{
    "1000000": {
        "rel_pose": [
            -0.004132742564609493,
            0.0007555705182827775,
            0.008026020305720596,
            0.999813982650256,
            0.004022703279017314,
            0.003815543125023302,
            -0.018473212661160993
        ],
        "ee_pose": [
            0.5629900097846985,
            -0.0034896472934633493,
            0.15046200156211853,
            -0.005383456125855446,
            0.9978079199790955,
            0.013980379328131676,
            -0.06445813179016113
        ],
        "cost_step": 924,
        "cost_time": 693.3473483175039,
        "result": "failed"
    },
    "1000001": {
        "rel_pose": [
            0.005943828849692467,
            -0.0012903387889008121,
            0.007939990356985692,
            0.9986061584872983,
            0.0028812145294083787,
            -0.05270054817045844,
            0.00030175587701742923
        ],
        "ee_pose": [
            0.5419054627418518,
            0.0024666148237884045,
            0.15101289749145508,
            -0.002780250972136855,
            0.9990310668945312,
            -0.00031738876714371145,
            0.04391930252313614
        ],
        "cost_step": 934,
        "cost_time": 793.2259426750243,
        "result": "failed"
    },
    "1000002": {
        "rel_pose": [
            -0.004582757035567209,
            -1.7661298705311766e-05,
            0.008281108112741822,
            0.9994099572783378,
            0.003440345544051833,
            0.03189134320140907,
            -0.012281837983733113
        ],
        "ee_pose": [
            0.5629532337188721,
            0.0023669812362641096,
            0.15016058087348938,
            -0.004876127000898123,
            0.9979067444801331,
            0.01723186857998371,
            -0.06214020773768425
        ],
        "cost_step": 927,
        "cost_time": 995.4684435715899,
        "result": "failed"
    },
    "1000003": {
        "rel_pose": [
            -0.0033532002261289495,
            1.346636393073598e-05,
            0.0080100565841387,
            0.9996128006769068,
            0.004578670976593885,
            0.02441410228862806,
            -0.012539382137860348
        ],
        "ee_pose": [
            0.5659976005554199,
            -0.0005599084543064237,
            0.15072892606258392,
            -0.005309957545250654,
            0.9979957342147827,
            0.01387539692223072,
            -0.06151161715388298
        ],
        "cost_step": 924,
        "cost_time": 671.8300881655887,
        "result": "failed"
    },
    "1000004": {
        "rel_pose": [
            0.004099958266356785,
            -0.0027589023969483337,
            0.008553758665555043,
            0.999663576390906,
            0.005021880717553706,
            0.02387875793640204,
            0.008793160456642302
        ],
        "ee_pose": [
            0.5626528859138489,
            -0.007571292109787464,
            0.15205740928649902,
            -0.0047135865315794945,
            0.9988157153129578,
            0.0025975757744163275,
            -0.04835225269198418
        ],
        "cost_step": 928,
        "cost_time": 772.8197766300291,
        "result": "failed"
    },
    "1000005": {
        "rel_pose": [
            -0.0016111111060930217,
            0.003373043392922587,
            0.00882147349641925,
            0.999755585119177,
            0.0010487263550303014,
            -0.02205697131223172,
            0.001077131642931282
        ],
        "ee_pose": [
            0.5409421920776367,
            0.0015267330454662442,
            0.15095119178295135,
            -0.0029375588055700064,
            0.9990680813789368,
            -0.00047477096086367965,
            0.04305650293827057
        ],
        "cost_step": 946,
        "cost_time": 679.0800957493484,
        "result": "failed"
    },
    "1000006": {
        "rel_pose": [
            -0.003298846920250176,
            -0.001440459502413567,
            0.008392945515565,
            0.9991339301172206,
            0.003431974304647999,
            0.0389390563892551,
            -0.014260474340062656
        ],
        "ee_pose": [
            0.5621823668479919,
            -0.0006799577386118472,
            0.15049120783805847,
            -0.005133790895342827,
            0.9978176355361938,
            0.015956031158566475,
            -0.0638657733798027
        ],
        "cost_step": 924,
        "cost_time": 798.0102118225768,
        "result": "failed"
    },
    "1000007": {
        "rel_pose": [
            -0.0002917937111834856,
            0.00039193106898975216,
            0.00497510665214222,
            0.9999924114428056,
            0.003830454260222533,
            -0.0006099764465574697,
            -0.00036415065197297223
        ],
        "ee_pose": [
            0.5577032566070557,
            0.0037028014194220304,
            0.15539592504501343,
            -0.004000368993729353,
            0.9997379779815674,
            -0.00375175173394382,
            -0.02221647836267948
        ],
        "cost_step": 403,
        "cost_time": 192.26486690808088,
        "result": "success"
    },
    "1000008": {
        "rel_pose": [
            0.0012293151177601436,
            0.0006519663767433465,
            0.007132184260194856,
            0.9994104438252197,
            0.0030161860236863126,
            -0.033602347743399985,
            -0.006367858437416725
        ],
        "ee_pose": [
            0.5417511463165283,
            0.002392206573858857,
            0.15107384324073792,
            -0.0028170642908662558,
            0.9989804625511169,
            -0.00042496409150771797,
            0.045053474605083466
        ],
        "cost_step": 939,
        "cost_time": 764.2700337944552,
        "result": "failed"
    },
    "1000009": {
        "rel_pose": [
            -0.0017142724587573266,
            -0.0024633839106346297,
            0.007935193736718221,
            0.9978003908188812,
            0.0029534488561318234,
            0.05257750698707775,
            -0.04026491004044938
        ],
        "ee_pose": [
            0.5375232696533203,
            -0.003185624722391367,
            0.15069422125816345,
            -0.004008769523352385,
            0.9988926649093628,
            -0.0008426475105807185,
            0.04686728119850159
        ],
        "cost_step": 945,
        "cost_time": 786.8873605336994,
        "result": "failed"
    },
    "1000010": {
        "rel_pose": [
            -0.004347437498703366,
            0.0005489636502899051,
            0.007770379788093675,
            0.9985669100672553,
            0.004066878064576544,
            0.05122598402237777,
            -0.014949420807546411
        ],
        "ee_pose": [
            0.5634858012199402,
            -0.0011837767669931054,
            0.15079975128173828,
            -0.00476344907656312,
            0.9988459348678589,
            -0.008132335729897022,
            -0.047093719244003296
        ],
        "cost_step": 932,
        "cost_time": 720.618361921981,
        "result": "failed"
    },
    "1000011": {
        "rel_pose": [
            -0.001999121488340694,
            -0.0005231610465239592,
            0.00886598563472047,
            0.9876579886340828,
            0.001374927002170648,
            0.1513690317933033,
            -0.04021471468224785
        ],
        "ee_pose": [
            0.533551812171936,
            -0.00023878052888903767,
            0.15057554841041565,
            -0.0033894155640155077,
            0.9983747005462646,
            -0.006531524006277323,
            0.05651135370135307
        ],
        "cost_step": 937,
        "cost_time": 718.390698437579,
        "result": "failed"
    },
    "1000012": {
        "rel_pose": [
            -0.0013355934204289932,
            -0.0024169194094836154,
            0.007648591329301874,
            0.997923088566288,
            0.003970956365597322,
            0.047897349265726086,
            -0.04289038056697883
        ],
        "ee_pose": [
            0.5377375483512878,
            0.00035649226629175246,
            0.1513197422027588,
            -0.0035006802063435316,
            0.9980530738830566,
            -0.010014905594289303,
            0.06145896390080452
        ],
        "cost_step": 947,
        "cost_time": 717.7101302463561,
        "result": "failed"
    },
    "1000013": {
        "rel_pose": [
            0.00219382565366133,
            0.0029819055918389355,
            0.005947357904501882,
            0.9998083324284117,
            0.0015684167988631035,
            -0.01936648631753235,
            0.002403681172017562
        ],
        "ee_pose": [
            0.5388091802597046,
            0.00034995927126146853,
            0.1512530893087387,
            -0.0033452471252530813,
            0.9989739656448364,
            -0.00010292396473232657,
            0.0451635867357254
        ],
        "cost_step": 942,
        "cost_time": 750.7713101971895,
        "result": "failed"
    },
    "1000014": {
        "rel_pose": [
            0.003428041076227406,
            -1.1056286073325792e-05,
            0.008077391527539808,
            0.9989523058503005,
            0.004174548038293666,
            -0.04440038538071267,
            -0.0102698375394836
        ],
        "ee_pose": [
            0.5406660437583923,
            0.0019209834281355143,
            0.15096674859523773,
            -0.0028142405208200216,
            0.9990366101264954,
            -0.00017715392459649593,
            0.043791186064481735
        ],
        "cost_step": 934,
        "cost_time": 711.6644204529002,
        "result": "failed"
    },
    "1000015": {
        "rel_pose": [
            -0.007049557286465391,
            0.002590315263550066,
            0.007504949901271694,
            0.9835638824012402,
            0.0027847556312733317,
            0.18053562901132236,
            -0.001105001972929777
        ],
        "ee_pose": [
            0.5394225716590881,
            0.0014332025311887264,
            0.15056325495243073,
            -0.002564560854807496,
            0.9993142485618591,
            0.0004313692625146359,
            0.03693487495183945
        ],
        "cost_step": 947,
        "cost_time": 717.7558014634997,
        "result": "failed"
    },
    "1000016": {
        "rel_pose": [
            -0.0006626052677921601,
            0.002019391612105359,
            0.008073591020960568,
            0.9993822495531914,
            0.0059480297779787,
            -0.004974806689775235,
            0.03427814928147796
        ],
        "ee_pose": [
            0.5658986568450928,
            -0.0008973440271802247,
            0.15062060952186584,
            -0.005474073346704245,
            0.9981001615524292,
            0.006727191619575024,
            -0.060997676104307175
        ],
        "cost_step": 925,
        "cost_time": 709.2793831992894,
        "result": "failed"
    },
    "1000017": {
        "rel_pose": [
            -0.002377421104160282,
            0.0008010932373830469,
            0.006810977575256712,
            0.9966509685141515,
            0.005252741404224171,
            0.08126036284763039,
            -0.0074839225955212595
        ],
        "ee_pose": [
            0.5611080527305603,
            0.0020511848852038383,
            0.1504771113395691,
            -0.005155875347554684,
            0.9985157251358032,
            -0.008559830486774445,
            -0.053536929190158844
        ],
        "cost_step": 937,
        "cost_time": 709.988317925483,
        "result": "failed"
    },
    "1000018": {
        "rel_pose": [
            -0.00023243086334467922,
            -8.200438819562679e-05,
            0.004921812966007318,
            0.9999115048159183,
            0.0014060645736288146,
            -0.013227868849694402,
            -0.00017030817939554693
        ],
        "ee_pose": [
            0.5377113819122314,
            -0.004700156860053539,
            0.1548634171485901,
            -0.004397915210574865,
            0.9985886812210083,
            -0.0017809742130339146,
            0.05289557948708534
        ],
        "cost_step": 418,
        "cost_time": 175.82609938271344,
        "result": "success"
    },
    "1000019": {
        "rel_pose": [
            -0.012587305711340813,
            0.0017230523326338372,
            0.009752059730385561,
            0.9313556586228156,
            0.002978177500222411,
            0.3638752554818976,
            -0.012750139529539874
        ],
        "ee_pose": [
            0.5327125787734985,
            -0.0017923805862665176,
            0.15046563744544983,
            -0.0033690345007926226,
            0.9983506798744202,
            -0.006981069687753916,
            0.05688265338540077
        ],
        "cost_step": 964,
        "cost_time": 714.3578896839172,
        "result": "failed"
    },
    "1000020": {
        "rel_pose": [
            0.0002880185492399878,
            -0.000889334793423482,
            0.004856202215754417,
            0.9998746826976388,
            -0.008879076924772399,
            -0.013103077189784429,
            -0.00030043538240549984
        ],
        "ee_pose": [
            0.5357705354690552,
            -0.0029600949492305517,
            0.15307828783988953,
            -0.004727985244244337,
            0.9986801147460938,
            -0.0010860994225367904,
            0.05113064497709274
        ],
        "cost_step": 434,
        "cost_time": 188.6342959040776,
        "result": "success"
    },
    "1000021": {
        "rel_pose": [
            -0.00020225546571706055,
            0.0008239461503099874,
            0.0049232919709574115,
            0.9999331357105292,
            0.0014737642709308752,
            -0.011461914937652584,
            -0.0004202772225050139
        ],
        "ee_pose": [
            0.5498842000961304,
            0.002094927942380309,
            0.1554855853319168,
            -0.002656105672940612,
            0.9999845623970032,
            -0.0006271578022278845,
            0.004822951275855303
        ],
        "cost_step": 398,
        "cost_time": 156.5830424549058,
        "result": "success"
    },
    "1000022": {
        "rel_pose": [
            0.007512409229962103,
            0.004860036347406442,
            0.008300707679203618,
            0.9908269976379749,
            0.00010397386887234475,
            -0.13253219872788136,
            0.02640201207303492
        ],
        "ee_pose": [
            0.5419609546661377,
            0.0018213187577202916,
            0.15070155262947083,
            -0.0026355572044849396,
            0.9991773366928101,
            -0.00014549974002875388,
            0.040466003119945526
        ],
        "cost_step": 922,
        "cost_time": 690.3088096939027,
        "result": "failed"
    },
    "1000023": {
        "rel_pose": [
            0.007403864515409531,
            -0.0007118839200318816,
            0.008720016012484275,
            0.9965518276909485,
            0.0029369249928492404,
            -0.08271571441440573,
            -0.00582578632722004
        ],
        "ee_pose": [
            0.5368027091026306,
            0.00033669473486952484,
            0.15155106782913208,
            -0.0035773131530731916,
            0.9980019330978394,
            -0.010032030753791332,
            0.062278345227241516
        ],
        "cost_step": 934,
        "cost_time": 694.6737947631627,
        "result": "failed"
    },
    "1000024": {
        "rel_pose": [
            0.007056422493767811,
            9.969339151036155e-05,
            0.008664927451169587,
            0.9964531775905302,
            0.002934404064647712,
            -0.08391282536257194,
            -0.0055760095221572
        ],
        "ee_pose": [
            0.5374395847320557,
            0.0003109191602561623,
            0.15148191154003143,
            -0.003576016752049327,
            0.9980121850967407,
            -0.010223141871392727,
            0.062081478536129
        ],
        "cost_step": 933,
        "cost_time": 708.3898543212563,
        "result": "failed"
    },
    "1000025": {
        "rel_pose": [
            0.0034627699224317743,
            0.001250072123000241,
            0.007859798494742765,
            0.9975943618512343,
            0.0030348148962658704,
            -0.06918361471921186,
            -0.0031474681186262872
        ],
        "ee_pose": [
            0.5392716526985168,
            0.0012412280775606632,
            0.15136033296585083,
            -0.0034567739348858595,
            0.9980234503746033,
            -0.009791540913283825,
            0.06197788938879967
        ],
        "cost_step": 942,
        "cost_time": 704.0165008055046,
        "result": "failed"
    },
    "1000026": {
        "rel_pose": [
            -0.004659532275759881,
            0.000902138914928245,
            0.008155030638688741,
            0.9995785427393644,
            0.0032857742781280965,
            0.025531387318043386,
            -0.013419718479081275
        ],
        "ee_pose": [
            0.5629028081893921,
            -0.0015907210763543844,
            0.15055082738399506,
            -0.00530454283580184,
            0.9978693127632141,
            0.01450403593480587,
            -0.063388392329216
        ],
        "cost_step": 924,
        "cost_time": 711.5258103292435,
        "result": "failed"
    },
    "1000027": {
        "rel_pose": [
            0.0046113676582257845,
            -0.00016730572757112398,
            0.007997874898568525,
            0.999368199645838,
            0.003528854885432024,
            -0.034011341020032226,
            -0.009694194234351312
        ],
        "ee_pose": [
            0.5386670827865601,
            0.0018207968678325415,
            0.15129955112934113,
            -0.0034571224823594093,
            0.9981127977371216,
            -0.008839837275445461,
            0.06066891551017761
        ],
        "cost_step": 931,
        "cost_time": 717.0264182789251,
        "result": "failed"
    },
    "1000028": {
        "rel_pose": [
            0.0026533620082968,
            0.0028752594155399998,
            0.008539817793508424,
            0.9960408034808548,
            0.003351588145919883,
            -0.08864163537905512,
            -0.005843383903191521
        ],
        "ee_pose": [
            0.53502357006073,
            -0.0010092249140143394,
            0.1508680284023285,
            -0.003662715433165431,
            0.9979878664016724,
            -0.009542099200189114,
            0.06257396191358566
        ],
        "cost_step": 929,
        "cost_time": 718.9539526784793,
        "result": "failed"
    },
    "1000029": {
        "rel_pose": [
            0.00027907104424751417,
            -3.859514653901854e-05,
            0.008297972779924737,
            0.998017315198394,
            0.002801111669136495,
            -0.06265545278056761,
            0.0052807740406383315
        ],
        "ee_pose": [
            0.5413188338279724,
            0.0031459389720112085,
            0.15138089656829834,
            -0.002981129800900817,
            0.9989482760429382,
            -7.533826283179224e-05,
            0.045754171907901764
        ],
        "cost_step": 930,
        "cost_time": 710.517441435717,
        "result": "failed"
    },
    "1000030": {
        "rel_pose": [
            -0.00452684424113492,
            0.0029895150700611716,
            0.007845037387397467,
            0.9986993117431808,
            0.0033994318604144372,
            0.04973367691570907,
            -0.010709340183562678
        ],
        "ee_pose": [
            0.5622215270996094,
            -0.002803488401696086,
            0.15053705871105194,
            -0.005303077399730682,
            0.9978038668632507,
            0.014956558123230934,
            -0.064307801425457
        ],
        "cost_step": 918,
        "cost_time": 724.5484600886703,
        "result": "failed"
    },
    "1000031": {
        "rel_pose": [
            -0.0038787742947016257,
            0.0023387015677237832,
            0.009348611825776437,
            0.9992885774076098,
            0.005364602080270527,
            0.03718361043397178,
            -0.0033074495143719375
        ],
        "ee_pose": [
            0.5644686222076416,
            -0.0033386412542313337,
            0.1504383385181427,
            -0.005025393329560757,
            0.9985883235931396,
            -0.009081162512302399,
            -0.05209308862686157
        ],
        "cost_step": 932,
        "cost_time": 720.5944469189271,
        "result": "failed"
    },
    "1000032": {
        "rel_pose": [
            0.003114464931718297,
            0.002718105037185922,
            0.007850836202854115,
            0.9966573567442366,
            0.0038917726849410166,
            -0.08159828030909022,
            0.0008294597995212857
        ],
        "ee_pose": [
            0.5368676781654358,
            -0.0026388929691165686,
            0.1507388949394226,
            -0.004042764659970999,
            0.9986199140548706,
            -0.00255098775960505,
            0.052298735827207565
        ],
        "cost_step": 927,
        "cost_time": 697.4762045899406,
        "result": "failed"
    },
    "1000033": {
        "rel_pose": [
            -0.00456427408440474,
            0.00011978238645414573,
            0.006689391545649585,
            0.980610441030298,
            0.00519709497270136,
            0.19589317429019715,
            -0.0014203565464579082
        ],
        "ee_pose": [
            0.5382296442985535,
            -0.00364190386608243,
            0.15053154528141022,
            -0.0045495592057704926,
            0.999196469783783,
            0.0008062746492214501,
            0.03980991616845131
        ],
        "cost_step": 947,
        "cost_time": 641.1775962207466,
        "result": "failed"
    },
    "1000034": {
        "rel_pose": [
            -0.00021643735413257037,
            0.0005131206890229081,
            0.0049803536534017475,
            0.9999951151346385,
            0.003083701001754899,
            0.00021258116798394955,
            -0.00046400888001382984
        ],
        "ee_pose": [
            0.553534209728241,
            0.0005127715994603932,
            0.1557227075099945,
            -0.002945809857919812,
            0.9999938011169434,
            -0.0009902733145281672,
            0.0015667533734813333
        ],
        "cost_step": 402,
        "cost_time": 135.32783396542072,
        "result": "success"
    },
    "1000035": {
        "rel_pose": [
            0.00499871014321529,
            0.0016122839491271496,
            0.007823143120971196,
            0.9976520833455081,
            0.0023401387734605108,
            -0.06834499455651322,
            0.0037156514850800303
        ],
        "ee_pose": [
            0.541766345500946,
            0.0023138036485761404,
            0.1509922742843628,
            -0.002826291834935546,
            0.9989812970161438,
            -0.0003731490287464112,
            0.04503550007939339
        ],
        "cost_step": 928,
        "cost_time": 540.5126041099429,
        "result": "failed"
    },
    "1000036": {
        "rel_pose": [
            -8.840529996989588e-05,
            0.006302349741258122,
            0.008541798584183916,
            0.9999526963093276,
            0.0018448478878732401,
            -0.009463433313878666,
            -0.0012826183729956685
        ],
        "ee_pose": [
            0.540772020816803,
            0.0014487678417935967,
            0.15097346901893616,
            -0.0028211064636707306,
            0.9991130828857422,
            -0.00030122449970804155,
            0.04201070964336395
        ],
        "cost_step": 939,
        "cost_time": 506.61960974987596,
        "result": "failed"
    },
    "1000037": {
        "rel_pose": [
            -0.002121705968895715,
            -0.0023528334684378305,
            0.008142230487874748,
            0.9994840331974711,
            0.006645836714092041,
            -0.020086875130807424,
            -0.024166457853081254
        ],
        "ee_pose": [
            0.5676149129867554,
            0.0011841821251437068,
            0.15065306425094604,
            -0.005180976819247007,
            0.9981645345687866,
            0.014966445043683052,
            -0.05845077335834503
        ],
        "cost_step": 926,
        "cost_time": 511.27652265504,
        "result": "failed"
    },
    "1000038": {
        "rel_pose": [
            -0.007855916516525285,
            0.003588388937037052,
            0.007378944727167819,
            0.9805532225042807,
            0.003002436271630385,
            0.19622933095414274,
            0.0006425622104849107
        ],
        "ee_pose": [
            0.5391550064086914,
            0.001369895413517952,
            0.15068456530570984,
            -0.0025964307133108377,
            0.9993414282798767,
            0.0004956157063134015,
            0.036188311874866486
        ],
        "cost_step": 942,
        "cost_time": 545.6095368405804,
        "result": "failed"
    },
    "1000039": {
        "rel_pose": [
            0.00432186831808834,
            -0.0007290131460853666,
            0.008061107595618362,
            0.9994563844442662,
            0.0019950934690511493,
            -0.032432181896072,
            -0.0055775239224002664
        ],
        "ee_pose": [
            0.5386316776275635,
            0.0032970025204122066,
            0.15135601162910461,
            -0.0025896914303302765,
            0.9991359710693359,
            0.00017931561160366982,
            0.04147808253765106
        ],
        "cost_step": 936,
        "cost_time": 473.4676248198375,
        "result": "failed"
    },
    "1000040": {
        "rel_pose": [
            -0.0030328782960395984,
            -0.0008509410324201972,
            0.007803294748815574,
            0.9954003041494541,
            0.008001028137869718,
            0.04672459883904112,
            0.08325280722739659
        ],
        "ee_pose": [
            0.5411797165870667,
            0.002559623448178172,
            0.15088215470314026,
            -0.002801663940772414,
            0.9990614056587219,
            -7.740550063317642e-05,
            0.04322466626763344
        ],
        "cost_step": 938,
        "cost_time": 536.411411290057,
        "result": "failed"
    },
    "1000041": {
        "rel_pose": [
            -0.0042186287386997146,
            -0.00019627122908372771,
            0.008805787370002365,
            0.9989952475403021,
            0.0034741504877278903,
            0.043419036487438056,
            -0.01054575463309449
        ],
        "ee_pose": [
            0.5651608109474182,
            0.002447772305458784,
            0.15029621124267578,
            -0.005106037016957998,
            0.9979366660118103,
            0.016348009929060936,
            -0.06187779828906059
        ],
        "cost_step": 915,
        "cost_time": 481.47617925237864,
        "result": "failed"
    },
    "1000042": {
        "rel_pose": [
            -0.00016147855639103703,
            0.00043903537952694844,
            0.004998709523291724,
            0.9999038504151996,
            0.0008546147832102492,
            -0.013578674263019286,
            0.002679396142610251
        ],
        "ee_pose": [
            0.5330142974853516,
            -0.0025609678123146296,
            0.15457850694656372,
            -0.0037549908738583326,
            0.997913658618927,
            -0.010475474409759045,
            0.06359518319368362
        ],
        "cost_step": 425,
        "cost_time": 154.6864321352914,
        "result": "success"
    },
    "1000043": {
        "rel_pose": [
            -0.00025556132207105176,
            -0.0009315723702455784,
            0.004929075730083416,
            0.9999273783554425,
            0.007817120949816406,
            0.009094105245466055,
            -0.0011949414428979982
        ],
        "ee_pose": [
            0.5590677857398987,
            -0.0056531731970608234,
            0.1551266610622406,
            -0.003882551332935691,
            0.9995876550674438,
            -0.005215665325522423,
            -0.027964018285274506
        ],
        "cost_step": 399,
        "cost_time": 125.91441297531128,
        "result": "success"
    },
    "1000044": {
        "rel_pose": [
            -0.008223395798020117,
            0.0031099017878479835,
            0.007342289545449975,
            0.9814380805778509,
            0.002913808305727861,
            0.1917502613401113,
            0.0016251119410532011
        ],
        "ee_pose": [
            0.538913905620575,
            0.0010316814295947552,
            0.1507648229598999,
            -0.0025936851743608713,
            0.9993499517440796,
            0.0005195097182877362,
            0.03595255687832832
        ],
        "cost_step": 944,
        "cost_time": 485.82619221135974,
        "result": "failed"
    },
    "1000045": {
        "rel_pose": [
            -0.003710193876742429,
            0.0009927635390054453,
            0.007051126566780742,
            0.9968183362358622,
            0.0037812427580295777,
            0.07902073250945518,
            -0.009727825082789309
        ],
        "ee_pose": [
            0.5609526038169861,
            0.0006660601939074695,
            0.15067647397518158,
            -0.004648524336516857,
            0.9987382292747498,
            -0.008809593506157398,
            -0.04921816661953926
        ],
        "cost_step": 930,
        "cost_time": 485.57657154556364,
        "result": "failed"
    },
    "1000046": {
        "rel_pose": [
            -0.002573879213032648,
            0.0017975851784456259,
            0.008201110367448375,
            0.9994244214877235,
            0.00905354045887685,
            -0.026711419336443165,
            -0.01885097387727084
        ],
        "ee_pose": [
            0.5676964521408081,
            -0.0008066220907494426,
            0.1503792405128479,
            -0.00530151417478919,
            0.9980790615081787,
            0.01345806010067463,
            -0.060237303376197815
        ],
        "cost_step": 920,
        "cost_time": 426.4062098171562,
        "result": "failed"
    },
    "1000047": {
        "rel_pose": [
            0.0005716557862973648,
            0.002626742994809534,
            0.008175475028922262,
            0.997715324921662,
            0.006545943205848283,
            -0.06589251528851126,
            0.013396173817958736
        ],
        "ee_pose": [
            0.5633654594421387,
            -0.003777586854994297,
            0.1503685563802719,
            -0.005314159672707319,
            0.9979492425918579,
            0.013719430193305016,
            -0.06229495629668236
        ],
        "cost_step": 921,
        "cost_time": 459.8984197890386,
        "result": "failed"
    },
    "1000048": {
        "rel_pose": [
            -0.0012770058570948928,
            -0.0009378762763872736,
            0.008195760956787184,
            0.9921758257163276,
            0.0006266040485142673,
            0.11243138764013016,
            -0.05427634203596145
        ],
        "ee_pose": [
            0.5325136184692383,
            -0.0003309612802695483,
            0.15091532468795776,
            -0.0033404743298888206,
            0.9981653094291687,
            -0.007667312864214182,
            0.05996645987033844
        ],
        "cost_step": 938,
        "cost_time": 433.45095221698284,
        "result": "failed"
    },
    "1000049": {
        "rel_pose": [
            0.0035168135089110875,
            0.005630684851343118,
            0.008044595446269082,
            0.999507037084105,
            0.004048348508419434,
            -0.030921401073751187,
            -0.0036277609270534646
        ],
        "ee_pose": [
            0.539159893989563,
            0.0011585376923903823,
            0.1510714292526245,
            -0.0029312893748283386,
            0.9992341995239258,
            9.821261483011767e-05,
            0.0390157625079155
        ],
        "cost_step": 937,
        "cost_time": 425.72983575053513,
        "result": "failed"
    },
    "1000050": {
        "rel_pose": [
            -0.0005058929286494429,
            -0.0006612014860323335,
            0.004955874493431783,
            0.9998792555779642,
            0.0050476144127159246,
            -0.01467754192788584,
            -0.0007520748311854166
        ],
        "ee_pose": [
            0.5635877847671509,
            -0.004880130756646395,
            0.15391290187835693,
            -0.005537956953048706,
            0.9977911710739136,
            0.012538029812276363,
            -0.06499959528446198
        ],
        "cost_step": 389,
        "cost_time": 105.05456148274243,
        "result": "success"
    },
    "1000051": {
        "rel_pose": [
            -0.002264108253794639,
            0.002118659376757757,
            0.008588883265855454,
            0.9997330964052072,
            0.005243766133936489,
            0.022357718691194073,
            -0.002524140193176213
        ],
        "ee_pose": [
            0.5644146203994751,
            -0.0010252350475639105,
            0.1508314609527588,
            -0.004762275610119104,
            0.9988780617713928,
            -0.008094356395304203,
            -0.046413078904151917
        ],
        "cost_step": 925,
        "cost_time": 424.99205240700394,
        "result": "failed"
    },
    "1000052": {
        "rel_pose": [
            0.0045627540352584095,
            0.004434406480202646,
            0.008228971353848077,
            0.9977266171765273,
            0.003037756018494211,
            -0.06680244366304611,
            0.00835481516851936
        ],
        "ee_pose": [
            0.5386897325515747,
            0.001960321329534054,
            0.15114638209342957,
            -0.0026342126075178385,
            0.9992671608924866,
            0.00042812066385522485,
            0.03818407654762268
        ],
        "cost_step": 930,
        "cost_time": 403.6491235680878,
        "result": "failed"
    },
    "1000053": {
        "rel_pose": [
            -0.0001108351822052267,
            0.0006284601746608678,
            0.004951111139377517,
            0.9983729133493786,
            0.005090270187186896,
            0.055849077624529064,
            -0.010319668995900188
        ],
        "ee_pose": [
            0.5356196165084839,
            -0.005066924262791872,
            0.15315169095993042,
            -0.004603513982146978,
            0.9986184239387512,
            -0.002451519016176462,
            0.05228683352470398
        ],
        "cost_step": 427,
        "cost_time": 108.54626800492406,
        "result": "success"
    },
    "1000054": {
        "rel_pose": [
            0.00011877672121607397,
            0.0003651267856301442,
            0.004906992079381125,
            0.9999197500767895,
            -0.0016593450120799046,
            -0.009543961931234968,
            0.008164114842211778
        ],
        "ee_pose": [
            0.5427435040473938,
            0.0010106246918439865,
            0.15519699454307556,
            -0.00234275683760643,
            0.9992327094078064,
            -0.0002506794116925448,
            0.039093442261219025
        ],
        "cost_step": 411,
        "cost_time": 98.83518328145146,
        "result": "success"
    },
    "1000055": {
        "rel_pose": [
            0.003152388195519995,
            -0.00176576338356321,
            0.008391367643923174,
            0.9984991017359204,
            0.0036382905018337085,
            -0.05305340379982881,
            -0.013101260246152636
        ],
        "ee_pose": [
            0.5319103598594666,
            -0.0007862712373025715,
            0.1512025147676468,
            -0.003382856724783778,
            0.9980246424674988,
            -0.00855096336454153,
            0.06214486435055733
        ],
        "cost_step": 938,
        "cost_time": 414.58173337299377,
        "result": "failed"
    },
    "1000056": {
        "rel_pose": [
            0.0004268000694919172,
            -0.0009870063975350534,
            0.004993395894319948,
            0.9979119297244418,
            0.0038935951130147995,
            0.059631230608852226,
            -0.02450993200339653
        ],
        "ee_pose": [
            0.5398674011230469,
            0.0011951394844800234,
            0.15226562321186066,
            -0.003445011330768466,
            0.9980178475379944,
            -0.00975870992988348,
            0.062073107808828354
        ],
        "cost_step": 487,
        "cost_time": 153.0635963138193,
        "result": "success"
    },
    "1000057": {
        "rel_pose": [
            0.004307747703601539,
            -0.0007850738632969203,
            0.007890391358410732,
            0.9994558574784922,
            0.002932452609139955,
            -0.03197907635903929,
            -0.007531822412250188
        ],
        "ee_pose": [
            0.5395610928535461,
            0.0020334182772785425,
            0.15111708641052246,
            -0.0034159990027546883,
            0.9981237649917603,
            -0.008064846508204937,
            0.060598332434892654
        ],
        "cost_step": 940,
        "cost_time": 412.63441449962556,
        "result": "failed"
    },
    "1000058": {
        "rel_pose": [
            0.0019749472780130617,
            0.00243714451740145,
            0.008246744241285943,
            0.9961816826729808,
            0.0025376420533787963,
            -0.08718665245069335,
            -0.0037554113062379752
        ],
        "ee_pose": [
            0.5392302870750427,
            0.0015709067229181528,
            0.15125921368598938,
            -0.003445924259722233,
            0.998091995716095,
            -0.008989616297185421,
            0.06098826229572296
        ],
        "cost_step": 941,
        "cost_time": 412.04060738533735,
        "result": "failed"
    },
    "1000059": {
        "rel_pose": [
            0.005354845556599597,
            0.0015865754749598351,
            0.006759727550045945,
            0.9998816801636008,
            0.0018188634189630023,
            -0.01517405038221975,
            -0.0017508866541036008
        ],
        "ee_pose": [
            0.5416082143783569,
            0.00207877648063004,
            0.15090790390968323,
            -0.002722851699218154,
            0.9990664124488831,
            -0.00031732904608361423,
            0.0431131012737751
        ],
        "cost_step": 917,
        "cost_time": 386.0492851966992,
        "result": "failed"
    },
    "1000060": {
        "rel_pose": [
            -0.007330114799560583,
            0.002836521351817459,
            0.007514724980905405,
            0.9840606557732745,
            0.003080480145482933,
            0.17779029250993617,
            -0.002397559254480506
        ],
        "ee_pose": [
            0.5397158861160278,
            0.0011631823144853115,
            0.1506016105413437,
            -0.002529792720451951,
            0.9993265271186829,
            0.00027108125505037606,
            0.03660385683178902
        ],
        "cost_step": 945,
        "cost_time": 411.6594688836485,
        "result": "failed"
    },
    "1000061": {
        "rel_pose": [
            0.0004530249823597732,
            0.0002447350578174169,
            0.004982716410554377,
            0.9982307212700351,
            0.008002694796804358,
            0.05320736456114572,
            -0.025305342225556582
        ],
        "ee_pose": [
            0.5388684272766113,
            0.0016927141696214676,
            0.15264807641506195,
            -0.0033636530861258507,
            0.9980996251106262,
            -0.008500485680997372,
            0.06093752384185791
        ],
        "cost_step": 456,
        "cost_time": 165.40070211980492,
        "result": "success"
    },
    "1000062": {
        "rel_pose": [
            -0.00047871933930565547,
            -0.0008770933218638657,
            0.008335965786710288,
            0.9928125572535947,
            0.0010640721632806708,
            0.10620229900799849,
            -0.05516489459271331
        ],
        "ee_pose": [
            0.5341163873672485,
            0.0020747461821883917,
            0.15086135268211365,
            -0.003476918675005436,
            0.9981831908226013,
            -0.00880897231400013,
            0.059503406286239624
        ],
        "cost_step": 948,
        "cost_time": 459.56502270232886,
        "result": "failed"
    },
    "1000063": {
        "rel_pose": [
            -0.002905308322206479,
            0.0013926038729535515,
            0.007987124107832174,
            0.9988205691782532,
            0.005778332618429288,
            0.014369927566728058,
            0.04601724285860897
        ],
        "ee_pose": [
            0.5373412370681763,
            5.019902891945094e-05,
            0.1510235220193863,
            -0.0035579081159085035,
            0.9980800747871399,
            -0.00971402507275343,
            0.06106569245457649
        ],
        "cost_step": 944,
        "cost_time": 421.02254245243967,
        "result": "failed"
    },
    "1000064": {
        "rel_pose": [
            -0.0038253331117773515,
            -0.00026292971918605345,
            0.008036659973882119,
            0.9996239360604701,
            0.004569399485849817,
            0.02415248232408418,
            -0.012155848012268067
        ],
        "ee_pose": [
            0.5662108063697815,
            -0.00027961714658886194,
            0.1507597267627716,
            -0.005278188269585371,
            0.9980218410491943,
            0.014104856178164482,
            -0.06103646382689476
        ],
        "cost_step": 921,
        "cost_time": 412.54111880250275,
        "result": "failed"
    },
    "1000065": {
        "rel_pose": [
            -0.004784806533406849,
            0.002489846430852907,
            0.008788552349145447,
            0.9975658671584827,
            0.0023812042794810837,
            0.05426895681605215,
            -0.043721286264487964
        ],
        "ee_pose": [
            0.5383941531181335,
            -0.003423646092414856,
            0.15052446722984314,
            -0.0035058031789958477,
            0.9987802505493164,
            -0.0038619765546172857,
            0.04909897595643997
        ],
        "cost_step": 948,
        "cost_time": 385.90807887911797,
        "result": "failed"
    },
    "1000066": {
        "rel_pose": [
            0.00326346527298782,
            0.0024770727684486904,
            0.009082609316226512,
            0.9974192800398693,
            0.004573043354938464,
            -0.07145309700747893,
            0.0053218424687839685
        ],
        "ee_pose": [
            0.5375495553016663,
            -0.0032333340495824814,
            0.15110258758068085,
            -0.004448376130312681,
            0.9988833069801331,
            -8.586236072005704e-05,
            0.047035250812768936
        ],
        "cost_step": 930,
        "cost_time": 424.46613318566233,
        "result": "failed"
    },
    "1000067": {
        "rel_pose": [
            0.00275540805116703,
            0.0010096121529372198,
            0.008069744638512052,
            0.9991002303315729,
            0.003866777433700089,
            -0.04167592061322356,
            -0.006848023416781533
        ],
        "ee_pose": [
            0.5406835675239563,
            0.0017703045159578323,
            0.15105634927749634,
            -0.0029693765100091696,
            0.9989892244338989,
            -0.0002807432028930634,
            0.044848859310150146
        ],
        "cost_step": 941,
        "cost_time": 411.56150487810373,
        "result": "failed"
    },
    "1000068": {
        "rel_pose": [
            -0.0036508588839547773,
            0.000907894166886228,
            0.008100897082032385,
            0.9996213071605001,
            0.004019467033087685,
            0.023525952200552536,
            -0.013697289095338157
        ],
        "ee_pose": [
            0.5654525756835938,
            -0.0009341787081211805,
            0.15067848563194275,
            -0.005287318956106901,
            0.997944176197052,
            0.014059269800782204,
            -0.06230178475379944
        ],
        "cost_step": 935,
        "cost_time": 422.09038188215345,
        "result": "failed"
    },
    "1000069": {
        "rel_pose": [
            0.00027613815321236856,
            0.0005120836995037895,
            0.00470910127039442,
            0.9998948588161465,
            0.012618989898086077,
            -0.005761857969623918,
            -0.004222961014317749
        ],
        "ee_pose": [
            0.5362569689750671,
            -0.005421716254204512,
            0.15331843495368958,
            -0.004430459346622229,
            0.9985774159431458,
            -0.003012391272932291,
            0.05305001139640808
        ],
        "cost_step": 446,
        "cost_time": 126.48254520632327,
        "result": "success"
    },
    "1000070": {
        "rel_pose": [
            -0.008110551219118078,
            -0.0005171332112927858,
            0.007729362786401805,
            0.982699078735682,
            0.0031040244224438598,
            0.18518332531918336,
            -0.00014733688068184302
        ],
        "ee_pose": [
            0.5384796857833862,
            -0.0019326149486005306,
            0.15081951022148132,
            -0.003368791425600648,
            0.9993243217468262,
            0.0006767988670617342,
            0.036591582000255585
        ],
        "cost_step": 944,
        "cost_time": 409.107462529093,
        "result": "failed"
    },
    "1000071": {
        "rel_pose": [
            0.004026559686316378,
            -0.0003843360304266353,
            0.008267269256321742,
            0.9965102138455153,
            0.002838342970974957,
            -0.08335180565224898,
            -0.0034371507463704103
        ],
        "ee_pose": [
            0.5321702361106873,
            -0.0008178447023965418,
            0.15112608671188354,
            -0.0034260849934071302,
            0.9979917407035828,
            -0.008860132656991482,
            0.06262682378292084
        ],
        "cost_step": 933,
        "cost_time": 434.1160452850163,
        "result": "failed"
    },
    "1000072": {
        "rel_pose": [
            0.0044155291498627625,
            0.0042732690081957025,
            0.008135956619543824,
            0.9984018502167992,
            0.0039984192324974965,
            -0.05620464908758749,
            0.00433538328803583
        ],
        "ee_pose": [
            0.5392929315567017,
            0.0010596562642604113,
            0.1512221395969391,
            -0.002866175025701523,
            0.9992203116416931,
            4.4601925765164196e-05,
            0.03937448188662529
        ],
        "cost_step": 946,
        "cost_time": 459.9705015383661,
        "result": "failed"
    },
    "1000073": {
        "rel_pose": [
            0.00250227079816967,
            0.000753473648339679,
            0.007855614868290926,
            0.9990040148810052,
            0.0033782163744606967,
            -0.04405471300636732,
            -0.006224802622233057
        ],
        "ee_pose": [
            0.5418705940246582,
            0.0020696630235761404,
            0.1509934365749359,
            -0.002830292796716094,
            0.9989957809448242,
            -0.00041405638330616057,
            0.044710010290145874
        ],
        "cost_step": 936,
        "cost_time": 460.84277384821326,
        "result": "failed"
    },
    "1000074": {
        "rel_pose": [
            -0.004699834836182415,
            0.005419681957160443,
            0.006339435488569695,
            0.9754346827429828,
            0.0005760853020790478,
            0.22027229706642493,
            -0.002638744569370149
        ],
        "ee_pose": [
            0.5383321642875671,
            0.0002943206927739084,
            0.15069276094436646,
            -0.002768673235550523,
            0.9993286728858948,
            0.0006120235193520784,
            0.0365278422832489
        ],
        "cost_step": 947,
        "cost_time": 466.6245432337746,
        "result": "failed"
    },
    "1000075": {
        "rel_pose": [
            0.0028719203395096704,
            0.004214363353652191,
            0.008736797762181944,
            0.9958887244896867,
            0.003372105518922603,
            -0.09012017732092115,
            -0.008522381024079336
        ],
        "ee_pose": [
            0.5371289253234863,
            -0.00016001741460058838,
            0.15128976106643677,
            -0.0035173955839127302,
            0.9979970455169678,
            -0.009904487989842892,
            0.0623803585767746
        ],
        "cost_step": 944,
        "cost_time": 467.00388413481414,
        "result": "failed"
    },
    "1000076": {
        "rel_pose": [
            0.006020310721093214,
            0.003982822377235793,
            0.008399834378786332,
            0.9963042746169173,
            0.0024588335200903706,
            -0.08579443192911773,
            -0.0033259536585539084
        ],
        "ee_pose": [
            0.5377771854400635,
            0.00037471079849638045,
            0.1513994187116623,
            -0.003526926739141345,
            0.9979876279830933,
            -0.009954969398677349,
            0.06252157688140869
        ],
        "cost_step": 941,
        "cost_time": 463.42924724984914,
        "result": "failed"
    },
    "1000077": {
        "rel_pose": [
            -0.0026501943379674264,
            0.002156261621910526,
            0.008108047054902309,
            0.9996673447572137,
            0.0023016587139570326,
            0.010266623435033928,
            0.02354779472625048
        ],
        "ee_pose": [
            0.5412380695343018,
            0.0019916642922908068,
            0.15091830492019653,
            -0.0028290560003370047,
            0.9990963935852051,
            -0.00025680792168714106,
            0.04240391030907631
        ],
        "cost_step": 944,
        "cost_time": 467.5238137897104,
        "result": "failed"
    },
    "1000078": {
        "rel_pose": [
            -0.0013139838408818827,
            0.0015121316008926855,
            0.008855008880758158,
            0.9999075943517537,
            0.0032209400162545062,
            0.011933348295772195,
            -0.005658931131596593
        ],
        "ee_pose": [
            0.5563470125198364,
            -0.002348625799641013,
            0.15077081322669983,
            -0.0030184760689735413,
            0.99991375207901,
            -0.004176907241344452,
            -0.012074675410985947
        ],
        "cost_step": 932,
        "cost_time": 468.67097789701074,
        "result": "failed"
    },
    "1000079": {
        "rel_pose": [
            -0.009512956686691942,
            -0.0009162741808487894,
            0.007182631453118293,
            0.9792220492489014,
            0.0042286070273420484,
            0.202746098750879,
            -0.0005626621446065915
        ],
        "ee_pose": [
            0.540117621421814,
            0.0021301221568137407,
            0.1502840220928192,
            -0.0024388509336858988,
            0.9993504285812378,
            0.0003560402838047594,
            0.03595117852091789
        ],
        "cost_step": 947,
        "cost_time": 468.9893098138273,
        "result": "failed"
    },
    "1000080": {
        "rel_pose": [
            -0.00623155489677063,
            0.0033242997962606045,
            0.00725333334031398,
            0.9838343572683674,
            0.006597372553217257,
            0.17881710279151442,
            -0.0071327332055443095
        ],
        "ee_pose": [
            0.5332490801811218,
            -0.0019934414885938168,
            0.15047314763069153,
            -0.00350561854429543,
            0.9983800053596497,
            -0.007614316418766975,
            0.056276481598615646
        ],
        "cost_step": 939,
        "cost_time": 474.2522568022832,
        "result": "failed"
    },
    "1000081": {
        "rel_pose": [
            0.0015169342177385747,
            0.0038060818087638547,
            0.008193277081035082,
            0.999884074497774,
            0.002913394056908376,
            -0.014916268011988532,
            -0.0009244724949867304
        ],
        "ee_pose": [
            0.5405622720718384,
            0.0017732323613017797,
            0.15113261342048645,
            -0.002826574956998229,
            0.9990526437759399,
            -0.0002620420709718019,
            0.043422065675258636
        ],
        "cost_step": 948,
        "cost_time": 465.1281823590398,
        "result": "failed"
    },
    "1000082": {
        "rel_pose": [
            -0.006539914405942593,
            0.0039505907204374895,
            0.008211169841534804,
            0.9849620847215425,
            0.0014757105900417907,
            0.17260646726823992,
            -0.007383860536733127
        ],
        "ee_pose": [
            0.5409848690032959,
            0.0005075609078630805,
            0.15022549033164978,
            -0.002443295205011964,
            0.9993828535079956,
            9.143678471446037e-05,
            0.03504207730293274
        ],
        "cost_step": 944,
        "cost_time": 475.861354181543,
        "result": "failed"
    },
    "1000083": {
        "rel_pose": [
            -0.0021301498131041097,
            0.0036535559239222414,
            0.008298768025335778,
            0.9993801501871473,
            0.009529181062539641,
            -0.0299648262971679,
            -0.015830960336406793
        ],
        "ee_pose": [
            0.5659514665603638,
            -0.001591068459674716,
            0.15044277906417847,
            -0.005387439858168364,
            0.9979334473609924,
            0.01368633471429348,
            -0.06254984438419342
        ],
        "cost_step": 929,
        "cost_time": 471.9175208900124,
        "result": "failed"
    },
    "1000084": {
        "rel_pose": [
            -0.007912910949504748,
            0.0012293460864914623,
            0.007487496988460877,
            0.9823976497936275,
            0.002361846190274712,
            0.1867839032173093,
            -0.0010260903648179772
        ],
        "ee_pose": [
            0.538317859172821,
            0.0003402525035198778,
            0.1508055031299591,
            -0.0029376524034887552,
            0.9993190765380859,
            0.0006472349050454795,
            0.036773696541786194
        ],
        "cost_step": 942,
        "cost_time": 476.19043533317745,
        "result": "failed"
    },
    "1000085": {
        "rel_pose": [
            0.0035319737713624955,
            0.0005832973886786587,
            0.008090441031478931,
            0.9995715975665505,
            0.002925247941153702,
            -0.029079967395191808,
            -0.0015555574667703088
        ],
        "ee_pose": [
            0.5408127903938293,
            0.001834128051996231,
            0.15104003250598907,
            -0.0027649549301713705,
            0.9990469813346863,
            -0.0002519763365853578,
            0.04355807229876518
        ],
        "cost_step": 935,
        "cost_time": 476.55287669599056,
        "result": "failed"
    },
    "1000086": {
        "rel_pose": [
            0.0016293754485225964,
            0.006438376902003778,
            0.009149891724548515,
            0.9922726531126894,
            -0.0004704101573999553,
            -0.12176535531627819,
            0.02383188711973429
        ],
        "ee_pose": [
            0.5438703894615173,
            0.0010541731026023626,
            0.15055391192436218,
            -0.002271197969093919,
            0.9993797540664673,
            1.4308374375104904e-05,
            0.035139258950948715
        ],
        "cost_step": 930,
        "cost_time": 466.64672831073403,
        "result": "failed"
    },
    "1000087": {
        "rel_pose": [
            -0.0009666064071035541,
            -0.00012681641285269295,
            0.008093554930941787,
            0.9996143397033878,
            0.0063409281788387485,
            -0.01682702077097087,
            -0.02116166017031263
        ],
        "ee_pose": [
            0.5625078678131104,
            -0.0010712075745686889,
            0.15032798051834106,
            -0.0051568071357905865,
            0.9978606104850769,
            0.015330223366618156,
            -0.06334435939788818
        ],
        "cost_step": 923,
        "cost_time": 474.79008475970477,
        "result": "failed"
    },
    "1000088": {
        "rel_pose": [
            -0.006269900371511317,
            0.0013669345283310078,
            0.008069474471817582,
            0.9962583333883344,
            0.009613040832731049,
            0.05313201026679548,
            0.06748267989088651
        ],
        "ee_pose": [
            0.5625800490379333,
            -0.00332741835154593,
            0.1504468023777008,
            -0.005320289637893438,
            0.9978947639465332,
            0.013761507347226143,
            -0.06315333396196365
        ],
        "cost_step": 927,
        "cost_time": 472.3327299822122,
        "result": "failed"
    },
    "1000089": {
        "rel_pose": [
            0.003915297065221535,
            -0.0020607506639906113,
            0.008086840820964739,
            0.9997453300930103,
            0.004983985978400465,
            0.016474268206535747,
            0.01459566127465942
        ],
        "ee_pose": [
            0.5633378624916077,
            -0.007120524067431688,
            0.15154457092285156,
            -0.004960007034242153,
            0.9985839128494263,
            0.008201712742447853,
            -0.052328500896692276
        ],
        "cost_step": 938,
        "cost_time": 479.9563523354009,
        "result": "failed"
    },
    "1000090": {
        "rel_pose": [
            -0.0027207391415641213,
            -0.00033428959631955817,
            0.008502335509529658,
            0.9988587507499623,
            0.0037980753862849243,
            0.04699322985508447,
            -0.007642448650280602
        ],
        "ee_pose": [
            0.5621140003204346,
            0.0021993995178490877,
            0.1502581685781479,
            -0.004854270722717047,
            0.9978529810905457,
            0.017621373757719994,
            -0.06288900971412659
        ],
        "cost_step": 918,
        "cost_time": 473.0203616777435,
        "result": "failed"
    },
    "1000091": {
        "rel_pose": [
            0.0043380020132864905,
            0.0022775966137029563,
            0.008355215564708918,
            0.9980619507579,
            0.0036655814051048193,
            -0.06189241729846651,
            0.005313628068501496
        ],
        "ee_pose": [
            0.537661075592041,
            0.000430543179390952,
            0.1515384018421173,
            -0.003900151466950774,
            0.9989914298057556,
            -3.766428562812507e-05,
            0.044728800654411316
        ],
        "cost_step": 939,
        "cost_time": 475.1720533138141,
        "result": "failed"
    },
    "1000092": {
        "rel_pose": [
            0.0023718355851392037,
            0.005942222754041479,
            0.008153738924734224,
            0.9992689367919594,
            0.003196826907349737,
            -0.037832422237544794,
            -0.004481081123088129
        ],
        "ee_pose": [
            0.5399196147918701,
            0.0014877142384648323,
            0.15106803178787231,
            -0.0028218997176736593,
            0.9990638494491577,
            -0.0002153567038476467,
            0.043165095150470734
        ],
        "cost_step": 945,
        "cost_time": 475.9383477335796,
        "result": "failed"
    },
    "1000093": {
        "rel_pose": [
            -0.010824535690580839,
            -0.0030395791283490507,
            0.007704214263016743,
            0.9815472472733736,
            0.007004561027953206,
            0.19102201784298178,
            -0.005150358634550173
        ],
        "ee_pose": [
            0.53289395570755,
            -0.0015115179121494293,
            0.15043328702449799,
            -0.0033908311743289232,
            0.9983505010604858,
            -0.007144248578697443,
            0.05686454847455025
        ],
        "cost_step": 948,
        "cost_time": 470.1788513408974,
        "result": "failed"
    },
    "1000094": {
        "rel_pose": [
            -0.003023848006686203,
            -0.0012342521015592462,
            0.008010892364144366,
            0.9873396740369238,
            -0.006328188817972646,
            0.14296115891892924,
            -0.06842827733840666
        ],
        "ee_pose": [
            0.5392043590545654,
            0.00195163837634027,
            0.15040075778961182,
            -0.002658944809809327,
            0.999285101890564,
            0.0004054746823385358,
            0.03770900517702103
        ],
        "cost_step": 946,
        "cost_time": 464.051483951509,
        "result": "failed"
    },
    "1000095": {
        "rel_pose": [
            -0.0019153156265271365,
            0.004369621216279489,
            0.008290724712557252,
            0.9992791544380468,
            0.0018776015032297404,
            0.018049634300329243,
            0.03334451708754848
        ],
        "ee_pose": [
            0.540649950504303,
            0.0014696961734443903,
            0.1509879231452942,
            -0.0028596145566552877,
            0.9990618228912354,
            -0.00027352338656783104,
            0.04321032389998436
        ],
        "cost_step": 950,
        "cost_time": 478.00333241093904,
        "result": "failed"
    },
    "1000096": {
        "rel_pose": [
            -0.008238301483172505,
            0.0009000816400616311,
            0.0070825681224517606,
            0.9779135505338852,
            0.0036437753281038585,
            0.20894870194253323,
            -0.0035000771562123225
        ],
        "ee_pose": [
            0.5401452779769897,
            0.0017319400794804096,
            0.1502791941165924,
            -0.0024222920183092356,
            0.9993171095848083,
            0.0003697604115586728,
            0.036865800619125366
        ],
        "cost_step": 943,
        "cost_time": 477.6441841693595,
        "result": "failed"
    },
    "1000097": {
        "rel_pose": [
            1.7827260470615336e-05,
            -0.0013997303064600683,
            0.0048099199796452306,
            0.9995893306717963,
            0.006761471932161872,
            -0.020583766614719945,
            -0.01875529408918221
        ],
        "ee_pose": [
            0.5630507469177246,
            -0.005041803698986769,
            0.15231505036354065,
            -0.005410812795162201,
            0.9977453351020813,
            0.01418271567672491,
            -0.06537327170372009
        ],
        "cost_step": 378,
        "cost_time": 103.60107629746199,
        "result": "success"
    },
    "1000098": {
        "rel_pose": [
            -0.0023687518253044937,
            0.0029524686657443943,
            0.008213948927254175,
            0.9994275156391756,
            0.006443127822930589,
            0.012486713610272315,
            0.030776761856598445
        ],
        "ee_pose": [
            0.5675249695777893,
            -0.001334964414127171,
            0.1506035327911377,
            -0.005394612904638052,
            0.9981251955032349,
            0.011692455038428307,
            -0.0598340667784214
        ],
        "cost_step": 923,
        "cost_time": 431.76589139923453,
        "result": "failed"
    },
    "1000099": {
        "rel_pose": [
            -0.0020590408722735987,
            0.0056980792209434215,
            0.008116694142608336,
            0.9997465506471749,
            0.0029599183073902085,
            -0.022302843782003645,
            -0.0008102542344680211
        ],
        "ee_pose": [
            0.5397527813911438,
            -1.7067839507944882e-05,
            0.1511663943529129,
            -0.0030820032116025686,
            0.999031662940979,
            -0.00016337036504410207,
            0.043887149542570114
        ],
        "cost_step": 936,
        "cost_time": 403.7947903452441,
        "result": "failed"
    }
}