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{"episode_index": 1924, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.5658, "peg_dynamic_friction": 0.5658, "peg_mass": 0.028648, "hole_static_friction": 0.8352, "hole_dynamic_friction": 0.8352, "task_type": "peg_insert"}
{"episode_index": 1925, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.3576, "peg_dynamic_friction": 0.3576, "peg_mass": 0.026606, "hole_static_friction": 0.1732, "hole_dynamic_friction": 0.1732, "task_type": "peg_insert"}
{"episode_index": 1926, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1518, "peg_dynamic_friction": 0.1518, "peg_mass": 0.029623, "hole_static_friction": 1.1939, "hole_dynamic_friction": 1.1939, "task_type": "peg_insert"}
{"episode_index": 1927, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.7973, "peg_dynamic_friction": 0.7973, "peg_mass": 0.021181, "hole_static_friction": 0.1208, "hole_dynamic_friction": 0.1208, "task_type": "peg_insert"}
{"episode_index": 1928, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.2062, "peg_dynamic_friction": 0.2062, "peg_mass": 0.021546, "hole_static_friction": 0.5614, "hole_dynamic_friction": 0.5614, "task_type": "peg_insert"}
{"episode_index": 1929, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.227, "peg_dynamic_friction": 0.227, "peg_mass": 0.012267, "hole_static_friction": 1.1195, "hole_dynamic_friction": 1.1195, "task_type": "peg_insert"}
{"episode_index": 1930, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.879, "peg_dynamic_friction": 0.879, "peg_mass": 0.010346, "hole_static_friction": 0.3303, "hole_dynamic_friction": 0.3303, "task_type": "peg_insert"}
{"episode_index": 1931, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.6212, "peg_dynamic_friction": 0.6212, "peg_mass": 0.03554, "hole_static_friction": 0.8506, "hole_dynamic_friction": 0.8506, "task_type": "peg_insert"}
{"episode_index": 1932, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.105, "peg_dynamic_friction": 0.105, "peg_mass": 0.014291, "hole_static_friction": 0.5569, "hole_dynamic_friction": 0.5569, "task_type": "peg_insert"}
{"episode_index": 1933, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1579, "peg_dynamic_friction": 0.1579, "peg_mass": 0.030664, "hole_static_friction": 0.9867, "hole_dynamic_friction": 0.9867, "task_type": "peg_insert"}
{"episode_index": 1934, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.1496, "peg_dynamic_friction": 1.1496, "peg_mass": 0.015216, "hole_static_friction": 1.1434, "hole_dynamic_friction": 1.1434, "task_type": "peg_insert"}
{"episode_index": 1935, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1728, "peg_dynamic_friction": 0.1728, "peg_mass": 0.012684, "hole_static_friction": 0.9816, "hole_dynamic_friction": 0.9816, "task_type": "peg_insert"}
{"episode_index": 1936, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1546, "peg_dynamic_friction": 0.1546, "peg_mass": 0.028569, "hole_static_friction": 0.7583, "hole_dynamic_friction": 0.7583, "task_type": "peg_insert"}
{"episode_index": 1937, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.7807, "peg_dynamic_friction": 0.7807, "peg_mass": 0.03661, "hole_static_friction": 0.7957, "hole_dynamic_friction": 0.7957, "task_type": "peg_insert"}
{"episode_index": 1938, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.7976, "peg_dynamic_friction": 0.7976, "peg_mass": 0.032552, "hole_static_friction": 0.2903, "hole_dynamic_friction": 0.2903, "task_type": "peg_insert"}
{"episode_index": 1939, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.6046, "peg_dynamic_friction": 0.6046, "peg_mass": 0.014976, "hole_static_friction": 0.5156, "hole_dynamic_friction": 0.5156, "task_type": "peg_insert"}
{"episode_index": 1940, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1782, "peg_dynamic_friction": 0.1782, "peg_mass": 0.026249, "hole_static_friction": 0.3952, "hole_dynamic_friction": 0.3952, "task_type": "peg_insert"}
{"episode_index": 1941, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.3684, "peg_dynamic_friction": 0.3684, "peg_mass": 0.019217, "hole_static_friction": 0.9079, "hole_dynamic_friction": 0.9079, "task_type": "peg_insert"}
{"episode_index": 1942, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.3398, "peg_dynamic_friction": 0.3398, "peg_mass": 0.026545, "hole_static_friction": 1.1084, "hole_dynamic_friction": 1.1084, "task_type": "peg_insert"}
{"episode_index": 1943, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8715, "peg_dynamic_friction": 0.8715, "peg_mass": 0.034891, "hole_static_friction": 0.2387, "hole_dynamic_friction": 0.2387, "task_type": "peg_insert"}
{"episode_index": 1944, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.6807, "peg_dynamic_friction": 0.6807, "peg_mass": 0.025972, "hole_static_friction": 1.0151, "hole_dynamic_friction": 1.0151, "task_type": "peg_insert"}
{"episode_index": 1945, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1221, "peg_dynamic_friction": 0.1221, "peg_mass": 0.010286, "hole_static_friction": 0.154, "hole_dynamic_friction": 0.154, "task_type": "peg_insert"}
{"episode_index": 1946, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1993, "peg_dynamic_friction": 0.1993, "peg_mass": 0.034957, "hole_static_friction": 0.269, "hole_dynamic_friction": 0.269, "task_type": "peg_insert"}
{"episode_index": 1947, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.3222, "peg_dynamic_friction": 0.3222, "peg_mass": 0.031094, "hole_static_friction": 1.0121, "hole_dynamic_friction": 1.0121, "task_type": "peg_insert"}
{"episode_index": 1948, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.4191, "peg_dynamic_friction": 0.4191, "peg_mass": 0.014519, "hole_static_friction": 1.1101, "hole_dynamic_friction": 1.1101, "task_type": "peg_insert"}
{"episode_index": 1949, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1524, "peg_dynamic_friction": 0.1524, "peg_mass": 0.025839, "hole_static_friction": 0.4752, "hole_dynamic_friction": 0.4752, "task_type": "peg_insert"}
{"episode_index": 1950, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.1437, "peg_dynamic_friction": 1.1437, "peg_mass": 0.023927, "hole_static_friction": 0.2306, "hole_dynamic_friction": 0.2306, "task_type": "peg_insert"}
{"episode_index": 1951, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8571, "peg_dynamic_friction": 0.8571, "peg_mass": 0.021656, "hole_static_friction": 0.4117, "hole_dynamic_friction": 0.4117, "task_type": "peg_insert"}
{"episode_index": 1952, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.1158, "peg_dynamic_friction": 1.1158, "peg_mass": 0.037625, "hole_static_friction": 1.0358, "hole_dynamic_friction": 1.0358, "task_type": "peg_insert"}
{"episode_index": 1953, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.5761, "peg_dynamic_friction": 0.5761, "peg_mass": 0.026993, "hole_static_friction": 0.8105, "hole_dynamic_friction": 0.8105, "task_type": "peg_insert"}
{"episode_index": 1954, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0292, "peg_dynamic_friction": 1.0292, "peg_mass": 0.014704, "hole_static_friction": 0.7346, "hole_dynamic_friction": 0.7346, "task_type": "peg_insert"}
{"episode_index": 1955, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8375, "peg_dynamic_friction": 0.8375, "peg_mass": 0.01059, "hole_static_friction": 1.1665, "hole_dynamic_friction": 1.1665, "task_type": "peg_insert"}
{"episode_index": 1956, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8167, "peg_dynamic_friction": 0.8167, "peg_mass": 0.026229, "hole_static_friction": 0.1603, "hole_dynamic_friction": 0.1603, "task_type": "peg_insert"}
{"episode_index": 1957, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.216, "peg_dynamic_friction": 0.216, "peg_mass": 0.037482, "hole_static_friction": 0.1981, "hole_dynamic_friction": 0.1981, "task_type": "peg_insert"}
{"episode_index": 1958, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.2036, "peg_dynamic_friction": 0.2036, "peg_mass": 0.016551, "hole_static_friction": 0.9836, "hole_dynamic_friction": 0.9836, "task_type": "peg_insert"}
{"episode_index": 1959, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.1348, "peg_dynamic_friction": 1.1348, "peg_mass": 0.019521, "hole_static_friction": 0.233, "hole_dynamic_friction": 0.233, "task_type": "peg_insert"}
{"episode_index": 1960, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.3985, "peg_dynamic_friction": 0.3985, "peg_mass": 0.028424, "hole_static_friction": 1.0184, "hole_dynamic_friction": 1.0184, "task_type": "peg_insert"}
{"episode_index": 1961, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.7352, "peg_dynamic_friction": 0.7352, "peg_mass": 0.030782, "hole_static_friction": 0.5234, "hole_dynamic_friction": 0.5234, "task_type": "peg_insert"}
{"episode_index": 1962, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.7054, "peg_dynamic_friction": 0.7054, "peg_mass": 0.032727, "hole_static_friction": 0.6203, "hole_dynamic_friction": 0.6203, "task_type": "peg_insert"}
{"episode_index": 1963, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.328, "peg_dynamic_friction": 0.328, "peg_mass": 0.009874, "hole_static_friction": 0.3467, "hole_dynamic_friction": 0.3467, "task_type": "peg_insert"}
{"episode_index": 1964, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.5734, "peg_dynamic_friction": 0.5734, "peg_mass": 0.037168, "hole_static_friction": 0.2148, "hole_dynamic_friction": 0.2148, "task_type": "peg_insert"}
{"episode_index": 1965, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.027, "peg_dynamic_friction": 1.027, "peg_mass": 0.021828, "hole_static_friction": 0.9902, "hole_dynamic_friction": 0.9902, "task_type": "peg_insert"}
{"episode_index": 1966, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0751, "peg_dynamic_friction": 1.0751, "peg_mass": 0.027992, "hole_static_friction": 0.6634, "hole_dynamic_friction": 0.6634, "task_type": "peg_insert"}
{"episode_index": 1967, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.1489, "peg_dynamic_friction": 1.1489, "peg_mass": 0.030771, "hole_static_friction": 0.5422, "hole_dynamic_friction": 0.5422, "task_type": "peg_insert"}
{"episode_index": 1968, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.4702, "peg_dynamic_friction": 0.4702, "peg_mass": 0.011128, "hole_static_friction": 1.1734, "hole_dynamic_friction": 1.1734, "task_type": "peg_insert"}
{"episode_index": 1969, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0704, "peg_dynamic_friction": 1.0704, "peg_mass": 0.009708, "hole_static_friction": 0.5755, "hole_dynamic_friction": 0.5755, "task_type": "peg_insert"}
{"episode_index": 1970, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0349, "peg_dynamic_friction": 1.0349, "peg_mass": 0.021314, "hole_static_friction": 0.4623, "hole_dynamic_friction": 0.4623, "task_type": "peg_insert"}
{"episode_index": 1971, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.5914, "peg_dynamic_friction": 0.5914, "peg_mass": 0.022291, "hole_static_friction": 0.6805, "hole_dynamic_friction": 0.6805, "task_type": "peg_insert"}
{"episode_index": 1972, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8058, "peg_dynamic_friction": 0.8058, "peg_mass": 0.035197, "hole_static_friction": 0.4918, "hole_dynamic_friction": 0.4918, "task_type": "peg_insert"}
{"episode_index": 1973, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.5328, "peg_dynamic_friction": 0.5328, "peg_mass": 0.019072, "hole_static_friction": 0.9164, "hole_dynamic_friction": 0.9164, "task_type": "peg_insert"}
{"episode_index": 1974, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.1362, "peg_dynamic_friction": 1.1362, "peg_mass": 0.023486, "hole_static_friction": 0.9319, "hole_dynamic_friction": 0.9319, "task_type": "peg_insert"}
{"episode_index": 1975, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.565, "peg_dynamic_friction": 0.565, "peg_mass": 0.027327, "hole_static_friction": 0.3452, "hole_dynamic_friction": 0.3452, "task_type": "peg_insert"}
{"episode_index": 1976, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0233, "peg_dynamic_friction": 1.0233, "peg_mass": 0.020093, "hole_static_friction": 0.7889, "hole_dynamic_friction": 0.7889, "task_type": "peg_insert"}
{"episode_index": 1977, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0982, "peg_dynamic_friction": 1.0982, "peg_mass": 0.032619, "hole_static_friction": 0.4093, "hole_dynamic_friction": 0.4093, "task_type": "peg_insert"}
{"episode_index": 1978, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.47, "peg_dynamic_friction": 0.47, "peg_mass": 0.013925, "hole_static_friction": 1.0676, "hole_dynamic_friction": 1.0676, "task_type": "peg_insert"}
{"episode_index": 1979, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.391, "peg_dynamic_friction": 0.391, "peg_mass": 0.016233, "hole_static_friction": 0.4857, "hole_dynamic_friction": 0.4857, "task_type": "peg_insert"}
{"episode_index": 1980, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.3392, "peg_dynamic_friction": 0.3392, "peg_mass": 0.012178, "hole_static_friction": 0.7039, "hole_dynamic_friction": 0.7039, "task_type": "peg_insert"}
{"episode_index": 1981, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.196, "peg_dynamic_friction": 0.196, "peg_mass": 0.010471, "hole_static_friction": 0.6379, "hole_dynamic_friction": 0.6379, "task_type": "peg_insert"}
{"episode_index": 1982, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.5521, "peg_dynamic_friction": 0.5521, "peg_mass": 0.013253, "hole_static_friction": 0.2477, "hole_dynamic_friction": 0.2477, "task_type": "peg_insert"}
{"episode_index": 1983, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.9709, "peg_dynamic_friction": 0.9709, "peg_mass": 0.013763, "hole_static_friction": 0.5748, "hole_dynamic_friction": 0.5748, "task_type": "peg_insert"}
{"episode_index": 1984, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8145, "peg_dynamic_friction": 0.8145, "peg_mass": 0.031652, "hole_static_friction": 0.2726, "hole_dynamic_friction": 0.2726, "task_type": "peg_insert"}
{"episode_index": 1985, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0099, "peg_dynamic_friction": 1.0099, "peg_mass": 0.025883, "hole_static_friction": 0.9323, "hole_dynamic_friction": 0.9323, "task_type": "peg_insert"}
{"episode_index": 1986, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.9699, "peg_dynamic_friction": 0.9699, "peg_mass": 0.027742, "hole_static_friction": 0.1557, "hole_dynamic_friction": 0.1557, "task_type": "peg_insert"}
{"episode_index": 1987, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0339, "peg_dynamic_friction": 1.0339, "peg_mass": 0.012245, "hole_static_friction": 1.0307, "hole_dynamic_friction": 1.0307, "task_type": "peg_insert"}
{"episode_index": 1988, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.5427, "peg_dynamic_friction": 0.5427, "peg_mass": 0.035456, "hole_static_friction": 0.2744, "hole_dynamic_friction": 0.2744, "task_type": "peg_insert"}
{"episode_index": 1989, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.299, "peg_dynamic_friction": 0.299, "peg_mass": 0.010692, "hole_static_friction": 0.1444, "hole_dynamic_friction": 0.1444, "task_type": "peg_insert"}
{"episode_index": 1990, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.361, "peg_dynamic_friction": 0.361, "peg_mass": 0.010725, "hole_static_friction": 0.2281, "hole_dynamic_friction": 0.2281, "task_type": "peg_insert"}
{"episode_index": 1991, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.2341, "peg_dynamic_friction": 0.2341, "peg_mass": 0.030425, "hole_static_friction": 1.196, "hole_dynamic_friction": 1.196, "task_type": "peg_insert"}
{"episode_index": 1992, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.1868, "peg_dynamic_friction": 0.1868, "peg_mass": 0.019289, "hole_static_friction": 0.488, "hole_dynamic_friction": 0.488, "task_type": "peg_insert"}
{"episode_index": 1993, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.6682, "peg_dynamic_friction": 0.6682, "peg_mass": 0.034016, "hole_static_friction": 0.5027, "hole_dynamic_friction": 0.5027, "task_type": "peg_insert"}
{"episode_index": 1994, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.6255, "peg_dynamic_friction": 0.6255, "peg_mass": 0.010102, "hole_static_friction": 1.0143, "hole_dynamic_friction": 1.0143, "task_type": "peg_insert"}
{"episode_index": 1995, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8234, "peg_dynamic_friction": 0.8234, "peg_mass": 0.015319, "hole_static_friction": 0.1229, "hole_dynamic_friction": 0.1229, "task_type": "peg_insert"}
{"episode_index": 1996, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.8708, "peg_dynamic_friction": 0.8708, "peg_mass": 0.016873, "hole_static_friction": 1.1334, "hole_dynamic_friction": 1.1334, "task_type": "peg_insert"}
{"episode_index": 1997, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 0.7721, "peg_dynamic_friction": 0.7721, "peg_mass": 0.035908, "hole_static_friction": 0.4803, "hole_dynamic_friction": 0.4803, "task_type": "peg_insert"}
{"episode_index": 1998, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0415, "peg_dynamic_friction": 1.0415, "peg_mass": 0.017212, "hole_static_friction": 0.9868, "hole_dynamic_friction": 0.9868, "task_type": "peg_insert"}
{"episode_index": 1999, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.1043, "peg_dynamic_friction": 1.1043, "peg_mass": 0.037299, "hole_static_friction": 0.1553, "hole_dynamic_friction": 0.1553, "task_type": "peg_insert"}
{"episode_index": 2000, "tasks": ["Insert the peg into the hole"], "length": 144, "success": true, "peg_static_friction": 1.0097, "peg_dynamic_friction": 1.0097, "peg_mass": 0.032529, "hole_static_friction": 0.3446, "hole_dynamic_friction": 0.3446, "task_type": "peg_insert"}
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