134334692001, 1.7280353630654237, -0.05587776662482607, 2.304448749282317 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.31496953985723924, -0.44417239634459277, -0.09836154100970523, -1.4613152580533337, 0.07679157406587984, -0.46863658827703364, 0.22613324677039387 ], "joint_pos_r": [ -0.47101439963497777, -0.3826643710432122, 0.22732651906213416, -1.2497461097266194, 0.00021160770740138519, 0.6876134119114791, -0.20285162548483535 ], "eef_pose_l": [ 486.89216957504766, 300.27993586465266, 97.37287680503124, 1.7323250988261454, -0.09991745166772815, 0.7386714839668571 ], "eef_pose_r": [ 480.97730855301364, -382.04461177583465, 78.09765887083557, 1.7055505530415258, -0.034869503658642144, 2.3108058467888113 ], "joint_status_l": { "velocity": [ -3.6333058257667084, -12.163659600965548, 1.605310335315857, 7.141146028908807, 14.19894491649809, 0.6390397676523385, -9.68280726879378 ], "torque": [ -33.05419921875, -1.728515625, -10.076904296875, -0.79345703125, 0.029296875, 0.135498046875, -0.62255859375 ] }, "joint_status_r": { "velocity": [ -0.06397534097901669, -5.765694596945536, -2.248069961472421, 4.64879348037428, -0.8373783339078542, -1.7995015177501017, 1.0418087754928695 ], "torque": [ 20.2001953125, 6.73095703125, 10.894775390625, 0.567626953125, 4.2425537109375, 0.2069091796875, -0.2783203125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -16.6, -6.7, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -0.5, -16.6, -6.7, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.7, -18.8, 2.8, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -18.8, 2.8, 1.1, 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": 700, "motor_current": 5, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.26812652766234646, -0.5788930361590052, -0.08206373967500283, -1.3987038648957808, 0.25582729092473344, -0.453908256933983, 0.09870958623259818 ], "act_joint_pos_r": [ -0.4676176758370225, -0.4469914450051198, 0.20330640112274936, -1.19841363306289, -0.023086244628881314, 0.6709850532493143, -0.18048882232132157 ], "act_eef_pose_l": [ 511.7454875079824, 256.7486907697837, 91.97883144788767, 1.7805995978418714, -0.1437985995139332, 0.6679872640572996 ], "act_eef_pose_r": [ 495.81506440420344, -370.55234812687866, 58.59534334691992, 1.736197494181731, -0.05750571308240243, 2.3086889214993263 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.30812586431415684, -0.46488548002658797, -0.09577532792626288, -1.4507941842419465, 0.10313612554840326, -0.4667874266166065, 0.20763750327858205 ], "joint_pos_r": [ -0.47072236051529953, -0.39319184730330387, 0.2233273711029177, -1.2413110257489377, -0.0027054163597070835, 0.6846707344172294, -0.19988120097971765 ], "eef_pose_l": [ 490.93792014122624, 293.97158713780436, 96.11895066890895, 1.739550328349948, -0.10580586678122102, 0.7277903964426612 ], "eef_pose_r": [ 483.4844786163461, -380.3109701222762, 74.83024654995049, 1.7102450085958067, -0.038937961267979625, 2.310086634936914 ], "joint_status_l": { "velocity": [ -4.319800952676811, -12.312452925912876, 1.480807857042965, 5.625588571520623, 16.49015950938626, 1.390909303046417, -11.763868084223583 ], "torque": [ -35.361328125, -1.5966796875, -10.04638671875, -0.35400390625, -0.1995849609375, 0.692138671875, -0.82305908203125 ] }, "joint_status_r": { "velocity": [ 0.3352960562255092, -5.810185189543571, -2.162200987148921, 4.6327817735001275, -2.2010645361423933, -1.4780099745612674, 2.094315126583979 ], "torque": [ 28.10302734375, 5.31005859375, 10.48583984375, 0.787353515625, 1.4776611328125, 0.2838134765625, 0.4522705078125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.3, -11.8, 1.3, -0.2, 0.1 ], "actual_contact_FT": [ -1.8, -16.3, -11.8, 1.3, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.3, 0.1, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -17.3, 0.1, 1.0, 0.2, 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": 700, "motor_current": 15, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.26108058807481455, -0.5966075149691971, -0.08088124956868652, -1.3889902132194965, 0.2832299975967675, -0.4489199980750928, 0.06887070884587039 ], "act_joint_pos_r": [ -0.46364436934741793, -0.45265297676077376, 0.20126966603533625, -1.1819436724342638, -0.03273045432598032, 0.6846868401019429, -0.17418385228371658 ], "act_eef_pose_l": [ 515.8782875079823, 251.85829076978365, 92.0580314478878, 1.7870209012264013, -0.14268683112187655, 0.6660042823172685 ], "act_eef_pose_r": [ 497.0798644042034, -371.6955481268787, 57.642543346919894, 1.7403042532597177, -0.0561819882730645, 2.312886094916413 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3008493341027703, -0.48538976478715207, -0.09340359014602156, -1.4412646083401701, 0.13096345680973823, -0.4641739930060625, 0.18676233173054538 ], "joint_pos_r": [ -0.46981675909761744, -0.4025993756654703, 0.2198334327411085, -1.232620706476937, -0.00701519275094012, 0.6837837232671717, -0.19606605924466522 ], "eef_pose_l": [ 494.87692039756007, 287.47973372537035, 95.18062382241699, 1.7469167507634016, -0.11131657854881447, 0.717212889514635 ], "eef_pose_r": [ 485.6821907432844, -378.892761211134, 72.04999389842678, 1.7148351820188168, -0.04200057501873261, 2.3102642879203334 ], "joint_status_l": { "velocity": [ -4.294897899776995, -12.011162769350658, 1.3523728962457904, 5.645468168848922, 16.444301406254304, 1.6473828655843015, -12.731919763643962 ], "torque": [ -35.25146484375, 0.0146484375, -9.92431640625, 0.3173828125, -0.35888671875, 0.7470703125, -0.71319580078125 ] }, "joint_status_r": { "velocity": [ 0.6665984327516306, -5.405629487773123, -2.0048276749919935, 5.472958260334337, -2.777166341961401, 0.09753374155074823, 2.3632086526690355 ], "torque": [ 29.736328125, 5.859375, 10.882568359375, -1.0498046875, 1.256103515625, 1.8988037109375, 0.64361572265625 ] }, "eef_FT_l": { "raw_value": [ -1.8, -16.7, -12.7, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -1.8, -16.7, -12.7, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.0, -0.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -3.0, -17.0, -0.7, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -295, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -62, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.25490149504778575, -0.6302924985476739, -0.07846293338015016, -1.3764683066271115, 0.2995183652772829, -0.4343555689782577, 0.05583358583953264 ], "act_joint_pos_r": [ -0.4634088941585612, -0.46119730154148375, 0.19857911556576263, -1.1672205914307028, -0.03150237504482023, 0.6880304251944105, -0.17958732709587663 ], "act_eef_pose_l": [ 522.2814875079823, 240.31669076978366, 92.17563144788761, 1.7867936433876237, -0.14723193042655702, 0.6597959365520535 ], "act_eef_pose_r": [ 499.4990644042034, -372.2771481268787, 55.371343346919986, 1.7422115061283965, -0.05368065033786239, 2.310659893051096 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2925528666050884, -0.5106590828772106, -0.09073164310278509, -1.4298047772123503, 0.1618001669755175, -0.4594549880035273, 0.1628334830731138 ], "joint_pos_r": [ -0.46869885701346226, -0.4124134388705753, 0.21624759341095923, -1.221999186788779, -0.011423287251884844, 0.6843207014978787, -0.19280684444410162 ], "eef_pose_l": [ 499.82703244437846, 279.48945996759176, 94.24479334619016, 1.754670229329617, -0.1170308859998187, 0.7061635044798827 ], "eef_pose_r": [ 488.0142555621774, -377.7581699414474, 69.2322211842181, 1.7194532437145236, -0.04434894369898439, 2.310448161157641 ], "joint_status_l": { "velocity": [ -4.066228201198729, -12.920027836557768, 1.324981571802053, 5.760168936104648, 14.873126757165123, 2.710657308165665, -11.555648085604497 ], "torque": [ -36.73828125, -1.2158203125, -10.70556640625, -0.994873046875, -0.1959228515625, 0.09521484375, -0.75347900390625 ] }, "joint_status_r": { "velocity": [ 0.5712991387620825, -5.268501782303758, -1.9081393297200044, 5.91591381812151, -2.168477525811091, 0.4006383430290583, 1.4276657668574888 ], "torque": [ 30.8349609375, 6.298828125, 9.832763671875, 0.225830078125, 1.2469482421875, 2.113037109375, 0.63995361328125 ] }, "eef_FT_l": { "raw_value": [ 0.8, -15.8, -9.2, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.8, -15.8, -9.2, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -16.6, -1.3, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -3.5, -16.6, -1.3, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -278, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -3, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.25519881591784827, -0.6687627601688442, -0.07577104306312026, -1.3392317546095431, 0.2886325514660382, -0.45283146912942357, 0.06458773450677305 ], "act_joint_pos_r": [ -0.46638405596948385, -0.46725357181568494, 0.19719796427046885, -1.1633063660153087, -0.03261094379143881, 0.6704549534494811, -0.18030909970652273 ], "act_eef_pose_l": [ 528.4958875079824, 229.69669076978366, 89.04763144788791, 1.7853116687439423, -0.13838819289589122, 0.640714838985709 ], "act_eef_pose_r": [ 502.35106440420344, -373.2051481268787, 51.703343346919866, 1.7496104262886643, -0.05296261171227379, 2.2958184802733865 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.28639670724158894, -0.5346673514159666, -0.08841096393834398, -1.4168346325324004, 0.18321201053757136, -0.457413633307895, 0.146231041832996 ], "joint_pos_r": [ -0.46823255260633084, -0.41818425932201, 0.21419319050615154, -1.2156459541845819, -0.013737741952309894, 0.6839676338678535, -0.19134680753407696 ], "eef_pose_l": [ 504.4654746563025, 272.12972960759333, 93.29538514688909, 1.7596954371414442, -0.12046216329103109, 0.6961102620336538 ], "eef_pose_r": [ 489.46397823780234, -377.22183095432246, 67.50040877226743, 1.7222912383223492, -0.045457986237181905, 2.309797180430113 ], "joint_status_l": { "velocity": [ -3.3692728915717396, -14.481877025179113, 1.3650711939013904, 8.380863635309765, 11.385082635211097, 0.4948591361850774, -8.81721714131345 ], "torque": [ -34.833984375, -2.7392578125, -11.083984375, -1.3671875, -0.44677734375, 0.135498046875, -0.7708740234375 ] }, "joint_status_r": { "velocity": [ 0.19963174895565317, -5.299329453949397, -1.8354303003307315, 5.652508810445767, -2.0382456837828578, -1.4593264446514098, 1.192037288115344 ], "torque": [ 31.8017578125, 6.005859375, 10.137939453125, 0.439453125, 1.2762451171875, 2.0196533203125, 0.6866455078125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.8, -10.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -16.8, -10.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.3, 0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -17.3, 0.5, 1.0, 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": 700, "motor_current": -13, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.26161821949587727, -0.7055957546620281, -0.07354347167872666, -1.3083532160638547, 0.29565143750176964, -0.45198375296551013, 0.06704924196614076 ], "act_joint_pos_r": [ -0.46552457474807474, -0.4753291999925456, 0.19493908557942363, -1.154388478523012, -0.039349474675836486, 0.6522459475035277, -0.175590707850299 ], "act_eef_pose_l": [ 535.0382875079823, 220.19829076978365, 82.0892314478877, 1.79284144238048, -0.13825253931915538, 0.6330976117647386 ], "act_eef_pose_r": [ 506.47746440420343, -375.0427481268787, 48.42334334691989, 1.7591354177046021, -0.0506357792854629, 2.2781014951328067 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.28292794564380275, -0.5542220083282938, -0.08665744761956526, -1.404828588018368, 0.19700336203110433, -0.45677505929448614, 0.13611969108296035 ], "joint_pos_r": [ -0.46782114810254277, -0.4280424457395329, 0.21081759347718684, -1.2051088360362456, -0.01779133675989565, 0.6801003350633673, -0.18892006718367713 ], "eef_pose_l": [ 508.21145668206935, 266.3780488634203, 92.09603498346225, 1.7633265398180304, -0.12238340990817664, 0.6884753433155968 ], "eef_pose_r": [ 492.2522901818853, -376.654342503998, 64.26548659696817, 1.7280785441202153, -0.04691961002872851, 2.305836594234901 ], "joint_status_l": { "velocity": [ -2.301382548326014, -16.347882449023743, 1.416267631029644, 10.419032878139944, 10.653677937397132, 0.5174458222807488, -7.459388501712683 ], "torque": [ -35.8447265625, -0.1171875, -10.772705078125, 0.469970703125, -0.3515625, 1.16455078125, -0.7672119140625 ] }, "joint_status_r": { "velocity": [ 0.24802260724721137, -5.106818841754457, -1.7148282768020273, 5.477637057161644, -2.328210228031452, -3.0081851347842914, 1.4395283513854995 ], "torque": [ 33.134765625, 4.05029296875, 10.760498046875, -0.787353515625, 1.3714599609375, -0.1995849609375, 0.91461181640625 ] }, "eef_FT_l": { "raw_value": [ -1.9, -14.9, -9.3, 1.3, -0.3, 0.1 ], "actual_contact_FT": [ -1.9, -14.9, -9.3, 1.3, -0.3, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.3, -1.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.3, -17.3, -1.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -5, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2683776098287137, -0.7154725878496192, -0.0734741714822361, -1.3282895394244345, 0.34605514035147067, -0.4318523263938423, 0.019622299018643947 ], "act_joint_pos_r": [ -0.46264589964089403, -0.48366501575259385, 0.1926373135024614, -1.1422334788437614, -0.04674595584197805, 0.6424876060484589, -0.17669065217522345 ], "act_eef_pose_l": [ 532.0158875079824, 211.51589076978365, 76.00283144788779, 1.810678014296205, -0.1321717730208815, 0.6236034621065129 ], "act_eef_pose_r": [ 510.2782644042034, -376.6979481268787, 46.2385433469199, 1.7662157025415965, -0.04170508118864006, 2.2670694398078446 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2796475707723678, -0.5816982962197875, -0.08433378975888432, -1.3892083749635726, 0.21807936621560484, -0.4544764049986448, 0.12048788949041656 ], "joint_pos_r": [ -0.4672075371175061, -0.4370041683223137, 0.20784417799899257, -1.195264653692232, -0.022136296007504466, 0.6744718516895999, -0.18664263230293604 ], "eef_pose_l": [ 513.0790983746635, 257.93092046310954, 89.6653776784704, 1.7698896590972149, -0.12428393698200042, 0.6777840344957979 ], "eef_pose_r": [ 495.0953038892638, -376.53229627868626, 61.286275999790604, 1.7340560166792398, -0.04717514892480239, 2.3000859539046563 ], "joint_status_l": { "velocity": [ -1.2171198848824893, -14.447197398710365, 1.1728041838676706, 6.579040199810038, 13.820975978776184, 2.4433284271991873, -10.893162494297282 ], "torque": [ -37.8076171875, -0.6591796875, -10.7177734375, -0.384521484375, -0.95947265625, 0.9173583984375, -1.41998291015625 ] }, "joint_status_r": { "velocity": [ 0.4926423177660233, -5.039222898535201, -1.6422929287847055, 5.727197968958819, -2.6577648755382044, -3.45419665315827, 1.0747821547878456 ], "torque": [ 33.0615234375, 4.12353515625, 10.748291015625, -1.300048828125, 1.534423828125, -0.1483154296875, 0.7965087890625 ] }, "eef_FT_l": { "raw_value": [ -1.0, -14.8, -8.8, 1.3, -0.2, 0.1 ], "actual_contact_FT": [ -1.0, -14.8, -8.8, 1.3, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.6, -0.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.7, -17.6, -0.8, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -99, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2695586600420356, -0.7438259599349674, -0.07191223601011727, -1.291086146896884, 0.38945105876174696, -0.45267559263869084, -0.012297634338061044 ], "act_joint_pos_r": [ -0.4645056608504436, -0.4894668577685923, 0.19154530135732237, -1.1418246894868933, -0.038819742797319805, 0.6238083953697834, -0.19127389589706364 ], "act_eef_pose_l": [ 536.9510875079823, 206.83589076978367, 68.04683144788788, 1.8356641307768167, -0.13145022207027, 0.6095875476918909 ], "act_eef_pose_r": [ 513.1806644042034, -376.6923481268787, 44.53134334692007, 1.7665875405761515, -0.033311047856147774, 2.254789244117823 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2776022860599264, -0.6090309252675169, -0.08216830096148597, -1.3750100265804819, 0.24540045434591617, -0.4517010091692974, 0.09911906988140153 ], "joint_pos_r": [ -0.4664499915763795, -0.44688521863405956, 0.20469253106162053, -1.1845658188345538, -0.026404157493421312, 0.6664360486568428, -0.18589394182390678 ], "eef_pose_l": [ 517.3328788518394, 249.07470787509442, 86.30750977698196, 1.7795616866458939, -0.12527112962296036, 0.6661219449563971 ], "eef_pose_r": [ 498.4595373200435, -376.6036313500011, 58.09050063309766, 1.7405377990154298, -0.04562290035858404, 2.2922981730100096 ], "joint_status_l": { "velocity": [ -0.8686859894087018, -14.557434395507052, 1.1076223471729874, 9.063511691842052, 15.557006447530775, -0.10525191045518412, -12.032649171684673 ], "torque": [ -39.38232421875, -0.95947265625, -10.137939453125, 1.104736328125, -0.27099609375, 0.38818359375, -1.17919921875 ] }, "joint_status_r": { "velocity": [ 0.20998152532714087, -4.598681395671544, -1.4198589315637111, 4.6159058306827205, -1.3408436667509682, -4.603650777580626, -0.5810179036938035 ], "torque": [ 32.6220703125, 4.9658203125, 10.028076171875, -0.164794921875, 1.4190673828125, 0.31494140625, -0.31585693359375 ] }, "eef_FT_l": { "raw_value": [ -0.8, -15.1, -8.0, 1.3, -0.1, 0.2 ], "actual_contact_FT": [ -0.8, -15.1, -8.0, 1.3, -0.1, 0.2 ] }, "eef_FT_r": { "raw_value": [ -3.0, -18.0, 0.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.0, -18.0, 0.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -82, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2704630351669066, -0.7598135987379145, -0.07117658629024966, -1.2695598796071283, 0.4074635419272872, -0.45294360890927476, -0.012373243463680066 ], "act_joint_pos_r": [ -0.46601846953269455, -0.4925175649339252, 0.19118248650445788, -1.1433201136717603, -0.038322935845974904, 0.6141295526588528, -0.1966755670905329 ], "act_eef_pose_l": [ 541.6710875079823, 205.53269076978367, 64.26843144788774, 1.8463295434666331, -0.1453940836894525, 0.6102283580894785 ], "act_eef_pose_r": [ 514.2646644042035, -375.9923481268787, 43.142543346919894, 1.7687072382665243, -0.028893172951631373, 2.2506140244331094 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2761342955367047, -0.6354412231503018, -0.08018677595318045, -1.3578944147325518, 0.2736780613700237, -0.45190081594957493, 0.07805278792694036 ], "joint_pos_r": [ -0.4661941265456904, -0.4545912863544165, 0.20234690722815987, -1.1770957266200572, -0.02857046800754822, 0.6583366857144654, -0.1871590528861555 ], "eef_pose_l": [ 521.5898294894384, 241.23423462111134, 82.51048797221196, 1.7906945177336149, -0.12696809095230396, 0.655088835971902 ], "eef_pose_r": [ 501.17618414616175, -376.60370866059475, 55.600807131675026, 1.74524394800224, -0.04338631782225155, 2.285330071119822 ], "joint_status_l": { "velocity": [ -0.6124780558636189, -13.431820413094542, 0.9730717843783321, 9.539848430755171, 14.448405767234718, -0.1126183181474616, -9.765723365572466 ], "torque": [ -41.18408203125, -3.80126953125, -11.016845703125, 2.410888671875, 0.509033203125, 0.03662109375, -0.79559326171875 ] }, "joint_status_r": { "velocity": [ 0.01897039790144106, -4.095917283963857, -1.2057218772938416, 3.647658616477756, -1.0532354630305718, -4.774229561632204, -1.0277532221116825 ], "torque": [ 31.23779296875, 4.75341796875, 9.783935546875, -0.59814453125, 1.2359619140625, -0.260009765625, -0.4742431640625 ] }, "eef_FT_l": { "raw_value": [ -1.6, -16.4, -7.0, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -1.6, -16.4, -7.0, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.1, -16.7, -0.2, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -3.1, -16.7, -0.2, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -85, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.27369589653830007, -0.7831917641351616, -0.07014731709923686, -1.2576224484171017, 0.433897763373515, -0.4276490577425275, -0.04229369780847635 ], "act_joint_pos_r": [ -0.4653283369504777, -0.49545563659731623, 0.1910742348508728, -1.1508967346400114, -0.054417959192738063, 0.5932452083665419, -0.1958058395758496 ], "act_eef_pose_l": [ 547.5574875079824, 199.93589076978367, 60.07083144788777, 1.853337183764504, -0.14123545773205373, 0.6256424277750903 ], "act_eef_pose_r": [ 515.7598644042034, -374.6979481268787, 41.152143346919985, 1.7789063593374361, -0.014904900601855032, 2.2447222784022256 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2753194299050846, -0.6587898049211346, -0.07853388806061375, -1.3415824447326432, 0.29886854599597307, -0.4506153295758715, 0.06032603419090477 ], "joint_pos_r": [ -0.4661111610911337, -0.46197259938106305, 0.20022861261162123, -1.1712571710246076, -0.031574525367480996, 0.6484741006673038, -0.18889531805964432 ], "eef_pose_l": [ 525.7091830194765, 234.80282702814307, 78.90989584783114, 1.801030737063702, -0.12969221680086113, 0.6477803752887833 ], "eef_pose_r": [ 503.80552372430327, -376.4097913153632, 53.08061259823762, 1.7504503658438693, -0.03984571341906252, 2.278231882488126 ], "joint_status_l": { "velocity": [ -0.17533643234135532, -13.43501535051761, 0.9057229509581433, 9.067412173052958, 14.582725382279449, 2.480284205929273, -11.082604191994694 ], "torque": [ -42.392578125, -4.19677734375, -10.6201171875, 3.106689453125, 0.8734130859375, 1.82373046875, -0.78277587890625 ] }, "joint_status_r": { "velocity": [ 0.08454251374301336, -3.616061369325685, -0.988643639675324, 2.1988622775612754, -2.4670180923185017, -5.964544453647136, -0.7463143123860316 ], "torque": [ 33.85986328125, 4.60693359375, 9.9609375, -1.580810546875, 1.0675048828125, -0.3424072265625, -0.56854248046875 ] }, "eef_FT_l": { "raw_value": [ -2.2, -15.5, -7.3, 1.3, -0.2, 0.1 ], "actual_contact_FT": [ -2.2, -15.5, -7.3, 1.3, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.1, -17.2, 0.0, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -3.1, -17.2, 0.0, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -230, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -103, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2752929148622201, -0.8087433392804735, -0.06905138409120991, -1.2493647285788863, 0.4598899585366582, -0.3985644954125486, -0.06820138052698237 ], "act_joint_pos_r": [ -0.4676680460753624, -0.49927491092385223, 0.19036774201285817, -1.1510438324162644, -0.04942599676325532, 0.5826077506909155, -0.20201654576933364 ], "act_eef_pose_l": [ 553.1838875079824, 192.14629076978366, 57.49403144788772, 1.856135421029564, -0.14272507784565705, 0.638447830915339 ], "act_eef_pose_r": [ 517.1478644042035, -374.2747481268787, 39.51294334692014, 1.779839858386844, -0.013595426238117042, 2.2380942911575863 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2750762526107077, -0.6796204804894714, -0.0771388946077552, -1.3276571428584147, 0.32145283874073594, -0.44640772473343643, 0.04307096514359121 ], "joint_pos_r": [ -0.46602708906955737, -0.46711189597754016, 0.19882852795858702, -1.1681687419892488, -0.03496788980228493, 0.6399326046710393, -0.190036562525674 ], "eef_pose_l": [ 529.5835243406633, 229.1537716683215, 75.6074087766192, 1.8100690801304213, -0.13122086781228684, 0.6440638692729505 ], "eef_pose_r": [ 505.67285238037715, -376.1477532264201, 51.218841807611824, 1.7548618887090994, -0.03620962610941204, 2.272954312545754 ], "joint_status_l": { "velocity": [ 0.02339883305157997, -13.94485746784202, 0.8734253754825172, 8.455331365521346, 14.950767988628044, 5.166916376603492, -12.017058908214862 ], "torque": [ -44.52392578125, -0.439453125, -10.064697265625, 0.396728515625, -0.2197265625, 1.7578125, -0.6280517578125 ] }, "joint_status_r": { "velocity": [ -0.17721812985715957, -3.4735031687018747, -0.9137379328791884, 1.8494356876939122, -1.56142949988336, -6.190901638969848, -1.2938000317230802 ], "torque": [ 34.5849609375, 4.76806640625, 10.833740234375, 0.0, 1.083984375, -0.1190185546875, -0.55206298828125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.2, -6.7, 1.4, -0.2, 0.1 ], "actual_contact_FT": [ -0.9, -16.2, -6.7, 1.4, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -16.9, -0.8, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -16.9, -0.8, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -166, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -148, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.27762124187053827, -0.8181022692242828, -0.0688157412487649, -1.2562310013141935, 0.48821434455398327, -0.3858522357012249, -0.09599546846506066 ], "act_joint_pos_r": [ -0.47081896631988673, -0.4986184662717531, 0.19118059518247169, -1.1630114265962521, -0.054627643681498306, 0.5534183420376628, -0.20092169184142988 ], "act_eef_pose_l": [ 552.8022875079823, 186.68229076978366, 55.23483144788776, 1.8620501262181324, -0.1409545985100599, 0.6365818785254892 ], "act_eef_pose_r": [ 518.3070644042034, -374.67794812687873, 37.38494334691998, 1.7875782856909337, -0.008113624623316659, 2.2220152366734895 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2754079800847525, -0.7036299158751493, -0.07567925864132985, -1.3146796852877005, 0.3494991731082938, -0.4363466187809207, 0.019894420289524865 ], "joint_pos_r": [ -0.46665241348484, -0.4723252705686704, 0.19752933885414423, -1.1667039438361873, -0.03793170368276643, 0.6272148507383861, -0.19188246949172832 ], "eef_pose_l": [ 533.9632444685084, 222.17993566156994, 71.78092060630553, 1.8201536082858827, -0.13230331973784604, 0.6424400800476414 ], "eef_pose_r": [ 507.745571166779, -375.8767509285417, 49.02477606082999, 1.7599417373740471, -0.03209851169520917, 2.265295166280999 ], "joint_status_l": { "velocity": [ 0.23902522319252384, -12.362649544848558, 0.7412380167503008, 6.312271698638128, 14.98079668115393, 5.453232538110697, -12.515738853509346 ], "torque": [ -35.36865234375, 1.63330078125, -9.637451171875, 0.506591796875, -0.179443359375, 1.9281005859375, -0.849609375 ] }, "joint_status_r": { "velocity": [ -0.4499744348982482, -2.8395813869561692, -0.685644094549076, 0.3987801005234104, -1.803108340025228, -7.969787883349788, -0.9762072220746987 ], "torque": [ 24.08935546875, 6.27685546875, 10.675048828125, 0.604248046875, 0.9979248046875, -0.0128173828125, -0.69122314453125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.0, -6.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.0, -16.0, -6.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.0, 1.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -17.0, 1.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -215, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -118, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2800704271509042, -0.8357465046359008, -0.0680595251321333, -1.2342448774968457, 0.48430813975180736, -0.39560440503963074, -0.09457912330132401 ], "act_joint_pos_r": [ -0.4741065161141305, -0.4987772131088617, 0.1915087686324701, -1.1689583827488643, -0.056590560740638285, 0.5303463197661931, -0.2029674024773865 ], "act_eef_pose_l": [ 555.5326875079822, 182.64069076978367, 51.918831447887726, 1.8657470634022855, -0.13316957710949076, 0.6315388043038072 ], "act_eef_pose_r": [ 519.5694644042035, -376.0411481268787, 35.11054334691997, 1.7940831565739959, -0.0026487035772797844, 2.2066861260426553 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.27604820298224053, -0.7244396622419136, -0.07446559482963336, -1.3025900179433525, 0.3718625131918629, -0.4291460400140802, 0.0010024874391982759 ], "joint_pos_r": [ -0.46771609186127816, -0.476989918401827, 0.19643946943796253, -1.1666425909450926, -0.04107892818045998, 0.6118721442193252, -0.19368415701907268 ], "eef_pose_l": [ 537.5957384405593, 216.10346670589544, 68.46599544177198, 1.8281985827230787, -0.13236387155115403, 0.6406362494271788 ], "eef_pose_r": [ 509.80447819829357, -375.77766883826075, 46.705772942616335, 1.765607727923657, -0.02756878337848294, 2.2559993804658025 ], "joint_status_l": { "velocity": [ 0.43438739864409825, -12.02078444446375, 0.6918351227438446, 7.381057475569719, 12.14376950713758, 3.6223897405665006, -10.322509513832168 ], "torque": [ -22.63916015625, -1.45751953125, -9.539794921875, -0.9521484375, -0.4449462890625, 1.3861083984375, -0.65185546875 ] }, "joint_status_r": { "velocity": [ -0.6901454645551475, -2.352958431560026, -0.5324999817459819, -0.2500981385580303, -1.6752069089124855, -8.80452936522591, -1.0025609405435176 ], "torque": [ 22.27294921875, 5.48583984375, 10.1806640625, -2.685546875, 0.941162109375, -0.692138671875, -0.7196044921875 ] }, "eef_FT_l": { "raw_value": [ 0.1, -16.4, -7.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.1, -16.4, -7.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.2, -16.6, 0.7, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.6, 0.7, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -169, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -131, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.28054980299520293, -0.8476353162913891, -0.06756062407466715, -1.2145088736714724, 0.4819484979043097, -0.40619692085094916, -0.09530527638873908 ], "act_joint_pos_r": [ -0.4753754784876678, -0.4991609405311369, 0.19172064255175458, -1.1741008577084981, -0.059351525137318006, 0.514386298415453, -0.20507103000907065 ], "act_eef_pose_l": [ 558.0894875079823, 181.08469076978366, 49.774031447887694, 1.8694829273618998, -0.1268062695817203, 0.6294653362865538 ], "act_eef_pose_r": [ 520.4654644042034, -376.44274812687866, 33.993743346919956, 1.7980862126854829, 0.0033424991659835816, 2.197906740476615 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.27676353200088477, -0.7440795551045764, -0.07335616944337171, -1.2891273292014858, 0.3900817811393224, -0.42482724104204306, -0.014792624768623542 ], "joint_pos_r": [ -0.46900588941005517, -0.4808904532599703, 0.1955943807982442, -1.1677001059270469, -0.0441694566960301, 0.5954463837812985, -0.19559061561293467 ], "eef_pose_l": [ 541.0453991474427, 210.61949589900618, 65.3760914286303, 1.835142428710565, -0.13147652119544317, 0.6387153654485348 ], "eef_pose_r": [ 511.7134830013085, -375.8434973217615, 44.475968221014995, 1.7713007153144473, -0.02266489591323043, 2.246054136292777 ], "joint_status_l": { "velocity": [ 0.4089052073719124, -11.183692362800812, 0.625900439873428, 8.058555522852728, 9.921312797139148, 2.012015239420517, -8.695109926413396 ], "torque": [ -22.17041015625, -1.06201171875, -8.697509765625, -0.6591796875, -0.146484375, 1.6571044921875, -0.7525634765625 ] }, "joint_status_r": { "velocity": [ -0.6878953319935377, -1.973154430206847, -0.41835139200618876, -0.6912608047482394, -1.6396150337985582, -8.754231027269022, -1.023854557806736 ], "torque": [ 21.328125, 5.28076171875, 10.498046875, -4.11376953125, 0.6353759765625, -0.2838134765625, -0.69854736328125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.5, -7.4, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.4, -16.5, -7.4, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -16.5, 0.0, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -16.5, 0.0, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -103, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -116, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2856759447385789, -0.851352875041943, -0.06752029202855503, -1.213065975320332, 0.48359472255393354, -0.40184702981767884, -0.10501964124220008 ], "act_joint_pos_r": [ -0.477808295149861, -0.5052341495180332, 0.19051308304844766, -1.1760945278728971, -0.0620216778101792, 0.4909148102540112, -0.2098859100634429 ], "act_eef_pose_l": [ 558.1142875079822, 179.93589076978367, 46.901231447887824, 1.8714558596925013, -0.11565918959691361, 0.6336416298821723 ], "act_eef_pose_r": [ 522.8830644042034, -376.1899481268787, 30.812943346919866, 1.8050468265584274, 0.011240289662984994, 2.185004856210051 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.27812528279245985, -0.7641239268548944, -0.07225551376161109, -1.2748398377967838, 0.4076554569959617, -0.42075723899588496, -0.03123672219341937 ], "joint_pos_r": [ -0.4702147423375973, -0.48426789641879575, 0.19488625621524214, -1.168870009404442, -0.046739607365042395, 0.580807264783449, -0.19750860895712435 ], "eef_pose_l": [ 544.4693685602027, 205.06217750326496, 61.97072083203096, 1.8421498533010217, -0.12893929008295252, 0.6373149599555331 ], "eef_pose_r": [ 513.3493512448783, -375.88046975688343, 42.53274415832442, 1.7761962470506705, -0.01816324901374176, 2.23734725509366 ], "joint_status_l": { "velocity": [ 0.8154474398440748, -9.420448562922346, 0.5113888645617015, 6.671380385611769, 8.201198798831744, 2.0422423585277905, -7.968320244225086 ], "torque": [ -25.4443359375, 0.3515625, -7.72705078125, -0.2197265625, -0.3607177734375, 1.878662109375, -0.62347412109375 ] }, "joint_status_r": { "velocity": [ -0.8200795167718766, -2.2642885530963497, -0.4722887726011926, -0.7802249830852759, -1.650414931688271, -9.708098764112272, -1.3367090953548821 ], "torque": [ 21.37939453125, 4.716796875, 10.4248046875, -4.437255859375, 0.90087890625, -0.3497314453125, -0.82305908203125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -15.6, -5.0, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -15.6, -5.0, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.1, 0.4, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.1, 0.4, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -129, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -173, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2892082497478801, -0.8543664355776516, -0.06747298333653694, -1.2087511344692945, 0.48483503709918746, -0.3943627593663388, -0.10434677336664461 ], "act_joint_pos_r": [ -0.479079373086392, -0.5186534531784589, 0.18696480580754846, -1.160585008891804, -0.06927519279407157, 0.483397897413325, -0.21251282803886457 ], "act_eef_pose_l": [ 559.6526875079824, 180.50389076978365, 44.84203144788768, 1.8728260498347766, -0.11670991302125433, 0.6413009937470241 ], "act_eef_pose_r": [ 526.3822644042034, -376.0507481268787, 25.68654334691999, 1.8146925029456416, 0.018369620036507345, 2.178789918316044 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.27976517167255893, -0.778804017807645, -0.07147172694590155, -1.2641976040756608, 0.42027947869201243, -0.4168039425900477, -0.04329036167399712 ], "joint_pos_r": [ -0.4717936374039458, -0.4897455677755304, 0.19365916671178748, -1.1684855733632562, -0.05044699243376159, 0.5629660280818909, -0.2001448066459039 ], "eef_pose_l": [ 547.0213914874013, 201.10830118649335, 59.20026500761941, 1.8473377914348246, -0.1266964198304636, 0.6374743517883674 ], "eef_pose_r": [ 515.6332419173627, -375.8975815177289, 39.69448806889321, 1.7829056097734293, -0.01211716858525991, 2.2265777604556183 ], "joint_status_l": { "velocity": [ 1.019822354082045, -8.160500438065377, 0.43185157303005095, 5.988042109628111, 6.971794685881605, 2.423576308598463, -6.593897986180375 ], "torque": [ -26.11083984375, 0.6298828125, -6.84814453125, -0.23193359375, -0.380859375, 1.812744140625, -0.71136474609375 ] }, "joint_status_r": { "velocity": [ -0.7868362472094326, -3.121959546240838, -0.7229696548076703, 0.853235798073726, -2.0333856674089046, -8.593104672130814, -1.3357069158699275 ], "torque": [ 21.298828125, 3.75, 10.16845703125, -1.416015625, 0.7086181640625, 0.12451171875, -0.8258056640625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -15.1, -9.1, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.6, -15.1, -9.1, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.3, -16.6, -0.1, 0.9, 0.2, 0.0 ], "actual_contact_FT": [ -3.3, -16.6, -0.1, 0.9, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -196, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -150, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2895023007097075, -0.8647746845433512, -0.06691107360003212, -1.1769522407911484, 0.4592422723718021, -0.4175562044967025, -0.08274280125517514 ], "act_joint_pos_r": [ -0.4787220612149449, -0.5338031474764505, 0.18266688927107202, -1.131195471022276, -0.05262596403831843, 0.48777511857664846, -0.2284245518839776 ], "act_eef_pose_l": [ 563.1470875079824, 181.73829076978367, 43.03803144788782, 1.8729995853665362, -0.10898769147713709, 0.6388653131915771 ], "act_eef_pose_r": [ 531.3054644042035, -378.45874812687873, 22.557743346919807, 1.8135373372946122, 0.01883104397370328, 2.1683602183372646 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2808436661102245, -0.7877876876280617, -0.07099582574961301, -1.2565446791467216, 0.42644041288320755, -0.415289966868745, -0.049231577527176995 ], "joint_pos_r": [ -0.4726000919551504, -0.4936727902977292, 0.19271504821785407, -1.1663036497930959, -0.051840604792155805, 0.5541795254956224, -0.2022390825210201 ], "eef_pose_l": [ 548.6832376752478, 198.90412748605812, 57.48010707815055, 1.8502869185544528, -0.1251529876088755, 0.6377591696519325 ], "eef_pose_r": [ 517.1166339899949, -376.0158327697774, 37.964810165782836, 1.7864696912719629, -0.008826621474874634, 2.2206193646981234 ], "joint_status_l": { "velocity": [ 0.93510495729765, -8.31435044819262, 0.44114022141938936, 8.59572982490242, 3.5424963444232738, -0.24474644540850576, -3.6191054228150166 ], "torque": [ -25.751953125, -0.29296875, -6.707763671875, -1.092529296875, -0.3790283203125, 1.9720458984375, -0.8148193359375 ] }, "joint_status_r": { "velocity": [ -0.66115318038662, -4.333950752256843, -1.0851691608988467, 3.791571480826761, -0.08481629706258431, -7.171464436212194, -2.8279472853525167 ], "torque": [ 21.95068359375, 6.77490234375, 10.577392578125, 0.048828125, 0.9722900390625, -0.087890625, -0.94024658203125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -15.9, -7.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.4, -15.9, -7.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.4, 0.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.4, 0.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -169, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -114, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.28976820682725685, -0.8638250693127845, -0.06695940669978703, -1.1722361680024418, 0.44056022918359594, -0.4337067319486087, -0.0732279119971502 ], "act_joint_pos_r": [ -0.48179783495139716, -0.5474122946565555, 0.17932152707405238, -1.1114337220757222, -0.02234881413680423, 0.4837788408107502, -0.2618394681988137 ], "act_eef_pose_l": [ 561.7054875079823, 181.50229076978366, 43.41483144788782, 1.8693927831148185, -0.09731910868915515, 0.6304015263837874 ], "act_eef_pose_r": [ 535.5822644042034, -379.40194812687866, 19.68894334692007, 1.8079744969949734, 0.023929950618617295, 2.1572145908645517 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2822825570046219, -0.8003888089407843, -0.0703271201722627, -1.2431860034982065, 0.43074727608833807, -0.41660102944730293, -0.05418775825104375 ], "joint_pos_r": [ -0.47390427625209947, -0.5017494181300732, 0.19069724277743383, -1.1586713719792099, -0.04979642746065025, 0.5421505294769164, -0.20927816753888334 ], "eef_pose_l": [ 551.0890170282124, 196.1529348768492, 55.12780520535489, 1.8537734022252876, -0.12178103908954595, 0.6374155050691472 ], "eef_pose_r": [ 520.0399237772103, -376.52617127852255, 35.069346911269065, 1.7906353721222024, -0.003771181097126546, 2.2104145301838987 ], "joint_status_l": { "velocity": [ 0.808426337584045, -6.850914063265989, 0.3637023282005991, 7.662356244425794, 1.059767678111001, -1.8473613851295312, -2.0562759579619283 ], "torque": [ -26.24267578125, 0.98876953125, -6.500244140625, 0.81787109375, -1.2652587890625, -0.3076171875, -0.69671630859375 ] }, "joint_status_r": { "velocity": [ -0.8524791969937162, -4.931445219657604, -1.2285410620833659, 5.101515728414441, 2.964254812952982, -6.303956450689263, -5.676453053238717 ], "torque": [ 23.31298828125, 5.5810546875, 10.662841796875, -0.20751953125, 3.1768798828125, -0.296630859375, -1.33209228515625 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.3, -5.7, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ -0.6, -16.3, -5.7, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.6, 0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -17.6, 0.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -166, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -185, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.29187367943641535, -0.8664199815442524, -0.06688515349815602, -1.1690842347404542, 0.43168062702221205, -0.4323119697158028, -0.06778222000304626 ], "act_joint_pos_r": [ -0.48327339309581197, -0.556675770994298, 0.17713202798575411, -1.0953443102262042, -0.0013626647614239926, 0.4808332652173866, -0.28599724445046476 ], "act_eef_pose_l": [ 562.2430875079824, 180.94789076978367, 42.74523144788765, 1.8668421187551014, -0.09333196487350774, 0.632666992607336 ], "act_eef_pose_r": [ 538.9030644042034, -381.1731481268787, 17.88014334692005, 1.804389037766986, 0.02955745471006404, 2.146916516255753 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2839396103575512, -0.813331929455659, -0.06964457278145075, -1.2286918603629353, 0.4320802700074367, -0.41994014930402207, -0.05762378636049815 ], "joint_pos_r": [ -0.47538566815802713, -0.5103612972075192, 0.18855868928382766, -1.1493844060830465, -0.04372395804036693, 0.5316587574257237, -0.2199752505671812 ], "eef_pose_l": [ 553.3586315142112, 193.23735368032968, 52.724672965134005, 1.8567033838889946, -0.11655973989332453, 0.6361354954373698 ], "eef_pose_r": [ 523.0942280576757, -377.15152569409804, 32.315139718372336, 1.7931050987892572, 0.0013077361670553221, 2.2002882960224217 ], "joint_status_l": { "velocity": [ 0.8568541889535375, -5.733340529728181, 0.29800849330513524, 6.437433705270834, -0.04316016946326329, -1.3361171978014674, -1.097078476795077 ], "torque": [ -25.53955078125, -0.1904296875, -6.6650390625, -0.25634765625, -1.376953125, -0.406494140625, -0.5914306640625 ] }, "joint_status_r": { "velocity": [ -0.8518491693325636, -5.00181564830493, -1.2340430240385114, 5.836158224253651, 4.574884745112806, -5.48899126935698, -7.130165046417503 ], "torque": [ 23.19580078125, 2.1240234375, 9.881591796875, 2.25830078125, 4.4293212890625, 0.0146484375, -0.85693359375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.8, -6.8, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.6, -16.8, -6.8, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.2, 0.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.2, 0.9, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -141, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -211, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.29189876646579677, -0.878866476701986, -0.06624083639741064, -1.1383669309737907, 0.4159872474600365, -0.4492812353920912, -0.05173479353785521 ], "act_joint_pos_r": [ -0.48549706430521583, -0.5620097567933973, 0.17594614050465401, -1.0855020264013355, 0.02129957033811447, 0.4782761930089456, -0.30334887079390926 ], "act_eef_pose_l": [ 566.3462875079823, 181.57509076978366, 40.97163144788789, 1.8675540613302994, -0.09105837011739477, 0.6326964398648364 ], "act_eef_pose_r": [ 540.9902644042035, -382.69634812687866, 16.947343346920007, 1.7991446556831932, 0.02697040730018752, 2.1368223244793634 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.28534422929097825, -0.8236157574394579, -0.06911022786418916, -1.215937959720429, 0.43087808966090935, -0.42335110488924693, -0.05826283532258028 ], "joint_pos_r": [ -0.4771320947460844, -0.5200589908100919, 0.18617546491315262, -1.13780815661213, -0.033571789076319865, 0.5212541901060784, -0.2345023058470645 ], "eef_pose_l": [ 555.3000252661529, 191.16314081446703, 50.82567892928958, 1.8585667572769207, -0.1122665909770666, 0.6355056875819514 ], "eef_pose_r": [ 526.5465689502058, -378.07723332150096, 29.440337590159515, 1.794486584838429, 0.006672855363484151, 2.1887597457429844 ], "joint_status_l": { "velocity": [ 0.7078691373960666, -5.966901695994231, 0.3098851388384505, 8.37742402572239, -1.6081635274463046, -2.800371501764598, 0.7050077196591453 ], "torque": [ -26.44775390625, -1.4208984375, -6.54296875, 0.59814453125, -2.5067138671875, -0.263671875, 0.303955078125 ] }, "joint_status_r": { "velocity": [ -0.9033900683204088, -4.5305491047935575, -1.104734453716949, 5.648895457500913, 5.925932040735882, -4.641486793155014, -7.435209724470315 ], "torque": [ 22.68310546875, 5.86669921875, 9.9609375, 0.115966796875, 3.5595703125, -0.3369140625, -1.190185546875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -16.0, -7.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -16.0, -7.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -16.9, 1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -16.9, 1.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -93, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -225, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2945372098630253, -0.8781045340548521, -0.06632112620310873, -1.141770398189635, 0.4140723520561173, -0.43819773105758564, -0.05724211086972201 ], "act_joint_pos_r": [ -0.48010852065144727, -0.5750050443963775, 0.17279346540170587, -1.0576337154594595, 0.004311436284075931, 0.48855575337540424, -0.29637937831477185 ], "act_eef_pose_l": [ 566.9214875079824, 182.11669076978367, 40.24203144788777, 1.8659073655275205, -0.0850068892643824, 0.642774334612557 ], "act_eef_pose_r": [ 544.8062644042034, -384.3899481268787, 14.652943346919784, 1.8064514173964237, 0.035982312285092174, 2.136684672774859 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.286773516235478, -0.8340052546277974, -0.06857359551800349, -1.201519554963659, 0.4279251010395811, -0.42745372097673495, -0.057425880580994834 ], "joint_pos_r": [ -0.4782979645739036, -0.5282313922869787, 0.18418363308682872, -1.1269405714905245, -0.02485724825044476, 0.5142526619490535, -0.24626996161060102 ], "eef_pose_l": [ 557.5013888715538, 189.43825000035287, 48.90154859773659, 1.8601794907807634, -0.10778902775010027, 0.6356843467574786 ], "eef_pose_r": [ 529.4166894219464, -379.0022963587312, 27.160110791415093, 1.7953765245017659, 0.010668992151432164, 2.179525799323821 ], "joint_status_l": { "velocity": [ 0.8384541828907466, -4.762581713282366, 0.24325951145287572, 6.452718618833231, -1.4960527664968915, -1.1603188669560005, 0.019846543474977274 ], "torque": [ -26.2939453125, -0.44677734375, -5.82275390625, 0.10986328125, -3.240966796875, -0.054931640625, -0.11627197265625 ] }, "joint_status_r": { "velocity": [ -0.195534289399113, -5.051405444575163, -1.2301018300791, 7.484919695450287, 3.1501250217570442, -2.775184276269549, -5.411657395747227 ], "torque": [ 23.3349609375, 1.36962890625, 9.26513671875, 3.948974609375, 2.6953125, 0.421142578125, -0.84869384765625 ] }, "eef_FT_l": { "raw_value": [ -0.8, -15.6, -6.3, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.8, -15.6, -6.3, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -16.8, 1.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -16.8, 1.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -112, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -213, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.298926073159729, -0.8757937011288274, -0.06644673712283217, -1.1427457224729722, 0.4120895623667267, -0.43337958087957623, -0.05222861428948919 ], "act_joint_pos_r": [ -0.4796007288201154, -0.5868841506390782, 0.17025707215287186, -1.0376161746518977, 0.0178395320385345, 0.48804394748562546, -0.31307540922385235 ], "act_eef_pose_l": [ 566.8014875079823, 183.67429076978365, 38.15003144788767, 1.867343530058449, -0.08627650154895529, 0.6474584899214681 ], "act_eef_pose_r": [ 548.6670644042034, -385.7131481268787, 12.791343346919831, 1.80469841061353, 0.04126177734354376, 2.127990487212071 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.28830486716399384, -0.841120688495457, -0.06821059929100802, -1.1917537481258484, 0.4255325542285464, -0.4289400044553174, -0.057104336487989925 ], "joint_pos_r": [ -0.4785814734307971, -0.5373578715365136, 0.1819868772949017, -1.1132432369888186, -0.018724580245723703, 0.5096723303801396, -0.25633354077525 ], "eef_pose_l": [ 559.0861069721661, 188.35078573988957, 47.3597330459034, 1.8611981955483563, -0.10408900661377105, 0.6371088690706739 ], "eef_pose_r": [ 532.5079734731635, -380.08080737667535, 24.83338925407233, 1.7970021090027586, 0.015355854108552168, 2.1712439063826783 ], "joint_status_l": { "velocity": [ 1.1470564169187014, -3.7445749240694326, 0.19049149591665593, 5.292710670353529, -1.4518003025156823, -0.4794601128992326, 0.5265624673082558 ], "torque": [ -25.42236328125, -1.318359375, -4.87060546875, -0.103759765625, -3.5174560546875, -0.164794921875, -0.21881103515625 ] }, "joint_status_r": { "velocity": [ -0.1100763355181833, -5.348680392180949, -1.2667815936133753, 8.167481845386959, 3.9488076628433344, -2.3357964619736826, -6.127941058488462 ], "torque": [ 23.291015625, 5.83740234375, 9.722900390625, 0.1953125, 3.6309814453125, -0.252685546875, -0.94024658203125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -15.4, -6.3, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -15.4, -6.3, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.2, 0.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.2, 0.4, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -104, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -181, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.30072440108552184, -0.8789737271339964, -0.06629665402149013, -1.1362009750111595, 0.4083572120187091, -0.4316942289144485, -0.04965981421900852 ], "act_joint_pos_r": [ -0.4794885104974936, -0.6031929032238883, 0.16686092493211083, -1.0081625187427827, 0.03669498929268578, 0.4985629039511271, -0.33118076725082024 ], "act_eef_pose_l": [ 568.1774875079823, 184.11829076978367, 36.93003144788764, 1.867565965510769, -0.08469426543204966, 0.6523132533350812 ], "act_eef_pose_r": [ 552.9694644042034, -386.35954812687874, 10.468943346920042, 1.7999315808765384, 0.041530862299094536, 2.1232795359405374 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.29038571407675295, -0.8476100117371743, -0.06788179783002422, -1.182350189399202, 0.4227345513014721, -0.42953477901655285, -0.05595239716068513 ], "joint_pos_r": [ -0.4787363712309629, -0.5473400865324669, 0.17967532119287463, -1.097486866951626, -0.010585907678205627, 0.507303713846133, -0.267704699038938 ], "eef_pose_l": [ 560.6449197557305, 187.59070270919156, 45.60404759221623, 1.8622876292496102, -0.10072740868100927, 0.6394730065201865 ], "eef_pose_r": [ 535.7512106589185, -381.1219328515967, 22.598410670295493, 1.7975390614922537, 0.019424406464406622, 2.163572919730247 ], "joint_status_l": { "velocity": [ 1.1165452662047493, -3.387181363281755, 0.17119048232833167, 4.9839681596264285, -1.5527068478977668, -0.23321371070172958, 0.6795789145924158 ], "torque": [ -27.2314453125, -0.87890625, -4.74853515625, -1.2451171875, -3.5687255859375, -0.487060546875, 0.45501708984375 ] }, "joint_status_r": { "velocity": [ -0.08122864507420502, -6.031926300516854, -1.383913979801532, 9.646745091017372, 5.106186273942242, -0.9439796274701706, -6.855213183177833 ], "torque": [ 23.03466796875, 4.5263671875, 9.94873046875, -0.567626953125, 3.555908203125, 0.618896484375, -0.911865234375 ] }, "eef_FT_l": { "raw_value": [ 0.3, -15.4, -8.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -15.4, -8.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.1, -16.9, 0.8, 0.9, 0.3, 0.0 ], "actual_contact_FT": [ -2.1, -16.9, 0.8, 0.9, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -104, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -257, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3024811494178791, -0.8762796214032663, -0.06647634212488783, -1.1463723019668048, 0.41474131952376414, -0.4158083931661418, -0.058479259373608705 ], "act_joint_pos_r": [ -0.47909995143340245, -0.610125702686524, 0.16558579604207535, -0.9949329255721023, 0.04339724819272783, 0.5049370634095847, -0.3364065841894044 ], "act_eef_pose_l": [ 568.0982875079824, 184.31989076978365, 36.72683144788772, 1.8671086630572684, -0.08443246045012971, 0.6614196190919434 ], "act_eef_pose_r": [ 554.7262644042034, -386.5715481268787, 9.698543346919934, 1.797598294084883, 0.040363508687037065, 2.122162211604659 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2922600813337978, -0.8524980905050255, -0.06763908029415981, -1.1757751668777368, 0.42100598032255343, -0.4283096946341522, -0.055795153772729124 ], "joint_pos_r": [ -0.47883070767039276, -0.5579049063819436, 0.17728279724986884, -1.0803776870719368, -0.0015596060631348023, 0.5063922722361605, -0.27944758848283413 ], "eef_pose_l": [ 561.9026047725717, 187.0477859180458, 44.169120826705694, 1.863075051814915, -0.09803934404257668, 0.6424818858411735 ], "eef_pose_r": [ 539.0638893148682, -382.11341266587755, 20.37158444515157, 1.7975921487979096, 0.0229880643517396, 2.1563376453909457 ], "joint_status_l": { "velocity": [ 1.1038427969776166, -2.5683295881782087, 0.12557201873264479, 3.175415756500044, -0.6765634120982078, 1.350100739452298, -0.28987485549308856 ], "torque": [ -27.07763671875, -1.06201171875, -4.608154296875, -0.54931640625, -3.262939453125, 1.1407470703125, -0.22979736328125 ] }, "joint_status_r": { "velocity": [ -0.029077468810978502, -5.639679667433839, -1.2632388732027877, 9.227762083687807, 4.855197063250209, -0.1571579181454119, -6.151390110755939 ], "torque": [ 25.99365234375, 4.6142578125, 9.930419921875, -1.190185546875, 3.4515380859375, 0.7049560546875, -0.88623046875 ] }, "eef_FT_l": { "raw_value": [ -0.3, -16.1, -5.4, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.3, -16.1, -5.4, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.5, 0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.5, 0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -41, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -284, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3030763185271642, -0.8640483831772613, -0.06708357499654266, -1.1638929422826714, 0.41883861704828657, -0.4207927508412471, -0.060200833007483606 ], "act_joint_pos_r": [ -0.4789899481418951, -0.6247285843111079, 0.16285910146847926, -0.9692713069972484, 0.07284958810110885, 0.514248926860693, -0.3630872840180774 ], "act_eef_pose_l": [ 563.5446875079823, 185.10789076978367, 37.44363144788787, 1.8680627773275613, -0.0846998656697579, 0.6511703769657385 ], "act_eef_pose_r": [ 558.9190644042035, -387.0571481268787, 9.065743346920073, 1.7866772748447037, 0.04091579567052574, 2.1159821879062397 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2942672464221573, -0.8554522800037151, -0.06749580419581601, -1.1724249163482472, 0.42033807561148245, -0.4265746224307548, -0.056519504920087726 ], "joint_pos_r": [ -0.47886063605098006, -0.5672842452550827, 0.17523603871129773, -1.0648551540154156, 0.00819410647851844, 0.5070975850732645, -0.29074748538117123 ], "eef_pose_l": [ 562.5132331141347, 186.63374600368238, 42.85889351595395, 1.863935665603233, -0.09548785636885022, 0.6447640078867287 ], "eef_pose_r": [ 541.9357046754052, -382.87293981820955, 18.6683485320128, 1.796441536027943, 0.02543813098112837, 2.150613128195415 ], "joint_status_l": { "velocity": [ 0.9513517287209616, -0.9283517624707471, 0.04451944049083112, 0.9214260230745452, -0.16193674875619735, 0.6244237152737142, -0.39757170768800476 ], "torque": [ -25.81787109375, 0.02197265625, -8.70361328125, -0.738525390625, -3.270263671875, 1.7742919921875, -0.41290283203125 ] }, "joint_status_r": { "velocity": [ -0.013965293934159462, -6.203805646583405, -1.3366697992560628, 10.322751024695265, 6.982586074871823, 0.7723221346180864, -7.812467836363801 ], "torque": [ 25.65673828125, 4.482421875, 9.368896484375, -0.811767578125, 3.50830078125, 1.6900634765625, -0.750732421875 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.8, -5.0, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -15.8, -5.0, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.0, -16.8, 0.6, 0.9, 0.4, 0.0 ], "actual_contact_FT": [ -1.0, -16.8, 0.6, 0.9, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -53, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -259, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.30181621280617826, -0.858412136942966, -0.06734925423236193, -1.1687871487816002, 0.4156842663906899, -0.42177522890338776, -0.05914425445083265 ], "act_joint_pos_r": [ -0.4789381494167126, -0.6366521866084754, 0.1606313694031845, -0.9450333351570239, 0.0939759489522163, 0.5228246097249978, -0.3809489945889837 ], "act_eef_pose_l": [ 562.7086875079824, 186.57189076978366, 38.8084314478877, 1.8660373720683254, -0.0841285266646844, 0.651475347703 ], "act_eef_pose_r": [ 562.4070644042034, -388.5939481268787, 8.15374334691981, 1.7794572344677761, 0.04080424485115211, 2.1087020915620114 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.29547908361295727, -0.8561965158534364, -0.06745965566794143, -1.171616607849238, 0.4197967170413087, -0.4257946851125752, -0.0569732196350128 ], "joint_pos_r": [ -0.47887834734507234, -0.5786268708547022, 0.1728261103323448, -1.0455442915056727, 0.02172707695389737, 0.5092149844578966, -0.3053143886043725 ], "eef_pose_l": [ 562.5897311625058, 186.5476849617495, 42.17407139573072, 1.864353144594449, -0.09379022787174097, 0.6457632687118315 ], "eef_pose_r": [ 545.3742811035313, -383.79716797579755, 16.84007700282288, 1.7939810780229912, 0.027833748843738446, 2.143926195996084 ], "joint_status_l": { "velocity": [ 0.6843897678705524, -0.23928002048201336, 0.011923003392422249, 0.3055725669227627, -0.4441315713066274, 0.4340884678373236, -0.23446484493755415 ], "torque": [ -25.927734375, -0.98876953125, -8.135986328125, -1.519775390625, -3.2208251953125, 1.6278076171875, -0.54473876953125 ] }, "joint_status_r": { "velocity": [ -0.006458433255751572, -6.266549279415834, -1.3169931777119448, 10.854863138579418, 7.8026480490154535, 1.4697961795255843, -8.16829653530915 ], "torque": [ 25.11474609375, 4.2626953125, 9.210205078125, 0.0732421875, 3.651123046875, 2.5341796875, -0.823974609375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.3, -6.6, 1.2, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -15.3, -6.6, 1.2, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -16.9, 1.5, 0.9, 0.3, 0.0 ], "actual_contact_FT": [ -0.5, -16.9, 1.5, 0.9, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -47, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -234, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3019179582382715, -0.8657048026785551, -0.06693623293811984, -1.1506447793327814, 0.40122064612478187, -0.43087497522243784, -0.044045837252353136 ], "act_joint_pos_r": [ -0.47657228021586784, -0.6490806219579203, 0.15846546643010118, -0.9207666076503963, 0.09362260237320762, 0.5349276413123074, -0.3817582174566285 ], "act_eef_pose_l": [ 565.3054875079823, 186.98149076978368, 38.10923144788768, 1.8643265930451638, -0.08389236001979081, 0.6521012361801026 ], "act_eef_pose_r": [ 565.3902644042034, -388.8131481268787, 6.804143346919801, 1.7789385682811585, 0.041880826441340696, 2.109076159745929 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.2963673112340073, -0.8570303118483323, -0.06741452977711224, -1.1699152027986417, 0.41818221420602286, -0.4258920688865538, -0.05618638169102389 ], "joint_pos_r": [ -0.4788153267730222, -0.5855411223149988, 0.1713861494765558, -1.0334867325575146, 0.029869423561912262, 0.511107647940209, -0.3138730748351579 ], "eef_pose_l": [ 562.7959221298289, 186.58020216341734, 41.655857485093634, 1.8644654791954869, -0.09242391781879268, 0.6465975426767417 ], "eef_pose_r": [ 547.4389691383706, -384.36553512237634, 15.786558009052953, 1.7923486508576534, 0.029115522851717295, 2.1400649890825743 ], "joint_status_l": { "velocity": [ 0.5994521965630994, -0.9368173797117407, 0.05165453514210938, 2.081144354242781, -1.8317953268587317, -0.5381380127431612, 1.3111401293654512 ], "torque": [ -24.66796875, 0.2490234375, -7.464599609375, -0.628662109375, -3.0999755859375, 0.5181884765625, 0.30853271484375 ] }, "joint_status_r": { "velocity": [ 0.242241883630534, -6.862063575688637, -1.3953926141119233, 12.173414454301756, 6.885140245263072, 2.5724834128437735, -7.3313791756484115 ], "torque": [ 25.40771484375, 5.4052734375, 9.70458984375, 0.18310546875, 3.4735107421875, 2.4957275390625, -0.7525634765625 ] }, "eef_FT_l": { "raw_value": [ 0.7, -13.9, -5.7, 1.1, 0.0, 0.1 ], "actual_contact_FT": [ 0.7, -13.9, -5.7, 1.1, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.5, 0.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -17.5, 0.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 36, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -240, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.29780505814203384, -0.8814339801244333, -0.06606173896010568, -1.10964320094933, 0.38223746275446396, -0.4511653657788474, -0.026951831505916946 ], "act_joint_pos_r": [ -0.47288394985282967, -0.663358803855926, 0.15566276818003502, -0.8846015894446948, 0.103616619955353, 0.55685324121634, -0.39062316162264216 ], "act_eef_pose_l": [ 571.8598875079823, 188.72949076978367, 38.087631447887645, 1.8628004342547113, -0.08294520714005472, 0.6563914626412989 ], "act_eef_pose_r": [ 569.2478644042035, -391.19154812687873, 6.716943346919862, 1.7721199900690656, 0.04374389218202275, 2.107028404877252 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.29705216500005494, -0.8596981359503856, -0.06726691033004074, -1.163551744429336, 0.41381454565974013, -0.42823606125564945, -0.05280732366500728 ], "joint_pos_r": [ -0.47786940288972135, -0.602157925459601, 0.16801851125741388, -1.0027855641429968, 0.046053252400828096, 0.5192071708635799, -0.33090530851505845 ], "eef_pose_l": [ 563.7237274739839, 186.77777680511468, 41.013838775929884, 1.8643894086669428, -0.09081821042359738, 0.6478670314573403 ], "eef_pose_r": [ 552.5058047565163, -385.8363962635232, 13.414737152879269, 1.7883982023748943, 0.031955677363699614, 2.1323419794859437 ], "joint_status_l": { "velocity": [ 0.08131006122136242, -2.3474019378779687, 0.13015466924626296, 5.821950986575786, -3.4102243745781635, -2.4762918541809675, 2.7923107983769957 ], "torque": [ -24.609375, 1.77978515625, -4.559326171875, 0.836181640625, -3.0999755859375, 0.16845703125, 0.897216796875 ] }, "joint_status_r": { "velocity": [ 0.5384130483405691, -6.6094999300228, -1.3343808968961923, 12.763492828318235, 6.216660345292613, 4.065655687992997, -6.449337922564524 ], "torque": [ 33.34716796875, 6.04248046875, 9.19189453125, -0.45166015625, 3.45703125, 2.552490234375, -1.0235595703125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -13.9, -7.1, 1.0, -0.1, 0.1 ], "actual_contact_FT": [ -0.9, -13.9, -7.1, 1.0, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -16.2, 0.8, 0.8, 0.3, 0.0 ], "actual_contact_FT": [ -2.3, -16.2, 0.8, 0.8, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -41, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -272, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2971433589777301, -0.884465815896385, -0.06590619960946273, -1.1026390119406477, 0.377737145708318, -0.45141792477560605, -0.019925468320057288 ], "act_joint_pos_r": [ -0.47212343045756233, -0.6666789610153446, 0.15529363127447413, -0.8762479737644912, 0.10394560319519286, 0.5632045323538881, -0.39064067353786786 ], "act_eef_pose_l": [ 573.4710875079824, 189.18069076978367, 38.261231447887724, 1.861604233694304, -0.08648135498464347, 0.6590242770116038 ], "act_eef_pose_r": [ 569.9606644042034, -391.4707481268787, 6.652943346919784, 1.7708597082626885, 0.04348555791168643, 2.107966568913584 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.29715622972155376, -0.86367433424414, -0.06704699665948256, -1.153712728967536, 0.40803385725917785, -0.43230124412769244, -0.047927349920405926 ], "joint_pos_r": [ -0.47685132219392773, -0.6140574008529426, 0.16564610139924146, -0.9796135166961548, 0.05696758564900663, 0.5269554065023897, -0.3421959388605947 ], "eef_pose_l": [ 565.2519556412718, 187.1439904100223, 40.478496346414005, 1.8641598068239094, -0.08953595256814582, 0.6494720888944238 ], "eef_pose_r": [ 555.6223264355538, -386.85421860256895, 12.122946284494475, 1.7855878099037255, 0.03366331380827199, 2.1280854980713797 ], "joint_status_l": { "velocity": [ -0.0013899993374089092, -2.2454137935028484, 0.12320244774022271, 5.515798759116564, -3.271948346534881, -2.0645406196035943, 3.024114021362212 ], "torque": [ -24.77783203125, 0.47607421875, -3.521728515625, 0.0, -2.991943359375, -0.29296875, 0.5126953125 ] }, "joint_status_r": { "velocity": [ 0.510597248266631, -5.6829608875670345, -1.1180337988307976, 11.16314939712737, 5.073476260804344, 3.9147901313985045, -5.231877039180155 ], "torque": [ 34.59228515625, 4.91455078125, 9.307861328125, 0.592041015625, 3.56689453125, 2.548828125, -0.81939697265625 ] }, "eef_FT_l": { "raw_value": [ -1.3, -13.1, -8.0, 0.9, -0.2, 0.2 ], "actual_contact_FT": [ -1.3, -13.1, -8.0, 0.9, -0.2, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.4, -16.6, 0.5, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.6, 0.5, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -55, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -299, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.2999655097509566, -0.8767904223911716, -0.0663114866633255, -1.1196463587587586, 0.37979292519989966, -0.44192467348180925, -0.020844067087203464 ], "act_joint_pos_r": [ -0.4717967260650044, -0.6746237225172925, 0.15428191985018114, -0.8660727581599875, 0.1037381183418833, 0.5801524158573487, -0.38778399953718634 ], "act_eef_pose_l": [ 570.8422875079823, 189.12949076978367, 38.099631447887816, 1.8607092363803805, -0.08732119424721, 0.6589695889768199 ], "act_eef_pose_r": [ 570.3822644042034, -387.8323481268787, 6.312143346920067, 1.7665889761840612, 0.03738033189490643, 2.1207754966394554 ], "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": [ 0.2973960244617047, -0.8671959626893316, -0.06685240894728392, -1.1449033075453916, 0.40211823291821713, -0.4353299684571314, -0.04237551163314545 ], "joint_pos_r": [ -0.47591640350157555, -0.6250060393645686, 0.16356160307533443, -0.9587912982469281, 0.06582202526868919, 0.5359436367445443, -0.35099378703847656 ], "eef_pose_l": [ 566.6921198589341, 187.54806521954333, 40.00211941878038, 1.8636365482769908, -0.0889569055865468, 0.6513696341834778 ], "eef_pose_r": [ 558.4550589164342, -387.31289959958355, 10.948108373008381, 1.7824761305000625, 0.03443447456586813, 2.12600013690239 ], "joint_status_l": { "velocity": [ 0.2774962269254111, -1.036171087565485, 0.05841788372418222, 2.7276700206311233, -2.411062123102159, -0.7122071372385186, 2.325327429095192 ], "torque": [ -22.822265625, -0.52734375, -3.564453125, -0.634765625, -3.197021484375, -0.69580078125, 0.60333251953125 ] }, "joint_status_r": { "velocity": [ 0.44491204117091954, -5.358551738457784, -1.0021762307086401, 10.013307002686211, 4.094817281724894, 4.774407330565555, -3.973225765830257 ], "torque": [ 36.85546875, 4.189453125, 9.2529296875, -1.0986328125, 3.427734375, 3.0413818359375, -0.72967529296875 ] }, "eef_FT_l": { "raw_value": [ -0.9, -13.0, -11.2, 0.8, -0.2, 0.2 ], "actual_contact_FT": [ -0.9, -13.0, -11.2, 0.8, -0.2, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.0, 0.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.0, 0.3, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 7, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 699, "motor_current": 303, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30173613637332575, -0.8754342594652269, -0.06640124992269725, -1.125022140903419, 0.3878195441159457, -0.43398442290076017, -0.02476252728577107 ], "act_joint_pos_r": [ -0.47471611571138217, -0.677120002619604, 0.15465423006978846, -0.8789341575651428, 0.12111396844540057, 0.5802994192181902, -0.3999722362601573 ], "act_eef_pose_l": [ 570.5366875079824, 189.26389076978367, 37.05963144788785, 1.8633976366692466, -0.0910618272561811, 0.6618309011090788 ], "act_eef_pose_r": [ 569.7734644042034, -381.5331481268787, 7.299343346920097, 1.755739714628163, 0.030118120697443643, 2.1309419746947933 ], "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": [ 0.29789617846970606, -0.8687137022979072, -0.06676742506704743, -1.1409872165311674, 0.39880047987425615, -0.4360654759409968, -0.03900788974830651 ], "joint_pos_r": [ -0.4755066389498065, -0.6299412722826597, 0.16263859750126766, -0.9495690298522912, 0.06959335715623968, 0.5403408719252873, -0.35465313298633816 ], "eef_pose_l": [ 567.364483042904, 187.81187742603808, 39.641578877144696, 1.8632845724175517, -0.08883866729011235, 0.652735530943723 ], "eef_pose_r": [ 559.668984593971, -387.38422491868744, 10.444734036321165, 1.7809903309298287, 0.03459351186507978, 2.125523021864835 ], "joint_status_l": { "velocity": [ 0.41470322257275427, -0.7257987677791178, 0.03954574925035814, 1.7241773159053508, -1.1859060854675363, 0.2247470997844836, 1.5384537716852664 ], "torque": [ -23.53271484375, -1.13525390625, -7.244873046875, 0.518798828125, -3.2061767578125, -0.289306640625, 0.567626953125 ] }, "joint_status_r": { "velocity": [ 0.4006587747600321, -4.825562302987585, -0.9024945686630925, 9.017331390796635, 3.6875254502998778, 4.299519937100094, -3.5780280591946045 ], "torque": [ 36.62841796875, 6.95068359375, 9.490966796875, 0.701904296875, 3.6016845703125, 2.2430419921875, -0.9466552734375 ] }, "eef_FT_l": { "raw_value": [ -1.3, -12.9, -9.0, 0.8, -0.2, 0.2 ], "actual_contact_FT": [ -1.3, -12.9, -9.0, 0.8, -0.2, 0.2 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.1, 0.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.1, 0.8, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 19, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 695, "motor_current": 1020, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30225601872998603, -0.8766675118299593, -0.0663449541634604, -1.1236318921881738, 0.39581101954215475, -0.43053020029004446, -0.027910025100243777 ], "act_joint_pos_r": [ -0.47637055100388354, -0.6832901261085331, 0.153861426140875, -0.8725625175447397, 0.12965963081040144, 0.5933487647490647, -0.4072928838780842 ], "act_eef_pose_l": [ 571.2070875079824, 189.63349076978366, 36.08043144788786, 1.866860204656014, -0.09554682100282433, 0.664150356171945 ], "act_eef_pose_r": [ 569.8654644042034, -378.3571481268787, 7.008943346920006, 1.7488913068139558, 0.02679255554460015, 2.140794184149298 ], "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": [ 0.2986053255616232, -0.8699736173347575, -0.06669941088861883, -1.1380836698877743, 0.3973233410362907, -0.4354968041340647, -0.036672090326383924 ], "joint_pos_r": [ -0.47540598956988234, -0.6390417568379221, 0.16110587644255012, -0.9360285220717598, 0.07958467216695957, 0.548279340459795, -0.3634360077012287 ], "eef_pose_l": [ 567.9684598198102, 188.08804987642165, 39.13017680130699, 1.8634979224803851, -0.08948570935231849, 0.6544782405507494 ], "eef_pose_r": [ 561.6047802320916, -386.1965681949513, 9.770476164636307, 1.7762417419738044, 0.03339931622969495, 2.1269820221616986 ], "joint_status_l": { "velocity": [ 0.3942632340101504, -0.7229192841169407, 0.03828019730306442, 1.5607459598161455, -0.16332590432677208, 0.5363773955484596, 0.9462751355298615 ], "torque": [ -23.63525390625, -1.083984375, -6.40869140625, 0.29296875, -2.4627685546875, 1.6021728515625, 0.5584716796875 ] }, "joint_status_r": { "velocity": [ -0.10416956255498988, -4.778682941505963, -0.7823775575883651, 6.854126337267452, 5.407936034944272, 4.867354268300428, -4.736402934362616 ], "torque": [ 37.49267578125, 6.02783203125, 9.417724609375, 1.18408203125, 3.5211181640625, 3.1512451171875, -0.77545166015625 ] }, "eef_FT_l": { "raw_value": [ -1.4, -12.9, -9.0, 0.7, -0.3, 0.2 ], "actual_contact_FT": [ -1.4, -12.9, -9.0, 0.7, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -1.6, -16.9, 0.7, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -16.9, 0.7, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 45, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 638, "motor_current": 1747, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3016266744772929, -0.8751069287135623, -0.06640380375511865, -1.1232258586934507, 0.3988493192802272, -0.4329717271742521, -0.031233561190717147 ], "act_joint_pos_r": [ -0.4749024363170253, -0.693903134953675, 0.1519157240201509, -0.8441547680340463, 0.12827764955846543, 0.6213223383827413, -0.40397443559365637 ], "act_eef_pose_l": [ 571.0654875079823, 190.48789076978366, 36.10763144788763, 1.868421619076461, -0.09513656734145978, 0.6639020778934951 ], "act_eef_pose_r": [ 571.1486644042034, -378.53874812687866, 6.281743346919967, 1.744889908348193, 0.023708178102958076, 2.1496881283989655 ], "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": [ 0.2991714877620265, -0.8709604867936828, -0.06664415628626309, -1.1354773050565845, 0.39743884163073995, -0.4349263522294625, -0.03554172125530728 ], "joint_pos_r": [ -0.475470678504486, -0.6476304570153575, 0.15968470820018488, -0.9227589505018028, 0.08833870256983259, 0.5582649371440348, -0.3709510061896486 ], "eef_pose_l": [ 568.5274970981513, 188.46716483529462, 38.595356405623846, 1.8642843583887427, -0.09050058179266345, 0.6561623162220499 ], "eef_pose_r": [ 563.1872865978667, -384.8313336877879, 9.145923226115343, 1.7714057549870714, 0.03172233568299071, 2.130206306876198 ], "joint_status_l": { "velocity": [ 0.2651523449981319, -0.44780252011733523, 0.025957307793755824, 1.3231171839631628, 0.1523270934971066, 0.21109328009938366, 0.46526756464249086 ], "torque": [ -22.91748046875, -1.23779296875, -4.79736328125, 0.5615234375, -0.9832763671875, 1.44287109375, 0.52459716796875 ] }, "joint_status_r": { "velocity": [ 0.061368346283341424, -4.99730182979885, -0.8390255457080276, 8.489001336807078, 4.313279061406439, 6.809998483610968, -3.566425189544642 ], "torque": [ 36.796875, 5.0537109375, 9.36279296875, 0.274658203125, 3.8067626953125, 2.8912353515625, -0.7159423828125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -12.2, -8.8, 0.7, -0.3, 0.2 ], "actual_contact_FT": [ -1.6, -12.2, -8.8, 0.7, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.4, -16.9, 0.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -16.9, 0.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": -20, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 515, "motor_current": 2799, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30112052170747733, -0.879562219083035, -0.06615227873784303, -1.110565989118554, 0.40022786857852627, -0.43195351489628564, -0.0332078308360591 ], "act_joint_pos_r": [ -0.4746790170947239, -0.6989084044522507, 0.15119229689900793, -0.8344295424181294, 0.1333474611178591, 0.6305901843313301, -0.4078550217926258 ], "act_eef_pose_l": [ 574.0454875079824, 192.36549076978366, 35.255631447887765, 1.870693564438058, -0.09581759130553738, 0.67284483308104 ], "act_eef_pose_r": [ 571.9342644042034, -377.9611481268787, 6.348143346919898, 1.7405683050469363, 0.02279613817915763, 2.152527860700863 ], "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": [ 0.2994938284538665, -0.8720330426636654, -0.06658265396615763, -1.132358379201594, 0.3977900628930577, -0.43452837305944964, -0.035084134856461065 ], "joint_pos_r": [ -0.47535807358725585, -0.6556673513351768, 0.1583453912737133, -0.9090015301380393, 0.09533990431034943, 0.5694272567336323, -0.37671319145001025 ], "eef_pose_l": [ 569.2158228792873, 188.95743121445236, 38.132967580158294, 1.8651359013385689, -0.09126513176621669, 0.6582314303504885 ], "eef_pose_r": [ 564.5998600129448, -383.75716042950336, 8.594462187645064, 1.766962591607625, 0.03003537637561312, 2.1337637071665365 ], "joint_status_l": { "velocity": [ 0.17567769005344402, -0.8131270713906957, 0.04647915382860468, 2.353508715939867, 0.2632752491420476, 0.27807648019440023, 0.2026348578077486 ], "torque": [ -23.232421875, -1.94091796875, -3.72314453125, -0.341796875, -0.8807373046875, 1.490478515625, 0.531005859375 ] }, "joint_status_r": { "velocity": [ 0.07333593826563956, -4.669896005423446, -0.7725114084622398, 8.053537147368672, 4.104695073701037, 6.6054013646521526, -3.363218484175423 ], "torque": [ 38.00537109375, 5.2880859375, 9.31396484375, 0.74462890625, 3.7060546875, 2.62939453125, -0.8349609375 ] }, "eef_FT_l": { "raw_value": [ -1.9, -12.0, -9.2, 0.6, -0.3, 0.2 ], "actual_contact_FT": [ -1.9, -12.0, -9.2, 0.6, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.0, 0.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.8, -17.0, 0.3, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 1, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 325, "motor_current": 4148, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2991758759671992, -0.8859526204863016, -0.06579961149612633, -1.0928660215348283, 0.39282688885045924, -0.4418492000851234, -0.02448865368101868 ], "act_joint_pos_r": [ -0.4751573919035246, -0.6999150057091861, 0.15112240321134318, -0.8327380487194761, 0.13649565162805866, 0.6324063542960332, -0.411131788280887 ], "act_eef_pose_l": [ 576.6718875079823, 193.25509076978366, 35.2636314478878, 1.870581761874225, -0.09723094960566209, 0.6734034683144893 ], "act_eef_pose_r": [ 572.0574644042034, -377.8099481268787, 6.339343346919833, 1.7388396691434957, 0.023125526211633624, 2.152919978352049 ], "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": [ 0.29955626620060116, -0.874261665536624, -0.06645685335889027, -1.126008229135028, 0.3973182143889675, -0.4352887006281696, -0.033630638152192936 ], "joint_pos_r": [ -0.4752940215141679, -0.6628761006031765, 0.15716250392846692, -0.8965739983732984, 0.10190130480185892, 0.5796628024999941, -0.38215868736600755 ], "eef_pose_l": [ 570.4739819667088, 189.70917315994376, 37.58662970075309, 1.86617533549224, -0.09229560264128174, 0.6610690265566469 ], "eef_pose_r": [ 565.8472082590545, -382.79462720252513, 8.152346528751451, 1.7626941963013403, 0.028629784894838757, 2.136987598028705 ], "joint_status_l": { "velocity": [ -0.04108093359045384, -1.262585896584234, 0.07098002773447964, 3.5792528564009274, -0.4850488524077434, -0.7085130448754029, 0.9873052038763819 ], "torque": [ -27.16552734375, -1.904296875, -3.948974609375, 0.25634765625, -2.7081298828125, 0.2362060546875, 0.42572021484375 ] }, "joint_status_r": { "velocity": [ 0.014755562757873264, -4.000083775284047, -0.6523116385459549, 6.894079232615091, 3.736079267461556, 5.696135595433027, -3.1290026138077742 ], "torque": [ 35.64697265625, 4.7314453125, 8.990478515625, -0.146484375, 3.5687255859375, 2.8857421875, -0.714111328125 ] }, "eef_FT_l": { "raw_value": [ -1.6, -12.0, -9.2, 0.5, -0.3, 0.2 ], "actual_contact_FT": [ -1.6, -12.0, -9.2, 0.5, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.0, -16.5, 0.5, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -16.5, 0.5, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 43, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 162, "motor_current": 4564, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30141333809137255, -0.8767626772376506, -0.0662830108562121, -1.1138496647343983, 0.39624659812956914, -0.42567443627449164, -0.030232605457466213 ], "act_joint_pos_r": [ -0.4756573655509597, -0.6995830942422055, 0.15140624957124849, -0.8380919342506502, 0.1365541822943328, 0.6293480040621661, -0.41094089789453947 ], "act_eef_pose_l": [ 574.3694875079824, 193.58629076978366, 35.850031447887716, 1.868190593766821, -0.0969331232484927, 0.6785499210635939 ], "act_eef_pose_r": [ 571.7862644042034, -376.39394812687874, 6.338543346920034, 1.7387285818375295, 0.021920939829867717, 2.1546832475653055 ], "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": [ 0.29977570063806824, -0.8750254715833532, -0.06640972467900398, -1.1232041995078454, 0.39701081905034463, -0.43432884464103527, -0.03285160120366125 ], "joint_pos_r": [ -0.47531959423060793, -0.6693918767700586, 0.15612279617839997, -0.8858197911168451, 0.10802369791947877, 0.5886841064454875, -0.38726238823318976 ], "eef_pose_l": [ 571.2090508871688, 190.3298268868208, 37.277898383600956, 1.8665980707345537, -0.09306358921075483, 0.6637473636514396 ], "eef_pose_r": [ 566.9390181625656, -381.7747514643438, 7.77881168906336, 1.758648088813048, 0.027351444794373906, 2.1400601286744716 ], "joint_status_l": { "velocity": [ 0.17685962876079486, -0.18761267732436693, 0.013684689253223858, 1.0102599595072093, -0.08253342525055274, 0.9346485376018343, 0.28284319857485585 ], "torque": [ -23.29833984375, -0.7177734375, -7.611083984375, 0.665283203125, -2.6513671875, 1.527099609375, 0.41015625 ] }, "joint_status_r": { "velocity": [ -0.03647822672991907, -3.2605553220532713, -0.5093720104478727, 5.154456518980943, 3.081201437305392, 4.391571420125473, -2.5572036227363704 ], "torque": [ 35.92529296875, 4.18212890625, 8.917236328125, -1.08642578125, 3.7664794921875, 3.1182861328125, -0.81756591796875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -12.0, -8.1, 0.5, -0.3, 0.2 ], "actual_contact_FT": [ -1.8, -12.0, -8.1, 0.5, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.3, -1.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.3, -1.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 22, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 45, "motor_current": 4766, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30329829275885606, -0.8672390011196697, -0.06680956288626358, -1.1377720845448325, 0.4072029220190286, -0.41383649932301225, -0.03670143900935828 ], "act_joint_pos_r": [ -0.4797160627428356, -0.6984172980517359, 0.15188602446713834, -0.8473624658696606, 0.1457143848163849, 0.6266342610776056, -0.4142443660977258 ], "act_eef_pose_l": [ 570.6878875079824, 192.73589076978365, 36.23883144788766, 1.8685460147621415, -0.10126634294324921, 0.6754032339911031 ], "act_eef_pose_r": [ 570.6678644042034, -374.13154812687867, 5.733743346919965, 1.7354554228019001, 0.014597266752776679, 2.156889470194345 ], "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": [ 0.300257624204468, -0.8742363815896442, -0.06644831113518379, -1.1243658310096376, 0.3981215272159008, -0.4315702740391675, -0.033151011958710314 ], "joint_pos_r": [ -0.4757830141790466, -0.6746139816817188, 0.15533659199364497, -0.8783032000832278, 0.1139792488140079, 0.595603902408542, -0.39177752794102133 ], "eef_pose_l": [ 571.3160622821242, 190.76818120015253, 37.081932517269934, 1.8669187917756458, -0.0941815358719432, 0.6658274060891362 ], "eef_pose_r": [ 567.6960581868942, -380.59338752034364, 7.428601281244795, 1.7549382791313946, 0.025537929626246698, 2.142930813647078 ], "joint_status_l": { "velocity": [ 0.3283825187492262, 0.7556948027307442, -0.03901403845901763, -1.4478326802578323, 0.9807617127171042, 1.9151911838002356, -0.38343481266464585 ], "torque": [ -23.2763671875, 8.2177734375, -7.354736328125, -3.424072265625, -0.5584716796875, 1.8695068359375, -0.41473388671875 ] }, "joint_status_r": { "velocity": [ -0.4247567173591982, -2.5706823497388953, -0.372650302129518, 3.341500742769732, 3.4272936056349845, 3.3511798984902086, -2.426346959645276 ], "torque": [ 28.74755859375, 5.009765625, 8.978271484375, 0.06103515625, 3.8800048828125, 3.0322265625, -1.01165771484375 ] }, "eef_FT_l": { "raw_value": [ -1.5, -11.3, -8.7, 0.5, -0.3, 0.2 ], "actual_contact_FT": [ -1.5, -11.3, -8.7, 0.5, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.5, -0.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -17.5, -0.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 59, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4839, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30350012958443784, -0.8661687075532398, -0.06686478039895864, -1.1396384054848856, 0.4085614997973873, -0.41177520881215524, -0.03592373061752881 ], "act_joint_pos_r": [ -0.4784215112552092, -0.6994937322935034, 0.15181554918759207, -0.847419619884009, 0.1473138201085007, 0.6338833171788281, -0.4131481787617162 ], "act_eef_pose_l": [ 570.5774875079824, 193.01909076978367, 36.23643144788781, 1.8687605676472818, -0.10362948151434329, 0.6760494706926252 ], "act_eef_pose_r": [ 570.4630644042035, -372.32194812687874, 7.1193433469198055, 1.730453053390491, 0.011528004428162802, 2.1636926989922878 ], "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": [ 0.3006525431700288, -0.8732923651615173, -0.06649704537879966, -1.126163761602925, 0.3993449268414452, -0.429215652157948, -0.033553250402840365 ], "joint_pos_r": [ -0.47618865452978704, -0.6773317588433693, 0.15494514191605827, -0.8748134457346618, 0.11760749804852434, 0.5993192282821636, -0.39428042313830913 ], "eef_pose_l": [ 571.2321500034019, 191.03270106055317, 36.97051156495314, 1.8671550455569823, -0.09520627764386831, 0.6670729847522684 ], "eef_pose_r": [ 568.0302329434776, -379.8048743995785, 7.259676089385891, 1.7526702873115232, 0.024147636586751314, 2.1447425356847902 ], "joint_status_l": { "velocity": [ 0.3075302626358578, 0.7693323314503786, -0.039714210869068456, -1.4552186198724115, 0.9953605226518114, 1.8835123301190748, -0.2560043127427247 ], "torque": [ -23.8623046875, 8.5546875, -7.31201171875, -3.961181640625, -0.428466796875, 2.215576171875, -0.52734375 ] }, "joint_status_r": { "velocity": [ -0.24114141425934932, -2.3934225423891675, -0.337986046308858, 2.958445937172094, 3.208188162025394, 3.7328115074490853, -2.0376575098319805 ], "torque": [ 26.7626953125, 3.90380859375, 8.36181640625, -0.42724609375, 3.75732421875, 3.0853271484375, -0.7891845703125 ] }, "eef_FT_l": { "raw_value": [ -1.8, -11.8, -8.7, 0.5, -0.3, 0.2 ], "actual_contact_FT": [ -1.8, -11.8, -8.7, 0.5, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.1, -16.7, -0.1, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.1, -16.7, -0.1, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 53, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4812, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30409409511148333, -0.8625573905917303, -0.06706612396014978, -1.1482636977333296, 0.41259016783638003, -0.4055759182253179, -0.037890140267493794 ], "act_joint_pos_r": [ -0.4790427596281935, -0.6974151093386346, 0.1523461748149805, -0.8567169699862607, 0.15275852002641832, 0.6336963397645824, -0.42095925627030895 ], "act_eef_pose_l": [ 569.5646875079824, 193.05669076978367, 36.500431447887706, 1.8685647423374483, -0.10629737959172052, 0.6768221963820168 ], "act_eef_pose_r": [ 569.5518644042035, -370.1051481268787, 8.367343346919853, 1.7255229074331648, 0.013361667081257774, 2.1693956989639402 ], "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": [ 0.3012418558273981, -0.8716355686774406, -0.06658385349748644, -1.1294517595533753, 0.4014332064851551, -0.42538633029614376, -0.03417024583955663 ], "joint_pos_r": [ -0.4766555403370955, -0.6813713212210384, 0.15439179188356902, -0.870305352110677, 0.1236156667847917, 0.6058396412891379, -0.39841032089617856 ], "eef_pose_l": [ 571.0243286845256, 191.4120919034909, 36.84539322045643, 1.8674752015040663, -0.09701922436337282, 0.6688375854627269 ], "eef_pose_r": [ 568.4328111958581, -378.2155282629065, 7.292801868453296, 1.7482435456338241, 0.02178943545392165, 2.148791423489776 ], "joint_status_l": { "velocity": [ 0.3080327577404951, 0.9804143174818591, -0.05208367384179624, -2.0316294037279192, 1.204916288825686, 2.1394614036078785, -0.4017367496251256 ], "torque": [ -22.5, 7.72705078125, -7.806396484375, -3.790283203125, -0.46875, 2.1533203125, -0.6243896484375 ] }, "joint_status_r": { "velocity": [ -0.2578120796772332, -1.7326780140942688, -0.22092012771679492, 1.4675019877801176, 3.147335324402034, 3.008434706308627, -2.435213197631736 ], "torque": [ 26.28662109375, 4.78271484375, 8.331298828125, -0.5126953125, 3.8800048828125, 3.0560302734375, -0.84136962890625 ] }, "eef_FT_l": { "raw_value": [ -1.3, -11.7, -9.1, 0.5, -0.3, 0.3 ], "actual_contact_FT": [ -1.3, -11.7, -9.1, 0.5, -0.3, 0.3 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.2, 1.9, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -17.2, 1.9, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 93, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4774, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2993684634002322, -0.8623045657981449, -0.06700660350192165, -1.1373024461954364, 0.40537787764701405, -0.4202466613598706, -0.033060090456923076 ], "act_joint_pos_r": [ -0.47755671180975057, -0.6874629974894138, 0.15419921994675706, -0.8817362860046504, 0.15759939363519182, 0.6291073313677562, -0.4326069626592511 ], "act_eef_pose_l": [ 570.6854875079823, 195.01029076978367, 38.43803144788768, 1.8673217265636408, -0.10531598277849917, 0.6739960863264716 ], "act_eef_pose_r": [ 567.1654644042035, -367.15874812687866, 12.587343346920107, 1.7173650874439605, 0.020548767388771576, 2.179054541931078 ], "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": [ 0.30143614521995327, -0.8701284669434513, -0.06665967779134678, -1.131907398484527, 0.4028482542648482, -0.4229821046738837, -0.03450110597796622 ], "joint_pos_r": [ -0.47698274039998684, -0.6835718794385007, 0.15413686332315815, -0.8691700044240859, 0.1286191633800575, 0.6102176637723669, -0.40262867462497137 ], "eef_pose_l": [ 570.8519242395867, 191.79681549220774, 36.89567170557146, 1.8676027875227927, -0.09848291868827133, 0.6699860771413054 ], "eef_pose_r": [ 568.5205377770648, -376.73608244589224, 7.634270158950585, 1.7442374172587205, 0.020646943820117912, 2.152659935482726 ], "joint_status_l": { "velocity": [ -0.22330305055850985, 0.8449564030366119, -0.037466871715741146, -0.5826479684944985, 0.2731912679281301, 0.29541916499109533, 0.15562508635608152 ], "torque": [ -30.13916015625, 7.17041015625, -9.429931640625, -2.23388671875, -0.7891845703125, 1.4263916015625, -0.63720703125 ] }, "joint_status_r": { "velocity": [ -0.06198708404303588, -0.42022835552568694, 0.0067343167307054586, -1.3571183846341484, 3.1297725598470327, 2.0400239330120584, -3.237559620985042 ], "torque": [ 26.85791015625, 4.1455078125, 8.746337890625, -0.29296875, 3.841552734375, 3.5467529296875, -0.7562255859375 ] }, "eef_FT_l": { "raw_value": [ -1.6, -11.9, -8.5, 0.5, -0.3, 0.3 ], "actual_contact_FT": [ -1.6, -11.9, -8.5, 0.5, -0.3, 0.3 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.4, 0.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.4, 0.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 74, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4778, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3008632387184103, -0.862912106097267, -0.06696408316330525, -1.1344274320117338, 0.39889656176980043, -0.42220026076583295, -0.02471137244331241 ], "act_joint_pos_r": [ -0.47765400514757367, -0.6755091244112976, 0.15621505144822076, -0.9041563159525721, 0.16509252566703259, 0.6282500575218704, -0.4482276433064237 ], "act_eef_pose_l": [ 570.7870875079823, 195.23749076978368, 37.80523144788759, 1.8665147802800843, -0.10611082495053684, 0.6733580250360228 ], "act_eef_pose_r": [ 564.1214644042034, -365.91154812687864, 16.500943346919968, 1.708750942911321, 0.029691529198090483, 2.187365457881236 ], "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": [ 0.3011783376053725, -0.8687889401634165, -0.06671795138281282, -1.1326539947261758, 0.4028281987377287, -0.422639313232253, -0.03364436515239461 ], "joint_pos_r": [ -0.4771051719394307, -0.6834924262271856, 0.15429474722420297, -0.8733134071049123, 0.13498689458333266, 0.6139542644823943, -0.40978310983687033 ], "eef_pose_l": [ 570.8314000281132, 192.38183274654398, 37.12220347776628, 1.8674958064246554, -0.09974806915755448, 0.6706480786284518 ], "eef_pose_r": [ 568.0506776596874, -374.6940085408155, 8.89177713054903, 1.7382858669431216, 0.021202684953220557, 2.1586709332865093 ], "joint_status_l": { "velocity": [ -0.034029676140523435, 0.6346793602771683, -0.026581448315243783, -0.1915255780939873, -0.4246042695026375, 0.04741626790538689, 0.9647347592501299 ], "torque": [ -29.8974609375, 8.53271484375, -10.19287109375, -4.1259765625, -2.02880859375, 0.9979248046875, 0.3717041015625 ] }, "joint_status_r": { "velocity": [ -0.05927223833834816, 0.8621711677365695, 0.2073867396490403, -3.330935914843458, 3.2513122647100934, 1.5439001133641383, -4.151887161345513 ], "torque": [ 26.220703125, 10.52490234375, 14.117431640625, -5.224609375, 4.134521484375, 2.98095703125, -0.93292236328125 ] }, "eef_FT_l": { "raw_value": [ -1.3, -12.0, -8.7, 0.6, -0.2, 0.3 ], "actual_contact_FT": [ -1.3, -12.0, -8.7, 0.6, -0.2, 0.3 ] }, "eef_FT_r": { "raw_value": [ -2.4, -18.4, -0.6, 1.2, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -18.4, -0.6, 1.2, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 91, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4812, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3006916697847572, -0.865503324727868, -0.0668227240814029, -1.1286022230657613, 0.39189045475160855, -0.42540500913894236, -0.017587188935499074 ], "act_joint_pos_r": [ -0.48152512362812244, -0.6540810697754856, 0.16008275012456497, -0.945859470573591, 0.17516985753168868, 0.6126407606260827, -0.46835738528038123 ], "act_eef_pose_l": [ 571.6062875079823, 195.13509076978366, 37.88523144788775, 1.8648349380709028, -0.1062074304802799, 0.6730376406805781 ], "act_eef_pose_r": [ 558.8758644042034, -365.1283481268787, 20.17134334691994, 1.7033910160251133, 0.040213632017738775, 2.191108569895308 ], "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": [ 0.30110640181205356, -0.8678648320115344, -0.06675428717868419, -1.132569232379917, 0.4015798210029021, -0.4227873839977801, -0.031442032215544945 ], "joint_pos_r": [ -0.4775413961000602, -0.6801429193021853, 0.15498993654687213, -0.8827255717401815, 0.14154347544534437, 0.6153160815769312, -0.4187794123207545 ], "eef_pose_l": [ 570.8829366404855, 192.91409973145872, 37.256287903055295, 1.8671908308010112, -0.1009560029062086, 0.6711344811927482 ], "eef_pose_r": [ 566.8994530134216, -372.9507584424216, 10.626689097387384, 1.7322533255466217, 0.02364453034439665, 2.1645504825487856 ], "joint_status_l": { "velocity": [ -0.044789737945194474, 0.25503526477343996, -0.0073909675086247795, 0.42842437022905244, -1.046420692611516, -0.2826951775967146, 1.4962789438564827 ], "torque": [ -32.38037109375, 8.26171875, -11.2060546875, -0.311279296875, -2.49755859375, 0.6683349609375, 0.662841796875 ] }, "joint_status_r": { "velocity": [ -0.4302298840785923, 2.81459673679052, 0.5500076447824132, -6.818259980178709, 3.631542158714529, -0.288926141270629, -5.354263164088824 ], "torque": [ 25.65673828125, 13.1103515625, 15.313720703125, -5.26123046875, 3.90380859375, 2.1917724609375, -1.0546875 ] }, "eef_FT_l": { "raw_value": [ -1.8, -11.6, -7.7, 0.6, -0.3, 0.3 ], "actual_contact_FT": [ -1.8, -11.6, -7.7, 0.6, -0.3, 0.3 ] }, "eef_FT_r": { "raw_value": [ -4.0, -17.8, -1.2, 1.2, 0.1, 0.0 ], "actual_contact_FT": [ -4.0, -17.8, -1.2, 1.2, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 82, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4804, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2979952524119319, -0.8715841591969442, -0.06650193855083034, -1.1161172053352968, 0.39059403370491375, -0.4344547397337789, -0.017160844011729133 ], "act_joint_pos_r": [ -0.48189918104426477, -0.6419114404883094, 0.1623595234337687, -0.9677498480565472, 0.18001568135763746, 0.6063610715611043, -0.47933141687687186 ], "act_eef_pose_l": [ 573.3134875079824, 194.67109076978366, 38.258831447887644, 1.8654463073739405, -0.10530608253849287, 0.6707096777485357 ], "act_eef_pose_r": [ 556.0886644042034, -364.9027481268787, 23.307343346919907, 1.6988163837329304, 0.04760027299953347, 2.1940330492165954 ], "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": [ 0.3008763854685633, -0.867800653655627, -0.06674774662014718, -1.1311423300837082, 0.39979132484272834, -0.4237760800303041, -0.028967604634219712 ], "joint_pos_r": [ -0.4782180387229405, -0.6751512982400614, 0.15595947415577896, -0.8943765354058975, 0.14735308561928262, 0.6145113599066029, -0.42756749847845 ], "eef_pose_l": [ 571.1108828531726, 193.27942133671706, 37.38666432492431, 1.8668185495880905, -0.10182866465409482, 0.6713321999593386 ], "eef_pose_r": [ 565.469590849684, -371.65161731895313, 12.363024398481116, 1.7272012692544203, 0.026757566673970758, 2.1692035289562734 ], "joint_status_l": { "velocity": [ -0.31115319314345413, -0.40860654725616286, 0.0265464885394473, 1.6226656148639051, -0.9932781477113295, -1.15326123435322, 1.2750925403847424 ], "torque": [ -35.92529296875, 4.0283203125, -11.737060546875, 2.557373046875, -2.9791259765625, -0.1336669921875, 0.53192138671875 ] }, "joint_status_r": { "velocity": [ -0.3975516455438921, 3.589798761733931, 0.6911849366126877, -7.924084057902903, 3.5274563029796813, -0.8802051810503642, -5.590338308814058 ], "torque": [ 24.80712890625, 15.615234375, 16.192626953125, -7.684326171875, 4.031982421875, 1.146240234375, -0.78460693359375 ] }, "eef_FT_l": { "raw_value": [ -1.7, -11.8, -8.2, 0.6, -0.3, 0.2 ], "actual_contact_FT": [ -1.7, -11.8, -8.2, 0.6, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.2, 0.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -17.2, 0.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 110, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4755, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2978728399271528, -0.8757785197109945, -0.06630182607011938, -1.1103217995009689, 0.38934895614201176, -0.4345486659770567, -0.01728580609785993 ], "act_joint_pos_r": [ -0.4812443050160953, -0.638709001727417, 0.16280857379210947, -0.968262583717325, 0.1789140244179026, 0.6129844652038475, -0.4828186727512827 ], "act_eef_pose_l": [ 574.5030875079823, 194.12389076978366, 37.93643144788763, 1.8653812464971993, -0.10407507405487446, 0.6724717748518539 ], "act_eef_pose_r": [ 555.1246644042035, -365.5211481268787, 24.526543346919908, 1.6964102405199792, 0.0526662741210115, 2.1982153075498574 ], "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": [ 0.3003581507683124, -0.8687720299702792, -0.06668985722722305, -1.1280679028180314, 0.39807539417871923, -0.4256709290875847, -0.026889080081814908 ], "joint_pos_r": [ -0.4788216779259502, -0.6690433105083099, 0.157123433989265, -0.9073865230685539, 0.15304867574813008, 0.6135478786706814, -0.43697123167593177 ], "eef_pose_l": [ 571.5880652197708, 193.48612221728337, 37.5129342247657, 1.8665866079085327, -0.10235059945445277, 0.6713471050228734 ], "eef_pose_r": [ 563.7967301681151, -370.5106987328387, 14.370602394707845, 1.7219606219100392, 0.030755904843788987, 2.1740138682583217 ], "joint_status_l": { "velocity": [ -0.2684056546438107, -0.7566785749553162, 0.041906129012003746, 1.9165226334294516, -0.9424275125509141, -0.9587673067326108, 1.037123001959267 ], "torque": [ -38.0859375, 2.28515625, -10.82763671875, 0.48828125, -2.860107421875, 0.0823974609375, 0.413818359375 ] }, "joint_status_r": { "velocity": [ -0.2616360091938219, 3.2760087276235694, 0.6139769904236481, -6.574420647894819, 2.7933752701356784, -0.06084685983598348, -4.951377603061413 ], "torque": [ 25.72265625, 12.7001953125, 16.009521484375, -5.28564453125, 3.77197265625, 1.2432861328125, -0.7525634765625 ] }, "eef_FT_l": { "raw_value": [ -1.9, -12.2, -8.2, 0.7, -0.3, 0.2 ], "actual_contact_FT": [ -1.9, -12.2, -8.2, 0.7, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.6, -0.3, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.4, -17.6, -0.3, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 116, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4797, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29679374242573026, -0.8772240720094536, -0.06624471922373684, -1.1100506230379807, 0.3880559347919033, -0.4342667321318849, -0.013746892229931746 ], "act_joint_pos_r": [ -0.48150437014378245, -0.6299881897811721, 0.16438393071064653, -0.9796683700579792, 0.17959817453314741, 0.6112999598861486, -0.4863762994094014 ], "act_eef_pose_l": [ 574.7638875079824, 193.35029076978367, 38.63803144788773, 1.8639860951318352, -0.10702822813893144, 0.6710071797600099 ], "act_eef_pose_r": [ 553.1550644042034, -366.47714812687866, 26.37054334691996, 1.6946700431132322, 0.056545093348118886, 2.199315183940032 ], "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": [ 0.29985689804141247, -0.8700480167077598, -0.066621162044122, -1.1251272359716005, 0.39652975621411957, -0.4271061734989171, -0.025006403969775368 ], "joint_pos_r": [ -0.47926513109119223, -0.6631731851865634, 0.15822015815348558, -0.9188127101699914, 0.15766164265880503, 0.6133503761909105, -0.4452841776178265 ], "eef_pose_l": [ 572.0915245226636, 193.52506129424856, 37.63887017304032, 1.8662798120346276, -0.10288387269516276, 0.6714040248582358 ], "eef_pose_r": [ 562.1923323561379, -369.6942006640591, 16.25963174105007, 1.717313493471599, 0.03479628670596747, 2.1784553789951935 ], "joint_status_l": { "velocity": [ -0.330811049743307, -0.7749911154411038, 0.04065462555757904, 1.6282261748674642, -0.915145722819144, -0.7733175245787649, 1.21599140415371 ], "torque": [ -39.7412109375, 0.0439453125, -10.6201171875, 0.164794921875, -2.8619384765625, 0.113525390625, 0.50262451171875 ] }, "joint_status_r": { "velocity": [ -0.24183068526451024, 3.5838738030742334, 0.6656678033509777, -6.572217430711014, 2.369075570279877, -0.22143842993660456, -4.437818267036153 ], "torque": [ 24.54345703125, 14.26025390625, 16.900634765625, -6.53076171875, 3.75, 1.212158203125, -0.70404052734375 ] }, "eef_FT_l": { "raw_value": [ -1.9, -12.7, -8.4, 0.7, -0.3, 0.2 ], "actual_contact_FT": [ -1.9, -12.7, -8.4, 0.7, -0.3, 0.2 ] }, "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": 124, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4818, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2944565627680124, -0.8696704235497502, -0.06666236534789355, -1.1292428870415163, 0.384289689452851, -0.42399894699063084, -0.013764953658196901 ], "act_joint_pos_r": [ -0.48325117021048497, -0.6212881480107348, 0.16616664450434934, -0.9953525963087008, 0.18184071987192937, 0.6025736493044547, -0.49092071787872665 ], "act_eef_pose_l": [ 572.7086875079823, 192.40229076978366, 42.11563144788789, 1.8565837455385161, -0.10765148680986919, 0.6711197634973822 ], "act_eef_pose_r": [ 551.2062644042035, -366.8779481268787, 27.388943346920115, 1.6948940452379393, 0.05917649138642491, 2.1977456971523393 ], "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": [ 0.2990515724254836, -0.8704644285955614, -0.06660173215652532, -1.124627273312053, 0.39460651959002374, -0.42721357459939774, -0.023017665738182907 ], "joint_pos_r": [ -0.479830365399628, -0.6567359894299216, 0.1594346200736381, -0.9305869492156388, 0.16152096134132765, 0.6120285957897349, -0.4525523358100814 ], "eef_pose_l": [ 572.3343601164428, 193.38654567655763, 38.207125204373966, 1.8650390121236156, -0.10368649075017271, 0.671341823079838 ], "eef_pose_r": [ 560.5311144429376, -369.2332723850315, 18.023410437133663, 1.713566898813386, 0.038621875742240186, 2.1817704540073755 ], "joint_status_l": { "velocity": [ -0.49624640700152156, 0.08575001588706499, -0.006548191539168524, -0.4984715811477969, -1.1141847936908533, 0.34716954252855814, 0.9992634329389349 ], "torque": [ -39.1845703125, 5.35400390625, -10.63232421875, -3.497314453125, -3.116455078125, 1.376953125, 0.41290283203125 ] }, "joint_status_r": { "velocity": [ -0.36943602363903594, 3.828253964957007, 0.7270371957008859, -6.994483594784384, 2.1944691988957654, -1.0211041045549152, -4.143663052604385 ], "torque": [ 24.16259765625, 14.6630859375, 16.650390625, -5.04150390625, 3.7408447265625, 0.9722900390625, -0.94207763671875 ] }, "eef_FT_l": { "raw_value": [ -1.7, -12.6, -8.1, 0.7, -0.3, 0.2 ], "actual_contact_FT": [ -1.7, -12.6, -8.1, 0.7, -0.3, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.1, -17.3, 0.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.1, -17.3, 0.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 143, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 4837, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29294567982700503, -0.8640615760647963, -0.06698055290743996, -1.143912802269439, 0.38087182083271603, -0.41449005497132574, -0.011778317856124996 ], "act_joint_pos_r": [ -0.4861948095763031, -0.6135217628679223, 0.16794786706106396, -1.0123076396896817, 0.17972936861752942, 0.5938433099316197, -0.4900016303858008 ], "act_eef_pose_l": [ 571.3078875079823, 191.77909076978366, 44.69323144788774, 1.850733952683695, -0.10974326218108985, 0.6722105625300118 ], "act_eef_pose_r": [ 548.8158644042035, -366.08354812687867, 27.353743346919856, 1.6977310100832748, 0.05850702349258977, 2.1991514831850862 ], "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": [ 0.2980888558097052, -0.8697661566756125, -0.06664410120464562, -1.1269024987162692, 0.3924424582928314, -0.425699397539577, -0.021184107322052965 ], "joint_pos_r": [ -0.48064554675103593, -0.6502415069626933, 0.16069431532247852, -0.9426903180079373, 0.1646800996637324, 0.6097244339903795, -0.45878098226577346 ], "eef_pose_l": [ 572.2669551248675, 193.1482196475247, 39.15721298583745, 1.8629492321517922, -0.10460348565536626, 0.6714032211559225 ], "eef_pose_r": [ 558.8354151259014, -368.8045090838113, 19.545302565238188, 1.7106870037953377, 0.041907208741370064, 2.1845465027206585 ], "joint_status_l": { "velocity": [ -0.5554466241091127, 0.6160765357625664, -0.0363357122372121, -1.8370586025948654, -1.2495919909465414, 1.2105732934202251, 1.0157953030392186 ], "torque": [ -40.78857421875, 6.298828125, -10.9375, -4.034423828125, -3.2904052734375, 1.7047119140625, 0.44036865234375 ] }, "joint_status_r": { "velocity": [ -0.5993027096402592, 3.965615402661271, 0.7833604837845787, -7.5184489968282975, 1.6252731121417785, -1.7151108138575566, -3.3717305530855946 ], "torque": [ 23.98681640625, 13.49853515625, 16.961669921875, -5.609130859375, 3.7152099609375, 1.2030029296875, -0.6463623046875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -13.7, -6.9, 0.9, -0.2, 0.2 ], "actual_contact_FT": [ -1.0, -13.7, -6.9, 0.9, -0.2, 0.2 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.3, -1.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.3, -1.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 143, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 2627, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29102701742574594, -0.8610476300459, -0.0670610172616391, -1.1374609327215193, 0.36715197676644945, -0.42544175490654706, -0.0007157518685413963 ], "act_joint_pos_r": [ -0.4874230319842012, -0.6068460038909393, 0.16946226910110104, -1.0252686489553633, 0.1701400722421198, 0.5932996332763473, -0.48306652235336206 ], "act_eef_pose_l": [ 571.6158875079823, 194.11829076978367, 46.12283144788768, 1.847173913525683, -0.10809116795246955, 0.6710459884802362 ], "act_eef_pose_r": [ 546.1822644042034, -364.69954812687865, 27.70894334692005, 1.70062037438169, 0.05835106443648319, 2.2069855307531534 ], "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": [ 0.2973969922509471, -0.8689472959378116, -0.06668674313103919, -1.1284470726409188, 0.39033953770222707, -0.4250709046077741, -0.01947988814960352 ], "joint_pos_r": [ -0.4817652991552793, -0.6429958360136614, 0.1621476936521937, -0.9564618026316091, 0.16625885365713122, 0.6068551677356667, -0.4635184781545364 ], "eef_pose_l": [ 572.1805780554723, 193.12800946560267, 39.86600424769469, 1.8613594689473905, -0.10508892733503365, 0.6714194636885592 ], "eef_pose_r": [ 556.814023764347, -368.19891715159963, 20.94348159670372, 1.708682224675208, 0.04476979984723709, 2.1880135801807326 ], "joint_status_l": { "velocity": [ -0.6879369915049338, 0.8531387543442293, -0.04042041396834506, -0.9734681777953114, -2.504182724142545, -0.04005065103651617, 2.02646695090683 ], "torque": [ -41.82861328125, 6.21826171875, -11.2060546875, -4.132080078125, -3.8763427734375, 0.8953857421875, 0.4046630859375 ] }, "joint_status_r": { "velocity": [ -0.6110171245365947, 3.9040667249610195, 0.789950850126786, -7.430920239687389, 0.41915924473756583, -1.4639545445751523, -2.1111265091251497 ], "torque": [ 23.37890625, 12.685546875, 17.08984375, -4.913330078125, 3.6639404296875, 1.2615966796875, -0.772705078125 ] }, "eef_FT_l": { "raw_value": [ -1.0, -14.3, -7.4, 1.1, -0.2, 0.1 ], "actual_contact_FT": [ -1.0, -14.3, -7.4, 1.1, -0.2, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.4, -1.5, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.4, -1.5, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 175, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 982, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28942107788294663, -0.8686235949946075, -0.06658195468320224, -1.1103722482926468, 0.3556681911093608, -0.443101369614101, 0.00974252811597059 ], "act_joint_pos_r": [ -0.4842518373719562, -0.5963455110827216, 0.17172508915657625, -1.0416302507389077, 0.1541149112729343, 0.5931177095172541, -0.4721104093611119 ], "act_eef_pose_l": [ 575.1614875079823, 196.50389076978365, 45.423631447887885, 1.847912132067149, -0.10622864379886306, 0.6724321589203512 ], "act_eef_pose_r": [ 543.3142644042034, -363.9643481268787, 30.640943346920068, 1.7025706672388807, 0.06271382851818136, 2.2162772522984113 ], "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": [ 0.29615493610048144, -0.8680968089154334, -0.06671837669428048, -1.128087657369564, 0.38541178096556006, -0.426409763157301, -0.01540817083168655 ], "joint_pos_r": [ -0.4823799805311948, -0.6360085385572447, 0.16357524759887884, -0.9694007373136307, 0.1653029620057509, 0.6046086060056934, -0.46564233345405565 ], "eef_pose_l": [ 572.339809840817, 193.47284021549243, 40.912390998169144, 1.8589434618994387, -0.10546742023052579, 0.6714386336861051 ], "eef_pose_r": [ 554.8291425897646, -367.581258196801, 22.326031207246302, 1.7075285318222673, 0.047349097382591215, 2.192049821742598 ], "joint_status_l": { "velocity": [ -0.7272352388372205, -0.05689121863294844, 0.01473314266564607, 1.9132077532617586, -3.2122129653124887, -1.8026403312996209, 2.716195376446545 ], "torque": [ -42.451171875, 4.2919921875, -11.1572265625, -0.634765625, -3.47900390625, 0.318603515625, 0.72418212890625 ] }, "joint_status_r": { "velocity": [ -0.20215457657135616, 4.283480632740755, 0.8801569293903633, -7.8005573847876875, -1.208273843012142, -1.2409802199959685, -0.6985315958734084 ], "torque": [ 23.70849609375, 14.17236328125, 17.242431640625, -5.078125, 1.7559814453125, 1.0308837890625, -0.7635498046875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -14.8, -5.5, 1.2, -0.1, 0.1 ], "actual_contact_FT": [ -1.0, -14.8, -5.5, 1.2, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.9, -0.4, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -1.0, -17.9, -0.4, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 154, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 955, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28864761094514724, -0.8706507549862995, -0.06645435623971331, -1.1029751851092187, 0.35355555418610224, -0.451617468116207, 0.012791279185828498 ], "act_joint_pos_r": [ -0.482619774276825, -0.5916567832482266, 0.1728048113948585, -1.0487544006283394, 0.14986187043342622, 0.5923060441614495, -0.47013188638270526 ], "act_eef_pose_l": [ 575.5846875079824, 196.73989076978367, 45.289231447887744, 1.8486460632215884, -0.10606326598679766, 0.6689961380060758 ], "act_eef_pose_r": [ 542.2734644042034, -363.9043481268787, 32.31454334691992, 1.7020887221762568, 0.06556400176111915, 2.2188922823944837 ], "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": [ 0.2948262188935641, -0.8683425527971035, -0.06668338780489977, -1.1242054469936742, 0.3796368148021143, -0.4301791212795012, -0.010433935883240535 ], "joint_pos_r": [ -0.48255070577112247, -0.6274420531679117, 0.1653501195369951, -0.984822741022422, 0.16251724747729043, 0.6021956820595797, -0.46669362376151846 ], "eef_pose_l": [ 572.9061091219065, 194.0608668529595, 41.73299390593158, 1.857002756742952, -0.10556398466092058, 0.6713620028746693 ], "eef_pose_r": [ 552.4382089308626, -366.88093504064113, 24.18922847888993, 1.7064469743378803, 0.05067960101578539, 2.1972448892290855 ], "joint_status_l": { "velocity": [ -0.6672699783529801, -0.24927848435751798, 0.024734679529792025, 2.2928006609816975, -2.816693072607901, -2.3152731730320397, 2.508249250602168 ], "torque": [ -42.3779296875, 1.64794921875, -10.97412109375, -1.025390625, -3.2958984375, -0.9063720703125, 0.6463623046875 ] }, "joint_status_r": { "velocity": [ -0.007459178619217965, 3.864695168235066, 0.8050829759962408, -6.904415602585701, -1.3667404108836934, -1.068049392565662, -0.3713214115483865 ], "torque": [ 25.986328125, 14.04052734375, 17.205810546875, -4.65087890625, 1.175537109375, 0.8953857421875, -0.81939697265625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -15.3, -6.6, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -15.3, -6.6, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.6, -0.6, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -1.0, -17.6, -0.6, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 169, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 975, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2886205958066676, -0.8699830937720977, -0.06646536283024809, -1.100775922153206, 0.35420748133553753, -0.4563123230148707, 0.014220047614660876 ], "act_joint_pos_r": [ -0.4788362523545468, -0.5863982225526224, 0.17401617560333463, -1.0561371891658047, 0.13471744459369583, 0.5954988231056854, -0.46294927284970616 ], "act_eef_pose_l": [ 575.3606875079824, 197.33269076978365, 44.993231447887695, 1.8500251474365228, -0.107091219630935, 0.6666035719586002 ], "act_eef_pose_r": [ 540.7142644042034, -363.15474812687876, 34.43614334691986, 1.7039927132267314, 0.07288205106688113, 2.2278570438962633 ], "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": [ 0.2936559126759625, -0.8687215459402627, -0.06664103765728106, -1.1200032547122543, 0.3747624807999077, -0.4346349853889588, -0.005920798062874365 ], "joint_pos_r": [ -0.48208611173597515, -0.6204522237539355, 0.1668208299259837, -0.9970567875983778, 0.15837114388043008, 0.6008494704205756, -0.4663963722109335 ], "eef_pose_l": [ 573.3963421478513, 194.6171580382017, 42.357991025547676, 1.8556314353888357, -0.105714507368128, 0.6706965333436801 ], "eef_pose_r": [ 550.4903672641068, -366.28290662944914, 25.885740875995253, 1.70588278485376, 0.05412259400752632, 2.202207554974443 ], "joint_status_l": { "velocity": [ -0.5437981834139904, -0.13624314756022216, 0.018972321760846178, 2.076490673559306, -2.2198744704544637, -2.3410834170336514, 2.1751471806369245 ], "torque": [ -42.275390625, 1.083984375, -10.83984375, -0.750732421875, -3.4588623046875, -1.06201171875, 0.5511474609375 ] }, "joint_status_r": { "velocity": [ 0.35097446175624825, 3.6777236610809894, 0.777074414568979, -6.38049518663486, -2.5545241813038633, -0.5778528671491756, 0.37227575132625645 ], "torque": [ 32.2705078125, 13.8427734375, 17.02880859375, -4.9560546875, 0.977783203125, 0.7489013671875, 0.274658203125 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.4, -6.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -15.4, -6.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.4, -17.2, 0.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.4, -17.2, 0.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 160, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 900, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28820098465535354, -0.8661848137374831, -0.06663477459770584, -1.1040381389648795, 0.3600095011530228, -0.46069974005726, 0.0116968750437141 ], "act_joint_pos_r": [ -0.47415130957760443, -0.5802473840765798, 0.17559139729989376, -1.0687350102587858, 0.1242466162825453, 0.6004522568654763, -0.4591368846583627 ], "act_eef_pose_l": [ 574.0670875079824, 198.06949076978367, 44.931631447887696, 1.8527766149658125, -0.10908993044984013, 0.6621352466872407 ], "act_eef_pose_r": [ 538.5830644042035, -360.7547481268787, 38.248943346920015, 1.7007131475866057, 0.07961384755284351, 2.240979691874645 ], "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": [ 0.2927353716239206, -0.8686707355708005, -0.06662219175562303, -1.1168389122081577, 0.3715465198629429, -0.4387840613626064, -0.0025416523775334374 ], "joint_pos_r": [ -0.4816932680724505, -0.6169736637094504, 0.16755991666943332, -1.003120374818444, 0.15586287768152396, 0.6003908514272717, -0.46599687200179923 ], "eef_pose_l": [ 573.6537214536799, 195.14972387504193, 42.80518037311765, 1.8548977827417177, -0.10608348590716231, 0.669643593594006 ], "eef_pose_r": [ 549.5102497842556, -365.94577326249, 26.791671715880028, 1.7056233395049525, 0.0560294716009756, 2.2049590084915436 ], "joint_status_l": { "velocity": [ -0.4896993496950053, 0.26847163985088685, -0.0013589068660890824, 1.382442737305034, -1.2459612730082448, -2.3668234932947563, 1.537715608997122 ], "torque": [ -44.5166015625, 6.38671875, -10.70556640625, 0.68359375, -3.255615234375, -0.7049560546875, 0.57220458984375 ] }, "joint_status_r": { "velocity": [ 0.814507494829364, 3.9663212199592124, 0.8673743262515021, -7.086171632096239, -3.414455527107174, 0.0066315917370829425, 0.740856782688315 ], "torque": [ 33.68408203125, 13.4619140625, 16.998291015625, -4.937744140625, 0.9979248046875, 0.8331298828125, 0.32135009765625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.6, -6.4, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -15.6, -6.4, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.6, -17.4, -0.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.6, -17.4, -0.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 196, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 996, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2917711445325362, -0.8541496718411687, -0.06730473566228862, -1.1320243996568742, 0.38283528127784283, -0.44372086582753306, -0.005124278913183859 ], "act_joint_pos_r": [ -0.4693486591236566, -0.5740853827650547, 0.17702136120789008, -1.0781841115260635, 0.12074116699301118, 0.6081262319897495, -0.4611296246591981 ], "act_eef_pose_l": [ 569.9534875079823, 198.22389076978368, 43.61883144788777, 1.8591035914278222, -0.11369544942666886, 0.6622395153539196 ], "act_eef_pose_r": [ 536.7366644042035, -359.3395481268787, 42.71934334691994, 1.6938235866305051, 0.0871063321865432, 2.251897223650128 ], "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": [ 0.292141115111045, -0.8675318441807859, -0.06666334780146056, -1.116201903480966, 0.37083307914418556, -0.4416722988657116, -0.0010016346700819705 ], "joint_pos_r": [ -0.48019621395659234, -0.6099394973484495, 0.16909940670182405, -1.0156643420927927, 0.14983415784115073, 0.600516457732953, -0.4647296825743542 ], "eef_pose_l": [ 573.4912743746111, 195.6752335837408, 43.098665598209436, 1.8549135189736865, -0.10687594114893612, 0.6683198833665371 ], "eef_pose_r": [ 547.4768462533915, -364.9572243096785, 29.03295927164973, 1.7045108379407705, 0.06045906203135813, 2.211949937935125 ], "joint_status_l": { "velocity": [ -0.03995564405023799, 1.4452319878399678, -0.06926784602345748, -1.7087791892498316, 1.2961996010711907, -0.22123870678969482, -0.44523244682591245 ], "torque": [ -40.2685546875, 8.35693359375, -16.204833984375, -6.298828125, -1.2213134765625, -0.2252197265625, 0.560302734375 ] }, "joint_status_r": { "velocity": [ 1.171501370371253, 3.8721301726321045, 0.855545853678974, -6.751935961086808, -3.1419503447271957, 0.821831381112581, 0.38879478794795475 ], "torque": [ 33.4716796875, 14.65576171875, 16.61376953125, -5.5419921875, 0.8990478515625, 1.695556640625, 0.56304931640625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.8, -6.4, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -15.8, -6.4, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -16.9, -0.3, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -16.9, -0.3, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 209, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 927, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2917152709324015, -0.862746685740418, -0.06681540048904988, -1.1107250558816297, 0.3794275300203011, -0.45683335627580846, 0.0008130934245262092 ], "act_joint_pos_r": [ -0.4668806609536724, -0.5705774805524407, 0.17800292231982454, -1.0857333698641731, 0.12280684712155797, 0.613437890907477, -0.467649949315102 ], "act_eef_pose_l": [ 572.4886875079824, 198.77989076978366, 41.88443144788795, 1.862472069039712, -0.11353951684836087, 0.6606715739601992 ], "act_eef_pose_r": [ 535.3966644042034, -357.6627481268787, 45.85694334691996, 1.68690327356553, 0.0929778969732727, 2.2600939838217933 ], "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": [ 0.2920786459768624, -0.8655854009415564, -0.06675435862012538, -1.1181749364997986, 0.37270569158970207, -0.4423957573166145, -0.001504286743381277 ], "joint_pos_r": [ -0.4782782750668981, -0.6036001884651001, 0.1705000748582493, -1.02671836293136, 0.14469027247486108, 0.6018619297968117, -0.46409316206932105 ], "eef_pose_l": [ 572.9872265760536, 196.1114642529484, 43.1332815419409, 1.8556948938510316, -0.10799454504396362, 0.6672748720881285 ], "eef_pose_r": [ 545.6415471237401, -363.9750546866646, 31.471790680962954, 1.7025128393710023, 0.06503222853400102, 2.2190348121349763 ], "joint_status_l": { "velocity": [ -0.039243347381034965, 0.3065721998591897, -0.0065923274135126775, 0.8045633774340644, 0.7259371401331371, -1.5592147010132784, 0.25026967682445156 ], "torque": [ -41.2060546875, 7.3974609375, -17.10205078125, -4.815673828125, -0.7452392578125, -0.703125, -0.31951904296875 ] }, "joint_status_r": { "velocity": [ 0.9643700792949517, 3.187505005170621, 0.7042781541874987, -5.558136919741941, -2.586427109449785, 0.6765246838078554, 0.3200526008466653 ], "torque": [ 35.29541015625, 14.93408203125, 16.1865234375, -5.206298828125, 0.84228515625, 2.6806640625, 0.63079833984375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -15.6, -7.1, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.1, -15.6, -7.1, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.0, -1.0, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.0, -1.0, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 167, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 980, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29059972972533876, -0.8700694460719375, -0.06639699703387383, -1.090893822487008, 0.3783264062735116, -0.4707188789879533, 0.0023460226922551158 ], "act_joint_pos_r": [ -0.46571413690401015, -0.5692031454894624, 0.1786481543618608, -1.093913079873692, 0.12625145686152983, 0.6174666307133366, -0.4702233058176723 ], "act_eef_pose_l": [ 574.7294875079824, 199.55029076978366, 40.70123144788778, 1.8660161618374604, -0.11179903738602118, 0.6589444949952659 ], "act_eef_pose_r": [ 534.1254644042034, -354.7827481268787, 48.14894334691988, 1.6802017884658422, 0.09232683128870398, 2.268800874239166 ], "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": [ 0.2919815012226977, -0.8652994383385578, -0.06675281273740055, -1.1162729175697048, 0.37386169730999513, -0.44535792628608434, -0.0010493488014646612 ], "joint_pos_r": [ -0.47626308107210796, -0.5977614960847306, 0.17182664136578218, -1.0371527122953612, 0.14082109889876768, 0.6039086570401083, -0.4647220319562323 ], "eef_pose_l": [ 572.9688390572668, 196.60351005033493, 42.8784972250989, 1.856986458340291, -0.10893893772568762, 0.6660591853936045 ], "eef_pose_r": [ 543.8958580269724, -362.866981057185, 34.03502727541334, 1.699647025662507, 0.06983365536547766, 2.2263224011815574 ], "joint_status_l": { "velocity": [ -0.14922692050189923, -0.515145641796444, 0.03842696263828271, 2.7408614315449498, 0.4821743470877493, -2.7389021122017354, 0.3666893063987448 ], "torque": [ -42.5390625, 8.75244140625, -11.70654296875, -0.457763671875, -0.76904296875, -0.849609375, 0.494384765625 ] }, "joint_status_r": { "velocity": [ 1.0132714879462767, 2.935787091075781, 0.6670186703725545, -5.246556278525993, -1.9454818130197893, 1.0291269052000729, -0.3162057487680059 ], "torque": [ 36.58447265625, 14.58251953125, 16.7724609375, -5.804443359375, 1.09130859375, 2.900390625, -0.52276611328125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -15.7, -7.4, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.9, -15.7, -7.4, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.0, -0.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.8, -17.0, -0.8, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 227, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 957, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29225485458733735, -0.864436980771472, -0.06670589926190187, -1.104250325519164, 0.38485845565052146, -0.46509143350526466, -0.0062467732468592975 ], "act_joint_pos_r": [ -0.46339128728537154, -0.567886835636315, 0.17934460948500067, -1.1036146628161958, 0.12365626799927697, 0.6180016260294159, -0.4670167214743778 ], "act_eef_pose_l": [ 572.4422875079824, 199.14709076978366, 40.39803144788772, 1.867243272787622, -0.10903006236174466, 0.6578211388995903 ], "act_eef_pose_r": [ 533.0070644042034, -351.6739481268787, 50.28814334691995, 1.6766853314994865, 0.09152597412322322, 2.277245695158704 ], "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": [ 0.29191897176276377, -0.8655233710606449, -0.06672504331791422, -1.1134292199812161, 0.3752453862576982, -0.44896741362851594, -0.0013458497536865005 ], "joint_pos_r": [ -0.4740378967709467, -0.5922319818788466, 0.17318543330742311, -1.0488474963038996, 0.13780876533853076, 0.60652483019892, -0.4654430331360654 ], "eef_pose_l": [ 573.0276089189772, 197.07489503177771, 42.46101911907556, 1.858704900517671, -0.10915508654577519, 0.6646717885387639 ], "eef_pose_r": [ 542.0224250153824, -361.0263402045521, 36.93392910188663, 1.6955179387534698, 0.07382953977878945, 2.2352160104149803 ], "joint_status_l": { "velocity": [ 0.036274275200920414, 0.11732669086494951, 0.0020674970718226326, 0.9912913653264965, 1.0381808749166943, -1.7413427885286659, -0.5292841268617794 ], "torque": [ -39.3017578125, 6.99462890625, -11.1083984375, -0.482177734375, -0.8258056640625, -0.6903076171875, -0.22796630859375 ] }, "joint_status_r": { "velocity": [ 1.149799912906424, 2.629198250136966, 0.6651714089962457, -5.914679539179346, -1.5284246341644714, 1.2394573938516729, -0.16995332803171337 ], "torque": [ 38.25439453125, 13.64501953125, 17.236328125, -6.390380859375, 0.9796142578125, 3.218994140625, -0.64910888671875 ] }, "eef_FT_l": { "raw_value": [ -1.0, -15.4, -5.4, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -1.0, -15.4, -5.4, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -1.5, -16.9, -0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.5, -16.9, -0.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 200, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 933, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.292376822058403, -0.8659317610151037, -0.0666167343625616, -1.0997284031323973, 0.38320464015284106, -0.4698115223302114, -0.006270799488523482 ], "act_joint_pos_r": [ -0.458044772952217, -0.5721021281931348, 0.17834226649352655, -1.0955023818361762, 0.1176052136691057, 0.6400432962906989, -0.46283869795003924 ], "act_eef_pose_l": [ 572.6534875079824, 199.19989076978368, 39.99723144788783, 1.8678156321697585, -0.10634672255282512, 0.6565525627974603 ], "act_eef_pose_r": [ 532.5646644042034, -348.9643481268787, 52.79774334692004, 1.6698406748218546, 0.09331019244763142, 2.2947253211432486 ], "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": [ 0.2919921218236979, -0.8654999633471794, -0.06671159686888517, -1.1112960477845597, 0.37675843653327845, -0.4523509040464256, -0.0022150854182129373 ], "joint_pos_r": [ -0.4719021507919254, -0.5885336833386096, 0.1741257024642402, -1.0572660534184293, 0.13504586918101724, 0.6100008048758978, -0.46540049735814837 ], "eef_pose_l": [ 572.9587801312048, 197.4183380297356, 42.07859155738899, 1.8601596105913065, -0.10884894524453426, 0.6633973936440504 ], "eef_pose_r": [ 540.5806805725713, -359.2804925178465, 39.33126495853182, 1.6918198915132368, 0.07672001260238194, 2.243396210454595 ], "joint_status_l": { "velocity": [ 0.04154640000253451, -0.04663277277483502, 0.01024484852735208, 1.2492687772205358, 0.6961694584921574, -1.8856911591607073, -0.4380042013501506 ], "torque": [ -38.4521484375, 4.3505859375, -11.2548828125, -0.35400390625, -0.71044921875, -0.509033203125, -0.406494140625 ] }, "joint_status_r": { "velocity": [ 1.4965526682271246, 1.7745556179908917, 0.4553754845808555, -4.129401678923728, -1.8835352433839159, 3.2444933815813926, 0.27666617624344525 ], "torque": [ 37.31689453125, 13.57177734375, 17.413330078125, -4.84619140625, 1.0272216796875, 3.6767578125, -0.01922607421875 ] }, "eef_FT_l": { "raw_value": [ -0.7, -15.2, -6.2, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.7, -15.2, -6.2, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.9, -18.0, -0.5, 1.2, 0.3, 0.0 ], "actual_contact_FT": [ -1.9, -18.0, -0.5, 1.2, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 290, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 978, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29312308484648497, -0.8651724537436846, -0.06665337780748397, -1.1007793490215139, 0.38256542418530753, -0.4697910035722893, -0.005782785683336503 ], "act_joint_pos_r": [ -0.45162989360093286, -0.5797668179449441, 0.17638089776551838, -1.0781879619734507, 0.11980826082198305, 0.6719483905161749, -0.46123485136199904 ], "act_eef_pose_l": [ 572.3142875079823, 199.27429076978368, 39.714831447887775, 1.8678799317912953, -0.10570353911268067, 0.6562745347730189 ], "act_eef_pose_r": [ 532.8694644042034, -346.61074812687866, 56.210543346920105, 1.6565212381390895, 0.09153628304136423, 2.3132522149092756 ], "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": [ 0.2921541853769856, -0.8654806195991784, -0.06669944225009236, -1.1093832329660898, 0.37781762443281824, -0.4554355023410584, -0.0028706694246947353 ], "joint_pos_r": [ -0.46934240545677697, -0.5861689445671796, 0.17473276843418767, -1.0627917061242125, 0.1322754355788695, 0.6163405020413024, -0.46490892965649366 ], "eef_pose_l": [ 572.8651819467568, 197.74029310901906, 41.67606455298281, 1.8615132739691451, -0.10833912818202296, 0.6621476829420969 ], "eef_pose_r": [ 539.3503151648691, -357.455880069242, 41.722944713913876, 1.687482988145111, 0.07921527995286194, 2.252646137382274 ], "joint_status_l": { "velocity": [ 0.10463805657101588, 0.03328093082455297, 0.004974813077485152, 0.9291920609593163, 0.5127472505970232, -1.5503484078909224, -0.31449928027285634 ], "torque": [ -32.51953125, 5.5078125, -11.065673828125, -0.714111328125, -0.69580078125, -0.7305908203125, -0.4962158203125 ] }, "joint_status_r": { "velocity": [ 1.912894862613257, 0.6914092831751262, 0.17799271816909545, -1.662746591628128, -1.3464151633512111, 6.0054748332740715, 0.3967887531466374 ], "torque": [ 35.85205078125, 13.87939453125, 17.193603515625, -5.04150390625, 0.8843994140625, 2.8948974609375, 0.47882080078125 ] }, "eef_FT_l": { "raw_value": [ -0.5, -15.7, -6.8, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -15.7, -6.8, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.2, -17.1, -0.7, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.2, -17.1, -0.7, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 971, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2958928020567429, -0.859092202941762, -0.06697726753862718, -1.1130904434919418, 0.38163287668589746, -0.4640734878185113, -0.005339500891567089 ], "act_joint_pos_r": [ -0.4424839084898631, -0.5943212348634068, 0.17334034343192492, -1.0593111760968688, 0.10806024075582865, 0.7070833434096624, -0.4506202912773791 ], "act_eef_pose_l": [ 570.1414875079824, 199.30869076978365, 39.36283144788791, 1.8668141984882425, -0.10454009464442317, 0.6558666866328461 ], "act_eef_pose_r": [ 533.3750644042034, -340.2115481268787, 58.75774334691985, 1.6479838775437707, 0.09103403209061647, 2.343629231221726 ], "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": [ 0.29242446640086134, -0.8650925232257668, -0.06671306537104803, -1.1091277414658942, 0.3782991894265209, -0.45672317401761453, -0.003173521661098795 ], "joint_pos_r": [ -0.46530097718780805, -0.5864846527884622, 0.1747217422022988, -1.0636363102587034, 0.12890261507192313, 0.6296671494338588, -0.46320354235447664 ], "eef_pose_l": [ 572.6781607040538, 197.91480261107756, 41.43415523663489, 1.8621678582654122, -0.10797887100117849, 0.6614595155795164 ], "eef_pose_r": [ 538.3783685747981, -354.8409329183057, 44.58575328802215, 1.6808674901628675, 0.08110088727350787, 2.2663253858329613 ], "joint_status_l": { "velocity": [ 0.3745692035068693, 0.6480154784780368, -0.02853299256289077, -0.4279591968314733, 0.36002760556552715, -0.7938104783082878, -0.23391885782264588 ], "torque": [ -28.916015625, 9.31640625, -10.760498046875, -3.86962890625, -0.655517578125, -0.6243896484375, -0.44586181640625 ] }, "joint_status_r": { "velocity": [ 2.4641707425470116, -0.8463259030451198, -0.14918666717478324, 0.46710071308009304, -2.2509100390952774, 8.360702363650496, 1.3589510362082002 ], "torque": [ 36.55517578125, 5.14892578125, 11.151123046875, -2.6123046875, 1.1572265625, 3.4625244140625, 0.6610107421875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.4, -6.7, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -15.4, -6.7, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.7, -17.9, -1.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -17.9, -1.9, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 935, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29571967882128103, -0.8588909855730168, -0.06697870023117693, -1.1121207342796677, 0.38005977997338203, -0.4661873171663296, -0.003132478670796679 ], "act_joint_pos_r": [ -0.43662421823168357, -0.6076059198607491, 0.17060293933883824, -1.0398398129238384, 0.09916838840165809, 0.7310531339117949, -0.43782129062694863 ], "act_eef_pose_l": [ 570.0734875079825, 199.46389076978366, 39.47563144788779, 1.8665168019974179, -0.10497034055539237, 0.6547096492551628 ], "act_eef_pose_r": [ 534.7150644042034, -336.4203481268787, 59.192943346919975, 1.6448470767639136, 0.08533770407199415, 2.3614822168854515 ], "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": [ 0.2930252148150767, -0.8640171080308288, -0.06675988183505756, -1.1097584627686943, 0.37877519033664114, -0.4581751820836855, -0.0033973548372146496 ], "joint_pos_r": [ -0.4606055036267685, -0.5893693077432989, 0.17416860287987823, -1.0606743865833046, 0.12421412634715874, 0.6460598022001077, -0.45953444240782954 ], "eef_pose_l": [ 572.2263527315872, 198.17238272218236, 41.07505101932912, 1.8629683273368884, -0.1074056336378149, 0.6603858672655795 ], "eef_pose_r": [ 537.7885969440641, -351.75548451607517, 47.197780235655614, 1.67428249054341, 0.0819864138661079, 2.2818838964347514 ], "joint_status_l": { "velocity": [ 0.29099353027417507, 0.5536048977408115, -0.02363168980140662, -0.25511779888720554, 0.13873158909838423, -0.8652850687065339, 0.02860578229069155 ], "torque": [ -28.18359375, 7.734375, -11.395263671875, -5.3466796875, -0.545654296875, -0.8349609375, -0.003662109375 ] }, "joint_status_r": { "velocity": [ 2.5899024375797275, -1.9694960215046464, -0.3850803050959861, 2.2500675930263725, -2.7048599225351078, 9.179009104459901, 2.3449512316955357 ], "torque": [ 35.85205078125, 3.7646484375, 10.400390625, -1.385498046875, 0.933837890625, 3.5430908203125, 0.85235595703125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -15.2, -6.8, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ -0.4, -15.2, -6.8, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.3, -0.6, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.3, -17.3, -0.6, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 959, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29602350641920866, -0.8581965849262869, -0.06701112681273914, -1.112773093896192, 0.37531695580678853, -0.4624119416763042, -0.0008750002146930769 ], "act_joint_pos_r": [ -0.424162385072993, -0.6384893150074756, 0.1646101710771082, -0.9917033236207803, 0.08323137935864099, 0.7836420429089582, -0.41810228940316396 ], "act_eef_pose_l": [ 570.5374875079823, 199.99109076978365, 39.85163144788777, 1.864113300528824, -0.10397980093177515, 0.6589399884382179 ], "act_eef_pose_r": [ 538.3574644042035, -329.1835481268787, 59.838543346920034, 1.6382424564378055, 0.07849959926291124, 2.397092109233971 ], "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": [ 0.2935606629145331, -0.8629884416187977, -0.06680403161030084, -1.1102610481407975, 0.3786106838840863, -0.45936552133162883, -0.003153397945146717 ], "joint_pos_r": [ -0.45479494915139634, -0.5964856725528336, 0.1727829446455378, -1.0509244157890811, 0.11777742008144738, 0.6677146823727601, -0.45321035224606276 ], "eef_pose_l": [ 571.8602887409112, 198.46199570907652, 40.80391500443915, 1.8634344389207318, -0.10686158482852608, 0.65967541530876 ], "eef_pose_r": [ 537.9092532509678, -348.0617042591661, 49.467311253358275, 1.6675382621972017, 0.08151254944910492, 2.3001892373318222 ], "joint_status_l": { "velocity": [ 0.2659792538661776, 0.5175052597898855, -0.022365622224573833, -0.27129294022376627, -0.3557121411796871, -0.32900369377930616, 0.24605969774613504 ], "torque": [ -28.55712890625, 6.59912109375, -11.7431640625, -5.340576171875, -2.567138671875, -0.750732421875, 0.2471923828125 ] }, "joint_status_r": { "velocity": [ 3.3082193497535606, -4.536259595275816, -0.8826335135063701, 6.3956893234040635, -3.7308623621595816, 12.519785686568419, 3.79155896097938 ], "torque": [ 35.2734375, 2.86376953125, 10.028076171875, -1.336669921875, 0.904541015625, 4.0191650390625, 0.8807373046875 ] }, "eef_FT_l": { "raw_value": [ -0.3, -15.6, -7.1, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ -0.3, -15.6, -7.1, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.3, -3.5, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.3, -3.5, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 967, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2952649100817339, -0.8586469859420758, -0.06696740013853944, -1.109016682932068, 0.3715206087282012, -0.466821415132917, 0.0022630211303419022 ], "act_joint_pos_r": [ -0.4078036692452658, -0.6802947292800993, 0.15744311763362065, -0.9249023713645136, 0.06963294604591486, 0.8475674434157102, -0.40219360516728403 ], "act_eef_pose_l": [ 570.8390875079824, 200.38389076978368, 40.219631447887934, 1.8631722701138138, -0.10339965251195167, 0.6579295100387157 ], "act_eef_pose_r": [ 544.2182644042034, -321.0027481268787, 61.315343346919946, 1.6283873913816722, 0.07510429205717413, 2.435727260877372 ], "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": [ 0.2939610789591432, -0.8621212861042712, -0.06683942477950446, -1.1104132953523227, 0.37766199462110683, -0.46032011914855064, -0.00245318463601947 ], "joint_pos_r": [ -0.4469427052630888, -0.6096943085041718, 0.1703347830240818, -1.0313110628297797, 0.10953323954027111, 0.69768524070108, -0.44456878689771695 ], "eef_pose_l": [ 571.6366348368964, 198.78509800780984, 40.65402647445191, 1.8634867520812497, -0.1062654849788663, 0.6594487575823318 ], "eef_pose_r": [ 539.0598262902962, -343.4197916394516, 51.66807523045634, 1.6596226180561293, 0.08028125287043536, 2.3229481359432587 ], "joint_status_l": { "velocity": [ 0.1408096082822219, 0.37521335119095056, -0.013820931149211013, 0.1508296929033648, -0.6632501149175241, -0.7021192584111269, 0.5093352007282704 ], "torque": [ -27.7880859375, 5.244140625, -12.109375, -2.252197265625, -3.076171875, -0.908203125, 0.37811279296875 ] }, "joint_status_r": { "velocity": [ 4.226891224432094, -7.62462056763713, -1.3922587996915148, 11.491799745733111, -4.309104607143621, 16.186800489018438, 4.57638465363619 ], "torque": [ 36.35009765625, 0.50537109375, 9.9609375, -1.983642578125, 1.2506103515625, 3.80126953125, 0.68389892578125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.0, -8.1, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.0, -8.1, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.8, -3.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -17.8, -3.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 282, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 988, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29472128576130624, -0.8569851376970813, -0.06704664930792054, -1.1108848603280586, 0.37096000630162557, -0.46777006760347856, 0.00310950953271065 ], "act_joint_pos_r": [ -0.4000565386845279, -0.6980524158137427, 0.15479740519043025, -0.8938842476913357, 0.061878985473830195, 0.8779457896405172, -0.3955846081289278 ], "act_eef_pose_l": [ 570.4166875079823, 200.59509076978367, 40.72043144788796, 1.8625671998052755, -0.10398061623160762, 0.6567641972938784 ], "act_eef_pose_r": [ 546.4910644042034, -317.9571481268787, 62.280143346919914, 1.6250558514373499, 0.07591388215628739, 2.4533676176669466 ], "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": [ 0.294160861744685, -0.8613217852865994, -0.06687042325051633, -1.110309733839306, 0.3764528971498307, -0.4616305809834108, -0.0014889454905386453 ], "joint_pos_r": [ -0.4441207123300031, -0.6147847222898309, 0.1694052714078269, -1.0236388101151974, 0.10665635861203768, 0.7084920095919485, -0.44151346220021936 ], "eef_pose_l": [ 571.4499921199475, 199.10572714604672, 40.61320400533339, 1.8633822522679255, -0.10577142477832659, 0.659060632583297 ], "eef_pose_r": [ 539.5516127326806, -341.7928151429706, 52.37890079576712, 1.6569552641416856, 0.07983230992878551, 2.330924758555685 ], "joint_status_l": { "velocity": [ 0.06052400873457486, 0.4683441265971311, -0.019031852885154077, -0.06211182889437339, -0.593214715673529, -0.6630449994999843, 0.49661849553133897 ], "torque": [ -27.509765625, 5.712890625, -12.774658203125, -4.7607421875, -3.3673095703125, -0.791015625, 0.501708984375 ] }, "joint_status_r": { "velocity": [ 3.9221249762588783, -7.074872092750262, -1.2918745058123626, 10.663220890185343, -3.998410630323468, 15.019703870479795, 4.246419318113759 ], "torque": [ 36.708984375, 5.80810546875, 9.99755859375, 0.518798828125, 1.307373046875, 3.4075927734375, 0.673828125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -15.9, -5.3, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -15.9, -5.3, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.7, -2.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -0.8, -17.7, -2.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 963, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2933814541131644, -0.85799226596175, -0.06697599798229241, -1.1064893171274914, 0.3667361605507897, -0.4723124672319661, 0.006075866822961821 ], "act_joint_pos_r": [ -0.38548068117232503, -0.7304728136375529, 0.15008445518366817, -0.8396568984729372, 0.04493972179510486, 0.9160710200456669, -0.382356704950234 ], "act_eef_pose_l": [ 570.9318875079823, 200.85029076978367, 41.408431447887835, 1.8610767196404516, -0.10327777322284754, 0.6559011310774802 ], "act_eef_pose_r": [ 552.4766644042035, -313.50434812687865, 63.060143346920114, 1.6264922386141194, 0.07868766396891949, 2.4728514834131197 ], "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": [ 0.2941018024534326, -0.8607225078444632, -0.06689142149743596, -1.1099082764470902, 0.3750732608317208, -0.463152461149828, -0.00039824879886454176 ], "joint_pos_r": [ -0.4350386868223915, -0.6321921932829112, 0.1664023280839539, -0.9963385574858912, 0.09730225845275879, 0.742369019324768, -0.4321433544267178 ], "eef_pose_l": [ 571.3386103820043, 199.3794907654004, 40.70598448830816, 1.8630910884530496, -0.10539382033259402, 0.6585848114654566 ], "eef_pose_r": [ 541.5823418544903, -337.0830438219116, 54.31110432028996, 1.649616308220091, 0.07913441385156623, 2.3545053478387103 ], "joint_status_l": { "velocity": [ -0.0777953262987019, 0.29485742697854533, -0.009133990971799122, 0.36923671646249545, -0.9003802750440215, -0.98925148045792, 0.6991838658314178 ], "torque": [ -34.25537109375, 5.41259765625, -13.031005859375, -1.611328125, -3.5797119140625, -0.7177734375, 0.6060791015625 ] }, "joint_status_r": { "velocity": [ 5.352106758256259, -10.61399395528273, -1.7622782976107754, 16.921120111637933, -5.654987174095294, 18.75926280297513, 5.376799563233892 ], "torque": [ 39.41162109375, -2.900390625, 9.503173828125, 7.733154296875, 0.926513671875, 4.73876953125, 0.84503173828125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.0, -7.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -16.0, -7.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.8, -0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.8, -17.8, -0.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 274, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 938, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2929356964822532, -0.8565784622487078, -0.06705120436393269, -1.1091999912263761, 0.36576533582199183, -0.4723045191056654, 0.0036353161339382324 ], "act_joint_pos_r": [ -0.3724798600659481, -0.7602424226265547, 0.1463962915497226, -0.7887660958563771, 0.028917835295396266, 0.9523434955086848, -0.3727312344919145 ], "act_eef_pose_l": [ 570.4502875079825, 200.72789076978367, 41.97323144788771, 1.8598994278624654, -0.10042255487461547, 0.6556714044374098 ], "act_eef_pose_r": [ 557.6030644042035, -309.47954812687874, 63.802543346919975, 1.628840894715668, 0.08344133682284272, 2.491203074524894 ], "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": [ 0.2939390431726036, -0.8601330445388702, -0.06691280589511125, -1.109615833228911, 0.37360611714859027, -0.4646575328683595, 0.0004233157468632223 ], "joint_pos_r": [ -0.4265081913171488, -0.6492269661814418, 0.16361098298893292, -0.9690800682315326, 0.08822162077417671, 0.7719944830880364, -0.4236748090687938 ], "eef_pose_l": [ 571.2241601724318, 199.6091998878491, 40.87532634340849, 1.8626530362642686, -0.10475790472231196, 0.6581208810262434 ], "eef_pose_r": [ 543.8977223774397, -333.1540445265961, 55.77394736371983, 1.6444793256822252, 0.07925864168151203, 2.3740880178455823 ], "joint_status_l": { "velocity": [ -0.10835824670252237, 0.3838835652967276, -0.014946593806464126, 0.044909611736088095, -0.8467794088491409, -0.8258501564806231, 0.346885810953987 ], "torque": [ -36.10107421875, 6.32080078125, -13.43994140625, -2.374267578125, -3.4918212890625, -0.699462890625, 0.60882568359375 ] }, "joint_status_r": { "velocity": [ 5.834887684316392, -11.98931569010675, -1.8591318432721327, 19.473334681211263, -6.404619937540379, 19.47711889451398, 5.501743789043889 ], "torque": [ 37.82958984375, 3.09814453125, 10.107421875, 0.6103515625, 1.728515625, 3.2080078125, 0.809326171875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.1, -6.8, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.1, -6.8, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -17.0, -1.0, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.9, -17.0, -1.0, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 973, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.292658457215928, -0.8549885119991507, -0.06714294885356992, -1.113217824178735, 0.36932892979786214, -0.470244956850114, -0.0014940937846950482 ], "act_joint_pos_r": [ -0.3627838353397022, -0.7875627174226696, 0.14337838143913928, -0.7440260332723666, 0.019733037368335097, 0.9835326799039823, -0.36662745457125173 ], "act_eef_pose_l": [ 569.9334875079824, 200.62789076978368, 42.18843144788781, 1.8604599249870941, -0.09920189043084185, 0.655947667908217 ], "act_eef_pose_r": [ 562.0038644042035, -305.32674812687867, 64.34974334691995, 1.6285100429452875, 0.08536861272274511, 2.5064061287926016 ], "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": [ 0.2937303585810829, -0.8593251500315578, -0.06694762861514697, -1.109995692480839, 0.37262192709810377, -0.4657771775035033, 0.00041240732137572876 ], "joint_pos_r": [ -0.41494485305802425, -0.6735202494446926, 0.15993178579891984, -0.9295959601109864, 0.0756343329388576, 0.8105085951926363, -0.4129907734356954 ], "eef_pose_l": [ 571.0295526884073, 199.79593767708047, 41.09269472717594, 1.8622334512472123, -0.10385147208400923, 0.657720281307033 ], "eef_pose_r": [ 547.4947898943046, -328.2444405811634, 57.39214078536298, 1.639380414748002, 0.08051015840619653, 2.398230235639504 ], "joint_status_l": { "velocity": [ -0.115761933221048, 0.4683430944592004, -0.02109396361643645, -0.34797996025126565, -0.3556332195850942, -0.4825059386819319, -0.20589604687634538 ], "torque": [ -38.56201171875, 6.46728515625, -13.909912109375, -5.523681640625, -3.49365234375, -0.76904296875, -0.1995849609375 ] }, "joint_status_r": { "velocity": [ 5.63322377052522, -12.316223294032369, -1.7877149450225005, 20.040961022021797, -6.037161865045104, 18.686050033238644, 5.007090761111943 ], "torque": [ 38.349609375, 2.92236328125, 10.345458984375, 2.557373046875, 1.8365478515625, 3.25927734375, 0.75714111328125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.0, -6.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.4, -16.0, -6.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.3, -17.3, -3.1, 1.1, 0.4, 0.0 ], "actual_contact_FT": [ -0.3, -17.3, -3.1, 1.1, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 236, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 873, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2918070662582686, -0.8508863288874312, -0.06737725037394647, -1.122966611998359, 0.37608419961308265, -0.46840939731482, -0.008134172976837738 ], "act_joint_pos_r": [ -0.3525491947184673, -0.817082070683779, 0.1403517443542108, -0.6889495138876081, 0.014923432641691825, 1.0198967505129943, -0.3629027944286377 ], "act_eef_pose_l": [ 568.2238875079822, 200.09349076978367, 42.92203144788783, 1.8612957531496657, -0.09949202088990758, 0.6526473745313114 ], "act_eef_pose_r": [ 567.1774644042034, -302.8123481268787, 65.49854334691989, 1.6255389689294124, 0.08765412875442456, 2.51755272703939 ], "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": [ 0.29349275621892207, -0.8583164523885515, -0.0669966319007366, -1.1112283005529147, 0.37256764046498586, -0.46637931253972775, -0.00037977388934565276 ], "joint_pos_r": [ -0.4051276138401501, -0.6953992798145733, 0.15682912751292144, -0.8935851522498006, 0.06547102882294038, 0.8432138163135742, -0.4045769096838018 ], "eef_pose_l": [ 570.7273398349214, 199.89440598845962, 41.325802444431844, 1.8620013282208727, -0.10310655997357145, 0.65719180749763 ], "eef_pose_r": [ 550.827455123691, -324.21340045768494, 58.61447869001691, 1.6357467927449596, 0.08177262305128283, 2.417611712039679 ], "joint_status_l": { "velocity": [ -0.18204914649810888, 0.8024296717232815, -0.04110558276226861, -1.2677002472871735, 0.3797771870650557, -0.2192426894924715, -0.8374504021698091 ], "torque": [ -40.04150390625, 5.8740234375, -14.55078125, -5.963134765625, -1.739501953125, -0.849609375, -0.4302978515625 ] }, "joint_status_r": { "velocity": [ 5.678301792582552, -13.141353830360636, -1.7795048974491579, 22.09999713854316, -5.45897938358425, 19.081194123798717, 4.500671707341475 ], "torque": [ 40.48828125, -1.1865234375, 8.526611328125, 6.842041015625, 1.666259765625, 4.10888671875, 0.87799072265625 ] }, "eef_FT_l": { "raw_value": [ 0.4, -15.5, -7.0, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.4, -15.5, -7.0, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.8, -17.5, 0.3, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -0.8, -17.5, 0.3, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 225, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 1013, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29179778669293355, -0.8483240793849671, -0.0675257670484052, -1.1291296313249128, 0.3810164592782549, -0.46605027348596284, -0.012999786380183882 ], "act_joint_pos_r": [ -0.34829231804125943, -0.8315499527152165, 0.13920227471397845, -0.6641363094539992, 0.014062027505252317, 1.0338384388797233, -0.3601891964372465 ], "act_eef_pose_l": [ 567.2318875079824, 199.90229076978366, 43.0580314478878, 1.8622952198716263, -0.09953434003558136, 0.6516874093795592 ], "act_eef_pose_r": [ 569.8806644042035, -301.2467481268787, 65.99534334692001, 1.6235780154801835, 0.0866320095892076, 2.5208553893144168 ], "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": [ 0.29319404298942187, -0.8568180014192904, -0.06707463675856978, -1.1137480971700122, 0.3735450222321453, -0.46656815164177134, -0.0021016360732360084 ], "joint_pos_r": [ -0.39494097687821467, -0.719242564690194, 0.15364749569608693, -0.8534595389212944, 0.05586560281973754, 0.8774235906315091, -0.39654127006698103 ], "eef_pose_l": [ 570.2154957559692, 199.91604115402478, 41.61823162420205, 1.861946402143692, -0.1024677961638618, 0.6563185789975257 ], "eef_pose_r": [ 554.5637819841429, -320.2793228670797, 59.82592262153767, 1.632299877933242, 0.08308849632812759, 2.4363332395007533 ], "joint_status_l": { "velocity": [ -0.15079123267103256, 0.9173165249025672, -0.04872063436389684, -1.6611566955306856, 0.806891402989951, 0.05592919128449836, -1.1769655204078804 ], "torque": [ -41.46240234375, 6.123046875, -15.3076171875, -5.389404296875, -1.2945556640625, 0.5035400390625, -0.57403564453125 ] }, "joint_status_r": { "velocity": [ 5.037906569279826, -12.128840185682499, -1.5600378552107497, 20.446305750914107, -4.514652981392309, 16.892305398890528, 3.9259081635392157 ], "torque": [ 40.89111328125, 0.10986328125, 8.465576171875, 3.924560546875, 1.8658447265625, 3.5540771484375, 0.80841064453125 ] }, "eef_FT_l": { "raw_value": [ -0.8, -15.4, -7.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.8, -15.4, -7.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.2, -1.1, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -1.3, -17.2, -1.1, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 959, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2909681085719465, -0.8487028414631225, -0.06750570984179241, -1.1283834886336983, 0.38555698884111617, -0.4691874098573769, -0.019063944785303787 ], "act_joint_pos_r": [ -0.33787118598275656, -0.863970493295203, 0.13654105305570513, -0.6154674049847546, 0.007495650405307863, 1.0679402769245092, -0.3556391363958908 ], "act_eef_pose_l": [ 566.9966875079824, 199.67749076978367, 42.99883144788788, 1.864223482760284, -0.0973857046453963, 0.6496790591681243 ], "act_eef_pose_r": [ 574.2438644042035, -294.7515481268787, 67.57774334692002, 1.620324859638769, 0.08832569220153215, 2.5391603976598813 ], "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": [ 0.2929882730694355, -0.8558815330589283, -0.06712437805418946, -1.1154404347194402, 0.37465196948036933, -0.4666920111293079, -0.0036838010652958785 ], "joint_pos_r": [ -0.38681459600152024, -0.7391288588184858, 0.15115592291619181, -0.8201987854165237, 0.04870498116543292, 0.9046347659664178, -0.3903653799645556 ], "eef_pose_l": [ 569.8666025790014, 199.90108914284357, 41.77777651992608, 1.8620951656239104, -0.1020095753515515, 0.6556766541224568 ], "eef_pose_r": [ 557.6660331840169, -317.0418306903368, 60.79146959736872, 1.6297219576178898, 0.08392697048210886, 2.4507689775355455 ], "joint_status_l": { "velocity": [ -0.21817133110957343, 0.7752758268093629, -0.041182618444712826, -1.3978085965788978, 1.1777073563390417, -0.26949511429741335, -1.66100653299181 ], "torque": [ -42.22412109375, 6.40869140625, -16.11328125, -5.633544921875, -0.9521484375, -0.5108642578125, -0.523681640625 ] }, "joint_status_r": { "velocity": [ 5.285732387683151, -13.482498878436111, -1.5783593937106488, 22.110336977100076, -4.450476462306618, 17.636475023447673, 3.750323695530966 ], "torque": [ 41.60888671875, 4.98046875, 8.917236328125, -0.7080078125, 2.0123291015625, 3.22998046875, 0.93017578125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.9, -6.5, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.9, -6.5, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.4, -0.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.5, -17.4, -0.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 950, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28977450402581406, -0.8547487894659129, -0.06717101464430107, -1.115604535044339, 0.3834003675438912, -0.4749587382748252, -0.017029292671849237 ], "act_joint_pos_r": [ -0.32413601450052854, -0.9094622721862606, 0.13263077816175045, -0.5330909084205492, 0.0010575815848765657, 1.1272266324792977, -0.3550867537138191 ], "act_eef_pose_l": [ 569.0318875079824, 199.74549076978366, 42.67883144788772, 1.8649861704919377, -0.09705701064207302, 0.6504868189029692 ], "act_eef_pose_r": [ 579.7054644042034, -288.89394812687874, 69.6017433469199, 1.6155342103191617, 0.09468142509055905, 2.5620348930856216 ], "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": [ 0.2925038733224463, -0.8550437556028525, -0.06716771831709809, -1.1167896204257433, 0.3765281992158654, -0.4676594095117944, -0.006416470666167096 ], "joint_pos_r": [ -0.3758315468436014, -0.768461508814472, 0.1479003910521941, -0.771115735758983, 0.040103553163785825, 0.9429769310534287, -0.3837312200996846 ], "eef_pose_l": [ 569.500099162082, 199.86337870206606, 41.98261173523113, 1.8625548975116362, -0.10110641301338871, 0.6546066431533999 ], "eef_pose_r": [ 562.2027118389236, -312.4281672678472, 62.07688167805955, 1.6258889112338177, 0.0857916574241191, 2.469967515778426 ], "joint_status_l": { "velocity": [ -0.294763190460845, 0.031855403264557935, -0.0003559928384300193, 0.12798544646308585, 0.7421722902249961, -0.7883042566159126, -1.1461509726976848 ], "torque": [ -42.275390625, 3.88916015625, -16.998291015625, -1.96533203125, -0.9027099609375, -0.85693359375, -0.5218505859375 ] }, "joint_status_r": { "velocity": [ 5.58295283265986, -15.22763332911481, -1.64906955546118, 25.705923196873037, -4.21684056145788, 19.89838088262008, 3.09351113143963 ], "torque": [ 41.74072265625, -1.7578125, 8.343505859375, -0.1953125, 2.18994140625, 3.5906982421875, 0.65185546875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -15.5, -8.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.5, -15.5, -8.8, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.2, -2.8, 1.0, 0.2, -0.1 ], "actual_contact_FT": [ -2.9, -17.2, -2.8, 1.0, 0.2, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 244, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 999, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28569190197840505, -0.8651345171877491, -0.06662141518805255, -1.0954984317491419, 0.3817823482661647, -0.48218547085704605, -0.020594347575758773 ], "act_joint_pos_r": [ -0.3106159135860982, -0.9588456840866234, 0.12893610682118925, -0.4330723406133097, -0.0012491994803389694, 1.1929288832635832, -0.35467868315725165 ], "act_eef_pose_l": [ 572.8486875079823, 199.59509076978367, 43.34443144788776, 1.865087634129895, -0.09371723339999848, 0.6543755052320895 ], "act_eef_pose_r": [ 585.7350644042034, -285.5995481268787, 71.7729433469199, 1.609588741056146, 0.0992260801057816, 2.5767061331026855 ], "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": [ 0.29163728354115925, -0.8558799832074737, -0.06712113862403131, -1.1148387654041396, 0.377688328868678, -0.4696599274322713, -0.00872887533976419 ], "joint_pos_r": [ -0.3643553480824264, -0.8013392636093638, 0.14454825920819048, -0.7135157060430493, 0.03243171223758928, 0.9860868668604373, -0.3782649280907469 ], "eef_pose_l": [ 569.741694311155, 199.8275210026458, 42.17073541774886, 1.863014312964465, -0.10005772977557503, 0.6541562530833607 ], "eef_pose_r": [ 567.2135039878344, -308.0130473478058, 63.412071364316944, 1.6217172605940737, 0.08826564289085574, 2.488807654077845 ], "joint_status_l": { "velocity": [ -0.6420822715735852, -0.9994601923670743, 0.053968539368731694, 2.0886944319906675, 0.4421410546746607, -1.3527187935671314, -1.2814332076351853 ], "torque": [ -42.88330078125, 0.6298828125, -18.170166015625, -1.513671875, -0.8642578125, -0.596923828125, -0.63079833984375 ] }, "joint_status_r": { "velocity": [ 5.803687754982967, -17.010191722755863, -1.6860627300341324, 30.286990199384967, -3.637431185238016, 22.33827893921969, 2.5472393260095316 ], "torque": [ 40.96435546875, -2.1826171875, 7.67822265625, -1.605224609375, 2.032470703125, 4.2169189453125, 0.73516845703125 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.1, -5.6, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.1, -16.1, -5.6, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.0, -17.3, -2.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.0, -17.3, -2.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 202, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 978, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28607951640841656, -0.8536906028286447, -0.06726497151346077, -1.1228402089942315, 0.39607209555656764, -0.47038361252725863, -0.03657608098853144 ], "act_joint_pos_r": [ -0.3013747934766773, -0.9911480693272412, 0.12716744596615326, -0.37121659950977204, -0.009228616647877884, 1.2317306448158356, -0.3514138901687449 ], "act_eef_pose_l": [ 568.7038875079824, 198.77909076978366, 44.35083144788774, 1.8662481323146365, -0.09288308797989447, 0.6518200624847544 ], "act_eef_pose_r": [ 589.1374644042035, -282.3059481268787, 72.68734334692002, 1.6112516293476171, 0.10179622300232496, 2.587669466360369 ], "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": [ 0.2905413336547878, -0.8568043070437469, -0.06707307390170124, -1.1131541151694886, 0.37949256610304716, -0.47117678495335197, -0.012124200476726488 ], "joint_pos_r": [ -0.3571772639662192, -0.8226067885769434, 0.14250313266474626, -0.6754578619344457, 0.027836834977303906, 1.013857115357121, -0.37514920229022347 ], "eef_pose_l": [ 570.0325549658467, 199.7238156802482, 42.46375406940396, 1.8634851500368739, -0.09879803759535168, 0.6540037544024634 ], "eef_pose_r": [ 570.3425808156535, -305.3481978512957, 64.25702346515456, 1.619371387562834, 0.08993964956147933, 2.5001178791914076 ], "joint_status_l": { "velocity": [ -0.48186205084643774, 0.33627013747317136, -0.020724330838550742, -1.0460672809671223, 1.790536371932383, 0.08566009560873056, -2.6407252112480295 ], "torque": [ -42.7734375, 1.82373046875, -18.994140625, -4.339599609375, -0.7470703125, -0.062255859375, -0.875244140625 ] }, "joint_status_r": { "velocity": [ 6.026489071076391, -18.201921484053862, -1.65620531628341, 32.85708727387604, -4.002950714799142, 23.529647211691262, 2.563338107503643 ], "torque": [ 41.03759765625, 2.77587890625, 8.123779296875, 1.025390625, 2.3382568359375, 3.2354736328125, 0.79925537109375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.4, -8.9, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.4, -8.9, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.3, -1.8, 1.0, 0.4, 0.0 ], "actual_contact_FT": [ -1.1, -17.3, -1.8, 1.0, 0.4, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 187, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 931, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28659007491576705, -0.8499745029289648, -0.06746547001772969, -1.1297957067775772, 0.39916700413678274, -0.46631777318815965, -0.03754175658568844 ], "act_joint_pos_r": [ -0.29680270827989436, -1.0066551172703782, 0.12645682637594702, -0.341473688763171, -0.012941180618102788, 1.2484453966229692, -0.350422771220307 ], "act_eef_pose_l": [ 567.7678875079823, 199.15989076978366, 44.470031447887834, 1.8665811000895953, -0.09531844310391145, 0.6521669349425393 ], "act_eef_pose_r": [ 590.9590644042034, -280.8715481268787, 73.22254334691982, 1.612362694397064, 0.10362605278981854, 2.591043255336792 ], "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": [ 0.28981678831474295, -0.8557854686730658, -0.06713227017843354, -1.115743241759333, 0.3828139919864259, -0.47052416134710984, -0.016569194614283817 ], "joint_pos_r": [ -0.34994419505489865, -0.8445275154873335, 0.14053930204444717, -0.6358109387153885, 0.023002776204169982, 1.0420478033891902, -0.3721145206161062 ], "eef_pose_l": [ 569.6803197174501, 199.60335050506833, 42.81114126233973, 1.864024307505054, -0.09804825531066588, 0.6536485241902388 ], "eef_pose_r": [ 573.4823696519675, -302.70578404906314, 65.08146616189845, 1.617508309715384, 0.09178002233407576, 2.5110610628586696 ], "joint_status_l": { "velocity": [ -0.3484747693756063, 0.6275657912997445, -0.03598452133724006, -1.5176214621179795, 1.76607322469291, 0.45427652299689925, -2.264969891195581 ], "torque": [ -43.5205078125, 5.33203125, -19.696044921875, -4.949951171875, -0.615234375, 0.9759521484375, -0.58868408203125 ] }, "joint_status_r": { "velocity": [ 5.739111305660849, -17.509264584413486, -1.520862516755983, 31.7874854730702, -3.8818328482654874, 22.290282652502214, 2.3426398422774497 ], "torque": [ 41.6015625, 2.80517578125, 7.427978515625, 0.885009765625, 2.4810791015625, 3.218994140625, 0.74432373046875 ] }, "eef_FT_l": { "raw_value": [ -1.1, -16.2, -8.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -1.1, -16.2, -8.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.2, -17.1, -2.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.2, -17.1, -2.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 904, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28777826419952907, -0.8488859353471034, -0.06751366829452489, -1.1302429988094322, 0.39882502742392023, -0.4662595143519432, -0.03757138196731074 ], "act_joint_pos_r": [ -0.28809796823478123, -1.0461427617427888, 0.12418787654669043, -0.2604479885160537, -0.019265936756280858, 1.2972888903690463, -0.35043272867727276 ], "act_eef_pose_l": [ 567.5014875079823, 199.64869076978366, 43.87163144788775, 1.867236704243231, -0.09421438731402905, 0.6528576016973369 ], "act_eef_pose_r": [ 594.2750644042035, -278.1011481268787, 73.46814334692002, 1.6143626314448447, 0.10694447046951018, 2.6000215802706275 ], "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": [ 0.28944517256342217, -0.8547951180301497, -0.06718764232822845, -1.1179208268945744, 0.38526228409674695, -0.4698798575658307, -0.01975567316684336 ], "joint_pos_r": [ -0.34004250285891224, -0.8754876570263235, 0.13791755376782433, -0.5790612523957241, 0.016280052236880175, 1.0813789179857367, -0.3682798155864019 ], "eef_pose_l": [ 569.3639931234462, 199.58413016424115, 43.002018236847306, 1.864485549769494, -0.09751668610946336, 0.6534842027434836 ], "eef_pose_r": [ 577.7236304917371, -299.1300902833291, 66.17586704798305, 1.6156166138939076, 0.09449524892243437, 2.5254360657312542 ], "joint_status_l": { "velocity": [ -0.1800207938713605, 0.6381729078652754, -0.03520976590343228, -1.3307553182730913, 1.4647330793415847, 0.3909855355983538, -1.9240398039297724 ], "torque": [ -43.48388671875, 6.298828125, -20.44677734375, -5.096435546875, -0.640869140625, 0.9832763671875, -0.59326171875 ] }, "joint_status_r": { "velocity": [ 5.609844285892951, -18.43020773945714, -1.482761408172495, 34.40921765337812, -3.83885359032686, 23.31758930186112, 1.9274285397199442 ], "torque": [ 44.58984375, -6.8115234375, 5.657958984375, 8.67919921875, 2.16796875, 4.742431640625, 0.83038330078125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.5, -5.9, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.5, -5.9, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.3, -17.3, 0.1, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -2.3, -17.3, 0.1, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 209, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 904, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2878473056517885, -0.8530513703763483, -0.06727727366581486, -1.1206779912427784, 0.3970779369546359, -0.4725572577941068, -0.033240654065502 ], "act_joint_pos_r": [ -0.2756788803482202, -1.1174840254697853, 0.12049120722823047, -0.10890161690639144, -0.02992978507331001, 1.3902192813015088, -0.34694056807264667 ], "act_eef_pose_l": [ 568.5486875079823, 199.67349076978365, 43.04043144788767, 1.8687842781547586, -0.09523329839772979, 0.6510582411434711 ], "act_eef_pose_r": [ 597.4654644042034, -273.3907481268787, 72.79694334692002, 1.6194857392783208, 0.10531387680709436, 2.6156649683701123 ], "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": [ 0.28913785590764546, -0.8541481028451371, -0.06722259788727529, -1.1191708318222071, 0.3876289988582475, -0.4699061336100043, -0.022634811156458885 ], "joint_pos_r": [ -0.3301366019106329, -0.9098065397481302, 0.13527521874978451, -0.5139214216586327, 0.009375548612892092, 1.1249537813131916, -0.3649213718779607 ], "eef_pose_l": [ 569.1300624640218, 199.5982855005714, 43.0724911516935, 1.8651806539094569, -0.09700461872651912, 0.6531559229787619 ], "eef_pose_r": [ 582.1124508115332, -295.7225431099702, 66.96332491914455, 1.6145668806770332, 0.09722921956898446, 2.5392310130432154 ], "joint_status_l": { "velocity": [ -0.13937531697738592, 0.11844361332258302, -0.005904809929180299, -0.16276841682305587, 1.0204552176920068, -0.286312967533231, -1.1453972524904377 ], "torque": [ -42.78076171875, 5.859375, -21.30126953125, -5.108642578125, -0.97412109375, -0.5712890625, -0.54656982421875 ] }, "joint_status_r": { "velocity": [ 5.881260470235183, -22.428506964484285, -1.5966261543566285, 43.74084884586482, -4.244850842926404, 28.64782907618313, 1.9418695385930995 ], "torque": [ 46.4501953125, -5.91064453125, 6.0791015625, 15.167236328125, 2.33642578125, 6.4837646484375, 0.7763671875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.2, -7.6, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.2, -7.6, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -18.3, -0.8, 1.1, 0.3, -0.1 ], "actual_contact_FT": [ -1.7, -18.3, -0.8, 1.1, 0.3, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 908, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.28919992929636223, -0.8523005972655896, -0.06732329953953968, -1.1228858705826323, 0.3958204859686747, -0.47268262619348633, -0.03158145460696748 ], "act_joint_pos_r": [ -0.3301366019106329, -0.9098065397481302, 0.13527521874978451, -0.5139214216586327, 0.009375548612892092, 1.1249537813131916, -0.3649213718779607 ], "act_eef_pose_l": [ 567.8166875079824, 199.30549076978366, 42.5580314478878, 1.8686997452449543, -0.09453086783170826, 0.6493073672779208 ], "act_eef_pose_r": [ 582.1124508115332, -295.7225431099702, 66.96332491914455, 1.6145668806770332, 0.09722921956898446, 2.5392310130432154 ], "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": [ 0.2890783293352386, -0.8538830857845945, -0.06723678001981324, -1.1196677451402821, 0.38904046589499186, -0.4703561129860043, -0.02419113351705711 ], "joint_pos_r": [ -0.3198420732940793, -0.9490652850359803, 0.1324804923949245, -0.4373576608058323, 0.0019453831412782551, 1.1750987966070174, -0.3615223332474094 ], "eef_pose_l": [ 568.9518640888944, 199.56840023540872, 43.013167733327236, 1.8657610245088614, -0.09663435185097195, 0.6526102114036122 ], "eef_pose_r": [ 586.5629999186598, -292.1932227166065, 67.51510861627207, 1.6143897696219713, 0.09955613305365488, 2.5533823239931355 ], "joint_status_l": { "velocity": [ 0.01313240848155317, 0.17090371951677952, -0.009343832548802666, -0.34754729741415247, 0.7322205722659625, -0.25125601600750613, -0.7981311380906853 ], "torque": [ -39.42626953125, 6.7822265625, -19.82421875, -5.572509765625, -0.8404541015625, -0.7708740234375, -0.531005859375 ] }, "joint_status_r": { "velocity": [ 4.769484169736327, -18.188687520186875, -1.294804609782374, 35.472206544331364, -3.4424166385238952, 23.23232714614143, 1.5747841930973117 ], "torque": [ 45.6005859375, 1.09130859375, 6.732177734375, 1.788330078125, 2.889404296875, 3.0303955078125, 0.772705078125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -16.2, -6.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -16.2, -6.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.5, -18.0, -1.6, 1.1, 0.4, -0.1 ], "actual_contact_FT": [ -0.5, -18.0, -1.6, 1.1, 0.4, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 272, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 1024, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2900274865786111, -0.8533273091076592, -0.06728530823589819, -1.1234107321172266, 0.39575869647778306, -0.47124454964616047, -0.030270763818983915 ], "act_joint_pos_r": [ -0.3198420732940793, -0.9490652850359803, 0.1324804923949245, -0.4373576608058323, 0.0019453831412782551, 1.1750987966070174, -0.3615223332474094 ], "act_eef_pose_l": [ 567.7510875079822, 198.68549076978366, 42.16283144788787, 1.8687194105632594, -0.09525797952655429, 0.6487978504193186 ], "act_eef_pose_r": [ 586.5629999186598, -292.1932227166065, 67.51510861627207, 1.6143897696219713, 0.09955613305365488, 2.5533823239931355 ], "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": [ 0.28911645544593473, -0.8537347907510713, -0.0672454227740032, -1.1200463655176491, 0.3898037203478132, -0.47057623483838634, -0.024986426317261133 ], "joint_pos_r": [ -0.3120336495019496, -0.9788431342385056, 0.13036068598371195, -0.3792838709193668, -0.0036904145731229466, 1.2131339068156972, -0.3589441545758298 ], "eef_pose_l": [ 568.8218895666631, 199.5200921795679, 42.95023678837458, 1.8660923622550278, -0.0964185216622813, 0.6522210960964324 ], "eef_pose_r": [ 589.4642688201633, -289.29320038733283, 68.0988656359226, 1.6146405925910134, 0.10108776822334507, 2.564227234410273 ], "joint_status_l": { "velocity": [ 0.09838846051657413, 0.044006719580380604, -0.004307502841638389, -0.36334087658751457, 0.643118454271896, -0.07217587052599228, -0.5706916185364841 ], "torque": [ -39.2431640625, 7.09716796875, -20.172119140625, -5.389404296875, -0.8111572265625, -0.831298828125, -0.5438232421875 ] }, "joint_status_r": { "velocity": [ 3.9261992715449168, -14.972774654594012, -1.0658722693698275, 29.200422212984023, -2.8337684364877247, 19.124656392877526, 1.2963491085704604 ], "torque": [ 46.28173828125, -1.845703125, 5.975341796875, 0.57373046875, 2.9022216796875, 3.4588623046875, 0.87982177734375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.4, -7.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.4, -7.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.8, -17.9, -2.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.8, -17.9, -2.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 204, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 870, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.289650241482656, -0.8546385757077941, -0.06721293171155521, -1.120624425522218, 0.3937446573632613, -0.4737435234247868, -0.028461367972998433 ], "act_joint_pos_r": [ -0.3120336495019496, -0.9788431342385056, 0.13036068598371195, -0.3792838709193668, -0.0036904145731229466, 1.2131339068156972, -0.3589441545758298 ], "act_eef_pose_l": [ 568.0262875079823, 198.51109076978366, 42.26203144788775, 1.86827626462502, -0.09489665687365861, 0.6477794933557021 ], "act_eef_pose_r": [ 589.4642688201633, -289.29320038733283, 68.0988656359226, 1.6146405925910134, 0.10108776822334507, 2.564227234410273 ], "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": [ 0.28927754926011395, -0.853696430488754, -0.06725082824219648, -1.1206001881672656, 0.3908700382033606, -0.47077626514015813, -0.025932003476927933 ], "joint_pos_r": [ -0.30516125013113976, -1.005051403355478, 0.12849498854790686, -0.3281715993904371, -0.008650628528915232, 1.2466096087531706, -0.35667503164499487 ], "eef_pose_l": [ 568.627737687726, 199.35675500322364, 42.80416900626193, 1.8665758873931169, -0.09618851697085715, 0.6515427780607883 ], "eef_pose_r": [ 591.675501939349, -286.58537430669776, 68.73386480924023, 1.6151166241876849, 0.1022610879383931, 2.5738425991644585 ], "joint_status_l": { "velocity": [ 0.040249572936801314, -0.10174868273882254, 0.004092704601443842, -0.0026175571328224123, 0.31044971304394764, -0.3204544434409762, -0.2731633090544694 ], "torque": [ -31.72119140625, 4.48974609375, -20.69091796875, -5.72509765625, -0.849609375, -0.802001953125, -0.5767822265625 ] }, "joint_status_r": { "velocity": [ 3.184002029434918, -12.142365068429584, -0.86438288891455, 23.680459690451627, -2.298081128514769, 15.5093872102956, 1.0512910596411906 ], "torque": [ 45.703125, 1.16455078125, 5.682373046875, 1.080322265625, 3.1439208984375, 3.1292724609375, 0.69671630859375 ] }, "eef_FT_l": { "raw_value": [ 0.3, -15.5, -7.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.3, -15.5, -7.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.0, -17.4, -1.4, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.0, -17.4, -1.4, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 215, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 929, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2894610141993396, -0.8534578406769667, -0.06728624693248621, -1.1243079891617411, 0.3953203460170162, -0.4716330042701259, -0.03035211787862293 ], "act_joint_pos_r": [ -0.30516125013113976, -1.005051403355478, 0.12849498854790686, -0.3281715993904371, -0.008650628528915232, 1.2466096087531706, -0.35667503164499487 ], "act_eef_pose_l": [ 567.5822875079823, 198.23909076978367, 42.582031447887914, 1.8679779639475622, -0.09502462233325505, 0.6476190473277786 ], "act_eef_pose_r": [ 591.675501939349, -286.58537430669776, 68.73386480924023, 1.6151166241876849, 0.1022610879383931, 2.5738425991644585 ], "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": [ 0.28934063336998284, -0.8538454696343223, -0.06724521692892614, -1.1206591935935155, 0.39140170220076526, -0.4712695491758521, -0.0264073038437194 ], "joint_pos_r": [ -0.2999485192956782, -1.0249304361646574, 0.12707985272291825, -0.2894028230877973, -0.012412962299514734, 1.2720010061840834, -0.3549538966479141 ], "eef_pose_l": [ 568.514964290142, 199.20291105873514, 42.71311113614439, 1.8668715624323606, -0.09596243044646649, 0.6508744947861776 ], "eef_pose_r": [ 593.137347016959, -284.43633595952355, 69.29269183497789, 1.6156270683372627, 0.10303831729518285, 2.581175326926699 ], "joint_status_l": { "velocity": [ 0.013000746133862151, 0.041862692720329164, -0.004431109695890445, -0.3940582992392194, 0.42320105050741574, -0.039251992505651145, -0.42602735076449627 ], "torque": [ -31.435546875, 2.2998046875, -20.78857421875, -4.35791015625, -0.849609375, -0.7965087890625, -0.59600830078125 ] }, "joint_status_r": { "velocity": [ 2.6210437027733846, -9.995492843650311, -0.7115527273005018, 19.493555335909907, -1.8917610650597134, 12.767197164329502, 0.8654139621082635 ], "torque": [ 44.3408203125, -0.6005859375, 4.534912109375, 1.519775390625, 2.955322265625, 2.9534912109375, 0.67474365234375 ] }, "eef_FT_l": { "raw_value": [ 0.2, -15.6, -5.9, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -15.6, -5.9, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -0.9, -16.9, -1.4, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -0.9, -16.9, -1.4, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 963, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29197091434406447, -0.8406534354685532, -0.06800838209937671, -1.151680614865878, 0.400514419301912, -0.45642181819833655, -0.036797501329238785 ], "act_joint_pos_r": [ -0.2999485192956782, -1.0249304361646574, 0.12707985272291825, -0.2894028230877973, -0.012412962299514734, 1.2720010061840834, -0.3549538966479141 ], "act_eef_pose_l": [ 563.6462875079824, 198.35829076978365, 43.37643144788791, 1.8659340299557914, -0.09513396459915287, 0.6489643011529317 ], "act_eef_pose_r": [ 593.137347016959, -284.43633595952355, 69.29269183497789, 1.6156270683372627, 0.10303831729518285, 2.581175326926699 ], "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": [ 0.2894374060483694, -0.8533945951378981, -0.06727426868066481, -1.122156162159747, 0.3922956429185708, -0.4708896821347872, -0.027343092482425765 ], "joint_pos_r": [ -0.2953606576391511, -1.0424264963436414, 0.12583435442362445, -0.25528140230401836, -0.01572429131112726, 1.2943486436040792, -0.35343908042047806 ], "eef_pose_l": [ 568.2240154363681, 199.02426799921113, 42.710289218485286, 1.8670242179185104, -0.09578728687540064, 0.6502981072288719 ], "eef_pose_r": [ 594.2692731338816, -282.47816150419504, 69.84043253198502, 1.6161768320260677, 0.10363994001915493, 2.587654419773063 ], "joint_status_l": { "velocity": [ 0.2736108262149095, 1.3760046612008026, -0.07928191092587689, -3.188546851099261, 0.8876016709886692, 1.5624832221576845, -1.0210460413125344 ], "torque": [ -30.63720703125, 6.14501953125, -20.343017578125, -5.596923828125, -0.8404541015625, -0.135498046875, -0.61065673828125 ] }, "joint_status_r": { "velocity": [ 2.1255692571062745, -8.105974072696753, -0.5770428781326498, 15.808550574667457, -1.53414807903679, 10.353723504570311, 0.7018186345315591 ], "torque": [ 47.10205078125, -0.37353515625, 4.144287109375, 1.123046875, 3.043212890625, 2.93701171875, 0.5291748046875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.3, -6.8, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ -0.2, -15.3, -6.8, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.7, -17.6, -0.8, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.7, -17.6, -0.8, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 938, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29068238995502343, -0.8438150900723975, -0.06779868157391206, -1.1407466561103505, 0.39472433386113703, -0.4642539184448324, -0.033236867588165374 ], "act_joint_pos_r": [ -0.2953606576391511, -1.0424264963436414, 0.12583435442362445, -0.25528140230401836, -0.01572429131112726, 1.2943486436040792, -0.35343908042047806 ], "act_eef_pose_l": [ 565.0806875079824, 199.15429076978367, 43.502831447887786, 1.8654670984259631, -0.0928995266026113, 0.6492390288646269 ], "act_eef_pose_r": [ 594.2692731338816, -282.47816150419504, 69.84043253198502, 1.6161768320260677, 0.10363994001915493, 2.587654419773063 ], "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": [ 0.28984735339819445, -0.8512350872844013, -0.06739788209620232, -1.1270538942906478, 0.3935780437132215, -0.46856260855784815, -0.02890970937809061 ], "joint_pos_r": [ -0.29288032627830507, -1.0518853750113195, 0.12516100184176893, -0.23683437046594583, -0.017514492020840624, 1.3064304259426494, -0.3526201267387596 ], "eef_pose_l": [ 567.462505615715, 198.93135601570123, 42.82596056759965, 1.866833180445758, -0.09560261152794762, 0.6500697839235987 ], "eef_pose_r": [ 594.8206521651892, -281.3938268351366, 70.15857005881321, 1.6165114613323512, 0.10393253444616489, 2.5911662800821573 ], "joint_status_l": { "velocity": [ 0.0901812883822295, 0.8013360647529666, -0.04328506696782419, -1.4787746624005393, 0.12379568481613035, 0.4653248081845085, -0.4673193038419454 ], "torque": [ -29.40673828125, 5.99853515625, -19.183349609375, -5.6396484375, -0.8349609375, 1.3897705078125, -0.61065673828125 ] }, "joint_status_r": { "velocity": [ 1.8577013704761391, -7.084445304967879, -0.5043229440521158, 13.81632989356385, -1.3408121045275223, 9.048929494847258, 0.6133742454337288 ], "torque": [ 47.11669921875, -0.97412109375, 4.022216796875, 2.0263671875, 2.962646484375, 3.138427734375, 0.4925537109375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.6, -6.7, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -15.6, -6.7, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.3, -17.6, -1.2, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.3, -17.6, -1.2, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 990, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2903215898517926, -0.8459649602465554, -0.06766893125653833, -1.1347952580828335, 0.39199975750408095, -0.4638751677760219, -0.03176298560871052 ], "act_joint_pos_r": [ -0.29288032627830507, -1.0518853750113195, 0.12516100184176893, -0.23683437046594583, -0.017514492020840624, 1.3064304259426494, -0.3526201267387596 ], "act_eef_pose_l": [ 566.5302875079824, 199.90549076978365, 43.46443144788765, 1.8649322975971285, -0.09261435977674784, 0.6534535311245065 ], "act_eef_pose_r": [ 594.8206521651892, -281.3938268351366, 70.15857005881321, 1.6165114613323512, 0.10393253444616489, 2.5911662800821573 ], "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": [ 0.28996898056326476, -0.8500781787962052, -0.06745939158862022, -1.129045783491168, 0.3935842707288401, -0.4677734873372913, -0.02956851786012467 ], "joint_pos_r": [ -0.28962861518403155, -1.064285952284424, 0.12427823750820399, -0.21265033641663353, -0.01986144275518352, 1.3222696264176719, -0.3515464795581539 ], "eef_pose_l": [ 567.147074757387, 199.02538690891316, 42.942331037129975, 1.8665529953454827, -0.09510439147515082, 0.6502274314385761 ], "eef_pose_r": [ 595.4788842802503, -279.9452573333349, 70.59923158576308, 1.61698833052663, 0.10428097501467444, 2.5957792339193286 ], "joint_status_l": { "velocity": [ 0.03808068003152698, 0.44421450195564205, -0.02262961671029018, -0.6209249426980534, -0.171122381289468, 0.4210060957059447, -0.2369955270378199 ], "torque": [ -32.255859375, 6.14501953125, -13.226318359375, -4.888916015625, -2.55615234375, 1.5509033203125, -0.5474853515625 ] }, "joint_status_r": { "velocity": [ 1.5065269296310468, -5.745222457739452, -0.4089872078043566, 11.204531247121619, -1.087348900716073, 7.338346294499587, 0.49742376970485225 ], "torque": [ 47.96630859375, -0.9814453125, 3.96728515625, 0.677490234375, 3.0340576171875, 2.5634765625, 0.4632568359375 ] }, "eef_FT_l": { "raw_value": [ -0.6, -16.2, -6.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.6, -16.2, -6.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.1, -17.6, -2.3, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.1, -17.6, -2.3, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 946, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29084690345201897, -0.8458352740631869, -0.06767921699510003, -1.1354483570208842, 0.39053227037503796, -0.4616153562196931, -0.030229404404166417 ], "act_joint_pos_r": [ -0.28962861518403155, -1.064285952284424, 0.12427823750820399, -0.21265033641663353, -0.01986144275518352, 1.3222696264176719, -0.3515464795581539 ], "act_eef_pose_l": [ 566.6662875079824, 199.99029076978366, 43.40203144788762, 1.8642085271601423, -0.09301032554362379, 0.6550167776383053 ], "act_eef_pose_r": [ 595.4788842802503, -279.9452573333349, 70.59923158576308, 1.61698833052663, 0.10428097501467444, 2.5957792339193286 ], "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": [ 0.2900975257715352, -0.8493345839014064, -0.06749773618993544, -1.1301446435840337, 0.3931191802225656, -0.4667994463341196, -0.029763253670919542 ], "joint_pos_r": [ -0.2873353438341845, -1.0730314674170744, 0.12365566739169015, -0.1955945307804302, -0.02151663127671288, 1.333440232784831, -0.3507892891904538 ], "eef_pose_l": [ 567.0556364551952, 199.1916139564384, 43.026833811989775, 1.866173436230969, -0.09471542693430537, 0.6509951720686694 ], "eef_pose_r": [ 595.8988976568193, -278.9053884630499, 70.92618762165776, 1.617349826887253, 0.10450252134768326, 2.5990382060509463 ], "joint_status_l": { "velocity": [ 0.0809304025772839, 0.37791431654099483, -0.019599348905829928, -0.5727841578124782, -0.2793780237189125, 0.5598652200160537, -0.05034279440929712 ], "torque": [ -29.033203125, 6.708984375, -12.335205078125, -5.23681640625, -3.013916015625, 1.3311767578125, 0.0054931640625 ] }, "joint_status_r": { "velocity": [ 1.2588609283654684, -4.800734679591301, -0.34175161822846967, 9.362558564491863, -0.9085938124904214, 6.131956387413595, 0.4156496217930794 ], "torque": [ 47.783203125, 0.31494140625, 3.619384765625, 0.543212890625, 3.182373046875, 2.55615234375, 0.5126953125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.8, -6.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -15.8, -6.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -1.5, -17.4, -1.9, 1.1, 0.3, 0.0 ], "actual_contact_FT": [ -1.5, -17.4, -1.9, 1.1, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 204, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 952, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29115487645685567, -0.8466975436013413, -0.06762429802582356, -1.1326986246577155, 0.38511860207472187, -0.4618010558761319, -0.0256157956954711 ], "act_joint_pos_r": [ -0.3096120905713855, -1.09326581333072, 0.12567135260594056, -0.3080834422369827, -0.05438837537934971, 1.266841129569799, -0.23374613658474253 ], "act_eef_pose_l": [ 567.2278875079824, 200.26069076978365, 43.46443144788765, 1.8624830168580901, -0.0926123761291563, 0.6566050012356942 ], "act_eef_pose_r": [ 590.5470644042034, -236.3619481268787, 55.608143346920116, 1.6389469356813557, -0.024847196283554612, 2.6646584764513253 ], "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": [ 0.2902554725107164, -0.848856614612823, -0.06752137357638853, -1.1307062617749835, 0.3920830106926611, -0.4659681609697891, -0.029319274045122898 ], "joint_pos_r": [ -0.288960959270343, -1.0787017977147835, 0.12364200931518611, -0.20168259508972555, -0.025867005680577215, 1.3302512392915025, -0.3372885589595205 ], "eef_pose_l": [ 567.0551982348802, 199.3528305896717, 43.096044538736095, 1.8656519699597216, -0.094391866338843, 0.6518348314575534 ], "eef_pose_r": [ 595.6889160226049, -273.7071046733959, 69.24165843708164, 1.6201224710461422, 0.08976820199097957, 2.607989071238161 ], "joint_status_l": { "velocity": [ 0.09713276140521643, 0.23317279217671683, -0.011115512704440444, -0.2151688452691758, -0.7521339477323252, 0.45003407706945, 0.39996386545873563 ], "torque": [ -28.20556640625, 7.4267578125, -11.68212890625, -4.510498046875, -3.5174560546875, 0.684814453125, 0.2801513671875 ] }, "joint_status_r": { "velocity": [ -2.230256402615982, -1.5728672972796787, 0.21916261154564243, -11.49095258437316, -3.080217081320696, -6.848089876330121, 11.182251813588007 ], "torque": [ 29.560546875, -2.60009765625, 8.50830078125, -5.267333984375, 2.2943115234375, 0.5694580078125, 0.91278076171875 ] }, "eef_FT_l": { "raw_value": [ 0.8, -15.7, -14.4, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ 0.8, -15.7, -14.4, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -14.6, -3.5, 0.9, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -14.6, -3.5, 0.9, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 215, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 952, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29065008172906825, -0.8490779405310884, -0.06748511387411074, -1.1268365245670033, 0.38030128333367386, -0.46393703419267257, -0.022150801236292414 ], "act_joint_pos_r": [ -0.32342164775002624, -1.0442521367263067, 0.12944210596543684, -0.44957905867030035, -0.04996488384012565, 1.1704701885751359, -0.22734939052028497 ], "act_eef_pose_l": [ 568.2822875079823, 200.48709076978366, 43.63483144788762, 1.86115460536735, -0.09178235975037682, 0.6580574902980609 ], "act_eef_pose_r": [ 585.7478644042035, -229.9107481268787, 54.75374334691995, 1.6372330038041465, -0.03375376338319943, 2.658649462759228 ], "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": [ 0.2903463678626469, -0.8487702841179252, -0.06752258794322842, -1.1303723010163576, 0.3903944945481242, -0.4655241381502336, -0.028319439718747633 ], "joint_pos_r": [ -0.2916213621724095, -1.077998375104709, 0.1240094202001306, -0.21847840151614356, -0.028509667992238398, 1.319712796929727, -0.3267088300483415 ], "eef_pose_l": [ 567.2025299645846, 199.52656838545664, 43.176192395337154, 1.864978224707783, -0.09400619219165852, 0.6527812399180603 ], "eef_pose_r": [ 595.2745869685742, -269.7478490826159, 67.72998423447163, 1.6220933115651692, 0.07774829214554133, 2.6135660937938807 ], "joint_status_l": { "velocity": [ 0.032800130185250964, -0.03322591267540531, 0.004047080102487222, 0.38185259439060815, -1.090034662307282, 0.17140217217992415, 0.6661933077838356 ], "torque": [ -30.46875, 3.12744140625, -10.9130859375, -1.190185546875, -3.720703125, 1.1114501953125, 0.3570556640625 ] }, "joint_status_r": { "velocity": [ -3.434329552246318, 3.644486256491497, 0.5867127584852083, -24.958134871808426, -2.317094972508593, -16.117726335368232, 10.730502989761526 ], "torque": [ 32.11669921875, 1.318359375, 10.369873046875, -3.86962890625, 3.5467529296875, -0.113525390625, 0.8990478515625 ] }, "eef_FT_l": { "raw_value": [ 0.9, -16.2, -6.7, 1.5, 0.0, 0.1 ], "actual_contact_FT": [ 0.9, -16.2, -6.7, 1.5, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ 0.2, -18.2, 0.1, 1.2, 0.4, -0.1 ], "actual_contact_FT": [ 0.2, -18.2, 0.1, 1.2, 0.4, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 282, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 954, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2910179579131982, -0.8450150280988447, -0.06771111909541544, -1.135110462559597, 0.38242662100498154, -0.46113974830565446, -0.024912047814797562 ], "act_joint_pos_r": [ -0.3323030897052721, -1.018049021994776, 0.1319861386401436, -0.5406017025980241, -0.048216682099570196, 1.1113976847678955, -0.21491466460885195 ], "act_eef_pose_l": [ 566.8758875079824, 200.43269076978368, 43.99403144788795, 1.8608403644728662, -0.09130717422723127, 0.6570277919313268 ], "act_eef_pose_r": [ 580.7822644042035, -221.9627481268787, 54.70014334691999, 1.6348260424422978, -0.048595484691890276, 2.6624413631919213 ], "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": [ 0.2904501414330628, -0.8483164273883302, -0.06754398552062156, -1.1307466040334013, 0.38875434208357434, -0.4648715978844961, -0.027501315352138123 ], "joint_pos_r": [ -0.2976338760073375, -1.0708812606386051, 0.12508166513704866, -0.26333545670531644, -0.032226372523676376, 1.2907317624558654, -0.3085952763762912 ], "eef_pose_l": [ 567.2295640333049, 199.70055951514112, 43.308586871401104, 1.8642120972294534, -0.09352746624798747, 0.6536480131365375 ], "eef_pose_r": [ 594.1653408431804, -262.4816346384541, 65.11582576224572, 1.6250011293386042, 0.05691189472351889, 2.6219859214981156 ], "joint_status_l": { "velocity": [ 0.06132237124756301, 0.35654060766177054, -0.018049893724558785, -0.47128282108488406, -0.6833737214577695, 0.4030278678435195, 0.27963264670871624 ], "torque": [ -27.7734375, 5.9912109375, -10.48583984375, -4.21142578125, -3.6328125, 1.4996337890625, 0.46875 ] }, "joint_status_r": { "velocity": [ -3.7441646511435778, 5.705713492509368, 0.7456611462342, -29.943871409132683, -1.7269025019297501, -19.367509176150932, 10.117207679793516 ], "torque": [ 31.12060546875, 3.9697265625, 11.12060546875, -6.268310546875, 3.0816650390625, 0.5694580078125, 0.65277099609375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.3, -4.2, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ 0.0, -15.3, -4.2, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.1, -18.3, -2.0, 1.2, 0.2, 0.0 ], "actual_contact_FT": [ -2.1, -18.3, -2.0, 1.2, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 894, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29331685942838803, -0.8443172164229354, -0.0677366704318887, -1.134610395272359, 0.38020381529532443, -0.46210636946541384, -0.0214069768086651 ], "act_joint_pos_r": [ -0.33158372713247175, -1.0252550896778587, 0.13162892350688635, -0.5352730291737982, -0.05102809231546468, 1.114106936947692, -0.2032747998409353 ], "act_eef_pose_l": [ 566.4678875079824, 200.84229076978366, 42.82843144788791, 1.8616588705491246, -0.0908362803702376, 0.6566465088082197 ], "act_eef_pose_r": [ 581.0942644042034, -219.04114812687868, 54.239343346919924, 1.6360154381516574, -0.05954580235548751, 2.6667707868425943 ], "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": [ 0.29080290235177825, -0.8476949497021701, -0.06757434478580653, -1.1314075730189077, 0.3874632665767876, -0.4643671754786469, -0.02668012973627227 ], "joint_pos_r": [ -0.30373209951940683, -1.0618564723062573, 0.12628674991253547, -0.3121244947712448, -0.035177033809488396, 1.2591429445482627, -0.29152068703065853 ], "eef_pose_l": [ 567.1254936225587, 199.86675199583584, 43.289897027697634, 1.863746964919846, -0.09310992819087256, 0.6541592674211317 ], "eef_pose_r": [ 592.6800707629826, -255.31232554782872, 62.90020959037878, 1.6271033084429376, 0.03736497324945661, 2.6295334916992754 ], "joint_status_l": { "velocity": [ 0.27149935682801996, 0.36478443541554384, -0.017530652737907104, -0.34589460175560305, -0.7839976156245321, 0.24415984831938076, 0.5694837201570824 ], "torque": [ -27.6123046875, 7.19970703125, -10.70556640625, -4.986572265625, -3.7774658203125, 1.4154052734375, 0.48797607421875 ] }, "joint_status_r": { "velocity": [ -3.007887069323978, 3.9528327412980957, 0.5769377323210367, -24.0993309437032, -1.7118638299205569, -15.663426852782436, 9.530274736061717 ], "torque": [ 29.06982421875, 6.826171875, 11.578369140625, -5.35888671875, 2.9736328125, 0.0714111328125, 0.95947265625 ] }, "eef_FT_l": { "raw_value": [ 0.2, -15.9, -7.0, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.2, -15.9, -7.0, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.8, -17.7, -0.1, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.8, -17.7, -0.1, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 232, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 925, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29245152590779205, -0.849138552069384, -0.0674353203108381, -1.120117847555817, 0.37837856244929213, -0.469857557509516, -0.016772280480477773 ], "act_joint_pos_r": [ -0.3303978260069913, -1.029856164495225, 0.1313929514384569, -0.5303617374912384, -0.05476769039067797, 1.1128473852993057, -0.1947874398384677 ], "act_eef_pose_l": [ 568.5566875079824, 202.00469076978368, 42.118031447887745, 1.8636840894451394, -0.09287771213635988, 0.6574823715274002 ], "act_eef_pose_r": [ 582.0742644042034, -217.9131481268787, 53.74734334691996, 1.6393505533850785, -0.06588948573220936, 2.66546260536996 ], "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": [ 0.2911497444201485, -0.8476417911883452, -0.06756904012623723, -1.1303384789180262, 0.38597376787571547, -0.4648421119118913, -0.02522479974847054 ], "joint_pos_r": [ -0.30923076662756566, -1.0548916837816131, 0.12734070937444697, -0.3565743046511416, -0.038685608104774026, 1.2298703330033283, -0.273046898747585 ], "eef_pose_l": [ 567.2457876366318, 200.16982112927167, 43.12718981525387, 1.8636097046417228, -0.09293574188407143, 0.6546916714407492 ], "eef_pose_r": [ 591.0810591236441, -247.9860573894877, 60.8452089128441, 1.629456448211498, 0.016954905817353483, 2.6371121270230975 ], "joint_status_l": { "velocity": [ 0.14058825423646226, -0.16164540767604763, 0.014441314139357342, 1.103795632406701, -0.8202579938374477, -0.5416521493670778, 0.9128451580144581 ], "torque": [ -28.0810546875, 1.6259765625, -10.430908203125, -1.13525390625, -3.848876953125, -0.1483154296875, 0.53741455078125 ] }, "joint_status_r": { "velocity": [ -2.2859749917492067, 2.703756339899499, 0.43762923572865375, -18.76848919973062, -1.7368136622967767, -12.638105611033623, 8.451772290485549 ], "torque": [ 29.55322265625, 8.04931640625, 12.07275390625, -5.3955078125, 2.6531982421875, 0.2947998046875, 0.8148193359375 ] }, "eef_FT_l": { "raw_value": [ 0.6, -15.8, -6.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -15.8, -6.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.0, -17.4, -1.9, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.0, -17.4, -1.9, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 263, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 967, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2939064975731013, -0.8449411754369385, -0.06763186251424654, -1.123553225753482, 0.3777984055626992, -0.4694145911616211, -0.01699197975956728 ], "act_joint_pos_r": [ -0.3268825860698836, -1.0308042657322267, 0.13154700010078418, -0.5413154641602589, -0.07014098710701777, 1.0975762157991686, -0.18558018905157525 ], "act_eef_pose_l": [ 567.7102875079825, 203.34629076978368, 41.66203144788784, 1.864245408284813, -0.09152888777965797, 0.6587706406806837 ], "act_eef_pose_r": [ 582.8086644042035, -215.0827481268787, 53.26574334691989, 1.6514443287423732, -0.06445298907410693, 2.6646015232947486 ], "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": [ 0.29148871271619214, -0.8475273564012282, -0.0675639374080844, -1.1289533051936667, 0.3846753242529807, -0.46562858323260825, -0.023854114061891588 ], "joint_pos_r": [ -0.3127690108392309, -1.050520287457799, 0.12806613157318456, -0.38793790250979265, -0.042422394425170054, 1.208292287659264, -0.2586749371205925 ], "eef_pose_l": [ 567.3897463026082, 200.58613002082967, 42.92099096731732, 1.863674535101003, -0.09280709842444927, 0.6552597847894198 ], "eef_pose_r": [ 589.9166092826447, -242.5300555009424, 59.38967239685823, 1.6321194675908595, 0.002037150389876348, 2.642272071298434 ], "joint_status_l": { "velocity": [ 0.2611130634280201, 0.2792993066504934, -0.007335695110688434, 0.5831913792295751, -0.7426853142180612, -0.4088767971563989, 0.7410886474097378 ], "torque": [ -28.0078125, 5.33203125, -10.443115234375, -1.220703125, -3.7646484375, -0.4888916015625, 0.5072021484375 ] }, "joint_status_r": { "velocity": [ -1.5242211704098452, 2.129267546973068, 0.3759227137328791, -16.56428812068622, -2.993519720494775, -11.956983108524, 7.8939999703699915 ], "torque": [ 29.45068359375, 8.18115234375, 12.860107421875, -6.170654296875, 2.0928955078125, -0.7672119140625, 0.74981689453125 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.1, -5.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ 0.1, -15.1, -5.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.6, -17.3, -4.2, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -2.6, -17.3, -4.2, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 965, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29607681901598687, -0.8373065578378389, -0.06808674915130604, -1.1423933987041064, 0.3849450231643842, -0.4566092999389023, -0.025846435396330268 ], "act_joint_pos_r": [ -0.324091010607952, -1.0393927916535866, 0.1311087339115234, -0.533997534672194, -0.07160405055939112, 1.103948764139909, -0.18366354579104358 ], "act_eef_pose_l": [ 565.2390875079824, 203.09829076978366, 41.67323144788776, 1.8643518468974611, -0.0904868187464607, 0.6611747269985787 ], "act_eef_pose_r": [ 583.1638644042034, -211.6299481268787, 54.262543346919784, 1.6498723746331672, -0.06491104364934366, 2.672306953601767 ], "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": [ 0.29182564666374905, -0.8470880276992776, -0.06757925487650625, -1.1285526523656935, 0.38391484755628724, -0.465915477346055, -0.02312087078710209 ], "joint_pos_r": [ -0.31496664754464465, -1.0476561604199335, 0.12861912724449823, -0.41283115122313585, -0.04704344027587341, 1.1903708802143473, -0.24657434769082553 ], "eef_pose_l": [ 567.3943617329901, 200.93009008912267, 42.761658877840546, 1.8637500575911587, -0.09262850826026804, 0.655737228196535 ], "eef_pose_r": [ 589.0356311633185, -237.87344735493505, 58.294515481318484, 1.6354277460995983, -0.009302062266227552, 2.646491662383168 ], "joint_status_l": { "velocity": [ 0.4324341111452412, 0.9949822954133936, -0.0516228977446298, -1.4078965387707143, 0.10479064043966702, 0.9466350036606563, -0.2772475476182368 ], "torque": [ -27.10693359375, 5.09033203125, -10.736083984375, -4.351806640625, -1.8438720703125, 0.68115234375, 0.003662109375 ] }, "joint_status_r": { "velocity": [ -0.985402147954062, 0.8924175063178552, 0.26886959015393064, -13.085583473843254, -2.6524676802673897, -9.333313264679788, 6.794166221955056 ], "torque": [ 29.84619140625, 5.48583984375, 12.872314453125, -5.517578125, 2.9718017578125, 0.347900390625, 0.83587646484375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -15.3, -10.0, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -15.3, -10.0, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.0, -17.3, -2.0, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.0, -17.3, -2.0, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 938, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2923797444883941, -0.8402537444673261, -0.06787166077107862, -1.1298328416655616, 0.3822066718354843, -0.4662056916957052, -0.025793902606634146 ], "act_joint_pos_r": [ -0.32028897495701836, -1.0615716454152309, 0.12972638946541826, -0.4965392499400967, -0.07344318009688822, 1.1217356402570768, -0.18488867209727333 ], "act_eef_pose_l": [ 567.1590875079823, 204.46069076978367, 42.755631447887765, 1.8642357388963031, -0.0891721243952801, 0.6619060431715603 ], "act_eef_pose_r": [ 586.2878644042034, -208.5259481268787, 53.716143346919836, 1.6507884566694093, -0.06367960707060451, 2.675421480099368 ], "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": [ 0.29225976325541386, -0.8456117032489465, -0.06765051108059768, -1.1299210384527367, 0.3838618056097032, -0.46509426128814224, -0.02359826170005187 ], "joint_pos_r": [ -0.31626245804923925, -1.0485968018014944, 0.12893376756675382, -0.4315091918251753, -0.05189383887331453, 1.1760410171442652, -0.23482012016952833 ], "eef_pose_l": [ 567.1800827397811, 201.4311604969577, 42.660688676901685, 1.8638467225284374, -0.09213578828083055, 0.6567613577712702 ], "eef_pose_r": [ 588.4632312077745, -232.55683913420992, 57.38301815013651, 1.6384033245983691, -0.019954732657214185, 2.6518789811669063 ], "joint_status_l": { "velocity": [ 0.012957590997952906, 0.5786424822673553, -0.023883462166807146, 0.009524972091057293, -0.17874917569082882, -0.12003094389312352, -0.23712222436469976 ], "torque": [ -29.736328125, 5.6689453125, -10.882568359375, -2.783203125, -3.321533203125, 0.1446533203125, -0.33233642578125 ] }, "joint_status_r": { "velocity": [ -0.43485100079543315, -1.4012417828661583, 0.08560064039975224, -7.023039142943777, -2.327260213274951, -5.864807730560528, 5.392437350365542 ], "torque": [ 30.9521484375, -0.8056640625, 12.87841796875, -4.913330078125, 2.7154541015625, 0.205078125, 0.90362548828125 ] }, "eef_FT_l": { "raw_value": [ -0.9, -15.8, -6.4, 1.4, -0.2, 0.0 ], "actual_contact_FT": [ -0.9, -15.8, -6.4, 1.4, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.3, -17.6, -2.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.3, -17.6, -2.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 957, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2935814872244335, -0.8359083985389034, -0.06813702997302581, -1.1410614070233216, 0.38338422623142454, -0.45975819249247324, -0.02668488187386296 ], "act_joint_pos_r": [ -0.31823059821880406, -1.075670037941396, 0.12895621462637502, -0.47724482082744096, -0.07986037037341287, 1.1205112857894508, -0.18065626391928108 ], "act_eef_pose_l": [ 565.5310875079823, 203.95989076978367, 43.051631447887814, 1.8629927334230982, -0.08979947631578603, 0.661505979897122 ], "act_eef_pose_r": [ 589.3430644042035, -206.1731481268787, 52.03934334691988, 1.6579050343422816, -0.0650580825774173, 2.670126382565081 ], "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": [ 0.2923676246986493, -0.8443510640526224, -0.06770874578854605, -1.1307150437151936, 0.38365406777468536, -0.46482589556170967, -0.024050710634136625 ], "joint_pos_r": [ -0.31676421887422745, -1.0528262319676218, 0.12898654373994442, -0.4413707669839997, -0.05677616872862975, 1.1656209920683325, -0.22484784972845462 ], "eef_pose_l": [ 567.0603605388758, 201.93126548527022, 42.698183969924486, 1.8638258949241662, -0.0916565885905894, 0.6576421960678241 ], "eef_pose_r": [ 588.5409752661951, -227.71554522497215, 56.42611633815605, 1.6417317803198528, -0.028598699996464614, 2.6558015725893456 ], "joint_status_l": { "velocity": [ 0.1310932863947123, 0.9117809839391811, -0.046253327754819384, -1.1173742820851373, -0.029142027174078322, 0.5472957898509101, -0.2844821035392908 ], "torque": [ -27.37060546875, 6.65771484375, -11.1572265625, -4.87060546875, -2.552490234375, 0.882568359375, -0.35980224609375 ] }, "joint_status_r": { "velocity": [ -0.15836429850901723, -2.4670582831722854, -0.003275447661432729, -3.874283549206048, -2.493020249934641, -4.871704594872739, 4.772550508537865 ], "torque": [ 30.68115234375, -1.9775390625, 9.136962890625, -5.5908203125, 2.7374267578125, 0.662841796875, 0.6390380859375 ] }, "eef_FT_l": { "raw_value": [ -0.5, -15.8, -8.1, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -15.8, -8.1, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.0, -17.4, -2.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.0, -17.4, -2.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 270, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 976, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2960840005403884, -0.8339118588516599, -0.0682916491490876, -1.150543195752032, 0.385609453019771, -0.45360628492782296, -0.028239680067308946 ], "act_joint_pos_r": [ -0.3142629679630092, -1.096199460863269, 0.12783349061424967, -0.44456159599225314, -0.0814920342707648, 1.130109002000032, -0.1805756567211079 ], "act_eef_pose_l": [ 563.9414875079824, 202.66789076978367, 42.36763144788762, 1.8629929854425733, -0.08934494905849974, 0.660108028291931 ], "act_eef_pose_r": [ 592.9478644042034, -203.1779481268787, 51.774543346919955, 1.6596067759414979, -0.06425835800423346, 2.668108533161722 ], "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": [ 0.2927626813839587, -0.8427143758099532, -0.06779561834589273, -1.1332280212764256, 0.3837668002636226, -0.46348631976269217, -0.02462855792313392 ], "joint_pos_r": [ -0.31652347949432585, -1.0594523620296843, 0.12883969369036127, -0.4435948051968978, -0.0610632747332985, 1.1588547374343388, -0.21702424758190453 ], "eef_pose_l": [ 566.6773904786286, 202.1978808141243, 42.70961032996249, 1.8636798706895659, -0.09129553859246656, 0.6582247668050678 ], "eef_pose_r": [ 589.2063125034649, -223.5398156554738, 55.58239190856244, 1.6448442832415566, -0.035075445355464085, 2.658183303082198 ], "joint_status_l": { "velocity": [ 0.3586918898426106, 0.9506437937556456, -0.05356974678977222, -1.8699836911437728, 0.19900062845401578, 1.067012292320868, -0.3899896894398458 ], "torque": [ -26.28662109375, 6.36474609375, -11.688232421875, -5.340576171875, -1.8145751953125, 1.4483642578125, -0.46051025390625 ] }, "joint_status_r": { "velocity": [ 0.24412804521078968, -3.9685696273226156, -0.10866672726628224, -0.10441032648023096, -2.2062409604474142, -3.1044478661090835, 3.9363317170677536 ], "torque": [ 39.755859375, -0.91552734375, 7.342529296875, -5.267333984375, 2.764892578125, 0.845947265625, 1.0107421875 ] }, "eef_FT_l": { "raw_value": [ -0.1, -15.2, -7.2, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.1, -15.2, -7.2, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.7, -17.2, -1.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.7, -17.2, -1.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 982, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29643661883572575, -0.8334405343079397, -0.06832518860944539, -1.152252624851845, 0.3860872843420029, -0.45239872163188755, -0.02932374345539359 ], "act_joint_pos_r": [ -0.31232670614360863, -1.1103088130169525, 0.12707276410839824, -0.419577581629448, -0.08025742178677575, 1.1405474789966703, -0.18209240221617248 ], "act_eef_pose_l": [ 563.6894875079822, 202.51509076978365, 42.29883144788761, 1.8629519984602518, -0.08868589221796275, 0.6602758976503779 ], "act_eef_pose_r": [ 595.0414644042035, -201.55314812687868, 51.57134334692003, 1.6588375707912653, -0.06409172224980195, 2.667675929704469 ], "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": [ 0.2934159582515852, -0.8410163903920271, -0.06789180481379054, -1.1366244841098523, 0.3841495824322114, -0.4615315594113627, -0.025389356771216356 ], "joint_pos_r": [ -0.31609674170356816, -1.0653802778608785, 0.12865562094397953, -0.44227737808308615, -0.06383122801452724, 1.1554655188814706, -0.21204585498050596 ], "eef_pose_l": [ 566.1445714295749, 202.27665117702807, 42.63715569231081, 1.863550467661602, -0.09087955072326374, 0.6585928238535104 ], "eef_pose_r": [ 589.8933211931546, -220.62874397468494, 55.02058359902563, 1.646858485222879, -0.03918494184124623, 2.6595917914786487 ], "joint_status_l": { "velocity": [ 0.32622172169149977, 0.8181683264973927, -0.04680406951845795, -1.6877894214459843, 0.20926563429757294, 0.9863173903070788, -0.42490123009922276 ], "torque": [ -27.42919921875, 7.0166015625, -12.322998046875, -5.633544921875, -1.4263916015625, 1.6314697265625, -0.50537109375 ] }, "joint_status_r": { "velocity": [ 0.40715183217443496, -4.852138690674579, -0.17094349653390406, 2.4515057136969, -1.773976606759542, -1.6111007906811636, 3.2348774909363165 ], "torque": [ 42.83935546875, -5.4638671875, 7.843017578125, -0.30517578125, 2.8070068359375, 0.6298828125, 0.75714111328125 ] }, "eef_FT_l": { "raw_value": [ -0.1, -15.8, -7.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.1, -15.8, -7.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.1, -16.7, -1.0, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.1, -16.7, -1.0, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 952, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29697543352918293, -0.8337115319125025, -0.06834526223839765, -1.1565164967659067, 0.3896694557964454, -0.4475973740384953, -0.03388420836708862 ], "act_joint_pos_r": [ -0.3099478148529524, -1.130592266320027, 0.1260292090491118, -0.3827285522303525, -0.07830709800395484, 1.154431722326316, -0.18304710071918942 ], "act_eef_pose_l": [ 563.3478875079824, 201.56229076978366, 42.149231447887644, 1.8631922556250886, -0.08785457183291115, 0.6610060584452673 ], "act_eef_pose_r": [ 598.1902644042034, -199.5715481268787, 51.012143346919885, 1.6582650975833435, -0.06532076905919187, 2.6648809475113575 ], "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": [ 0.29398888591904704, -0.8396964547473906, -0.06796987805606038, -1.1396951033991392, 0.3847504652455316, -0.45957061135548527, -0.026413806907600906 ], "joint_pos_r": [ -0.31537251585404813, -1.073656901731255, 0.12834958746308278, -0.43692771318282314, -0.06644598512093668, 1.153622675868705, -0.20716356482847778 ], "eef_pose_l": [ 565.6880867827509, 202.25059887994803, 42.56343631708853, 1.8634684632209095, -0.09043137680947681, 0.658942825607276 ], "eef_pose_r": [ 590.933913843715, -217.43092833602222, 54.4069392865548, 1.6487873429489484, -0.04337194650211058, 2.6608357846459216 ], "joint_status_l": { "velocity": [ 0.3225376291560167, 0.6463526030167088, -0.040540296020297184, -1.8166569041788705, 0.5312353115503043, 1.2930714931300713, -0.806779562933374 ], "torque": [ -26.6162109375, 6.533203125, -13.18359375, -5.316162109375, -1.2249755859375, 1.3018798828125, -0.6463623046875 ] }, "joint_status_r": { "velocity": [ 0.5858504293838607, -6.148838025302972, -0.2505934778492813, 5.853336747927429, -1.2809624113991336, 0.08737444045081588, 2.60450130814327 ], "torque": [ 46.14990234375, 0.8642578125, 7.275390625, -0.20751953125, 2.8070068359375, 0.0421142578125, 0.78826904296875 ] }, "eef_FT_l": { "raw_value": [ -0.4, -15.5, -6.5, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -15.5, -6.5, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.3, -17.2, -1.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.3, -17.2, -1.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 1009, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29706560272664345, -0.8347543378193722, -0.06828595191353137, -1.1544272318404387, 0.38872086531882244, -0.4503623692726932, -0.03095644041813459 ], "act_joint_pos_r": [ -0.312706534708012, -1.122550498043718, 0.12667693966806678, -0.4121317359482378, -0.07881148854038811, 1.1245616174227229, -0.18249449730619619 ], "act_eef_pose_l": [ 563.3470875079823, 201.30629076978366, 41.93323144788775, 1.8635068861833335, -0.08900928424483563, 0.6587168334296932 ], "act_eef_pose_r": [ 598.6334644042034, -197.86994812687868, 50.211343346919904, 1.6607442317602104, -0.064838285973703, 2.656379197714753 ], "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": [ 0.2945271075911976, -0.8387559432377265, -0.06802955639083709, -1.1424335086107416, 0.38551314250114754, -0.45776565220769505, -0.027404259087818694 ], "joint_pos_r": [ -0.3148100123771572, -1.0804789055274007, 0.12808560919304393, -0.43138844259424, -0.06796288911949187, 1.1524131315455903, -0.20410010355550673 ], "eef_pose_l": [ 565.2760010318731, 202.10008542095593, 42.46300723364425, 1.8634621482050189, -0.0901054436386214, 0.6590488884997884 ], "eef_pose_r": [ 591.9160508101868, -215.12922707981852, 53.92622471017094, 1.6500736599029948, -0.046141791359882854, 2.660991517285281 ], "joint_status_l": { "velocity": [ 0.2741493890239255, 0.43216063928586124, -0.027689899781024874, -1.2952839064510613, 0.34642384708361007, 0.7995309760748803, -0.38362426928106874 ], "torque": [ -26.279296875, 7.734375, -14.306640625, -4.19921875, -0.9466552734375, 1.461181640625, -0.509033203125 ] }, "joint_status_r": { "velocity": [ 0.22716888827956083, -4.543597985502856, -0.1521318218093981, 2.079662981387287, -1.1716141825435789, -3.0078748127433386, 2.3333366568394354 ], "torque": [ 45.27099609375, -1.46484375, 6.70166015625, -1.312255859375, 2.757568359375, 1.4813232421875, 0.85601806640625 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.6, -5.1, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.2, -15.6, -5.1, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.6, -17.3, -1.7, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.6, -17.3, -1.7, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 230, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 929, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29686748895597675, -0.835386744146284, -0.06824510770435768, -1.1524748088207248, 0.38786836218920373, -0.4518208023442928, -0.029846167392232083 ], "act_joint_pos_r": [ -0.31252509967170194, -1.1198452756717496, 0.12701472286040452, -0.4292647466346396, -0.07914462467732088, 1.1114620756599782, -0.1837147185587535 ], "act_eef_pose_l": [ 563.5862875079824, 201.40709076978368, 41.91883144788795, 1.8635307104466725, -0.08917165470956322, 0.6584612347278916 ], "act_eef_pose_r": [ 598.3350644042034, -195.2371481268787, 51.052143346920076, 1.6598024032869312, -0.06207016210305479, 2.6577744006744215 ], "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": [ 0.29492206863550485, -0.838169460484585, -0.06806709764314095, -1.1441849038489136, 0.3859442783125347, -0.4567131607251715, -0.02786293478937611 ], "joint_pos_r": [ -0.3143992953193445, -1.0882369452249794, 0.12784367317947312, -0.4289835310457748, -0.07003769636391143, 1.1462036628021615, -0.20010382294467985 ], "eef_pose_l": [ 564.9867178844173, 201.98095105070374, 42.373022544612155, 1.8634749202452965, -0.08994340475658257, 0.6589652254021059 ], "eef_pose_r": [ 593.2144632382697, -211.695352616798, 53.26369582275572, 1.6520291434767305, -0.04953388774938384, 2.660246928232082 ], "joint_status_l": { "velocity": [ 0.21009919806624922, 0.3005245010401225, -0.019224519614446933, -0.8952833319852971, 0.2077949300960391, 0.5283591220157646, -0.21418280412427437 ], "torque": [ -26.55029296875, 7.74169921875, -15.203857421875, -5.096435546875, -0.8514404296875, 1.2835693359375, -0.54290771484375 ] }, "joint_status_r": { "velocity": [ 0.20240716026531658, -3.4135990095300883, -0.08952399409034584, -0.030370387870348736, -0.9835192504984436, -3.751980752598527, 1.769971071173826 ], "torque": [ 46.92626953125, -2.8857421875, 7.037353515625, -2.25830078125, 2.9241943359375, 0.626220703125, 0.5548095703125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -15.8, -4.4, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -15.8, -4.4, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.7, -17.8, -2.0, 1.1, 0.0, 0.0 ], "actual_contact_FT": [ -4.7, -17.8, -2.0, 1.1, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 282, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 950, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2973370056625131, -0.8358079170698581, -0.06822246450585441, -1.1518138310139672, 0.38702867802355817, -0.4512308561548584, -0.027612998610214642 ], "act_joint_pos_r": [ -0.3109120227095885, -1.129699469913676, 0.12659272524074885, -0.41693678277673163, -0.08264512353905884, 1.114970183937739, -0.18451698226761293 ], "act_eef_pose_l": [ 563.7438875079824, 201.43669076978367, 41.68203144788782, 1.863500151020513, -0.09037907283606324, 0.6587888277587629 ], "act_eef_pose_r": [ 599.4534644042035, -192.7435481268787, 50.565743346919845, 1.6623789061626058, -0.05986403922861326, 2.6596278327255214 ], "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": [ 0.29531901689404294, -0.8377249791835183, -0.06809601619604395, -1.1455760421391725, 0.3861897201857289, -0.4557815794398283, -0.027961589916264754 ], "joint_pos_r": [ -0.31399745073970503, -1.094005832450139, 0.12768287542193618, -0.4283133862450093, -0.07173824614384104, 1.1406961633183579, -0.19745614998906072 ], "eef_pose_l": [ 564.7574167175214, 201.88279033826356, 42.26521734165718, 1.8634826569401806, -0.08994329017114523, 0.6589129032980756 ], "eef_pose_r": [ 594.1589378456571, -208.85708187866865, 52.85473152240667, 1.6534677818873316, -0.05151230498599382, 2.659963248052766 ], "joint_status_l": { "velocity": [ 0.2179363593053374, 0.2070366020578973, -0.013656014696883378, -0.673661329898323, 0.09060477424016611, 0.49146361983209985, 0.037646750721875843 ], "torque": [ -25.86181640625, 7.6318359375, -15.9423828125, -5.55419921875, -0.9503173828125, 1.3677978515625, 0.01007080078125 ] }, "joint_status_r": { "velocity": [ 0.3332163995604098, -3.8547991548378846, -0.11773274722648441, 1.228636937864458, -1.1779080181435475, -2.7783238308263236, 1.3973889001337447 ], "torque": [ 47.60009765625, -2.62939453125, 6.494140625, -0.250244140625, 2.7978515625, 0.281982421875, 0.71319580078125 ] }, "eef_FT_l": { "raw_value": [ 0.2, -15.8, -7.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.2, -15.8, -7.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.4, -17.3, -1.1, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.4, -17.3, -1.1, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 952, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29773644315365494, -0.8346731265660219, -0.0682855894824422, -1.1538201781514643, 0.38745313019086675, -0.4511178893526497, -0.027997900196104722 ], "act_joint_pos_r": [ -0.31042039320132003, -1.1322153935879626, 0.12654344775050358, -0.41764724737806047, -0.08493030608190509, 1.1116768976245424, -0.18409399054865425 ], "act_eef_pose_l": [ 563.2582875079823, 201.43829076978366, 41.59643144788771, 1.863661362602572, -0.09007923292193885, 0.6580620236651803 ], "act_eef_pose_r": [ 599.8038644042034, -191.2427481268787, 50.36734334691985, 1.6641034550984986, -0.05894486538085042, 2.6599820397119123 ], "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": [ 0.29568507086816154, -0.8373123606559612, -0.068122225251269, -1.1467738223854689, 0.38636409538041605, -0.4550237595041258, -0.027937340734413334 ], "joint_pos_r": [ -0.3133856219520971, -1.1008994532017202, 0.1274739331115704, -0.42620407130110916, -0.07393284185509517, 1.1356416271598717, -0.19498558755955767 ], "eef_pose_l": [ 564.5495235199033, 201.80958048391017, 42.16134764742543, 1.863500310321736, -0.08998928288338452, 0.6588299477758093 ], "eef_pose_r": [ 595.2184797439622, -205.73767859387397, 52.392656892973974, 1.6552614127978829, -0.05308549517315102, 2.6599336545558128 ], "joint_status_l": { "velocity": [ 0.22154167281085435, 0.28502887523629283, -0.017642816619645174, -0.7609839787043882, 0.11761229073981028, 0.42182153539860323, -0.00654022896889872 ], "torque": [ -25.53955078125, 7.55859375, -16.705322265625, -5.853271484375, -0.9210205078125, 1.46484375, 0.07781982421875 ] }, "joint_status_r": { "velocity": [ 0.32023526024982374, -3.3820218143123526, -0.10048945521723418, 0.9241097285301869, -1.1876911074186758, -2.588114457459767, 1.1762577853087208 ], "torque": [ 46.3330078125, -1.20849609375, 6.280517578125, 0.37841796875, 2.73193359375, 0.5767822265625, 0.648193359375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.8, -6.9, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.8, -6.9, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.3, -1.6, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.3, -1.6, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 269, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 961, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29789550743131593, -0.8349515662224565, -0.06826520025167894, -1.1526377893113433, 0.38661346363696053, -0.4526226594151963, -0.025871263824745742 ], "act_joint_pos_r": [ -0.30703428522649867, -1.1382795897070548, 0.1262587637460578, -0.40757601794187964, -0.09131117981422054, 1.1152620133453435, -0.18356252152457783 ], "act_eef_pose_l": [ 563.2590875079824, 201.47669076978366, 41.444431447887894, 1.8638263283232495, -0.09090977159241388, 0.6570525241607031 ], "act_eef_pose_r": [ 600.8262644042034, -190.3523481268787, 50.63134334691998, 1.6686519110002591, -0.054802246703857076, 2.6609407635172095 ], "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": [ 0.2960614321061368, -0.8368696359097921, -0.06814935827415267, -1.1479181268428855, 0.38648453040756414, -0.4544624072934245, -0.027765400165884448 ], "joint_pos_r": [ -0.3125452173159609, -1.1076338297776127, 0.12726630109328163, -0.4237572768813321, -0.07660432911483886, 1.1310811943976187, -0.19275714082016515 ], "eef_pose_l": [ 564.3216557435921, 201.74723637631692, 42.0478540733703, 1.8635436378542698, -0.09007663129485868, 0.6586073801796289 ], "eef_pose_r": [ 596.2463845646237, -202.76986683373286, 51.987687302220564, 1.6573766190880554, -0.054011525197800385, 2.6600246541620485 ], "joint_status_l": { "velocity": [ 0.19807429323037695, 0.20714541680533216, -0.01251056459339317, -0.5097085135457036, 0.013924378096774603, 0.19868691089142132, 0.20456069164789814 ], "torque": [ -25.2978515625, 8.8330078125, -17.6513671875, -5.65185546875, -1.7852783203125, 1.3897705078125, 0.2142333984375 ] }, "joint_status_r": { "velocity": [ 0.5951631122642631, -3.309644459632999, -0.10881082429647915, 1.7475244249833821, -1.5882930313342314, -1.7084211664570859, 0.992989597260685 ], "torque": [ 47.9736328125, -2.60009765625, 6.085205078125, -0.8544921875, 2.6165771484375, 0.322265625, 0.63812255859375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.8, -6.8, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -15.8, -6.8, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.5, -17.3, -2.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.5, -17.3, -2.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 955, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29838075172850226, -0.8335758438193861, -0.06835001947870024, -1.1561930061312473, 0.3885596047301668, -0.446763230576222, -0.02703459593011415 ], "act_joint_pos_r": [ -0.30275718969195387, -1.1464222212727992, 0.12579628759759331, -0.38782889243877733, -0.09469848896216292, 1.1277187150321057, -0.18398102202385097 ], "act_eef_pose_l": [ 563.3182875079824, 201.82709076978367, 41.446831447887746, 1.8637371886496226, -0.09264408194367517, 0.6604550666614913 ], "act_eef_pose_r": [ 602.0070644042034, -190.4715481268787, 51.596143346919945, 1.670384288463365, -0.05125056648752196, 2.6626936163584136 ], "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": [ 0.2964468633619961, -0.8363571341650248, -0.06818052917425482, -1.1492006373721344, 0.38675258292786197, -0.4533987091209682, -0.027577106045743094 ], "joint_pos_r": [ -0.31133085971498436, -1.1132589477614747, 0.12706732131327142, -0.4196733510985423, -0.07926629769412241, 1.1293787447809573, -0.19127576290653556 ], "eef_pose_l": [ 564.1417183224179, 201.7435852591471, 41.94061534205039, 1.8635840718510264, -0.09044230154847692, 0.6587612525310393 ], "eef_pose_r": [ 597.108078037991, -200.74592880895955, 51.82095158719031, 1.659352251939578, -0.053909172625878084, 2.660309622663007 ], "joint_status_l": { "velocity": [ 0.20885378376922503, 0.30037049837439156, -0.01830441302025365, -0.7551535539214171, 0.19515259893054804, 0.7166105475344686, 0.05858936448699392 ], "torque": [ -25.10009765625, 8.4521484375, -18.49365234375, -5.572509765625, -0.9356689453125, 1.669921875, 0.2288818359375 ] }, "joint_status_r": { "velocity": [ 0.9259290536696163, -3.58152790770383, -0.13726759280197065, 3.439100104418724, -1.6666275023976551, -0.17927792535665787, 0.787808780152055 ], "torque": [ 47.8857421875, -1.93359375, 6.005859375, -0.35400390625, 2.6953125, 0.3955078125, 0.59234619140625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.6, -6.5, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.0, -15.6, -6.5, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.2, -17.3, -2.9, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.2, -17.3, -2.9, 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": 2, "position": 45, "motor_current": 950, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.29889787488916963, -0.8323511654127661, -0.06840018377041139, -1.155812437560589, 0.3859667359868098, -0.448351204968803, -0.024091656258962778 ], "act_joint_pos_r": [ -0.3010988840790083, -1.157744298179343, 0.1252111938031706, -0.36313816643878233, -0.09525746503871257, 1.138655589122354, -0.18567744301373024 ], "act_eef_pose_l": [ 563.1134875079824, 202.41909076978368, 41.316431447887965, 1.8634592158705217, -0.09261828004510549, 0.6602152728921733 ], "act_eef_pose_r": [ 603.7286644042034, -190.3427481268787, 51.04814334691994, 1.6718330618377248, -0.050174373894401485, 2.660719492486514 ], "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": [ 0.296695138701052, -0.835972119710781, -0.06820256997495044, -1.1499675612466715, 0.38680582132402763, -0.4527422198388283, -0.027344874080390526 ], "joint_pos_r": [ -0.30975644464396457, -1.1198369879395143, 0.12680017282518471, -0.4119824025380941, -0.08185887663654302, 1.1301936820316694, -0.1902452763836123 ], "eef_pose_l": [ 564.0371931710415, 201.7874553200053, 41.876914261903835, 1.8635854568106247, -0.09068920253591271, 0.6589383780761867 ], "eef_pose_r": [ 598.1174610713632, -199.05734236563228, 51.7145792612437, 1.6612904344046902, -0.05336252635412186, 2.6605073743381356 ], "joint_status_l": { "velocity": [ 0.23788849217032393, 0.3910515307374851, -0.021341660471130286, -0.6312280248277347, -0.09061854376835043, 0.47421561972083026, 0.3513371625784856 ], "torque": [ -25.4150390625, 8.935546875, -19.00634765625, -5.89599609375, -2.17529296875, 1.6094970703125, -0.1629638671875 ] }, "joint_status_r": { "velocity": [ 0.9349889649898913, -4.093868763696662, -0.17160467316834627, 5.275021920270628, -1.4470048703069116, 0.9138590129627033, 0.49331145450381975 ], "torque": [ 47.77587890625, -1.8896484375, 6.219482421875, -0.750732421875, 2.786865234375, 1.6168212890625, 0.68756103515625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.0, -6.7, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.0, -16.0, -6.7, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.1, -17.6, -1.7, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.1, -17.6, -1.7, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 994, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.2998768264519716, -0.8309726500856959, -0.06849844728229573, -1.1611200099339565, 0.38711655646517007, -0.4394523076256246, -0.02686096352278449 ], "act_joint_pos_r": [ -0.3016512045533384, -1.159090911501358, 0.12519812407916844, -0.36322806380934636, -0.1006576403553403, 1.1365177577377348, -0.18117318369161045 ], "act_eef_pose_l": [ 563.1702875079823, 202.51909076978367, 41.32363144788775, 1.862503001809657, -0.09240965473571579, 0.6655258943573129 ], "act_eef_pose_r": [ 603.6934644042035, -189.6539481268787, 49.66974334691989, 1.6770044180328258, -0.05294924453813025, 2.6606666375655403 ], "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": [ 0.29715518509689576, -0.8352325111841112, -0.06824459472634875, -1.1513836697653865, 0.3867403680492275, -0.4513242254360833, -0.026969349715776803 ], "joint_pos_r": [ -0.3082806518200973, -1.1266732602432952, 0.126517927992821, -0.4033552726231698, -0.08476498924089397, 1.1314771785121682, -0.18898962797509564 ], "eef_pose_l": [ 563.8787795755884, 201.90622150739333, 41.777596084561054, 1.8634942385271596, -0.09101578353868306, 0.6595466874964978 ], "eef_pose_r": [ 599.1384121587018, -197.4599767451752, 51.44638830367103, 1.663647543814067, -0.05306619362068198, 2.660544682780144 ], "joint_status_l": { "velocity": [ 0.2939285973875272, 0.46005143013694294, -0.027415267472186144, -1.051493726055952, 0.04062715068808842, 1.282129309147173, 0.011705363611919095 ], "torque": [ -24.7705078125, 7.41943359375, -20.111083984375, -5.621337890625, -1.8511962890625, 1.820068359375, -0.05767822265625 ] }, "joint_status_r": { "velocity": [ 0.7159591887226924, -3.5010030793038993, -0.14253461884072838, 4.333610738876281, -1.7163556991547368, 0.5443665011295451, 0.8441510857111201 ], "torque": [ 48.11279296875, -1.77978515625, 6.060791015625, -1.01318359375, 2.8564453125, 2.2796630859375, 0.8038330078125 ] }, "eef_FT_l": { "raw_value": [ -0.4, -15.8, -7.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.4, -15.8, -7.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.6, -17.6, -0.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.6, -17.6, -0.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 228, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 994, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3011034679725609, -0.8258751477634649, -0.0688217540156033, -1.174842123303241, 0.39387907781806325, -0.43000842862203886, -0.034232379120514196 ], "act_joint_pos_r": [ -0.3000804720738408, -1.1637305260832065, 0.1249676850019816, -0.35252563580915824, -0.103993687277244, 1.1429069817005737, -0.17872146350660087 ], "act_eef_pose_l": [ 561.3846875079823, 202.11109076978366, 41.48443144788763, 1.8626706941224824, -0.09238117106867555, 0.6668605963776904 ], "act_eef_pose_r": [ 604.1398644042034, -189.5971481268787, 49.480943346919986, 1.6796721889967665, -0.05383363736950225, 2.6614828179927024 ], "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": [ 0.29777502738898604, -0.8339894361216876, -0.06832034974838747, -1.1544027345588108, 0.38739228656059405, -0.4482688971145009, -0.02758196106343801 ], "joint_pos_r": [ -0.3068501945853306, -1.1333249455556953, 0.12624243271997687, -0.394562050086203, -0.08814573853950791, 1.133151012956513, -0.18723537115143493 ], "eef_pose_l": [ 563.5941471321407, 201.98712563682605, 41.70127011397213, 1.863333505098635, -0.09127633256837785, 0.6607909437670716 ], "eef_pose_r": [ 600.079377134368, -195.98707146866985, 51.07829701434662, 1.6664500395852757, -0.05312643055387875, 2.660670649864685 ], "joint_status_l": { "velocity": [ 0.3594609812909155, 0.8763172970915889, -0.054150063788505065, -2.207388880943739, 0.7005527941061906, 1.9720724340186457, -0.7182239672806345 ], "torque": [ -25.224609375, 8.7451171875, -15.423583984375, -5.743408203125, -0.845947265625, 1.6351318359375, -0.30487060546875 ] }, "joint_status_r": { "velocity": [ 0.7311084683494506, -3.2837058492436455, -0.1376686932224036, 4.539798847711385, -1.711527984855743, 1.0536135496863608, 0.9194749071794739 ], "torque": [ 48.896484375, -2.6953125, 5.70068359375, -0.653076171875, 2.940673828125, 2.6019287109375, 0.80108642578125 ] }, "eef_FT_l": { "raw_value": [ 0.3, -16.6, -7.9, 1.5, -0.1, 0.1 ], "actual_contact_FT": [ 0.3, -16.6, -7.9, 1.5, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.1, -17.5, -1.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.1, -17.5, -1.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 213, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 1007, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30177664357976103, -0.8310902254370697, -0.06851630548902674, -1.1641822012672456, 0.38579407126954113, -0.43605399105236164, -0.02523618958717685 ], "act_joint_pos_r": [ -0.29777028997634014, -1.175046030758184, 0.12447103699716025, -0.33164406530569707, -0.11561131069932262, 1.151497640302755, -0.1726828586518526 ], "act_eef_pose_l": [ 562.6742875079824, 201.77509076978367, 40.69163144788769, 1.8619965345443343, -0.091924082357339, 0.6655480392689718 ], "act_eef_pose_r": [ 605.1878644042034, -188.4227481268787, 47.58174334691992, 1.6901622534663963, -0.0554792622209752, 2.6623299533966227 ], "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": [ 0.2984620423396856, -0.8329034361749372, -0.06838890003755776, -1.1573510003492409, 0.38792414290396954, -0.4453362198078375, -0.02806649120616322 ], "joint_pos_r": [ -0.30530977854544006, -1.140349601180578, 0.12594541497176745, -0.3842592737461379, -0.09245255390518511, 1.135964646962124, -0.18494451369815101 ], "eef_pose_l": [ 563.2896208173404, 201.98165186936725, 41.58853561590365, 1.8631598712000115, -0.09144593814824732, 0.6618245711306622 ], "eef_pose_r": [ 601.0026320643045, -194.654303012505, 50.55083648213028, 1.6700948731219205, -0.053399388702424895, 2.6609423026666548 ], "joint_status_l": { "velocity": [ 0.35796637627427685, 0.19582098425807715, -0.013759382947287069, -0.7377479404322429, -0.23004095182299622, 1.0024511398754044, 0.30566355978572934 ], "torque": [ -25.4443359375, 7.7490234375, -16.265869140625, -4.852294921875, -2.7301025390625, 1.4996337890625, 0.07049560546875 ] }, "joint_status_r": { "velocity": [ 0.8142407507154559, -3.7471038794603118, -0.15922812507507267, 5.682274921827268, -2.5010719685920613, 1.6775138051627891, 1.3242196892282454 ], "torque": [ 48.72802734375, -1.7431640625, 5.413818359375, -0.67138671875, 2.713623046875, 2.6202392578125, 0.7470703125 ] }, "eef_FT_l": { "raw_value": [ -0.7, -15.7, -6.7, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.7, -15.7, -6.7, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.6, -17.2, -0.6, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.6, -17.2, -0.6, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 185, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 976, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3015268444228087, -0.8320659078551547, -0.06845565603402884, -1.161582190896744, 0.3837698420276131, -0.4388354971234968, -0.02369800833128404 ], "act_joint_pos_r": [ -0.29726408979141494, -1.1761062397466497, 0.1244459017998661, -0.33020291836673865, -0.11794642960252677, 1.1515937787582422, -0.17050022689010044 ], "act_eef_pose_l": [ 562.8622875079823, 201.70469076978367, 40.71163144788767, 1.8617211186385094, -0.09115038899265669, 0.6644804173430339 ], "act_eef_pose_r": [ 605.3222644042035, -188.2139481268787, 47.368943346919906, 1.6921349161396593, -0.05643365521444193, 2.662276365072965 ], "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": [ 0.29903008074873355, -0.8326531936812109, -0.06840705346071976, -1.1583713488074108, 0.38740157786373186, -0.44389559517961663, -0.027455164527500565 ], "joint_pos_r": [ -0.30392638427799584, -1.1465896755243286, 0.1256822324732866, -0.3748131185860258, -0.09677947987701906, 1.1387205732013626, -0.18255945409155758 ], "eef_pose_l": [ 563.1949604822069, 201.93953134586502, 41.4314759456945, 1.8629312035956986, -0.09147620184949913, 0.6624047732638204 ], "eef_pose_r": [ 601.7881278433566, -193.5365744153747, 49.99578341915171, 1.6738032912973422, -0.05381517769979318, 2.661208007916029 ], "joint_status_l": { "velocity": [ 0.26964252411865175, 0.06342499859446349, -0.005248923108658321, -0.3467607184877153, -0.39221590251115046, 0.5464744726579873, 0.4057609019132713 ], "torque": [ -24.22119140625, 9.07470703125, -17.1630859375, -5.17578125, -3.0084228515625, 1.4630126953125, 0.3369140625 ] }, "joint_status_r": { "velocity": [ 0.7195065838385695, -3.187694919974504, -0.1335197747741601, 4.817759531460908, -2.2859631494756005, 1.3902651964610158, 1.302358126757719 ], "torque": [ 48.01025390625, -1.13525390625, 5.11474609375, 0.054931640625, 2.764892578125, 2.6788330078125, 0.78094482421875 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.9, -7.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -15.9, -7.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.9, -17.2, -0.9, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.9, -17.2, -0.9, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 940, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30230417784779945, -0.8271640082676248, -0.06876917071993835, -1.1753058196003978, 0.3879366990110687, -0.4255819782741078, -0.031053734348622578 ], "act_joint_pos_r": [ -0.2970065872333212, -1.1775075573391258, 0.1244598470761307, -0.3323307742412615, -0.12377558469027193, 1.1478749720279924, -0.1659594667547303 ], "act_eef_pose_l": [ 561.7734875079823, 201.58869076978365, 41.421231447887806, 1.860014061853635, -0.09025295417711619, 0.6699541681790164 ], "act_eef_pose_r": [ 605.3726644042034, -187.0003481268787, 46.49534334692001, 1.6971022966629339, -0.058215936364189036, 2.662696572812762 ], "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": [ 0.29948570773100985, -0.8322717982980847, -0.06843326176816854, -1.1596966733890521, 0.38704667259392506, -0.4422935795240453, -0.02726494523009212 ], "joint_pos_r": [ -0.30344602119621966, -1.1487178714156745, 0.12559309086995837, -0.37159664514746094, -0.09830565396350291, 1.1396487538313378, -0.18168996272428195 ], "eef_pose_l": [ 563.0781282217213, 201.8936783712558, 41.35361230189784, 1.862633102422864, -0.09137277384157232, 0.6630633253821661 ], "eef_pose_r": [ 602.053274134611, -193.15415363873007, 49.80352231974106, 1.6751132479907547, -0.05398854663631724, 2.661294418050037 ], "joint_status_l": { "velocity": [ 0.30438579523384135, 0.5516250539780998, -0.03627709685533054, -1.6857380726378324, 0.09612001814307547, 1.804799705271698, -0.40917715676611066 ], "torque": [ -24.71923828125, 9.10400390625, -18.426513671875, -7.2265625, -1.9482421875, 2.2137451171875, 0.34698486328125 ] }, "joint_status_r": { "velocity": [ 0.6676289010569825, -2.957856542430193, -0.12389276554813922, 4.4703906451935005, -2.121141209298627, 1.2900246448612762, 1.208455828592081 ], "torque": [ 48.33984375, -3.71337890625, 5.2978515625, -1.08642578125, 2.8656005859375, 2.5048828125, 0.8587646484375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.9, -6.9, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -15.9, -6.9, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.6, -17.6, -1.2, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.6, -17.6, -1.2, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 259, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 938, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30232415826823406, -0.829988139200678, -0.06859547874906036, -1.1684153554644383, 0.3807369548055565, -0.43046315399895874, -0.02338463286510853 ], "act_joint_pos_r": [ -0.29612617623531134, -1.1794658191394645, 0.12438133062768277, -0.328991519310492, -0.12916072532746892, 1.1514897601923852, -0.1623725444547236 ], "act_eef_pose_l": [ 562.5598875079824, 201.52549076978366, 41.280431447887906, 1.8587273103758302, -0.09016776610277887, 0.668682901083826 ], "act_eef_pose_r": [ 605.0614644042034, -186.5171481268787, 45.97134334692012, 1.7011797618278617, -0.059590462972878816, 2.665534765854729 ], "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": [ 0.2999510384303257, -0.8317130041942352, -0.06847120732615508, -1.1615773828172797, 0.3864768647684699, -0.44003177734964594, -0.027124995756980668 ], "joint_pos_r": [ -0.30209077643013577, -1.154631331672502, 0.12535938439871672, -0.36343450273036143, -0.1037453060028834, 1.141608348505964, -0.17832288945388008 ], "eef_pose_l": [ 562.943323047315, 201.83619836862974, 41.35046125722167, 1.8620709651437002, -0.09118495345647039, 0.6640682411946996 ], "eef_pose_r": [ 602.7203909055704, -191.89521526266932, 49.10483679417561, 1.6797371807339956, -0.05487948952142872, 2.6618190479898303 ], "joint_status_l": { "velocity": [ 0.2562893836426383, 0.1862799252716485, -0.013420917844897406, -0.7384792656104366, -0.6198919932578484, 1.0333808439355607, 0.40394727853407253 ], "torque": [ -24.6826171875, 8.07861328125, -19.20166015625, -5.908203125, -3.218994140625, 1.6644287109375, 0.1995849609375 ] }, "joint_status_r": { "velocity": [ 0.644157822621505, -2.682045543727085, -0.10562669197888841, 3.7197325016999905, -2.7447843339685196, 1.0671609879029376, 1.7225864549372805 ], "torque": [ 47.9150390625, -2.64404296875, 4.986572265625, -0.62255859375, 2.7392578125, 2.2686767578125, 0.88714599609375 ] }, "eef_FT_l": { "raw_value": [ 0.1, -15.5, -7.0, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.1, -15.5, -7.0, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.9, -17.2, -0.2, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -3.9, -17.2, -0.2, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 232, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 969, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3023429918122128, -0.8323314047194423, -0.06845509989420011, -1.1630692758749017, 0.3773135672030727, -0.4321646580380134, -0.01975300119909916 ], "act_joint_pos_r": [ -0.2950006625223653, -1.1833966216567797, 0.12417621794226887, -0.3184409741347657, -0.1311903375984178, 1.158673194995247, -0.161806823991198 ], "act_eef_pose_l": [ 563.4790875079824, 201.69829076978365, 41.04843144788771, 1.858330043559368, -0.09034342974876929, 0.6696886553193819 ], "act_eef_pose_r": [ 605.3094644042035, -186.7827481268787, 45.79454334691994, 1.702924332298694, -0.059715770204656016, 2.666472275317653 ], "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": [ 0.30040177130302453, -0.8316513614509914, -0.06847885848663576, -1.1622667464786534, 0.38500550423263147, -0.43841495526043306, -0.026008124910832865 ], "joint_pos_r": [ -0.3009550334646763, -1.159305695574491, 0.12517166728624823, -0.35658398094485416, -0.10838530440011511, 1.1438734033748181, -0.17546194492911193 ], "eef_pose_l": [ 562.9750066961503, 201.79561689841762, 41.31244042292013, 1.861385121760228, -0.09101625526959825, 0.6650512631381437 ], "eef_pose_r": [ 603.1703063566058, -190.9613813688153, 48.53443352488142, 1.683623187783545, -0.05567822328974098, 2.662580388454439 ], "joint_status_l": { "velocity": [ 0.20964563182479523, -0.07344250692131737, 0.0025658523072902284, -0.08667061858069758, -0.8307046988669242, 0.6750121916008212, 0.67553343707355 ], "torque": [ -25.3271484375, 2.24853515625, -20.263671875, -5.70068359375, -3.438720703125, 1.7523193359375, 0.45501708984375 ] }, "joint_status_r": { "velocity": [ 0.6430530959322667, -2.6017432825700126, -0.10750535844872289, 4.119323242544937, -2.462870946920881, 1.5983303547724148, 1.4747095670610832 ], "torque": [ 47.68798828125, -3.20068359375, 4.974365234375, -0.341796875, 2.7996826171875, 2.42431640625, 0.89447021484375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.7, -6.8, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.7, -6.8, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.7, -17.3, -2.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -17.3, -2.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 261, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 959, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30170371477708363, -0.8316441947331945, -0.06847858512788255, -1.1621856368086898, 0.37623833900803394, -0.4337853775906325, -0.016652157841799246 ], "act_joint_pos_r": [ -0.29500290586751404, -1.1824867286459053, 0.12422678052777497, -0.32051887772700494, -0.1326910925136593, 1.1570290921651942, -0.16105110981967824 ], "act_eef_pose_l": [ 563.5670875079824, 202.18229076978366, 41.39483144788784, 1.8580498653566384, -0.09265276395172753, 0.6690359089596408 ], "act_eef_pose_r": [ 605.2558644042034, -186.84354812687872, 45.611343346919995, 1.7042571375141589, -0.05958582554344006, 2.666199030178501 ], "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": [ 0.3006592907868637, -0.8317146550530227, -0.06847661677092787, -1.1623372184213954, 0.38377542470661596, -0.4375603705182026, -0.024878438524606934 ], "joint_pos_r": [ -0.29990234912195207, -1.1635252233162325, 0.12499788351656853, -0.3499312108418604, -0.11248331938853721, 1.146417943604403, -0.1730144237319836 ], "eef_pose_l": [ 563.056713102637, 201.80810598408067, 41.29342191893588, 1.8608998113076018, -0.09104981703155177, 0.6657148489528398 ], "eef_pose_r": [ 603.5620503232367, -190.22379741607986, 48.03924842206109, 1.687066722392985, -0.056343660878642086, 2.6632846718016343 ], "joint_status_l": { "velocity": [ 0.11279446424872219, 0.007609490111804007, -0.0002125762814664256, 0.016370331355375356, -0.8139812483531905, 0.4076872120863939, 0.8884121114286214 ], "torque": [ -24.57275390625, 5.76416015625, -20.64208984375, -3.973388671875, -3.5760498046875, 1.5234375, 0.4742431640625 ] }, "joint_status_r": { "velocity": [ 0.5291242657934347, -2.047782179497304, -0.08327666667573563, 3.1764382923649137, -2.182375131799308, 1.145970245980621, 1.291999797031984 ], "torque": [ 49.65087890625, -3.44970703125, 5.023193359375, 0.128173828125, 2.8912353515625, 2.3895263671875, 0.82305908203125 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.7, -6.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.7, -6.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.7, -17.6, -0.3, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.7, -17.6, -0.3, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 240, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 910, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30305894443837383, -0.8235407898513081, -0.06894680890416763, -1.177575531196806, 0.3798776743297969, -0.42599764694834974, -0.018784222037462026 ], "act_joint_pos_r": [ -0.29329932981701257, -1.1907525152358927, 0.12383592390607764, -0.30183577265477507, -0.13214509337106017, 1.1665799596204387, -0.16066680283106227 ], "act_eef_pose_l": [ 561.2086875079824, 202.68629076978365, 41.855631447887674, 1.857495752315406, -0.09466843013991666, 0.6693146070327538 ], "act_eef_pose_r": [ 606.3118644042034, -186.7731481268787, 45.744143346919856, 1.7041735859616391, -0.060807840189466056, 2.6652715116953885 ], "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": [ 0.30099688167001226, -0.8307877859907761, -0.06852980048584485, -1.1640470566512067, 0.3828534774636398, -0.4360141305194024, -0.02366455108499661 ], "joint_pos_r": [ -0.2988533418680877, -1.1677056285645833, 0.1248239350140575, -0.34302410475753775, -0.11626397030158338, 1.1491124783774365, -0.1707252046082387 ], "eef_pose_l": [ 562.8821988703777, 201.93093366649694, 41.36325750259968, 1.8603288977138874, -0.09156324964997894, 0.666330543914622 ], "eef_pose_r": [ 604.0110225209677, -189.53804117504242, 47.55890304524226, 1.6904909771077086, -0.05705932923617162, 2.6638153022262587 ], "joint_status_l": { "velocity": [ 0.22269621090931224, 0.7826524999607898, -0.04503558092538995, -1.4610321600834197, -0.3213772599393039, 1.081748321212661, 0.5270599923302144 ], "torque": [ -23.876953125, 8.232421875, -20.4345703125, -5.255126953125, -3.475341796875, 1.85302734375, 0.49346923828125 ] }, "joint_status_r": { "velocity": [ 0.5998156109003894, -2.4889903516545075, -0.10670205265306265, 4.448208674196152, -1.7151107070171312, 1.8864323368958935, 1.086275353956001 ], "torque": [ 49.35791015625, -1.34033203125, 4.74853515625, -0.84228515625, 2.89306640625, 2.6513671875, 0.88531494140625 ] }, "eef_FT_l": { "raw_value": [ -0.3, -15.4, -6.7, 1.4, -0.1, 0.0 ], "actual_contact_FT": [ -0.3, -15.4, -6.7, 1.4, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -3.4, -17.1, -2.6, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.4, -17.1, -2.6, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 223, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 935, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3028045141887948, -0.8300739827388057, -0.06854876044990073, -1.1623704273941047, 0.3722284491860781, -0.43448217672078016, -0.009964363113609301 ], "act_joint_pos_r": [ -0.2938858281876824, -1.2021425416825322, 0.1232929143005513, -0.2745619448334339, -0.13353287275602543, 1.1808887957040481, -0.16133874477603954 ], "act_eef_pose_l": [ 563.2934875079824, 202.86069076978367, 41.118031447887745, 1.8574625735575125, -0.09478632638696502, 0.6687232424294987 ], "act_eef_pose_r": [ 607.0966644042035, -187.0507481268787, 43.72174334692002, 1.7074740381978617, -0.06326109137394856, 2.664123663688339 ], "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": [ 0.30133276107548973, -0.8302436800786206, -0.06855861416859192, -1.1647232178426463, 0.38146417029065, -0.4352005503096389, -0.021806410098326567 ], "joint_pos_r": [ -0.29806064204460936, -1.1721822749194855, 0.1246273229363412, -0.33442948220729674, -0.11879383737506216, 1.1529928828743707, -0.16925609895152077 ], "eef_pose_l": [ 562.8220571173377, 202.083661591187, 41.36702002456349, 1.859821944605822, -0.09212554134178953, 0.6667874701072977 ], "eef_pose_r": [ 604.4271759793397, -189.18244290740247, 47.126575759500014, 1.6926532220327775, -0.057745384049217655, 2.663932659678083 ], "joint_status_l": { "velocity": [ 0.15894464841492706, 0.018326772180721207, 0.0010641702326563696, 0.25409387434471853, -0.9974284617140228, 0.07758205943630969, 1.2789033551112716 ], "torque": [ -24.0234375, 3.1201171875, -20.562744140625, -2.227783203125, -3.6822509765625, 1.32568359375, 0.501708984375 ] }, "joint_status_r": { "velocity": [ 0.4508665989488847, -3.2356133810935717, -0.14411188231255867, 6.465503346549273, -1.591768874430577, 3.012669731660367, 0.8550490326288962 ], "torque": [ 49.2626953125, -2.42431640625, 4.7607421875, 0.9765625, 2.6861572265625, 1.70654296875, 0.699462890625 ] }, "eef_FT_l": { "raw_value": [ -0.1, -15.5, -6.3, 1.3, 0.0, 0.1 ], "actual_contact_FT": [ -0.1, -15.5, -6.3, 1.3, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.4, -17.1, 0.8, 1.0, 0.3, 0.0 ], "actual_contact_FT": [ -2.4, -17.1, 0.8, 1.0, 0.3, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 246, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 950, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30228898373811874, -0.832992218880932, -0.06837335493130779, -1.1555877449072571, 0.3683844474383019, -0.4400531044370202, -0.006358775067658414 ], "act_joint_pos_r": [ -0.2946576136832726, -1.1990261352188085, 0.12349829187013202, -0.28571211751968656, -0.13780415859691342, 1.1709168188016146, -0.15682645985393734 ], "act_eef_pose_l": [ 564.0094875079824, 202.70069076978368, 41.02603144788765, 1.8571233001785312, -0.09397118396007587, 0.6669671580303002 ], "act_eef_pose_r": [ 607.0342644042034, -186.3747481268787, 42.886543346920035, 1.7114981927532107, -0.06523372444344264, 2.6624022782500334 ], "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": [ 0.3015165365119653, -0.8305450846327489, -0.06853720100925052, -1.163571053024109, 0.3795120928034971, -0.4357110922538858, -0.019452768066790346 ], "joint_pos_r": [ -0.2973585378817828, -1.1774942121323366, 0.12439824561035291, -0.3243705147778534, -0.12206204552515086, 1.1571409787257638, -0.16725024647407072 ], "eef_pose_l": [ 562.9801862514853, 202.19286450212576, 41.314498010337275, 1.859401480286366, -0.09246717997414314, 0.666903178353712 ], "eef_pose_r": [ 604.9562124635113, -188.70739217060137, 46.38235172921031, 1.69588238410829, -0.05896164900374195, 2.6637960062262254 ], "joint_status_l": { "velocity": [ 0.0834218400287412, -0.26428270420186806, 0.017694854536010052, 0.862171848220683, -1.2017502557122306, -0.46892348561966557, 1.414109536974878 ], "torque": [ -24.2431640625, 1.8896484375, -20.513916015625, -1.495361328125, -3.5101318359375, -0.267333984375, 0.44036865234375 ] }, "joint_status_r": { "velocity": [ 0.2916912104669045, -2.3253791099477894, -0.097192137414992, 4.174983769317908, -1.7000980700380142, 1.4877468494436386, 1.125735753173096 ], "torque": [ 49.63623046875, -1.85302734375, 4.840087890625, -0.1220703125, 2.779541015625, 2.127685546875, 0.7269287109375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.1, -6.3, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ 0.0, -16.1, -6.3, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.4, -17.2, -0.8, 1.1, 0.2, 0.0 ], "actual_contact_FT": [ -3.4, -17.2, -0.8, 1.1, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 976, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30236819940020027, -0.833194985846859, -0.06836486174986108, -1.1556145696339284, 0.3682104258913418, -0.44105661079725966, -0.005524117835654383 ], "act_joint_pos_r": [ -0.2945500504915412, -1.2008063333792767, 0.12343219129670684, -0.28221387886900046, -0.13897612277624072, 1.1735748829248942, -0.1551987255161062 ], "act_eef_pose_l": [ 563.8254875079823, 202.44229076978365, 40.97563144788779, 1.8571676806955435, -0.09423386697209515, 0.6655859512711094 ], "act_eef_pose_r": [ 606.9614644042034, -186.1339481268787, 42.59934334692005, 1.7124835245114536, -0.0668866674512083, 2.663329622598781 ], "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": [ 0.3016609908773963, -0.8309979267982381, -0.06850738686920353, -1.162162205160377, 0.3775273224645193, -0.43657861047474433, -0.01705462067267679 ], "joint_pos_r": [ -0.2969038197451243, -1.1812110276407437, 0.1242437227056187, -0.31766730154228057, -0.1247665451526929, 1.159670047475186, -0.16537472164092684 ], "eef_pose_l": [ 563.1538239817052, 202.25944192268076, 41.25254473949525, 1.8589842730373152, -0.09277674938621967, 0.6667554227317662 ], "eef_pose_r": [ 605.3078205921945, -188.3013254138616, 45.77613004425413, 1.698529714535643, -0.06012699136495718, 2.663678483957064 ], "joint_status_l": { "velocity": [ 0.07637626786483054, -0.23727537918727393, 0.015392258918611734, 0.707123781355179, -1.006195153763656, -0.4836097715235077, 1.2452575794893173 ], "torque": [ -24.228515625, 0.322265625, -20.526123046875, -1.26953125, -3.5137939453125, -0.41748046875, 0.47882080078125 ] }, "joint_status_r": { "velocity": [ 0.25419958217121064, -2.116230604874758, -0.0876428072760227, 3.8288567226221204, -1.5345891230562625, 1.5016779389451784, 1.0989751689407523 ], "torque": [ 50.88134765625, -2.14599609375, 4.443359375, -1.116943359375, 2.8546142578125, 2.40234375, 0.648193359375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.9, -6.6, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ 0.0, -15.9, -6.6, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.2, -17.3, -0.6, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.2, -17.3, -0.6, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 938, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3028243833476147, -0.8324297943835993, -0.06841688786295808, -1.1582312740943634, 0.3696368699799833, -0.43963042616509374, -0.006373802603746996 ], "act_joint_pos_r": [ -0.2947661106980028, -1.2121673795656878, 0.12293391738864279, -0.25699814355339523, -0.1420902175445704, 1.1909294221414894, -0.15265975482713767 ], "act_eef_pose_l": [ 563.3790875079824, 202.19989076978368, 40.85083144788774, 1.8574557468185453, -0.09454238599760927, 0.6650706595450552 ], "act_eef_pose_r": [ 606.8358644042034, -185.4691481268787, 40.80174334691995, 1.7159759650100792, -0.07213717163716443, 2.6670159832057134 ], "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": [ 0.3017830061697313, -0.8312196323086479, -0.06849317678272288, -1.1615257298583734, 0.37645604027754115, -0.4370401053568074, -0.01566279066885236 ], "joint_pos_r": [ -0.29651203439669105, -1.18595765496025, 0.12404401049542019, -0.30855342359225946, -0.12763032118197298, 1.1640868744829782, -0.1632890153557525 ], "eef_pose_l": [ 563.1973188770181, 202.2625098341624, 41.2116898637515, 1.858803065342322, -0.0929618738099143, 0.6665847155665584 ], "eef_pose_r": [ 605.6162717641981, -187.847262349499, 45.00622468851077, 1.7013657804305367, -0.06186053778367905, 2.664056756348534 ], "joint_status_l": { "velocity": [ 0.1124654182209639, -0.13069364949203077, 0.00823896033946836, 0.3557907290279161, -0.7364486717440499, -0.27974639661598744, 1.0031811237856958 ], "torque": [ -24.19189453125, 0.703125, -20.37353515625, -1.06201171875, -3.577880859375, -0.435791015625, 0.567626953125 ] }, "joint_status_r": { "velocity": [ 0.18855419834951093, -2.8305667742820617, -0.11988651966809982, 5.567806030536193, -1.5616227495593993, 2.898909648347825, 1.1479262808147261 ], "torque": [ 51.0205078125, -3.4423828125, 4.55322265625, 0.469970703125, 2.8582763671875, 2.6953125, 0.5621337890625 ] }, "eef_FT_l": { "raw_value": [ -0.3, -15.7, -7.0, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.3, -15.7, -7.0, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.8, -17.2, -1.0, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -3.8, -17.2, -1.0, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 927, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30248044335063917, -0.838984959681342, -0.0680157013028698, -1.1414287005297983, 0.36305734897190994, -0.44974837867098644, 0.0017589811748169456 ], "act_joint_pos_r": [ -0.2967152938203972, -1.2137840842274423, 0.12294072587328997, -0.25869487145542147, -0.15201846752357584, 1.1948639034310458, -0.14505417793570524 ], "act_eef_pose_l": [ 565.5518875079823, 202.72789076978367, 39.96283144788782, 1.858160999787684, -0.09477018952806604, 0.6643381589028621 ], "act_eef_pose_r": [ 605.0038644042035, -183.5875481268787, 38.13934334691979, 1.724161086219579, -0.07878543833067815, 2.6748218978637115 ], "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": [ 0.30195032548772655, -0.8320113938117157, -0.06844429909603252, -1.1594598521079873, 0.37460187643254267, -0.4383987610735039, -0.013208336380735871 ], "joint_pos_r": [ -0.2964232917354986, -1.190774188133753, 0.1238485049902358, -0.2996294802237833, -0.13130728418122617, 1.169276840550893, -0.16055143796488597 ], "eef_pose_l": [ 563.419290177662, 202.29623292520597, 41.064171058001875, 1.8586229340276639, -0.09327522299738125, 0.6662326320271422 ], "eef_pose_r": [ 605.6561043132289, -187.2149478009473, 43.958963205824574, 1.7048396760057485, -0.06434591203683422, 2.6655020304081205 ], "joint_status_l": { "velocity": [ 0.057251040665118325, -0.7531229017470054, 0.0462871964936884, 1.9473069376960694, -1.2467721941682441, -1.2257225497736002, 1.6164226221628275 ], "torque": [ -25.048828125, 0.3955078125, -19.90966796875, -0.537109375, -3.4808349609375, -0.318603515625, 0.53466796875 ] }, "joint_status_r": { "velocity": [ -0.03153529508503894, -2.4849954870944657, -0.09803725317603096, 4.42080736223982, -2.2367418317996712, 2.7633212912494542, 1.6736547213442865 ], "torque": [ 47.578125, -4.18212890625, 4.241943359375, -0.921630859375, 2.39501953125, 2.384033203125, 0.5511474609375 ] }, "eef_FT_l": { "raw_value": [ -1.1, -15.0, -5.6, 1.3, -0.2, 0.0 ], "actual_contact_FT": [ -1.1, -15.0, -5.6, 1.3, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.1, -16.1, 0.3, 0.9, 0.0, 0.0 ], "actual_contact_FT": [ -4.1, -16.1, 0.3, 0.9, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 929, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3026428131332075, -0.8396649464148069, -0.06797486120082598, -1.1396811193483525, 0.36068501573839923, -0.4512684929323226, 0.003419722304236454 ], "act_joint_pos_r": [ -0.29554723703811847, -1.2301928482508997, 0.12224247433260084, -0.2209242955869637, -0.155656893815999, 1.2195583747474148, -0.14175318872199177 ], "act_eef_pose_l": [ 565.6822875079823, 202.68389076978366, 39.89483144788784, 1.8576351932010873, -0.09383290704211937, 0.6640047731503879 ], "act_eef_pose_r": [ 605.2166644042035, -183.0755481268787, 36.52014334692015, 1.728261626972914, -0.08532470390339152, 2.6782778392774467 ], "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": [ 0.3020557619278156, -0.8332934071165964, -0.06836557476021815, -1.1561457892624436, 0.37238965754857556, -0.4405150717770279, -0.010442246467594769 ], "joint_pos_r": [ -0.2963466841316027, -1.1969755229403594, 0.12359810840229851, -0.28762918293039635, -0.13563303607945296, 1.1769003380431668, -0.15724938825288873 ], "eef_pose_l": [ 563.807486554805, 202.36983848855593, 40.85977276022538, 1.8585252910057206, -0.09346451146198603, 0.6658700618280189 ], "eef_pose_r": [ 605.6106376622033, -186.47491654595495, 42.66779199920401, 1.7089098163970573, -0.06768025919478607, 2.667710003370169 ], "joint_status_l": { "velocity": [ 0.06339966030921573, -0.6881059496066655, 0.04219581991515842, 1.7781319075247382, -1.2640640339234288, -1.1613352330201998, 1.497048474273177 ], "torque": [ -25.1806640625, 0.81298828125, -18.646240234375, -0.665283203125, -3.424072265625, -0.6060791015625, 0.574951171875 ] }, "joint_status_r": { "velocity": [ 0.08633773970068148, -3.587365329853043, -0.146404161567526, 7.203915364964342, -2.162512855639509, 4.6069320898585175, 1.6735401909073744 ], "torque": [ 46.7431640625, -3.5302734375, 3.52783203125, -1.220703125, 2.171630859375, 2.9425048828125, 0.8843994140625 ] }, "eef_FT_l": { "raw_value": [ -0.3, -15.9, -6.8, 1.4, -0.1, 0.1 ], "actual_contact_FT": [ -0.3, -15.9, -6.8, 1.4, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.8, -14.4, 1.1, 0.4, 0.0, 0.0 ], "actual_contact_FT": [ -4.8, -14.4, 1.1, 0.4, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 284, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 978, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3032655378940269, -0.8360108897671915, -0.06820269820477887, -1.1497263952011607, 0.3652147300606932, -0.44460991409551653, 4.318869438955593e-05 ], "act_joint_pos_r": [ -0.29483194642471044, -1.2380840043816954, 0.12192130660029384, -0.20207501426893668, -0.15757139381996366, 1.229840900231558, -0.14131550532845052 ], "act_eef_pose_l": [ 564.3966875079823, 202.30309076978367, 40.14123144788783, 1.8577129328663133, -0.09542161133921466, 0.6641757043827388 ], "act_eef_pose_r": [ 605.6430644042034, -183.1835481268787, 35.70734334692, 1.730836907144418, -0.08695178592451394, 2.677900905234132 ], "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": [ 0.30222021962363704, -0.8341840325024614, -0.06831128338688384, -1.153896103294677, 0.3705660846526518, -0.44197598934234245, -0.008111816868759893 ], "joint_pos_r": [ -0.2962460732485223, -1.2005121988787004, 0.1234537988399627, -0.28043850786226865, -0.13768117120841847, 1.1814465570538835, -0.15569514846545482 ], "eef_pose_l": [ 564.0522549682273, 202.3967090022206, 40.695785599309914, 1.8583765816549185, -0.09366590245410517, 0.6655294867519801 ], "eef_pose_r": [ 605.6196912436944, -186.1439096135143, 42.025589409888454, 1.7108863288142142, -0.06940540463946118, 2.668778817215712 ], "joint_status_l": { "velocity": [ 0.11289104365852509, -0.19729476569274595, 0.011726853802296322, 0.45031519276328424, -0.5779292508196754, -0.28445548377664664, 0.880714625530743 ], "torque": [ -24.6826171875, 0.3515625, -16.83349609375, -0.76904296875, -3.292236328125, -0.8660888671875, 0.5145263671875 ] }, "joint_status_r": { "velocity": [ 0.15272119270104412, -4.057635320766195, -0.16550428059647349, 8.46300770500985, -2.1480806877934855, 5.226434917730671, 1.5529556568179004 ], "torque": [ 46.494140625, -2.67333984375, 2.783203125, 0.40283203125, 1.695556640625, 2.3602294921875, 0.9393310546875 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.7, -7.2, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -15.7, -7.2, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -5.2, -12.7, 0.7, 0.2, 0.0, 0.0 ], "actual_contact_FT": [ -5.2, -12.7, 0.7, 0.2, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 959, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3032836895612715, -0.8318813967695358, -0.06844086559033706, -1.1580843938789749, 0.3669529162721471, -0.4444977011259758, -0.004156955738971486 ], "act_joint_pos_r": [ -0.2986983662526965, -1.2259731315259617, 0.12253038654588735, -0.23767971012163716, -0.16708381177836082, 1.207915952118126, -0.1303134711313301 ], "act_eef_pose_l": [ 562.5934875079823, 201.90469076978366, 40.71163144788767, 1.857191340181055, -0.09272305790242663, 0.6610655720774267 ], "act_eef_pose_r": [ 603.9854644042034, -181.5435481268787, 33.26094334691996, 1.7390430780104127, -0.09348450619622545, 2.679280203345389 ], "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": [ 0.30240634944876404, -0.8342092925595087, -0.06830925689875776, -1.1537614901680415, 0.36974524643717044, -0.4424335986307565, -0.006972781083954537 ], "joint_pos_r": [ -0.29613147709515497, -1.2075355411787805, 0.12317238180196698, -0.26624414540195457, -0.14209843871755684, 1.1902152345373629, -0.15232056649201822 ], "eef_pose_l": [ 563.9832694635993, 202.35135320188596, 40.63837298926319, 1.85822366309547, -0.09378084157564592, 0.6650651195290737 ], "eef_pose_r": [ 605.6156844978393, -185.48251641313388, 40.63508626173146, 1.7152155166465926, -0.07308590556204267, 2.6707348517956473 ], "joint_status_l": { "velocity": [ 0.09474993765046236, 0.2514053305135988, -0.014213319491085397, -0.4668598314854222, -0.3015627637044105, -0.22291649491279486, 0.3041001683031369 ], "torque": [ -24.5068359375, 5.80810546875, -15.78369140625, -4.43115234375, -3.321533203125, -0.9375, 0.4083251953125 ] }, "joint_status_r": { "velocity": [ -0.2772158529698032, -1.991201030159928, -0.06933344277604281, 3.0848680269552897, -2.698340707261604, 1.9116211184719845, 2.376696202046835 ], "torque": [ 44.677734375, -3.2666015625, 1.654052734375, -0.689697265625, 1.4666748046875, 2.449951171875, 0.7342529296875 ] }, "eef_FT_l": { "raw_value": [ 0.6, -15.7, -7.6, 1.4, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -15.7, -7.6, 1.4, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -5.1, -11.7, -1.0, 0.0, 0.0, 0.0 ], "actual_contact_FT": [ -5.1, -11.7, -1.0, 0.0, 0.0, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 238, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 976, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3032563011322944, -0.8322907283223433, -0.06841870852884577, -1.1574654774942295, 0.36687236517942884, -0.4447964127212114, -0.003380758549250135 ], "act_joint_pos_r": [ -0.2973782686720554, -1.2332093778965378, 0.1222276883019199, -0.21999085779214728, -0.16741379867222775, 1.2185170627527873, -0.12906491562085934 ], "act_eef_pose_l": [ 562.6822875079823, 201.83829076978367, 40.67323144788776, 1.8572548485551665, -0.09332966047634723, 0.6607754895934584 ], "act_eef_pose_r": [ 604.4542644042034, -181.6611481268787, 33.177743346919925, 1.739724967359394, -0.09594279288656253, 2.679288204705922 ], "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": [ 0.30254898853589723, -0.8338503835168284, -0.0683296052117874, -1.1544361902792681, 0.3692815195738893, -0.4427902855212915, -0.006464767877371146 ], "joint_pos_r": [ -0.29650861409111634, -1.2112159588791545, 0.12304128191350187, -0.26016581769382896, -0.14653523819389466, 1.1939608984774617, -0.1483569737263692 ], "eef_pose_l": [ 563.7601705987653, 202.27393582111702, 40.647773364134, 1.8580589412162236, -0.09364174313787778, 0.6643905222604722 ], "eef_pose_r": [ 605.3757095791099, -184.78767958316897, 39.32506873512483, 1.7194376034542418, -0.07676678074157571, 2.6723159989593945 ], "joint_status_l": { "velocity": [ 0.07638750748162337, 0.16843779319763996, -0.00962287443073695, -0.327153370340838, -0.2601810009732475, -0.21665534768322559, 0.3330631842635365 ], "torque": [ -23.69384765625, 7.24365234375, -15.216064453125, -4.449462890625, -3.2464599609375, -0.8148193359375, 0.582275390625 ] }, "joint_status_r": { "velocity": [ -0.09391992472096433, -2.375219200532186, -0.08786551859596425, 4.3387677042685535, -2.2548180293568976, 2.651987525544186, 2.0834808264129645 ], "torque": [ 30.1611328125, -6.7822265625, 1.519775390625, 2.789306640625, 0.941162109375, 2.955322265625, 0.70404052734375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -15.6, -7.1, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ -0.1, -15.6, -7.1, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -5.8, -10.8, -2.5, -0.1, -0.2, 0.0 ], "actual_contact_FT": [ -5.8, -10.8, -2.5, -0.1, -0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 253, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 967, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30265681062115196, -0.8337808466862323, -0.06832080798582613, -1.1528069654080608, 0.36388149256609786, -0.4504247103336491, 0.0002568079614933807 ], "act_joint_pos_r": [ -0.28807838132412383, -1.2913319060356858, 0.11997369091669469, -0.07819268556744953, -0.16502635924707929, 1.3011943254102054, -0.13952001059458694 ], "act_eef_pose_l": [ 562.9462875079823, 201.79989076978367, 40.758031447887845, 1.856956411308865, -0.09337227713932734, 0.6580972574879322 ], "act_eef_pose_r": [ 607.2566644042034, -182.3651481268787, 33.17934334691998, 1.7407075492539665, -0.09773801797290678, 2.679618080250562 ], "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": [ 0.30264772561876896, -0.8336400497465367, -0.06834106092441318, -1.1547672532077886, 0.36872424107497537, -0.4433921064063829, -0.005759775070893823 ], "joint_pos_r": [ -0.29638812531187636, -1.2168185970053031, 0.12283096198432451, -0.24888095945475128, -0.1501563383058044, 1.2007407636142722, -0.14525429342836257 ], "eef_pose_l": [ 563.5813203965522, 202.1950813658687, 40.65539214870566, 1.8579062421609445, -0.09358761219952609, 0.6636334079463577 ], "eef_pose_r": [ 605.3714542225489, -184.26692591014276, 38.21706526655083, 1.7230276736805406, -0.08011065575376111, 2.673613026700797 ], "joint_status_l": { "velocity": [ 0.0009811513197455213, -0.015205621020975002, 0.002187252857832611, 0.21170483847043897, -0.5230014138568606, -0.7594988239238987, 0.6497718035028688 ], "torque": [ -24.30908203125, 6.78955078125, -14.66064453125, -4.6142578125, -3.369140625, -0.81298828125, 0.6005859375 ] }, "joint_status_r": { "velocity": [ 0.8974258825156234, -8.047200035802504, -0.308576174336217, 18.433789904257036, -1.6059148977294324, 10.848664709698141, 0.6192842812344779 ], "torque": [ 28.2861328125, -3.9990234375, 0.457763671875, -1.79443359375, 0.34423828125, 3.1201171875, 0.8349609375 ] }, "eef_FT_l": { "raw_value": [ 0.0, -15.5, -7.4, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ 0.0, -15.5, -7.4, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -6.2, -8.6, -5.3, -0.6, -0.5, -0.1 ], "actual_contact_FT": [ -6.2, -8.6, -5.3, -0.6, -0.5, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 251, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 959, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.3024185820311608, -0.8364946182413533, -0.06815940714608784, -1.1465321868958607, 0.3616107146221765, -0.45618551854646544, 0.0017424905050695118 ], "act_joint_pos_r": [ -0.284097495056621, -1.3156869340714794, 0.11915175096138873, -0.015982037512487085, -0.16739660215487007, 1.3406999597166662, -0.1408606764558977 ], "act_eef_pose_l": [ 563.4518875079823, 201.59909076978366, 40.44043144788776, 1.857282362929989, -0.09161198630581252, 0.6560645239504564 ], "act_eef_pose_r": [ 606.9886644042034, -182.9379481268787, 32.97774334691988, 1.7435655231154867, -0.10142620652588713, 2.681788185929054 ], "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": [ 0.30263887206034096, -0.833784096947153, -0.06833039343467841, -1.154145152184276, 0.3677682997547733, -0.4448884687553577, -0.004630760992179925 ], "joint_pos_r": [ -0.2951267470047035, -1.2281293511928093, 0.12239724227554255, -0.222971318160441, -0.1524135344204109, 1.2159891207134053, -0.14438385746976015 ], "eef_pose_l": [ 563.4914659453955, 202.11620538011948, 40.657968382052275, 1.8577604147186195, -0.09347018439113719, 0.6625646634839643 ], "eef_pose_r": [ 605.8998478060979, -184.0331572076841, 37.37016247417694, 1.7257049816369667, -0.08260621670054275, 2.674562869395372 ], "joint_status_l": { "velocity": [ -0.023790621484387486, -0.29272766623300583, 0.018465974542969388, 0.8221760023641167, -0.6649995812066933, -1.2200453941240141, 0.6882908616490935 ], "torque": [ -26.9677734375, 2.7392578125, -13.623046875, -0.775146484375, -3.424072265625, -0.736083984375, 0.5804443359375 ] }, "joint_status_r": { "velocity": [ 0.7612010430779748, -6.825674610517751, -0.2617358272699599, 15.635631171751818, -1.362144906963625, 9.201890711993954, 0.5252799702142319 ], "torque": [ 38.57666015625, -4.40185546875, -1.495361328125, 0.7568359375, -1.058349609375, 3.0596923828125, 0.8843994140625 ] }, "eef_FT_l": { "raw_value": [ -0.3, -15.1, -6.8, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.3, -15.1, -6.8, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -6.2, -4.9, -7.6, -1.4, -0.5, 0.0 ], "actual_contact_FT": [ -6.2, -4.9, -7.6, -1.4, -0.5, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 248, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 938, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30325581813978125, -0.8389376074437597, -0.06802292828638164, -1.141959839989854, 0.36211310046043566, -0.45848601956964397, 0.0017370217805841492 ], "act_joint_pos_r": [ -0.2921042225353072, -1.255390605684314, 0.12134625168716605, -0.1634409563594291, -0.1781101966371557, 1.2570991513954746, -0.11236158083771222 ], "act_eef_pose_l": [ 563.9062875079824, 201.46469076978366, 39.48843144788776, 1.8588468420205726, -0.09079215619465597, 0.6556725534105111 ], "act_eef_pose_r": [ 604.5966644042035, -182.2539481268787, 32.09214334692004, 1.7496563970178771, -0.11336042745350568, 2.6823681039665654 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3026999092025912, -0.8344712145603164, -0.06828903789636429, -1.1524735849259682, 0.36689029922350075, -0.44686290043576204, -0.00366394983636432 ], "joint_pos_r": [ -0.2936191084834971, -1.2403335102026558, 0.12194195141689487, -0.19447471503631558, -0.156018358675657, 1.2335363289866268, -0.14166301099598907 ], "eef_pose_l": [ 563.5377201709819, 202.02255892253714, 40.51512433203504, 1.8578758468493346, -0.09309438384048022, 0.6615328980568865 ], "eef_pose_r": [ 606.2197712762799, -183.83938958036794, 36.3756228225115, 1.7295198984453788, -0.08680944218752744, 2.676052846819485 ], "joint_status_l": { "velocity": [ 0.06003639453755483, -0.4823562050759733, 0.028738990266952147, 1.1354509647638622, -0.5159222500981109, -1.2552598445489949, 0.5832877314783727 ], "torque": [ -23.5107421875, 0.81298828125, -12.5, -0.543212890625, -3.4881591796875, -0.985107421875, 0.57769775390625 ] }, "joint_status_r": { "velocity": [ 0.16360285719629886, -1.62611835222215, -0.06433367339053753, 3.351547088506157, -2.385848133012347, 2.5447097679531794, 3.164461126301976 ], "torque": [ 33.81591796875, -5.80078125, -1.5869140625, -2.734375, -2.1807861328125, 2.947998046875, 1.37054443359375 ] }, "eef_FT_l": { "raw_value": [ -0.2, -15.5, -6.2, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.2, -15.5, -6.2, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -8.7, -1.9, 1.4, -2.4, -0.6, -0.1 ], "actual_contact_FT": [ -8.7, -1.9, 1.4, -2.4, -0.6, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 2, "position": 45, "motor_current": 931, "control_force": 100, "control_position": 20 } }, "actions": { "act_joint_pos_l": [ 0.30381161139465823, -0.8389854669623544, -0.06801449985886777, -1.1410375728733222, 0.3661048654995986, -0.4597752973235769, -0.002267650246796098 ], "act_joint_pos_r": [ -0.2926913733764045, -1.236624923795736, 0.12212978572042613, -0.20592405888905574, -0.1830437940720011, 1.2367830913500633, -0.10581046695741758 ], "act_eef_pose_l": [ 563.7710875079824, 201.69669076978366, 38.733231447887704, 1.8612702847262521, -0.08967263180045495, 0.6553472982389492 ], "act_eef_pose_r": [ 603.0542644042034, -182.4995481268787, 32.93614334692009, 1.7514862813524803, -0.11324241185577723, 2.685475800781117 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3028465801281018, -0.8352102290772306, -0.06824445238228222, -1.1506534408054616, 0.3665019917454173, -0.4489019252880955, -0.003174380806383486 ], "joint_pos_r": [ -0.29343632405718595, -1.2406912539525499, 0.12193243735195974, -0.1941668230741387, -0.1602068748708184, 1.2351174255269006, -0.1361067463444756 ], "eef_pose_l": [ 563.5862048066127, 201.9537552797159, 40.26987543925881, 1.8582829115782014, -0.09260614408247256, 0.6605360647646195 ], "eef_pose_r": [ 605.7845448980695, -183.59758957321617, 35.76660726948376, 1.7330088973233666, -0.09114593262752078, 2.67753386087037 ], "joint_status_l": { "velocity": [ 0.10422030297441154, -0.40771366672132103, 0.024834140084972756, 1.038483108247945, -0.04288836962373921, -1.1742895460131741, 0.09792401232107742 ], "torque": [ -23.2470703125, -0.44677734375, -11.004638671875, -0.8544921875, -2.5616455078125, -1.0272216796875, 0.5914306640625 ] }, "joint_status_r": { "velocity": [ 0.08045230071074272, 0.4391507048779886, 0.021312995201139273, -1.2697440189128884, -2.4663145336687453, 0.17988660342815876, 3.2719016742206453 ], "torque": [ 31.171875, 0.234375, 0.677490234375, -4.443359375, -3.62548828125, 2.691650390625, 0.63720703125 ] }, "eef_FT_l": { "raw_value": [ 0.6, -15.6, -6.9, 1.3, 0.0, 0.0 ], "actual_contact_FT": [ 0.6, -15.6, -6.9, 1.3, 0.0, 0.0 ] }, "eef_FT_r": { "raw_value": [ -7.1, 3.3, -10.1, -2.7, -0.6, 0.0 ], "actual_contact_FT": [ -7.1, 3.3, -10.1, -2.7, -0.6, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 265, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 47, "motor_current": -1204, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3034457327494512, -0.8466442929315172, -0.06753341930761673, -1.118395358763224, 0.35795764176616196, -0.4736575318444866, 0.0035094603744147282 ], "act_joint_pos_r": [ -0.2904813111763165, -1.2371971665741859, 0.12206900240910623, -0.20182997882899967, -0.1824155927102238, 1.2387311411801867, -0.10640964017612385 ], "act_eef_pose_l": [ 566.6222875079824, 203.08309076978367, 37.49403144788772, 1.8624506352853734, -0.08572157510434962, 0.6565513044837906 ], "act_eef_pose_r": [ 603.6742644042034, -183.2587481268787, 34.16654334692001, 1.7505274643939726, -0.11125149578227213, 2.6840212041194405 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3029808135753801, -0.8366395095520506, -0.06815594406833361, -1.1467011620959158, 0.3656214112254809, -0.4522052281484188, -0.002439441740943668 ], "joint_pos_r": [ -0.29312404455008, -1.2400719158011484, 0.1219596600764896, -0.19574803422933512, -0.16390720427004052, 1.235558563152154, -0.13117763981180833 ], "eef_pose_l": [ 563.9079624875604, 202.04634995858285, 39.8694990450162, 1.8589505820784338, -0.09169490416807675, 0.6597350158961357 ], "eef_pose_r": [ 605.3897523408481, -183.47486283412158, 35.407633599189495, 1.7359453743592363, -0.09461084885832792, 2.678781953449668 ], "joint_status_l": { "velocity": [ 0.05020978994085823, -1.0804847377885451, 0.06723069129421777, 3.0569366004069565, -0.8276626910004303, -2.316780469387769, 0.6424624800407293 ], "torque": [ -26.18408203125, -1.48681640625, -7.04345703125, -2.783203125, -3.182373046875, -0.8935546875, 0.56396484375 ] }, "joint_status_r": { "velocity": [ 0.2854067867432697, 0.3104637598738691, 0.011808623645803706, -0.6568306445793315, -1.9988469986986779, 0.34262832174469793, 2.674865069725696 ], "torque": [ 43.65234375, 3.2666015625, 5.950927734375, -4.644775390625, 4.22607421875, 1.885986328125, 0.63262939453125 ] }, "eef_FT_l": { "raw_value": [ -2.0, -12.6, -12.5, 0.9, -0.2, 0.0 ], "actual_contact_FT": [ -2.0, -12.6, -12.5, 0.9, -0.2, 0.0 ] }, "eef_FT_r": { "raw_value": [ -2.7, -22.7, 0.1, 1.3, 0.2, 0.0 ], "actual_contact_FT": [ -2.7, -22.7, 0.1, 1.3, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 276, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 78, "motor_current": -2950, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.30234757343384105, -0.8548202025656634, -0.06704991545453715, -1.0968090931334287, 0.3522744749358134, -0.48009074450001266, 0.008524670714329009 ], "act_joint_pos_r": [ -0.28613494743379553, -1.2458958282139543, 0.12160479509798641, -0.1728483484987546, -0.173979573253308, 1.254990553307263, -0.11341986773927133 ], "act_eef_pose_l": [ 570.4718875079824, 204.78149076978366, 36.70843144788779, 1.8632340595068677, -0.08569087589783407, 0.6630744959640923 ], "act_eef_pose_r": [ 605.4758644042034, -185.4155481268787, 36.98974334692005, 1.7432259190051143, -0.10667387192265426, 2.680029109010333 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.30296626038159974, -0.838619720194846, -0.06803454864349152, -1.1412101110794655, 0.3641463439510612, -0.45565104796394806, -0.0012509101495228449 ], "joint_pos_r": [ -0.29222447512101274, -1.2404288501140825, 0.12193282024578586, -0.19394070942660993, -0.1663405525597597, 1.237736747344228, -0.12749572295837833 ], "eef_pose_l": [ 564.5736110053185, 202.31343682836345, 39.47288716005838, 1.8595284269128316, -0.09085727296834764, 0.6597583206934227 ], "eef_pose_r": [ 605.1703584541885, -183.82902577785146, 34.58358887292587, 1.7389146400306985, -0.09723574128065351, 2.6784228868016444 ], "joint_status_l": { "velocity": [ -0.06681621971882379, -1.7496004943398091, 0.10633724815761747, 4.79516851223849, -1.2821240394194078, -2.639409380675861, 1.0557315961569769 ], "torque": [ -29.14306640625, 1.40625, -6.92138671875, 0.665283203125, -3.4295654296875, -0.3717041015625, 0.684814453125 ] }, "joint_status_r": { "velocity": [ 0.657649593881704, -0.590416221390555, -0.03542567113801187, 2.2779077969092842, -0.8249899031267383, 1.8633560872576282, 1.5201475293088462 ], "torque": [ 48.2958984375, -1.2451171875, 5.224609375, -1.35498046875, 3.8671875, 2.6165771484375, 0.69305419921875 ] }, "eef_FT_l": { "raw_value": [ -0.4, -16.2, -7.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.4, -16.2, -7.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.4, -20.1, -0.8, 1.5, 0.2, -0.1 ], "actual_contact_FT": [ -3.4, -20.1, -0.8, 1.5, 0.2, -0.1 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 242, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 186, "motor_current": -2131, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.30110358506262613, -0.8544214607647089, -0.06704147547582087, -1.09316030348108, 0.3484994065507605, -0.48087631855225105, 0.011514346473795976 ], "act_joint_pos_r": [ -0.2849084008701909, -1.2420147267035673, 0.12166187773755698, -0.1743744649322082, -0.1689365229685147, 1.2530509795015512, -0.11804807584370029 ], "act_eef_pose_l": [ 571.4342875079824, 206.10229076978368, 37.45803144788789, 1.8617143764602138, -0.08660555335200941, 0.6663271758942731 ], "act_eef_pose_r": [ 606.2534644042034, -187.5115481268787, 38.66014334692002, 1.7388580863380245, -0.10167078059968936, 2.675826382891868 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.30275003031871445, -0.8414498553933224, -0.06785973234307009, -1.133046258396121, 0.36172307271338155, -0.4600396614775811, 0.0007342655996162825 ], "joint_pos_r": [ -0.2910093884541792, -1.2409575033509361, 0.12188126400816378, -0.19038361397846162, -0.1671221236072532, 1.2405684983067145, -0.12552925348953187 ], "eef_pose_l": [ 565.7153022927262, 202.86310553482454, 39.03320364095978, 1.8601040025148412, -0.09001028300340876, 0.6606179386474006 ], "eef_pose_r": [ 605.4000712797433, -184.1979316926744, 35.92456039884868, 1.7382530177569122, -0.09820537558056792, 2.6789985362388564 ], "joint_status_l": { "velocity": [ -0.17781084340695585, -1.4008920630068644, 0.08836913535459345, 4.307556086249775, -1.4281138255971548, -2.2502925952316843, 1.164214397743179 ], "torque": [ -31.07666015625, 0.1318359375, -6.195068359375, -0.872802734375, -3.709716796875, -0.8770751953125, 0.64361572265625 ] }, "joint_status_r": { "velocity": [ 0.6588872262311973, -0.11417675461977694, -0.023693018437409563, 1.7289371047213287, -0.19594935179911843, 1.3480682098947483, 0.8079433567342864 ], "torque": [ 49.00634765625, -2.8271484375, 4.1015625, -0.836181640625, 3.079833984375, 2.1038818359375, 0.83221435546875 ] }, "eef_FT_l": { "raw_value": [ -0.5, -15.5, -6.8, 1.3, -0.1, 0.1 ], "actual_contact_FT": [ -0.5, -15.5, -6.8, 1.3, -0.1, 0.1 ] }, "eef_FT_r": { "raw_value": [ -4.5, -18.1, 2.5, 1.1, 0.1, 0.0 ], "actual_contact_FT": [ -4.5, -18.1, 2.5, 1.1, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 234, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 361, "motor_current": -2272, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3032633689691714, -0.8407507323549166, -0.06780261652212383, -1.12123387993803, 0.35255132755587915, -0.46440412904925515, 0.006128993251560697 ], "act_joint_pos_r": [ -0.2872316375963799, -1.2193289400671017, 0.12259476716144034, -0.22577077908110443, -0.16522967071828054, 1.2167765535139776, -0.11750172264034402 ], "act_eef_pose_l": [ 567.6990875079823, 206.61909076978367, 38.51403144788793, 1.859583229833947, -0.08717906438139202, 0.6690081261266042 ], "act_eef_pose_r": [ 606.5086644042034, -188.73474812687869, 39.99294334691993, 1.735356344724151, -0.09699174103180797, 2.667722007647888 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.30262428601166236, -0.8427278475376393, -0.06777042270716627, -1.1279174571986261, 0.3595713122016146, -0.4625638341315091, 0.0023095749152931347 ], "joint_pos_r": [ -0.29007535518702643, -1.2383111923732635, 0.12195471324581844, -0.1936414805199224, -0.16701982657109293, 1.2385071612681995, -0.12395605530825642 ], "eef_pose_l": [ 566.483898151339, 203.51865395498496, 38.817869572865646, 1.8602522207850778, -0.08940746527478625, 0.6619238722732095 ], "eef_pose_r": [ 605.6182516555504, -185.02079411411535, 36.63745295139458, 1.7379418356525949, -0.0983038692385524, 2.677338950411271 ], "joint_status_l": { "velocity": [ 0.06901892380639651, 0.21352214223568922, -0.0034768294718268145, 0.7218050556421218, -0.7581359817141475, -0.19874598941660437, 0.4124850147216863 ], "torque": [ -26.3232421875, 7.12646484375, -10.8642578125, 0.06103515625, -3.6181640625, -0.5841064453125, 0.50628662109375 ] }, "joint_status_r": { "velocity": [ 0.3071124419924409, 2.050022786876937, 0.06912378419010601, -3.469861906501004, 0.1933311301067775, -2.3468364212160253, 0.6970473698213464 ], "torque": [ 51.43798828125, 5.04638671875, 8.82568359375, -4.547119140625, 5.2532958984375, 0.0787353515625, 0.76080322265625 ] }, "eef_FT_l": { "raw_value": [ 0.0, -16.2, -7.3, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ 0.0, -16.2, -7.3, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -3.3, -17.3, 0.6, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -3.3, -17.3, 0.6, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 249, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 603, "motor_current": -2186, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3041172753466524, -0.8371551180312254, -0.06800879197924162, -1.1287374842531452, 0.3548694723656505, -0.45934772416955194, 0.0036479996854510964 ], "act_joint_pos_r": [ -0.2848941055272775, -1.231946802675923, 0.1220132263743985, -0.19294286074787823, -0.16078458265380258, 1.2356202651665422, -0.12356808059983834 ], "act_eef_pose_l": [ 566.7270875079823, 206.83029076978366, 38.55723144788777, 1.8596423806743434, -0.08735315369395738, 0.670265269854036 ], "act_eef_pose_r": [ 607.7078644042034, -189.49154812687868, 40.698543346919934, 1.732232235685584, -0.0946810684010039, 2.666643351649047 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3027869015675104, -0.8421693365756447, -0.06778809565583596, -1.1271717773854002, 0.3584648267963642, -0.4625953871427161, 0.0028407101836608823 ], "joint_pos_r": [ -0.289831120060413, -1.236680885337623, 0.12200968482584994, -0.19640093290995628, -0.16686607749881957, 1.2366408093654304, -0.12340171940600718 ], "eef_pose_l": [ 566.6435482762173, 204.07826277199223, 38.7661279065338, 1.8601378674984634, -0.08902173413035731, 0.6632487783721074 ], "eef_pose_r": [ 605.7014052423536, -185.34096423413675, 36.9232412471971, 1.737723792159597, -0.09818753634988357, 2.676512318108915 ], "joint_status_l": { "velocity": [ 0.14367613064658613, 0.5415196315299298, -0.023834499966790545, -0.16909135463194502, -0.38828682660918545, 0.3507372566593503, 0.08718469481821742 ], "torque": [ -26.4697265625, 7.763671875, -11.23046875, -3.399658203125, -3.3013916015625, 0.867919921875, 0.55938720703125 ] }, "joint_status_r": { "velocity": [ 0.2807358262550963, 1.8739548198745126, 0.06318702864194226, -3.1718498377735216, 0.17672672002211343, -2.1452763604141722, 0.6371808580468707 ], "torque": [ 50.21484375, 4.013671875, 8.685302734375, -5.413818359375, 5.1837158203125, 0.9320068359375, 0.71136474609375 ] }, "eef_FT_l": { "raw_value": [ -0.4, -15.9, -5.8, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ -0.4, -15.9, -5.8, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -5.1, -16.7, 0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -5.1, -16.7, 0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 255, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 0, "position": 668, "motor_current": 664, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.30654594449154715, -0.8300219287912165, -0.06843065362559299, -1.1447646183819382, 0.35936506414723274, -0.4506018107438825, -0.0016299863806353834 ], "act_joint_pos_r": [ -0.2819233028740027, -1.2412911232547978, 0.12155392877277106, -0.16538997766580465, -0.15681779275544372, 1.251979185170558, -0.12827862509611299 ], "act_eef_pose_l": [ 564.1910875079823, 206.68069076978367, 38.332431447887814, 1.859924180222962, -0.08620689502280524, 0.6705401479360766 ], "act_eef_pose_r": [ 608.7566644042034, -190.84354812687872, 42.01614334692002, 1.7290300833945205, -0.09209553449302407, 2.664964477416034 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3031972341280692, -0.8407684651656535, -0.06785753358354894, -1.128604191917274, 0.3581532779351007, -0.4613905773754295, 0.0026028937303094355 ], "joint_pos_r": [ -0.28891408253123546, -1.235982671433018, 0.12200348804572574, -0.19538021321398935, -0.16573189064359609, 1.2367033835267742, -0.12350110952324325 ], "eef_pose_l": [ 566.4773889297066, 204.55462625413105, 38.71170599775371, 1.86007009899385, -0.08864326488284202, 0.6645092066692543 ], "eef_pose_r": [ 606.076438038537, -186.09366778444033, 37.6081182900308, 1.7367131415679289, -0.09752841643871016, 2.6747424522014454 ], "joint_status_l": { "velocity": [ 0.3616500529575184, 1.1605916986168197, -0.061895139041201475, -1.7452745840600414, 0.1308690511336863, 1.1651524318732065, -0.45713756943012784 ], "torque": [ -23.056640625, 4.365234375, -17.2119140625, -6.06689453125, -1.7376708984375, 0.787353515625, -0.128173828125 ] }, "joint_status_r": { "velocity": [ 0.7549819359793375, -0.5732958882944672, -0.04855096954492488, 3.238849914432018, 0.9626941787734822, 1.6497379211077856, -0.5159564645473846 ], "torque": [ 50.0537109375, 3.83056640625, 4.522705078125, -1.348876953125, 5.687255859375, 0.8331298828125, 0.03387451171875 ] }, "eef_FT_l": { "raw_value": [ 0.4, -15.1, -7.2, 1.3, -0.1, 0.0 ], "actual_contact_FT": [ 0.4, -15.1, -7.2, 1.3, -0.1, 0.0 ] }, "eef_FT_r": { "raw_value": [ -4.3, -17.3, -0.3, 1.0, 0.1, 0.0 ], "actual_contact_FT": [ -4.3, -17.3, -0.3, 1.0, 0.1, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 234, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -366, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3058265149639143, -0.8336009195851533, -0.06819420032404121, -1.1334392241868765, 0.3540704342724305, -0.4601013887743827, -0.0022757668215785073 ], "act_joint_pos_r": [ -0.2849407560331536, -1.2177752614534578, 0.12247983199369165, -0.2155135456345204, -0.15319435455157793, 1.2195862273672724, -0.12819984442155963 ], "act_eef_pose_l": [ 565.3342875079824, 207.18549076978366, 38.06603144788784, 1.859820472842127, -0.07955274193506973, 0.6702785921101196 ], "act_eef_pose_r": [ 608.4294644042034, -192.6643481268787, 42.940143346919996, 1.7257581592384572, -0.08842771619067336, 2.6586084888677592 ], "act_grip_l": false, "act_grip_r": false } }, { "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": [ 0.3037177560690117, -0.839224372233881, -0.06793534714959834, -1.1303350085460957, 0.35784090049053613, -0.46042791018945084, 0.0017902522584010566 ], "joint_pos_r": [ -0.2878533974714686, -1.2355547486644711, 0.12197780622413822, -0.19299035721110058, -0.163945245980472, 1.2375219258600012, -0.12434123651295007 ], "eef_pose_l": [ 566.1885453423641, 204.9816631847001, 38.61668472267982, 1.8600330266140888, -0.0875496621187554, 0.6655495713627748 ], "eef_pose_r": [ 606.5446690703374, -187.03840825702486, 38.43536820262088, 1.7351764448423341, -0.09635505456206105, 2.6726485688695316 ], "joint_status_l": { "velocity": [ 0.22773924383967525, 0.6073149742649164, -0.02795531834176579, -0.3352454016685158, -0.4071983418825198, 0.035263272792906974, -0.4391171095709332 ], "torque": [ -24.755859375, 6.38671875, -12.4267578125, -4.72412109375, -3.27392578125, 0.2215576171875, -0.3662109375 ] }, "joint_status_r": { "velocity": [ 0.3145559980048951, 1.920127987641962, 0.0542171840614003, -2.4324326089641968, 1.1610620306263808, -1.936998308503135, -0.41671736370807455 ], "torque": [ 49.599609375, 7.17041015625, 3.86962890625, -7.476806640625, 5.928955078125, 0.0640869140625, -0.4925537109375 ] }, "eef_FT_l": { "raw_value": [ -0.1, -15.9, -8.7, 1.4, 0.0, 0.1 ], "actual_contact_FT": [ -0.1, -15.9, -8.7, 1.4, 0.0, 0.1 ] }, "eef_FT_r": { "raw_value": [ -2.9, -17.4, -2.3, 1.0, 0.2, 0.0 ], "actual_contact_FT": [ -2.9, -17.4, -2.3, 1.0, 0.2, 0.0 ] }, "gripper_state_l": { "state_flag": 1, "position": 700, "motor_current": 267, "control_force": 100, "control_position": 700 }, "gripper_state_r": { "state_flag": 1, "position": 700, "motor_current": -335, "control_force": 100, "control_position": 700 } }, "actions": { "act_joint_pos_l": [ 0.3116548831467316, -0.8265613400495803, -0.06861221296440691, -1.1488400537949859, 0.33204583943815774, -0.4456876629203445, 0.012101148111791811 ], "act_joint_pos_r": [ -0.2874506043204712, -1.208859996361636, 0.12293584874146, -0.2405156581670463, -0.15078197836541474, 1.2014442558375116, -0.12834691085366615 ], "act_eef_pose_l": [ 563.4886875079824, 207.29669076978365, 38.20363144788786, 1.8503821579302522, -0.07333633299574352, 0.6775703389806172 ], "act_eef_pose_r": [ 608.2526644042034, -191.9467481268787, 42.88334334691993, 1.7237595658773044, -0.08765584792579292, 2.656122126890249 ], "act_grip_l": false, "act_grip_r": false } } ] }