Hugging Face's logo

Datasets:
trshen925
/
droid-150

Dataset card Files
xet
 Community
droid-150 / 0023 /data.json
trshen925's picture
trshen925
Add files using upload-large-folder tool
e638b2d verified
Raw
History Blame Contribute Delete
97.2 kB
{
 "num_steps": 60,
 "fps": 15,
 "source_file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-04-19/Wed_Apr_19_14:24:51_2023/trajectory.h5",
 "recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/RAIL/success/2023-04-19/Wed_Apr_19_14:24:51_2023/recordings/MP4",
 "language_instruction": "Put the marker in the pot on the table",
 "language_instruction_2": "Take the marker out of the pot and put it on the desk",
 "language_instruction_3": "Remove the black marker from the silver pot",
 "actions": [
 [
 0.5325247645378113,
 0.0035877234768122435,
 0.228643998503685,
 -2.9948601722717285,
 -0.06283167749643326,
 -0.08830595761537552,
 0.0
 ],
 [
 0.5340268611907959,
 0.0023790569975972176,
 0.2224079966545105,
 -2.9956655502319336,
 -0.05276063457131386,
 -0.08801861107349396,
 0.0
 ],
 [
 0.5349400639533997,
 0.0007121013477444649,
 0.2166895568370819,
 -2.996900796890259,
 -0.045222390443086624,
 -0.0905783399939537,
 0.0
 ],
 [
 0.5358952879905701,
 -0.0009886008920148015,
 0.21230053901672363,
 -2.998018264770508,
 -0.03940841555595398,
 -0.09454692155122757,
 0.0
 ],
 [
 0.5378991961479187,
 -0.0031471599359065294,
 0.20771978795528412,
 -2.999605417251587,
 -0.03185875341296196,
 -0.09861288964748383,
 0.0
 ],
 [
 0.5391891598701477,
 -0.0047850823029875755,
 0.20437435805797577,
 -2.9991838932037354,
 -0.0268409363925457,
 -0.10286766290664673,
 0.0
 ],
 [
 0.5409409403800964,
 -0.005923354532569647,
 0.20217841863632202,
 -3.000176191329956,
 -0.02571163885295391,
 -0.10243826359510422,
 0.0
 ],
 [
 0.5414142608642578,
 -0.0056265173479914665,
 0.20088349282741547,
 -3.0023043155670166,
 -0.03179590031504631,
 -0.10134982317686081,
 0.25
 ],
 [
 0.5419739484786987,
 -0.0044190287590026855,
 0.2014300674200058,
 -3.0089101791381836,
 -0.039276763796806335,
 -0.09807838499546051,
 0.27643176913261414
 ],
 [
 0.5430612564086914,
 -0.0038847457617521286,
 0.20322267711162567,
 -3.0136969089508057,
 -0.043477803468704224,
 -0.09499955922365189,
 0.34251105785369873
 ],
 [
 0.544405460357666,
 -0.002719916170462966,
 0.20485208928585052,
 -3.0187439918518066,
 -0.0482814759016037,
 -0.09356684982776642,
 0.41740086674690247
 ],
 [
 0.5452010035514832,
 -0.0016282789874821901,
 0.20573796331882477,
 -3.020519495010376,
 -0.05003122612833977,
 -0.0926910862326622,
 0.5055066347122192
 ],
 [
 0.5462815165519714,
 -4.867345705861226e-05,
 0.20651639997959137,
 -3.0260255336761475,
 -0.05382030829787254,
 -0.0898093655705452,
 0.5759912133216858
 ],
 [
 0.5468154549598694,
 0.0014616152038797736,
 0.20763683319091797,
 -3.030818462371826,
 -0.05694681406021118,
 -0.08509621024131775,
 0.6596916317939758
 ],
 [
 0.5465118288993835,
 0.0035315866116434336,
 0.20826563239097595,
 -3.0327413082122803,
 -0.057986751198768616,
 -0.08076567947864532,
 0.7301762104034424
 ],
 [
 0.5462508797645569,
 0.0054802182130515575,
 0.2090204358100891,
 -3.0343070030212402,
 -0.059325918555259705,
 -0.07814472168684006,
 0.8138766884803772
 ],
 [
 0.5462746024131775,
 0.00721312640234828,
 0.20980526506900787,
 -3.0359537601470947,
 -0.06191803142428398,
 -0.07494718581438065,
 0.884361207485199
 ],
 [
 0.5468589067459106,
 0.00859964732080698,
 0.20991352200508118,
 -3.0368247032165527,
 -0.0643056109547615,
 -0.07269185781478882,
 0.950440526008606
 ],
 [
 0.5472850799560547,
 0.009778236970305443,
 0.21100884675979614,
 -3.039445161819458,
 -0.06976214051246643,
 -0.06879273802042007,
 0.9911894202232361
 ],
 [
 0.54708331823349,
 0.01029402855783701,
 0.21233806014060974,
 -3.041522264480591,
 -0.07431307435035706,
 -0.06707649677991867,
 0.9669603705406189
 ],
 [
 0.5459526777267456,
 0.010859271511435509,
 0.21490707993507385,
 -3.037982225418091,
 -0.07556263357400894,
 -0.06481623649597168,
 0.950440526008606
 ],
 [
 0.5451847314834595,
 0.011114407330751419,
 0.21712560951709747,
 -3.0367367267608643,
 -0.0807923749089241,
 -0.06430336087942123,
 0.950440526008606
 ],
 [
 0.5432793498039246,
 0.011079384945333004,
 0.22178509831428528,
 -3.032053232192993,
 -0.08122622221708298,
 -0.06082132086157799,
 0.950440526008606
 ],
 [
 0.5420476794242859,
 0.01075663696974516,
 0.22560468316078186,
 -3.025784492492676,
 -0.07702586054801941,
 -0.04949720576405525,
 0.950440526008606
 ],
 [
 0.5394971966743469,
 0.010115785524249077,
 0.2322765439748764,
 -3.0219268798828125,
 -0.0811428502202034,
 -0.04340480640530586,
 0.950440526008606
 ],
 [
 0.5383209586143494,
 0.00980276521295309,
 0.23708601295948029,
 -3.02400541305542,
 -0.08813907206058502,
 -0.041826341301202774,
 0.950440526008606
 ],
 [
 0.5343893766403198,
 0.008660605177283287,
 0.2461475282907486,
 -3.0321199893951416,
 -0.09896287322044373,
 -0.03877808153629303,
 0.950440526008606
 ],
 [
 0.5323758721351624,
 0.007872606627643108,
 0.2525483965873718,
 -3.036048412322998,
 -0.10874917358160019,
 -0.03854336962103844,
 0.950440526008606
 ],
 [
 0.5278078317642212,
 0.006986642722040415,
 0.26332277059555054,
 -3.0368781089782715,
 -0.12694066762924194,
 -0.036927856504917145,
 0.950440526008606
 ],
 [
 0.524824857711792,
 0.006783447228372097,
 0.271280437707901,
 -3.037147283554077,
 -0.13830792903900146,
 -0.03433608263731003,
 0.950440526008606
 ],
 [
 0.5214486122131348,
 0.007122764829546213,
 0.28102219104766846,
 -3.0379457473754883,
 -0.15265633165836334,
 -0.030741015449166298,
 0.950440526008606
 ],
 [
 0.5175745487213135,
 0.008304364047944546,
 0.2897814214229584,
 -3.039860725402832,
 -0.1647370159626007,
 -0.029173718765378,
 0.950440526008606
 ],
 [
 0.5134263634681702,
 0.010461392812430859,
 0.3010546565055847,
 -3.0436325073242188,
 -0.18463456630706787,
 -0.020500998944044113,
 0.950440526008606
 ],
 [
 0.5098150968551636,
 0.012181662023067474,
 0.3101702034473419,
 -3.0435352325439453,
 -0.20114800333976746,
 -0.007931618951261044,
 0.950440526008606
 ],
 [
 0.507393479347229,
 0.015517929568886757,
 0.3193753957748413,
 -3.042607545852661,
 -0.22136466205120087,
 0.0037821470759809017,
 0.950440526008606
 ],
 [
 0.5064195394515991,
 0.020231593400239944,
 0.3256218433380127,
 -3.040304660797119,
 -0.2339426726102829,
 0.01969868689775467,
 0.950440526008606
 ],
 [
 0.5069935917854309,
 0.028045974671840668,
 0.32989394664764404,
 -3.0387041568756104,
 -0.24280941486358643,
 0.04326816275715828,
 0.950440526008606
 ],
 [
 0.5066430568695068,
 0.036620382219552994,
 0.3330199122428894,
 -3.04023814201355,
 -0.24644607305526733,
 0.06435016542673111,
 0.950440526008606
 ],
 [
 0.5086349844932556,
 0.046840932220220566,
 0.33288976550102234,
 -3.0442018508911133,
 -0.2472430318593979,
 0.08610855042934418,
 0.950440526008606
 ],
 [
 0.510962963104248,
 0.058311786502599716,
 0.33022886514663696,
 -3.041947603225708,
 -0.23987336456775665,
 0.11163855344057083,
 0.950440526008606
 ],
 [
 0.5113544464111328,
 0.06955134123563766,
 0.326751172542572,
 -3.040248394012451,
 -0.23185290396213531,
 0.13740792870521545,
 0.950440526008606
 ],
 [
 0.5120987296104431,
 0.08154010772705078,
 0.3212621808052063,
 -3.0429184436798096,
 -0.2215646505355835,
 0.16564413905143738,
 0.950440526008606
 ],
 [
 0.5109620094299316,
 0.09219840914011002,
 0.31675004959106445,
 -3.0404610633850098,
 -0.20986109972000122,
 0.19002598524093628,
 0.950440526008606
 ],
 [
 0.5123512744903564,
 0.10207316279411316,
 0.3090198338031769,
 -3.042052984237671,
 -0.19820083677768707,
 0.21483370661735535,
 0.950440526008606
 ],
 [
 0.512576162815094,
 0.11069357395172119,
 0.3015635311603546,
 -3.044221878051758,
 -0.18488618731498718,
 0.23706035315990448,
 0.950440526008606
 ],
 [
 0.5142108798027039,
 0.11852872371673584,
 0.29284948110580444,
 -3.0457589626312256,
 -0.17357587814331055,
 0.25816354155540466,
 0.950440526008606
 ],
 [
 0.5140345692634583,
 0.12461148202419281,
 0.2869747281074524,
 -3.0488243103027344,
 -0.1612093299627304,
 0.27255570888519287,
 0.950440526008606
 ],
 [
 0.5188987851142883,
 0.13045687973499298,
 0.27665975689888,
 -3.0537736415863037,
 -0.14349573850631714,
 0.2906433939933777,
 0.950440526008606
 ],
 [
 0.5216359496116638,
 0.13385292887687683,
 0.26914262771606445,
 -3.059851884841919,
 -0.13221211731433868,
 0.3033640682697296,
 0.950440526008606
 ],
 [
 0.5264673829078674,
 0.13759776949882507,
 0.259080171585083,
 -3.0671660900115967,
 -0.11427859216928482,
 0.3178726136684418,
 0.950440526008606
 ],
 [
 0.5299258232116699,
 0.14013564586639404,
 0.2511991262435913,
 -3.075042724609375,
 -0.10392504930496216,
 0.3328355550765991,
 0.950440526008606
 ],
 [
 0.5342406630516052,
 0.142806738615036,
 0.24274009466171265,
 -3.0812017917633057,
 -0.0945621132850647,
 0.3476089835166931,
 0.950440526008606
 ],
 [
 0.5377089977264404,
 0.14484067261219025,
 0.2357073873281479,
 -3.0851919651031494,
 -0.0857928916811943,
 0.36180686950683594,
 0.950440526008606
 ],
 [
 0.5424086451530457,
 0.14788465201854706,
 0.22694027423858643,
 -3.088292121887207,
 -0.07340259104967117,
 0.37277528643608093,
 0.950440526008606
 ],
 [
 0.5466299057006836,
 0.15067529678344727,
 0.21929490566253662,
 -3.093735694885254,
 -0.06375986337661743,
 0.3839007616043091,
 0.950440526008606
 ],
 [
 0.550247073173523,
 0.15361325442790985,
 0.211698979139328,
 -3.098586082458496,
 -0.0529722161591053,
 0.39591220021247864,
 0.950440526008606
 ],
 [
 0.5531967282295227,
 0.15601463615894318,
 0.20532362163066864,
 -3.101728677749634,
 -0.046057429164648056,
 0.4065752625465393,
 0.950440526008606
 ],
 [
 0.5551956295967102,
 0.15905196964740753,
 0.1983705461025238,
 -3.1050360202789307,
 -0.03660518303513527,
 0.4183773398399353,
 0.950440526008606
 ],
 [
 0.5587176084518433,
 0.16144953668117523,
 0.19092264771461487,
 -3.1107234954833984,
 -0.03512711077928543,
 0.43023014068603516,
 0.950440526008606
 ],
 [
 0.5612590909004211,
 0.16448543965816498,
 0.18372945487499237,
 -3.1187546253204346,
 -0.02766159363090992,
 0.4415000379085541,
 0.950440526008606
 ]
 ],
 "action_dict": {
 "cartesian_position": [
 [
 0.5325247645378113,
 0.0035877234768122435,
 0.228643998503685,
 -2.9948601722717285,
 -0.06283167749643326,
 -0.08830595761537552
 ],
 [
 0.5340268611907959,
 0.0023790569975972176,
 0.2224079966545105,
 -2.9956655502319336,
 -0.05276063457131386,
 -0.08801861107349396
 ],
 [
 0.5349400639533997,
 0.0007121013477444649,
 0.2166895568370819,
 -2.996900796890259,
 -0.045222390443086624,
 -0.0905783399939537
 ],
 [
 0.5358952879905701,
 -0.0009886008920148015,
 0.21230053901672363,
 -2.998018264770508,
 -0.03940841555595398,
 -0.09454692155122757
 ],
 [
 0.5378991961479187,
 -0.0031471599359065294,
 0.20771978795528412,
 -2.999605417251587,
 -0.03185875341296196,
 -0.09861288964748383
 ],
 [
 0.5391891598701477,
 -0.0047850823029875755,
 0.20437435805797577,
 -2.9991838932037354,
 -0.0268409363925457,
 -0.10286766290664673
 ],
 [
 0.5409409403800964,
 -0.005923354532569647,
 0.20217841863632202,
 -3.000176191329956,
 -0.02571163885295391,
 -0.10243826359510422
 ],
 [
 0.5414142608642578,
 -0.0056265173479914665,
 0.20088349282741547,
 -3.0023043155670166,
 -0.03179590031504631,
 -0.10134982317686081
 ],
 [
 0.5419739484786987,
 -0.0044190287590026855,
 0.2014300674200058,
 -3.0089101791381836,
 -0.039276763796806335,
 -0.09807838499546051
 ],
 [
 0.5430612564086914,
 -0.0038847457617521286,
 0.20322267711162567,
 -3.0136969089508057,
 -0.043477803468704224,
 -0.09499955922365189
 ],
 [
 0.544405460357666,
 -0.002719916170462966,
 0.20485208928585052,
 -3.0187439918518066,
 -0.0482814759016037,
 -0.09356684982776642
 ],
 [
 0.5452010035514832,
 -0.0016282789874821901,
 0.20573796331882477,
 -3.020519495010376,
 -0.05003122612833977,
 -0.0926910862326622
 ],
 [
 0.5462815165519714,
 -4.867345705861226e-05,
 0.20651639997959137,
 -3.0260255336761475,
 -0.05382030829787254,
 -0.0898093655705452
 ],
 [
 0.5468154549598694,
 0.0014616152038797736,
 0.20763683319091797,
 -3.030818462371826,
 -0.05694681406021118,
 -0.08509621024131775
 ],
 [
 0.5465118288993835,
 0.0035315866116434336,
 0.20826563239097595,
 -3.0327413082122803,
 -0.057986751198768616,
 -0.08076567947864532
 ],
 [
 0.5462508797645569,
 0.0054802182130515575,
 0.2090204358100891,
 -3.0343070030212402,
 -0.059325918555259705,
 -0.07814472168684006
 ],
 [
 0.5462746024131775,
 0.00721312640234828,
 0.20980526506900787,
 -3.0359537601470947,
 -0.06191803142428398,
 -0.07494718581438065
 ],
 [
 0.5468589067459106,
 0.00859964732080698,
 0.20991352200508118,
 -3.0368247032165527,
 -0.0643056109547615,
 -0.07269185781478882
 ],
 [
 0.5472850799560547,
 0.009778236970305443,
 0.21100884675979614,
 -3.039445161819458,
 -0.06976214051246643,
 -0.06879273802042007
 ],
 [
 0.54708331823349,
 0.01029402855783701,
 0.21233806014060974,
 -3.041522264480591,
 -0.07431307435035706,
 -0.06707649677991867
 ],
 [
 0.5459526777267456,
 0.010859271511435509,
 0.21490707993507385,
 -3.037982225418091,
 -0.07556263357400894,
 -0.06481623649597168
 ],
 [
 0.5451847314834595,
 0.011114407330751419,
 0.21712560951709747,
 -3.0367367267608643,
 -0.0807923749089241,
 -0.06430336087942123
 ],
 [
 0.5432793498039246,
 0.011079384945333004,
 0.22178509831428528,
 -3.032053232192993,
 -0.08122622221708298,
 -0.06082132086157799
 ],
 [
 0.5420476794242859,
 0.01075663696974516,
 0.22560468316078186,
 -3.025784492492676,
 -0.07702586054801941,
 -0.04949720576405525
 ],
 [
 0.5394971966743469,
 0.010115785524249077,
 0.2322765439748764,
 -3.0219268798828125,
 -0.0811428502202034,
 -0.04340480640530586
 ],
 [
 0.5383209586143494,
 0.00980276521295309,
 0.23708601295948029,
 -3.02400541305542,
 -0.08813907206058502,
 -0.041826341301202774
 ],
 [
 0.5343893766403198,
 0.008660605177283287,
 0.2461475282907486,
 -3.0321199893951416,
 -0.09896287322044373,
 -0.03877808153629303
 ],
 [
 0.5323758721351624,
 0.007872606627643108,
 0.2525483965873718,
 -3.036048412322998,
 -0.10874917358160019,
 -0.03854336962103844
 ],
 [
 0.5278078317642212,
 0.006986642722040415,
 0.26332277059555054,
 -3.0368781089782715,
 -0.12694066762924194,
 -0.036927856504917145
 ],
 [
 0.524824857711792,
 0.006783447228372097,
 0.271280437707901,
 -3.037147283554077,
 -0.13830792903900146,
 -0.03433608263731003
 ],
 [
 0.5214486122131348,
 0.007122764829546213,
 0.28102219104766846,
 -3.0379457473754883,
 -0.15265633165836334,
 -0.030741015449166298
 ],
 [
 0.5175745487213135,
 0.008304364047944546,
 0.2897814214229584,
 -3.039860725402832,
 -0.1647370159626007,
 -0.029173718765378
 ],
 [
 0.5134263634681702,
 0.010461392812430859,
 0.3010546565055847,
 -3.0436325073242188,
 -0.18463456630706787,
 -0.020500998944044113
 ],
 [
 0.5098150968551636,
 0.012181662023067474,
 0.3101702034473419,
 -3.0435352325439453,
 -0.20114800333976746,
 -0.007931618951261044
 ],
 [
 0.507393479347229,
 0.015517929568886757,
 0.3193753957748413,
 -3.042607545852661,
 -0.22136466205120087,
 0.0037821470759809017
 ],
 [
 0.5064195394515991,
 0.020231593400239944,
 0.3256218433380127,
 -3.040304660797119,
 -0.2339426726102829,
 0.01969868689775467
 ],
 [
 0.5069935917854309,
 0.028045974671840668,
 0.32989394664764404,
 -3.0387041568756104,
 -0.24280941486358643,
 0.04326816275715828
 ],
 [
 0.5066430568695068,
 0.036620382219552994,
 0.3330199122428894,
 -3.04023814201355,
 -0.24644607305526733,
 0.06435016542673111
 ],
 [
 0.5086349844932556,
 0.046840932220220566,
 0.33288976550102234,
 -3.0442018508911133,
 -0.2472430318593979,
 0.08610855042934418
 ],
 [
 0.510962963104248,
 0.058311786502599716,
 0.33022886514663696,
 -3.041947603225708,
 -0.23987336456775665,
 0.11163855344057083
 ],
 [
 0.5113544464111328,
 0.06955134123563766,
 0.326751172542572,
 -3.040248394012451,
 -0.23185290396213531,
 0.13740792870521545
 ],
 [
 0.5120987296104431,
 0.08154010772705078,
 0.3212621808052063,
 -3.0429184436798096,
 -0.2215646505355835,
 0.16564413905143738
 ],
 [
 0.5109620094299316,
 0.09219840914011002,
 0.31675004959106445,
 -3.0404610633850098,
 -0.20986109972000122,
 0.19002598524093628
 ],
 [
 0.5123512744903564,
 0.10207316279411316,
 0.3090198338031769,
 -3.042052984237671,
 -0.19820083677768707,
 0.21483370661735535
 ],
 [
 0.512576162815094,
 0.11069357395172119,
 0.3015635311603546,
 -3.044221878051758,
 -0.18488618731498718,
 0.23706035315990448
 ],
 [
 0.5142108798027039,
 0.11852872371673584,
 0.29284948110580444,
 -3.0457589626312256,
 -0.17357587814331055,
 0.25816354155540466
 ],
 [
 0.5140345692634583,
 0.12461148202419281,
 0.2869747281074524,
 -3.0488243103027344,
 -0.1612093299627304,
 0.27255570888519287
 ],
 [
 0.5188987851142883,
 0.13045687973499298,
 0.27665975689888,
 -3.0537736415863037,
 -0.14349573850631714,
 0.2906433939933777
 ],
 [
 0.5216359496116638,
 0.13385292887687683,
 0.26914262771606445,
 -3.059851884841919,
 -0.13221211731433868,
 0.3033640682697296
 ],
 [
 0.5264673829078674,
 0.13759776949882507,
 0.259080171585083,
 -3.0671660900115967,
 -0.11427859216928482,
 0.3178726136684418
 ],
 [
 0.5299258232116699,
 0.14013564586639404,
 0.2511991262435913,
 -3.075042724609375,
 -0.10392504930496216,
 0.3328355550765991
 ],
 [
 0.5342406630516052,
 0.142806738615036,
 0.24274009466171265,
 -3.0812017917633057,
 -0.0945621132850647,
 0.3476089835166931
 ],
 [
 0.5377089977264404,
 0.14484067261219025,
 0.2357073873281479,
 -3.0851919651031494,
 -0.0857928916811943,
 0.36180686950683594
 ],
 [
 0.5424086451530457,
 0.14788465201854706,
 0.22694027423858643,
 -3.088292121887207,
 -0.07340259104967117,
 0.37277528643608093
 ],
 [
 0.5466299057006836,
 0.15067529678344727,
 0.21929490566253662,
 -3.093735694885254,
 -0.06375986337661743,
 0.3839007616043091
 ],
 [
 0.550247073173523,
 0.15361325442790985,
 0.211698979139328,
 -3.098586082458496,
 -0.0529722161591053,
 0.39591220021247864
 ],
 [
 0.5531967282295227,
 0.15601463615894318,
 0.20532362163066864,
 -3.101728677749634,
 -0.046057429164648056,
 0.4065752625465393
 ],
 [
 0.5551956295967102,
 0.15905196964740753,
 0.1983705461025238,
 -3.1050360202789307,
 -0.03660518303513527,
 0.4183773398399353
 ],
 [
 0.5587176084518433,
 0.16144953668117523,
 0.19092264771461487,
 -3.1107234954833984,
 -0.03512711077928543,
 0.43023014068603516
 ],
 [
 0.5612590909004211,
 0.16448543965816498,
 0.18372945487499237,
 -3.1187546253204346,
 -0.02766159363090992,
 0.4415000379085541
 ]
 ],
 "cartesian_velocity": [
 [
 0.22023828327655792,
 -0.010436652228236198,
 -0.22010785341262817,
 -0.057940468192100525,
 0.05112742632627487,
 -0.07449445873498917
 ],
 [
 0.19449850916862488,
 -0.023273969069123268,
 -0.18477876484394073,
 -0.05091746151447296,
 0.03266242891550064,
 -0.06653252989053726
 ],
 [
 0.1659020185470581,
 -0.0357295498251915,
 -0.1601458042860031,
 -0.04995918646454811,
 0.013645182363688946,
 -0.07550016790628433
 ],
 [
 0.1471603661775589,
 -0.0402221605181694,
 -0.13410139083862305,
 -0.053179677575826645,
 -0.004650974180549383,
 -0.08370807766914368
 ],
 [
 0.14766547083854675,
 -0.043051496148109436,
 -0.1298859715461731,
 -0.05840475857257843,
 0.004316092003136873,
 -0.08748495578765869
 ],
 [
 0.1441894769668579,
 -0.034771159291267395,
 -0.1165323555469513,
 -0.050081923604011536,
 -0.0009375904919579625,
 -0.08713687211275101
 ],
 [
 0.14554259181022644,
 -0.020703712478280067,
 -0.0960344523191452,
 -0.055732011795043945,
 -0.02353411167860031,
 -0.05196657404303551
 ],
 [
 0.13141974806785583,
 0.0053522358648478985,
 -0.07293550670146942,
 -0.07306702435016632,
 -0.08501756936311722,
 -0.026333121582865715
 ],
 [
 0.1122228279709816,
 0.03143427148461342,
 -0.04265270009636879,
 -0.11723629385232925,
 -0.13510210812091827,
 -0.004941009916365147
 ],
 [
 0.09572775661945343,
 0.04530099779367447,
 -0.0226767435669899,
 -0.1267004758119583,
 -0.13880158960819244,
 -0.0033215624280273914
 ],
 [
 0.08668600767850876,
 0.05711003765463829,
 -0.021829742938280106,
 -0.12896069884300232,
 -0.14383234083652496,
 -0.010711973533034325
 ],
 [
 0.07774785161018372,
 0.061687689274549484,
 -0.02721390686929226,
 -0.11849779635667801,
 -0.13639040291309357,
 -0.01317970734089613
 ],
 [
 0.07224328815937042,
 0.06753124296665192,
 -0.03443918377161026,
 -0.12714694440364838,
 -0.14207206666469574,
 -0.009547107852995396
 ],
 [
 0.06082975119352341,
 0.07451054453849792,
 -0.03550398722290993,
 -0.12718141078948975,
 -0.14526589214801788,
 0.00022087460092734545
 ],
 [
 0.04877401143312454,
 0.07982280850410461,
 -0.03365013003349304,
 -0.11242852360010147,
 -0.1486055999994278,
 0.004695920739322901
 ],
 [
 0.04188286513090134,
 0.07807184010744095,
 -0.02617330104112625,
 -0.10757624357938766,
 -0.15308113396167755,
 0.0023514681961387396
 ],
 [
 0.03891412168741226,
 0.07156848907470703,
 -0.018267251551151276,
 -0.09881197661161423,
 -0.16098465025424957,
 -0.002915541874244809
 ],
 [
 0.04213901236653328,
 0.060732562094926834,
 -0.02072060853242874,
 -0.08830082416534424,
 -0.16012004017829895,
 -0.006808501202613115
 ],
 [
 0.03879828378558159,
 0.05507691577076912,
 -0.014381716027855873,
 -0.0847402885556221,
 -0.15739893913269043,
 -0.007530812174081802
 ],
 [
 0.029257824644446373,
 0.04983628913760185,
 -0.00268040644004941,
 -0.07430451363325119,
 -0.1587003618478775,
 -0.016220297664403915
 ],
 [
 0.012055562809109688,
 0.045862264931201935,
 0.029534747824072838,
 -0.042653437703847885,
 -0.1603735387325287,
 -0.01428747083991766
 ],
 [
 -6.757584196748212e-05,
 0.03624279052019119,
 0.05659228190779686,
 -0.037687793374061584,
 -0.18741978704929352,
 -0.021669968962669373
 ],
 [
 -0.02947789803147316,
 0.0249068271368742,
 0.11236238479614258,
 -0.00826937984675169,
 -0.17630763351917267,
 -0.005153527949005365
 ],
 [
 -0.0496390238404274,
 0.010138354264199734,
 0.14762383699417114,
 0.032170239835977554,
 -0.13403868675231934,
 0.0640295147895813
 ],
 [
 -0.09027715027332306,
 -0.009958667680621147,
 0.20355981588363647,
 0.051842693239450455,
 -0.13285918533802032,
 0.09651699662208557
 ],
 [
 -0.11286073178052902,
 -0.02246640808880329,
 0.21934352815151215,
 0.031887296587228775,
 -0.13583491742610931,
 0.0940604880452156
 ],
 [
 -0.17012919485569,
 -0.04089616239070892,
 0.2718738615512848,
 -0.028064629063010216,
 -0.14834073185920715,
 0.10550043731927872
 ],
 [
 -0.1952759325504303,
 -0.04768056422472,
 0.27855631709098816,
 -0.05802919343113899,
 -0.14947248995304108,
 0.10520119220018387
 ],
 [
 -0.24024629592895508,
 -0.051046643406152725,
 0.32732954621315,
 -0.0675526037812233,
 -0.2004109025001526,
 0.11641597747802734
 ],
 [
 -0.24990129470825195,
 -0.04281779006123543,
 0.32514384388923645,
 -0.06896381825208664,
 -0.2002250701189041,
 0.13372229039669037
 ],
 [
 -0.2569572627544403,
 -0.0265789981931448,
 0.33484572172164917,
 -0.07340310513973236,
 -0.21074911952018738,
 0.1538887470960617
 ],
 [
 -0.2643184959888458,
 -0.00797186978161335,
 0.3236105144023895,
 -0.08437144011259079,
 -0.1994277387857437,
 0.15219175815582275
 ],
 [
 -0.27164414525032043,
 0.020271841436624527,
 0.34286823868751526,
 -0.10153135657310486,
 -0.236062154173851,
 0.1848594695329666
 ],
 [
 -0.26764118671417236,
 0.03830292448401451,
 0.3301016092300415,
 -0.07523655146360397,
 -0.24682383239269257,
 0.2241496592760086
 ],
 [
 -0.2503845691680908,
 0.07235491275787354,
 0.31420114636421204,
 -0.05502042919397354,
 -0.27315613627433777,
 0.2653067409992218
 ],
 [
 -0.21518708765506744,
 0.10697292536497116,
 0.2633644938468933,
 -0.03599725291132927,
 -0.24718306958675385,
 0.3184507489204407
 ],
 [
 -0.16362373530864716,
 0.1575469821691513,
 0.18884558975696564,
 -0.019907044246792793,
 -0.19277596473693848,
 0.38963958621025085
 ],
 [
 -0.13137972354888916,
 0.1900429129600525,
 0.12653616070747375,
 -0.021345986053347588,
 -0.12405280023813248,
 0.40800583362579346
 ],
 [
 -0.0772528424859047,
 0.212879478931427,
 0.050820689648389816,
 -0.042223766446113586,
 -0.06545545905828476,
 0.41049879789352417
 ],
 [
 -0.02499714307487011,
 0.23187397420406342,
 -0.019121283665299416,
 -0.029091039672493935,
 0.013868418522179127,
 0.4472249746322632
 ],
 [
 -0.002199498936533928,
 0.23344308137893677,
 -0.06175605580210686,
 -0.02069738507270813,
 0.0627608671784401,
 0.46910926699638367
 ],
 [
 0.028174208477139473,
 0.24230937659740448,
 -0.11085981130599976,
 -0.041997503489255905,
 0.10334029048681259,
 0.49190065264701843
 ],
 [
 0.037258658558130264,
 0.22548136115074158,
 -0.1280091404914856,
 -0.03184134140610695,
 0.1390017718076706,
 0.48513108491897583
 ],
 [
 0.0815393403172493,
 0.20684053003787994,
 -0.17072905600070953,
 -0.04799605533480644,
 0.15601441264152527,
 0.4769856035709381
 ],
 [
 0.10992560535669327,
 0.1816304326057434,
 -0.19025175273418427,
 -0.0693933293223381,
 0.16613627970218658,
 0.4545304775238037
 ],
 [
 0.15177951753139496,
 0.1637495905160904,
 -0.2115813046693802,
 -0.08402791619300842,
 0.15155841410160065,
 0.43577584624290466
 ],
 [
 0.15663748979568481,
 0.14560262858867645,
 -0.18532174825668335,
 -0.10626164823770523,
 0.1366599053144455,
 0.3874242901802063
 ],
 [
 0.21350815892219543,
 0.136697918176651,
 -0.21847841143608093,
 -0.13526727259159088,
 0.1598954051733017,
 0.37328773736953735
 ],
 [
 0.23065491020679474,
 0.11597009748220444,
 -0.2133481800556183,
 -0.15027230978012085,
 0.14379830658435822,
 0.33909761905670166
 ],
 [
 0.2610376477241516,
 0.11801430583000183,
 -0.23928532004356384,
 -0.180114284157753,
 0.17272470891475677,
 0.3261982798576355
 ],
 [
 0.2647300660610199,
 0.11574072390794754,
 -0.22992518544197083,
 -0.18594488501548767,
 0.15392188727855682,
 0.3085850477218628
 ],
 [
 0.2711724638938904,
 0.12346383184194565,
 -0.22336368262767792,
 -0.18195465207099915,
 0.13231980800628662,
 0.30110517144203186
 ],
 [
 0.2631372809410095,
 0.12178954482078552,
 -0.2019670307636261,
 -0.1638498157262802,
 0.12012165784835815,
 0.287444144487381
 ],
 [
 0.2693369388580322,
 0.13380387425422668,
 -0.20943638682365417,
 -0.16292068362236023,
 0.1383337825536728,
 0.27074331045150757
 ],
 [
 0.2677050232887268,
 0.13834205269813538,
 -0.2095397561788559,
 -0.17617394030094147,
 0.14345397055149078,
 0.2525700330734253
 ],
 [
 0.25955408811569214,
 0.14388351142406464,
 -0.20945174992084503,
 -0.18820129334926605,
 0.15919217467308044,
 0.24013492465019226
 ],
 [
 0.24662096798419952,
 0.13922657072544098,
 -0.1929788887500763,
 -0.18561424314975739,
 0.15156598389148712,
 0.22329676151275635
 ],
 [
 0.22557801008224487,
 0.1431102752685547,
 -0.18803833425045013,
 -0.19111616909503937,
 0.16231811046600342,
 0.21647635102272034
 ],
 [
 0.22663788497447968,
 0.1360274851322174,
 -0.1956016719341278,
 -0.19575656950473785,
 0.12181353569030762,
 0.21203401684761047
 ],
 [
 0.21729914844036102,
 0.13909685611724854,
 -0.21172477304935455,
 -0.23333702981472015,
 0.12384913116693497,
 0.2023833692073822
 ]
 ],
 "gripper_position": [
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.25
 ],
 [
 0.27643176913261414
 ],
 [
 0.34251105785369873
 ],
 [
 0.41740086674690247
 ],
 [
 0.5055066347122192
 ],
 [
 0.5759912133216858
 ],
 [
 0.6596916317939758
 ],
 [
 0.7301762104034424
 ],
 [
 0.8138766884803772
 ],
 [
 0.884361207485199
 ],
 [
 0.950440526008606
 ],
 [
 0.9911894202232361
 ],
 [
 0.9669603705406189
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ],
 [
 0.950440526008606
 ]
 ],
 "gripper_velocity": [
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 1.0
 ],
 [
 0.8458149433135986
 ],
 [
 0.6607929468154907
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ],
 [
 0.5947136282920837
 ]
 ],
 "joint_position": [
 [
 0.034175630658864975,
 0.27009713649749756,
 -0.011904507875442505,
 -2.316774845123291,
 0.3075343668460846,
 2.645451307296753,
 -0.1596182882785797
 ],
 [
 0.02580597624182701,
 0.28903481364250183,
 -0.00625193864107132,
 -2.3060734272003174,
 0.30358076095581055,
 2.6436655521392822,
 -0.15915736556053162
 ],
 [
 0.01811222732067108,
 0.3054735064506531,
 -0.0019017532467842102,
 -2.298130989074707,
 0.30013933777809143,
 2.6448898315429688,
 -0.15737995505332947
 ],
 [
 0.011892464011907578,
 0.31879329681396484,
 0.0008723437786102295,
 -2.291064500808716,
 0.29719576239585876,
 2.6457340717315674,
 -0.15460513532161713
 ],
 [
 0.006394978612661362,
 0.3339873254299164,
 0.0018276143819093704,
 -2.2809348106384277,
 0.293503075838089,
 2.6435582637786865,
 -0.15157349407672882
 ],
 [
 0.000921688973903656,
 0.3449239730834961,
 0.004056734964251518,
 -2.273653745651245,
 0.2929188311100006,
 2.6424508094787598,
 -0.15002866089344025
 ],
 [
 -0.003633987158536911,
 0.35410499572753906,
 0.006341008469462395,
 -2.26611065864563,
 0.2896033227443695,
 2.6428937911987305,
 -0.1500510722398758
 ],
 [
 -0.005684209987521172,
 0.35884562134742737,
 0.009016012772917747,
 -2.2645492553710938,
 0.2870495915412903,
 2.6522536277770996,
 -0.14989963173866272
 ],
 [
 -0.002706572413444519,
 0.3598940968513489,
 0.008087636902928352,
 -2.2639858722686768,
 0.27718406915664673,
 2.660809278488159,
 -0.1437508463859558
 ],
 [
 -0.0011719316244125366,
 0.35884618759155273,
 0.006924821063876152,
 -2.2614102363586426,
 0.26746031641960144,
 2.6617517471313477,
 -0.13794279098510742
 ],
 [
 0.001723557710647583,
 0.3576975166797638,
 0.005723398178815842,
 -2.2581868171691895,
 0.25643816590309143,
 2.6624441146850586,
 -0.12778271734714508
 ],
 [
 0.002384588122367859,
 0.35742491483688354,
 0.006752785295248032,
 -2.2561237812042236,
 0.25093895196914673,
 2.662276029586792,
 -0.1221037209033966
 ],
 [
 0.0050175925716757774,
 0.3579304814338684,
 0.006511278450489044,
 -2.253909111022949,
 0.23979568481445312,
 2.664916753768921,
 -0.11304450035095215
 ],
 [
 0.006885628215968609,
 0.35675185918807983,
 0.006893829442560673,
 -2.25304913520813,
 0.22917360067367554,
 2.6662490367889404,
 -0.10626983642578125
 ],
 [
 0.007519077509641647,
 0.354976087808609,
 0.009747936390340328,
 -2.25416898727417,
 0.22252129018306732,
 2.6668343544006348,
 -0.10143790394067764
 ],
 [
 0.008561844006180763,
 0.3530334532260895,
 0.012011834420263767,
 -2.2554593086242676,
 0.217216357588768,
 2.667860746383667,
 -0.09630750119686127
 ],
 [
 0.00890010129660368,
 0.35151946544647217,
 0.014661656692624092,
 -2.2562062740325928,
 0.21162568032741547,
 2.669909954071045,
 -0.09192857146263123
 ],
 [
 0.008497119881212711,
 0.35240140557289124,
 0.01755051501095295,
 -2.25515079498291,
 0.20753008127212524,
 2.672319173812866,
 -0.08846493065357208
 ],
 [
 0.008914226666092873,
 0.3510581851005554,
 0.01916258968412876,
 -2.2555935382843018,
 0.20126640796661377,
 2.676950454711914,
 -0.08532196283340454
 ],
 [
 0.008672437630593777,
 0.34808680415153503,
 0.020274514332413673,
 -2.257639169692993,
 0.1961565762758255,
 2.6806697845458984,
 -0.08200927823781967
 ],
 [
 0.005892968736588955,
 0.3408260941505432,
 0.024363620206713676,
 -2.261298894882202,
 0.1990540772676468,
 2.6781206130981445,
 -0.08549720793962479
 ],
 [
 0.004876360297203064,
 0.33493825793266296,
 0.02617826871573925,
 -2.265014171600342,
 0.20054908096790314,
 2.681102752685547,
 -0.08699870109558105
 ],
 [
 0.0015201568603515625,
 0.32203909754753113,
 0.030121078714728355,
 -2.270932674407959,
 0.20490948855876923,
 2.67417311668396,
 -0.09328102320432663
 ],
 [
 -0.004680974408984184,
 0.31179922819137573,
 0.03614000231027603,
 -2.2732462882995605,
 0.21037685871124268,
 2.6607677936553955,
 -0.10834156721830368
 ],
 [
 -0.0087602399289608,
 0.2932473421096802,
 0.03955532982945442,
 -2.2820651531219482,
 0.21412815153598785,
 2.6542773246765137,
 -0.11790026724338531
 ],
 [
 -0.00773501954972744,
 0.28079164028167725,
 0.03788677603006363,
 -2.28792405128479,
 0.21120144426822662,
 2.6545040607452393,
 -0.11740842461585999
 ],
 [
 -0.003446647897362709,
 0.25446125864982605,
 0.03089921548962593,
 -2.3035824298858643,
 0.1996811330318451,
 2.6544861793518066,
 -0.11239998042583466
 ],
 [
 -0.001328006386756897,
 0.23653438687324524,
 0.02709708735346794,
 -2.3129196166992188,
 0.19447223842144012,
 2.6556575298309326,
 -0.10953392088413239
 ],
 [
 -0.0015590470284223557,
 0.20439380407333374,
 0.026242898777127266,
 -2.3316779136657715,
 0.1941373199224472,
 2.6600396633148193,
 -0.11229655891656876
 ],
 [
 -0.0014449376612901688,
 0.18012839555740356,
 0.02590515837073326,
 -2.3440840244293213,
 0.19385698437690735,
 2.6592283248901367,
 -0.11465797573328018
 ],
 [
 -0.00025792233645915985,
 0.1512289047241211,
 0.025359222665429115,
 -2.357973098754883,
 0.19251267611980438,
 2.658306837081909,
 -0.1162094995379448
 ],
 [
 0.0032838350161910057,
 0.1231151819229126,
 0.023702621459960938,
 -2.3727314472198486,
 0.18908731639385223,
 2.6572725772857666,
 -0.11261333525180817
 ],
 [
 0.007543034851551056,
 0.08947686851024628,
 0.023334603756666183,
 -2.3889076709747314,
 0.18289947509765625,
 2.6595051288604736,
 -0.11208692938089371
 ],
 [
 0.009102879092097282,
 0.06078050285577774,
 0.025918617844581604,
 -2.401947259902954,
 0.18451885879039764,
 2.6593832969665527,
 -0.1217685118317604
 ],
 [
 0.013155706226825714,
 0.03457854688167572,
 0.02919730730354786,
 -2.4117162227630615,
 0.18788519501686096,
 2.6624815464019775,
 -0.1293235570192337
 ],
 [
 0.018526729196310043,
 0.017437487840652466,
 0.03391414135694504,
 -2.415703535079956,
 0.194548100233078,
 2.6609177589416504,
 -0.14064006507396698
 ],
 [
 0.027594460174441338,
 0.00804656371474266,
 0.040819987654685974,
 -2.4144182205200195,
 0.20088344812393188,
 2.6579723358154297,
 -0.15318652987480164
 ],
 [
 0.03792870044708252,
 0.00022272393107414246,
 0.047024182975292206,
 -2.4147369861602783,
 0.20026439428329468,
 2.653782606124878,
 -0.1564861685037613
 ],
 [
 0.04920778423547745,
 0.004904955625534058,
 0.05476630851626396,
 -2.4085593223571777,
 0.1943594217300415,
 2.6532986164093018,
 -0.15385740995407104
 ],
 [
 0.061231184750795364,
 0.016500188037753105,
 0.0650281012058258,
 -2.3987677097320557,
 0.19826732575893402,
 2.6472649574279785,
 -0.1598663181066513
 ],
 [
 0.07287297397851944,
 0.02669709175825119,
 0.07536984980106354,
 -2.393477439880371,
 0.2014307826757431,
 2.643624782562256,
 -0.16607381403446198
 ],
 [
 0.08437416702508926,
 0.042331941425800323,
 0.08619306981563568,
 -2.3870317935943604,
 0.19637084007263184,
 2.64231538772583,
 -0.1675322949886322
 ],
 [
 0.09449013322591782,
 0.05283919721841812,
 0.09681763499975204,
 -2.38383150100708,
 0.19907665252685547,
 2.637402296066284,
 -0.17329253256320953
 ],
 [
 0.10288667678833008,
 0.07497360557317734,
 0.10631519556045532,
 -2.3751959800720215,
 0.19447298347949982,
 2.638793706893921,
 -0.1767529994249344
 ],
 [
 0.10948308557271957,
 0.09445104002952576,
 0.11495828628540039,
 -2.3690192699432373,
 0.1873333603143692,
 2.6384806632995605,
 -0.1779918670654297
 ],
 [
 0.1155557781457901,
 0.11900009214878082,
 0.1224975436925888,
 -2.358621597290039,
 0.17944449186325073,
 2.640331983566284,
 -0.17913435399532318
 ],
 [
 0.119137704372406,
 0.13486164808273315,
 0.1284760683774948,
 -2.3529741764068604,
 0.16809889674186707,
 2.6384408473968506,
 -0.17461973428726196
 ],
 [
 0.1216411367058754,
 0.1697552651166916,
 0.1325632482767105,
 -2.332876443862915,
 0.14993470907211304,
 2.6355388164520264,
 -0.17105621099472046
 ],
 [
 0.12308516353368759,
 0.1939411163330078,
 0.13436679542064667,
 -2.3199095726013184,
 0.13185308873653412,
 2.635735273361206,
 -0.16563944518566132
 ],
 [
 0.1258261650800705,
 0.22756850719451904,
 0.1338827759027481,
 -2.29914927482605,
 0.10834003984928131,
 2.6310911178588867,
 -0.15799663960933685
 ],
 [
 0.12829796969890594,
 0.2538648247718811,
 0.13281255960464478,
 -2.282968044281006,
 0.08705146610736847,
 2.6310768127441406,
 -0.15388868749141693
 ],
 [
 0.13046672940254211,
 0.2832300066947937,
 0.13218741118907928,
 -2.263519287109375,
 0.06804804503917694,
 2.6316325664520264,
 -0.1516725867986679
 ],
 [
 0.13126280903816223,
 0.3080493211746216,
 0.13262249529361725,
 -2.245915412902832,
 0.05319841951131821,
 2.6298208236694336,
 -0.15258967876434326
 ],
 [
 0.13431856036186218,
 0.33883458375930786,
 0.13163354992866516,
 -2.223160982131958,
 0.0377248115837574,
 2.6255106925964355,
 -0.14894521236419678
 ],
 [
 0.13877004384994507,
 0.3661032021045685,
 0.12889370322227478,
 -2.202181816101074,
 0.020225215703248978,
 2.6224939823150635,
 -0.14396943151950836
 ],
 [
 0.14342862367630005,
 0.3922387659549713,
 0.12660236656665802,
 -2.181967258453369,
 0.0036578401923179626,
 2.6179018020629883,
 -0.13994352519512177
 ],
 [
 0.14666973054409027,
 0.4145417809486389,
 0.12557296454906464,
 -2.164503812789917,
 -0.008381493389606476,
 2.615804433822632,
 -0.13883131742477417
 ],
 [
 0.15129585564136505,
 0.43648892641067505,
 0.12451916933059692,
 -2.148594617843628,
 -0.021321311593055725,
 2.6124706268310547,
 -0.13657473027706146
 ],
 [
 0.15587206184864044,
 0.46142905950546265,
 0.121515192091465,
 -2.130549430847168,
 -0.035517215728759766,
 2.6180484294891357,
 -0.13567404448986053
 ],
 [
 0.16434794664382935,
 0.48383402824401855,
 0.11567309498786926,
 -2.113828659057617,
 -0.0531885027885437,
 2.617300510406494,
 -0.12945054471492767
 ]
 ],
 "joint_velocity": [
 [
 -0.21890641748905182,
 0.31808096170425415,
 0.20663905143737793,
 0.2352430522441864,
 -0.11471711844205856,
 0.06483636051416397,
 0.12978088855743408
 ],
 [
 -0.21833746135234833,
 0.27103474736213684,
 0.19615843892097473,
 0.20991353690624237,
 -0.12315128743648529,
 0.05567038059234619,
 0.12193191051483154
 ],
 [
 -0.21442574262619019,
 0.23120157420635223,
 0.18394635617733002,
 0.1785794198513031,
 -0.12811894714832306,
 0.06177319213747978,
 0.12303885072469711
 ],
 [
 -0.2064504623413086,
 0.19775351881980896,
 0.1726752370595932,
 0.1562439352273941,
 -0.1364777684211731,
 0.06594452261924744,
 0.132113978266716
 ],
 [
 -0.19806236028671265,
 0.19490981101989746,
 0.1607731580734253,
 0.15926864743232727,
 -0.1497456282377243,
 0.055063001811504364,
 0.14471134543418884
 ],
 [
 -0.19105494022369385,
 0.18163177371025085,
 0.15954935550689697,
 0.15581253170967102,
 -0.14572443068027496,
 0.04950400069355965,
 0.14737533032894135
 ],
 [
 -0.17826326191425323,
 0.16576388478279114,
 0.1567429006099701,
 0.15364891290664673,
 -0.15602761507034302,
 0.05174636095762253,
 0.13928772509098053
 ],
 [
 -0.15931889414787292,
 0.13735057413578033,
 0.15715064108371735,
 0.1256929636001587,
 -0.16156503558158875,
 0.0985439121723175,
 0.13656404614448547
 ],
 [
 -0.12545137107372284,
 0.10124751180410385,
 0.1414117068052292,
 0.09030363708734512,
 -0.1983577013015747,
 0.14118130505084991,
 0.16444681584835052
 ],
 [
 -0.10870718955993652,
 0.07534854114055634,
 0.13269048929214478,
 0.06901084631681442,
 -0.2103973627090454,
 0.14124681055545807,
 0.18185320496559143
 ],
 [
 -0.09334947913885117,
 0.06716594845056534,
 0.12570922076702118,
 0.059820063412189484,
 -0.21183112263679504,
 0.1443818062543869,
 0.1974654197692871
 ],
 [
 -0.09022325277328491,
 0.06584680825471878,
 0.12601011991500854,
 0.052490461617708206,
 -0.1993623971939087,
 0.14283135533332825,
 0.19201241433620453
 ],
 [
 -0.07713870704174042,
 0.06847512722015381,
 0.11691994220018387,
 0.045571669936180115,
 -0.20222145318984985,
 0.1559218019247055,
 0.1944071650505066
 ],
 [
 -0.06792629510164261,
 0.062212277203798294,
 0.11257554590702057,
 0.032942961901426315,
 -0.19906805455684662,
 0.16256701946258545,
 0.18868239223957062
 ],
 [
 -0.06521221250295639,
 0.05306243151426315,
 0.11442431062459946,
 0.020526200532913208,
 -0.18064343929290771,
 0.164948970079422,
 0.17395156621932983
 ],
 [
 -0.061132803559303284,
 0.043229930102825165,
 0.10919949412345886,
 0.01267165131866932,
 -0.1731804609298706,
 0.16452518105506897,
 0.1687147617340088
 ],
 [
 -0.060470081865787506,
 0.0355629026889801,
 0.10452479869127274,
 0.008965295739471912,
 -0.16092272102832794,
 0.1640256643295288,
 0.158829003572464
 ],
 [
 -0.06338601559400558,
 0.039900243282318115,
 0.10056524723768234,
 0.01433494407683611,
 -0.14765389263629913,
 0.1595776528120041,
 0.14458677172660828
 ],
 [
 -0.061382073909044266,
 0.03331543877720833,
 0.09416849911212921,
 0.011632079258561134,
 -0.14476278424263,
 0.15200594067573547,
 0.1398857831954956
 ],
 [
 -0.06252006441354752,
 0.018309099599719048,
 0.09200948476791382,
 0.0011737259337678552,
 -0.1331154853105545,
 0.14694753289222717,
 0.1342869997024536
 ],
 [
 -0.0763721838593483,
 -0.01796366274356842,
 0.10504201799631119,
 -0.017342932522296906,
 -0.10275866091251373,
 0.12730398774147034,
 0.10772343724966049
 ],
 [
 -0.08153148740530014,
 -0.04684260115027428,
 0.10521099716424942,
 -0.036283936351537704,
 -0.09311322867870331,
 0.13661380112171173,
 0.09894900768995285
 ],
 [
 -0.09822242707014084,
 -0.10917004197835922,
 0.11707101762294769,
 -0.06695257872343063,
 -0.07128539681434631,
 0.0930391252040863,
 0.06747056543827057
 ],
 [
 -0.12922129034996033,
 -0.14999696612358093,
 0.14000944793224335,
 -0.07854576408863068,
 -0.043965648859739304,
 0.02372858114540577,
 -0.007812412455677986
 ],
 [
 -0.1486593335866928,
 -0.21988502144813538,
 0.148415669798851,
 -0.12236423045396805,
 -0.025275569409132004,
 -0.008680888451635838,
 -0.055369772017002106
 ],
 [
 -0.14188838005065918,
 -0.24654902517795563,
 0.1329033374786377,
 -0.14809904992580414,
 -0.04005533456802368,
 -0.007130793295800686,
 -0.04863688349723816
 ],
 [
 -0.1199335902929306,
 -0.32421812415122986,
 0.09537984430789948,
 -0.2160942554473877,
 -0.09767305850982666,
 -0.005772446747869253,
 -0.021907558664679527
 ],
 [
 -0.10681366920471191,
 -0.34611600637435913,
 0.07634493708610535,
 -0.2425968050956726,
 -0.12284952402114868,
 0.0008480207179673016,
 -0.006405916530638933
 ],
 [
 -0.10252155363559723,
 -0.41410982608795166,
 0.07223033159971237,
 -0.2962267994880676,
 -0.1200297474861145,
 0.023077281191945076,
 -0.019638026133179665
 ],
 [
 -0.09492263942956924,
 -0.4201057553291321,
 0.07067353278398514,
 -0.29965007305145264,
 -0.11488016694784164,
 0.019156618043780327,
 -0.03058454394340515
 ],
 [
 -0.08143883943557739,
 -0.4332094192504883,
 0.0680566281080246,
 -0.30083951354026794,
 -0.1139293685555458,
 0.014601588249206543,
 -0.0353524386882782
 ],
 [
 -0.062287136912345886,
 -0.43108874559402466,
 0.059768106788396835,
 -0.30021777749061584,
 -0.12391199171543121,
 0.009723176248371601,
 -0.014799579977989197
 ],
 [
 -0.04123133420944214,
 -0.45135921239852905,
 0.057760436087846756,
 -0.304654985666275,
 -0.13697056472301483,
 0.021547682583332062,
 -0.011954663321375847
 ],
 [
 -0.03526812419295311,
 -0.4410478174686432,
 0.06991027295589447,
 -0.29084163904190063,
 -0.09172390401363373,
 0.02153906039893627,
 -0.060377657413482666
 ],
 [
 -0.017166107892990112,
 -0.41794145107269287,
 0.08120642602443695,
 -0.2667902112007141,
 -0.0516384094953537,
 0.03718869760632515,
 -0.0960480347275734
 ],
 [
 0.004751707427203655,
 -0.3554879426956177,
 0.08861060440540314,
 -0.21983154118061066,
 -0.014923375099897385,
 0.029494978487491608,
 -0.13465261459350586
 ],
 [
 0.035457637161016464,
 -0.262050062417984,
 0.09798679500818253,
 -0.15595972537994385,
 0.01673436537384987,
 0.01480928249657154,
 -0.17074018716812134
 ],
 [
 0.05908511206507683,
 -0.19057238101959229,
 0.09660083055496216,
 -0.11399155855178833,
 0.013370951637625694,
 -0.005945781245827675,
 -0.1569061130285263
 ],
 [
 0.07413678616285324,
 -0.09125712513923645,
 0.0932927057147026,
 -0.05689956992864609,
 -0.0162506140768528,
 -0.005300205200910568,
 -0.12473072856664658
 ],
 [
 0.0825776532292366,
 0.003642363240942359,
 0.09781210124492645,
 0.006269795820116997,
 0.003382232738658786,
 -0.03512924909591675,
 -0.15055030584335327
 ],
 [
 0.08044768869876862,
 0.055917538702487946,
 0.10101862251758575,
 0.037425052374601364,
 0.019174860790371895,
 -0.05267768353223801,
 -0.17583177983760834
 ],
 [
 0.0778343603014946,
 0.11966544389724731,
 0.10425567626953125,
 0.07276628911495209,
 -0.006163150072097778,
 -0.056287240236997604,
 -0.1731833517551422
 ],
 [
 0.06557989865541458,
 0.14279592037200928,
 0.10300584882497787,
 0.09074301272630692,
 0.007392102386802435,
 -0.0785868912935257,
 -0.18920405209064484
 ],
 [
 0.04946717992424965,
 0.2098771035671234,
 0.09739844501018524,
 0.13434457778930664,
 -0.015665067359805107,
 -0.07001259922981262,
 -0.18889030814170837
 ],
 [
 0.031028511002659798,
 0.2463424801826477,
 0.08822328597307205,
 0.16240116953849792,
 -0.05135137215256691,
 -0.07114852964878082,
 -0.1724013388156891
 ],
 [
 0.01442541554570198,
 0.2912757098674774,
 0.08280493319034576,
 0.20441623032093048,
 -0.09055593609809875,
 -0.06184905022382736,
 -0.14901047945022583
 ],
 [
 0.0026224509347230196,
 0.27472496032714844,
 0.0716405063867569,
 0.20907627046108246,
 -0.13888972997665405,
 -0.0713411420583725,
 -0.09675051271915436
 ],
 [
 -0.0068747117184102535,
 0.3399498760700226,
 0.05666864663362503,
 0.2686399817466736,
 -0.19288094341754913,
 -0.0859292522072792,
 -0.06717105209827423
 ],
 [
 -0.014949090778827667,
 0.34375715255737305,
 0.04188375547528267,
 0.28246408700942993,
 -0.22479748725891113,
 -0.0849575400352478,
 -0.0396307036280632
 ],
 [
 -0.01157123502343893,
 0.3827158212661743,
 0.02693435177206993,
 0.3208022117614746,
 -0.27350708842277527,
 -0.1082356870174408,
 -0.000759748974815011
 ],
 [
 -0.008772190660238266,
 0.37505391240119934,
 0.01940835267305374,
 0.3269858956336975,
 -0.28899478912353516,
 -0.10828711837530136,
 0.019617078825831413
 ],
 [
 -0.0016176007920876145,
 0.3729422688484192,
 0.015642045065760612,
 0.3386053442955017,
 -0.29280906915664673,
 -0.10534633696079254,
 0.030626650899648666
 ],
 [
 -0.001670747878961265,
 0.3487807810306549,
 0.01767229102551937,
 0.3352713882923126,
 -0.2717609703540802,
 -0.11454001814126968,
 0.02569250576198101
 ],
 [
 0.009028538130223751,
 0.35772883892059326,
 0.012761309742927551,
 0.35378408432006836,
 -0.2705540955066681,
 -0.13617581129074097,
 0.04348386824131012
 ],
 [
 0.024136696010828018,
 0.3537437319755554,
 -0.0010477120522409678,
 0.3597639501094818,
 -0.2819950580596924,
 -0.15107516944408417,
 0.0682893693447113
 ],
 [
 0.039462968707084656,
 0.34588974714279175,
 -0.012505398131906986,
 0.3613905608654022,
 -0.285710871219635,
 -0.1734515279531479,
 0.08556932955980301
 ],
 [
 0.0447305366396904,
 0.3217095136642456,
 -0.017629211768507957,
 0.3503061532974243,
 -0.27378442883491516,
 -0.18054643273353577,
 0.08861500769853592
 ],
 [
 0.05622021481394768,
 0.3028317391872406,
 -0.02286679856479168,
 0.335815966129303,
 -0.26656240224838257,
 -0.19372820854187012,
 0.09477858245372772
 ],
 [
 0.06524256616830826,
 0.3049917221069336,
 -0.03780748322606087,
 0.3327476978302002,
 -0.2713334262371063,
 -0.16114187240600586,
 0.09503626078367233
 ],
 [
 0.09413665533065796,
 0.30727553367614746,
 -0.06691836565732956,
 0.3294046223163605,
 -0.2963719069957733,
 -0.1634550243616104,
 0.12494966387748718
 ]
 ]
 },
 "observations": {
 "cartesian_position": [
 [
 0.512139081954956,
 0.003977260086685419,
 0.25416889786720276,
 -2.983893632888794,
 -0.08275959640741348,
 -0.07766861468553543
 ],
 [
 0.5162816047668457,
 0.004380705300718546,
 0.24455849826335907,
 -2.9856693744659424,
 -0.06898285448551178,
 -0.07784321159124374
 ],
 [
 0.5196880102157593,
 0.004067972768098116,
 0.23563805222511292,
 -2.9878008365631104,
 -0.05617453157901764,
 -0.07856692373752594
 ],
 [
 0.5226454734802246,
 0.0033439104445278645,
 0.2283632606267929,
 -2.9893016815185547,
 -0.04622723162174225,
 -0.07971328496932983
 ],
 [
 0.5249926447868347,
 0.0019243048736825585,
 0.22197529673576355,
 -2.9901626110076904,
 -0.03754362836480141,
 -0.08247639238834381
 ],
 [
 0.5269250273704529,
 -5.324564699549228e-05,
 0.21722546219825745,
 -2.990861177444458,
 -0.031464722007513046,
 -0.08600683510303497
 ],
 [
 0.5285199284553528,
 -0.002344137988984585,
 0.21282202005386353,
 -2.99176025390625,
 -0.025681260973215103,
 -0.09029758721590042
 ],
 [
 0.530106782913208,
 -0.004484344739466906,
 0.20919553935527802,
 -2.9922072887420654,
 -0.021183008328080177,
 -0.09504304081201553
 ],
 [
 0.5316596627235413,
 -0.0060959383845329285,
 0.20623448491096497,
 -2.9926562309265137,
 -0.01794680766761303,
 -0.09766954928636551
 ],
 [
 0.5336587429046631,
 -0.006799790076911449,
 0.20456087589263916,
 -2.9934043884277344,
 -0.017398210242390633,
 -0.09760618954896927
 ],
 [
 0.5360493063926697,
 -0.007291147951036692,
 0.20502108335494995,
 -2.9970805644989014,
 -0.021277500316500664,
 -0.09458284080028534
 ],
 [
 0.5380061268806458,
 -0.006960144266486168,
 0.20657655596733093,
 -3.001643657684326,
 -0.02520609274506569,
 -0.09244990348815918
 ],
 [
 0.5394708514213562,
 -0.006185745820403099,
 0.20786505937576294,
 -3.0049142837524414,
 -0.028237316757440567,
 -0.09101788699626923
 ],
 [
 0.5409426689147949,
 -0.005058981478214264,
 0.20916961133480072,
 -3.0091118812561035,
 -0.03104931302368641,
 -0.08885806053876877
 ],
 [
 0.5423424243927002,
 -0.003997878171503544,
 0.2103763371706009,
 -3.014116048812866,
 -0.0337657555937767,
 -0.08528296649456024
 ],
 [
 0.5428793430328369,
 -0.0023191790096461773,
 0.2108117938041687,
 -3.0179083347320557,
 -0.034437570720911026,
 -0.08184242993593216
 ],
 [
 0.5431230664253235,
 -0.00025209569139406085,
 0.2109951376914978,
 -3.020108938217163,
 -0.03523065894842148,
 -0.07884737104177475
 ],
 [
 0.5433729290962219,
 0.0019710203632712364,
 0.2111901342868805,
 -3.0230956077575684,
 -0.0368306003510952,
 -0.07478311657905579
 ],
 [
 0.5437198877334595,
 0.00415569543838501,
 0.21148574352264404,
 -3.0254032611846924,
 -0.03955865651369095,
 -0.07202577590942383
 ],
 [
 0.5444483757019043,
 0.005701163318008184,
 0.21215839684009552,
 -3.0286829471588135,
 -0.046013642102479935,
 -0.06786148250102997
 ],
 [
 0.54490065574646,
 0.006657014600932598,
 0.21255025267601013,
 -3.0320591926574707,
 -0.04988078400492668,
 -0.06493343412876129
 ],
 [
 0.5450578331947327,
 0.007471864111721516,
 0.21270039677619934,
 -3.0331244468688965,
 -0.05123060569167137,
 -0.06280817836523056
 ],
 [
 0.5452151298522949,
 0.00850049126893282,
 0.21291086077690125,
 -3.0327515602111816,
 -0.05255374312400818,
 -0.06107155978679657
 ],
 [
 0.5455063581466675,
 0.009256714954972267,
 0.21339568495750427,
 -3.032379150390625,
 -0.05490665137767792,
 -0.05994025617837906
 ],
 [
 0.5458068251609802,
 0.010071584954857826,
 0.21468231081962585,
 -3.03173565864563,
 -0.05751875042915344,
 -0.05862434580922127
 ],
 [
 0.5463058352470398,
 0.010905670933425426,
 0.21716901659965515,
 -3.030810594558716,
 -0.061984170228242874,
 -0.05725162476301193
 ],
 [
 0.5468352437019348,
 0.011530925519764423,
 0.22100578248500824,
 -3.0298521518707275,
 -0.06870123744010925,
 -0.055400531738996506
 ],
 [
 0.5471671223640442,
 0.011729059740900993,
 0.22603754699230194,
 -3.0290825366973877,
 -0.07696717232465744,
 -0.054813582450151443
 ],
 [
 0.5469947457313538,
 0.011418328620493412,
 0.23200899362564087,
 -3.0285143852233887,
 -0.08643348515033722,
 -0.054982542991638184
 ],
 [
 0.5456390976905823,
 0.010745465755462646,
 0.23944544792175293,
 -3.0283422470092773,
 -0.09728085994720459,
 -0.055234264582395554
 ],
 [
 0.543375551700592,
 0.009924216195940971,
 0.24745991826057434,
 -3.028398275375366,
 -0.10850808769464493,
 -0.05532397702336311
 ],
 [
 0.5405427813529968,
 0.009080350399017334,
 0.2564105689525604,
 -3.0285804271698,
 -0.12118673324584961,
 -0.05491076409816742
 ],
 [
 0.5371912121772766,
 0.008895505219697952,
 0.2660169303417206,
 -3.028691291809082,
 -0.1348952054977417,
 -0.05339569225907326
 ],
 [
 0.5335397720336914,
 0.0089488560333848,
 0.2759862244129181,
 -3.0301454067230225,
 -0.14944246411323547,
 -0.049883946776390076
 ],
 [
 0.5296472311019897,
 0.009334064088761806,
 0.28609535098075867,
 -3.0338521003723145,
 -0.1647356003522873,
 -0.04275009036064148
 ],
 [
 0.5259161591529846,
 0.010180088691413403,
 0.2965402901172638,
 -3.035749673843384,
 -0.18127255141735077,
 -0.03684883937239647
 ],
 [
 0.5223199725151062,
 0.012419899925589561,
 0.3065926432609558,
 -3.0358381271362305,
 -0.19794616103172302,
 -0.028258739039301872
 ],
 [
 0.5190922021865845,
 0.016507582738995552,
 0.3162164092063904,
 -3.036100387573242,
 -0.21469132602214813,
 -0.014990742318332195
 ],
 [
 0.5163663029670715,
 0.022779937833547592,
 0.32393038272857666,
 -3.0369255542755127,
 -0.22857283055782318,
 0.003475119825452566
 ],
 [
 0.5142464637756348,
 0.031780388206243515,
 0.3294559419155121,
 -3.0374350547790527,
 -0.238226979970932,
 0.024762984365224838
 ],
 [
 0.5127562880516052,
 0.04152403399348259,
 0.33172687888145447,
 -3.0375452041625977,
 -0.2422482669353485,
 0.044671859592199326
 ],
 [
 0.5114392638206482,
 0.05266266316175461,
 0.3313213586807251,
 -3.0376996994018555,
 -0.241325244307518,
 0.0676426887512207
 ],
 [
 0.5098647475242615,
 0.06418365240097046,
 0.3294166624546051,
 -3.037914514541626,
 -0.23725317418575287,
 0.09230945259332657
 ],
 [
 0.5080063343048096,
 0.07628266513347626,
 0.3260282874107361,
 -3.0380771160125732,
 -0.23049961030483246,
 0.11876623332500458
 ],
 [
 0.5060886144638062,
 0.08733335882425308,
 0.3214696943759918,
 -3.038163185119629,
 -0.2217124104499817,
 0.14413920044898987
 ],
 [
 0.5042049288749695,
 0.09775803238153458,
 0.3154089152812958,
 -3.0379858016967773,
 -0.21041496098041534,
 0.16917239129543304
 ],
 [
 0.502733051776886,
 0.10681793093681335,
 0.30819082260131836,
 -3.0375185012817383,
 -0.19734163582324982,
 0.1925705075263977
 ],
 [
 0.5022960305213928,
 0.11429043859243393,
 0.3002345561981201,
 -3.037381410598755,
 -0.18353992700576782,
 0.2138899564743042
 ],
 [
 0.5029442310333252,
 0.12060261517763138,
 0.2925473153591156,
 -3.039645195007324,
 -0.1707076132297516,
 0.2334347516298294
 ],
 [
 0.504481315612793,
 0.1255231499671936,
 0.2845267355442047,
 -3.043405532836914,
 -0.1577463448047638,
 0.25106167793273926
 ],
 [
 0.5070942640304565,
 0.12895257771015167,
 0.2764783799648285,
 -3.0481133460998535,
 -0.14560872316360474,
 0.26710033416748047
 ],
 [
 0.5104408860206604,
 0.13170354068279266,
 0.26750949025154114,
 -3.055248260498047,
 -0.13259239494800568,
 0.2854889929294586
 ],
 [
 0.5141162872314453,
 0.13366016745567322,
 0.2590371072292328,
 -3.061229944229126,
 -0.12103169411420822,
 0.3008287847042084
 ],
 [
 0.5182810425758362,
 0.13586999475955963,
 0.2503143548965454,
 -3.067795991897583,
 -0.1099720224738121,
 0.3177976906299591
 ],
 [
 0.5224379897117615,
 0.13797162473201752,
 0.24220307171344757,
 -3.072073221206665,
 -0.10045553743839264,
 0.33119258284568787
 ],
 [
 0.5269365906715393,
 0.1405433565378189,
 0.2342463880777359,
 -3.0763700008392334,
 -0.0921233743429184,
 0.3455211818218231
 ],
 [
 0.5309997797012329,
 0.1429540365934372,
 0.22697672247886658,
 -3.0805954933166504,
 -0.08479924499988556,
 0.3588152527809143
 ],
 [
 0.5349098443984985,
 0.14573921263217926,
 0.21937938034534454,
 -3.084213972091675,
 -0.07692157477140427,
 0.37236252427101135
 ],
 [
 0.5384976863861084,
 0.14850524067878723,
 0.21195970475673676,
 -3.0878734588623047,
 -0.06941547244787216,
 0.38555318117141724
 ],
 [
 0.5419706106185913,
 0.15148968994617462,
 0.20506879687309265,
 -3.0907912254333496,
 -0.0628456249833107,
 0.3979627192020416
 ]
 ],
 "gripper_position": [
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.0
 ],
 [
 0.026431767269968987
 ],
 [
 0.09251105040311813
 ],
 [
 0.1850220263004303
 ],
 [
 0.25550660490989685
 ],
 [
 0.3436123728752136
 ],
 [
 0.40969163179397583
 ],
 [
 0.4801762104034424
 ],
 [
 0.5638766884803772
 ],
 [
 0.634361207485199
 ],
 [
 0.7180616855621338
 ],
 [
 0.7797356843948364
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ],
 [
 0.8017621040344238
 ]
 ],
 "joint_position": [
 [
 0.08657383918762207,
 0.17680828273296356,
 -0.06241975352168083,
 -2.3805630207061768,
 0.33138975501060486,
 2.632305860519409,
 -0.18715891242027283
 ],
 [
 0.07737356424331665,
 0.20847807824611664,
 -0.05264410004019737,
 -2.362640380859375,
 0.3304274380207062,
 2.632492780685425,
 -0.18545742332935333
 ],
 [
 0.06871957331895828,
 0.2368425726890564,
 -0.04486178606748581,
 -2.3469085693359375,
 0.327991247177124,
 2.632540702819824,
 -0.1834162026643753
 ],
 [
 0.060549478977918625,
 0.260345458984375,
 -0.038347311317920685,
 -2.333169937133789,
 0.3256763517856598,
 2.6325414180755615,
 -0.18191950023174286
 ],
 [
 0.05269009992480278,
 0.28043320775032043,
 -0.03337748721241951,
 -2.3216350078582764,
 0.3244307041168213,
 2.632546901702881,
 -0.18100373446941376
 ],
 [
 0.045611657202243805,
 0.29577773809432983,
 -0.03019365668296814,
 -2.312307596206665,
 0.3233921527862549,
 2.632549285888672,
 -0.1804925501346588
 ],
 [
 0.038548994809389114,
 0.309597373008728,
 -0.027598338201642036,
 -2.3041458129882812,
 0.32192766666412354,
 2.6325464248657227,
 -0.17941521108150482
 ],
 [
 0.031664952635765076,
 0.3215654194355011,
 -0.024874011054635048,
 -2.2964425086975098,
 0.3207521438598633,
 2.6325440406799316,
 -0.1778559386730194
 ],
 [
 0.02590944990515709,
 0.33187225461006165,
 -0.022279879078269005,
 -2.2892730236053467,
 0.3192671835422516,
 2.632542133331299,
 -0.17716990411281586
 ],
 [
 0.022224001586437225,
 0.34001755714416504,
 -0.020085902884602547,
 -2.281675100326538,
 0.3167389929294586,
 2.632582902908325,
 -0.17658701539039612
 ],
 [
 0.020516466349363327,
 0.34389302134513855,
 -0.01961108297109604,
 -2.2747690677642822,
 0.3087804615497589,
 2.633519172668457,
 -0.17396198213100433
 ],
 [
 0.0203911941498518,
 0.34426966309547424,
 -0.019360005855560303,
 -2.2699005603790283,
 0.29832160472869873,
 2.633570432662964,
 -0.16672931611537933
 ],
 [
 0.020435620099306107,
 0.3442613184452057,
 -0.01835842803120613,
 -2.266375780105591,
 0.29018452763557434,
 2.633711338043213,
 -0.15999366343021393
 ],
 [
 0.02044704742729664,
 0.3442354202270508,
 -0.01680001989006996,
 -2.262829542160034,
 0.27970895171165466,
 2.6337294578552246,
 -0.1514275074005127
 ],
 [
 0.020478347316384315,
 0.344312459230423,
 -0.015444803051650524,
 -2.259427070617676,
 0.26788052916526794,
 2.6337382793426514,
 -0.14327508211135864
 ],
 [
 0.020584765821695328,
 0.34436073899269104,
 -0.012932922691106796,
 -2.2582294940948486,
 0.258152037858963,
 2.6338911056518555,
 -0.13571369647979736
 ],
 [
 0.02080611325800419,
 0.34438541531562805,
 -0.009631508029997349,
 -2.2579874992370605,
 0.2515318989753723,
 2.6350467205047607,
 -0.12971791625022888
 ],
 [
 0.021003680303692818,
 0.3444059491157532,
 -0.0060363453812897205,
 -2.2579917907714844,
 0.24341480433940887,
 2.637227773666382,
 -0.12334644794464111
 ],
 [
 0.021175434812903404,
 0.34442371129989624,
 -0.0023647542111575603,
 -2.258012294769287,
 0.2367934286594391,
 2.640594244003296,
 -0.11706463247537613
 ],
 [
 0.02118670381605625,
 0.34438347816467285,
 0.00043549551628530025,
 -2.257913112640381,
 0.22960694134235382,
 2.64721417427063,
 -0.11302809417247772
 ],
 [
 0.021187221631407738,
 0.3444249629974365,
 0.002027736511081457,
 -2.257858991622925,
 0.2223939150571823,
 2.6513326168060303,
 -0.10854863375425339
 ],
 [
 0.02117202617228031,
 0.34442004561424255,
 0.003443993628025055,
 -2.257826566696167,
 0.21950188279151917,
 2.6527419090270996,
 -0.1069691926240921
 ],
 [
 0.021187394857406616,
 0.34429532289505005,
 0.005325306672602892,
 -2.257725238800049,
 0.21916688978672028,
 2.6539108753204346,
 -0.10678263753652573
 ],
 [
 0.021165229380130768,
 0.3438221216201782,
 0.006793106906116009,
 -2.2575411796569824,
 0.21916812658309937,
 2.655670404434204,
 -0.10677588731050491
 ],
 [
 0.02117307111620903,
 0.3415359854698181,
 0.008263261057436466,
 -2.257521867752075,
 0.21916940808296204,
 2.6560282707214355,
 -0.10677757114171982
 ],
 [
 0.020971210673451424,
 0.3369429409503937,
 0.00994834303855896,
 -2.2575747966766357,
 0.21918360888957977,
 2.6560068130493164,
 -0.1068282425403595
 ],
 [
 0.020618760958313942,
 0.3293689787387848,
 0.01140553317964077,
 -2.2583818435668945,
 0.21921788156032562,
 2.655912399291992,
 -0.10774019360542297
 ],
 [
 0.02053515985608101,
 0.31871163845062256,
 0.011828829534351826,
 -2.2604756355285645,
 0.2192164957523346,
 2.6556122303009033,
 -0.10802341997623444
 ],
 [
 0.019980544224381447,
 0.30490896105766296,
 0.011828809045255184,
 -2.2646992206573486,
 0.21903349459171295,
 2.6554839611053467,
 -0.10827277600765228
 ],
 [
 0.0188249833881855,
 0.28530243039131165,
 0.01179566327482462,
 -2.2734127044677734,
 0.21805547177791595,
 2.655399799346924,
 -0.10836544632911682
 ],
 [
 0.017418844625353813,
 0.2624680697917938,
 0.011767593212425709,
 -2.285061836242676,
 0.21675889194011688,
 2.6553711891174316,
 -0.10858660191297531
 ],
 [
 0.01597047783434391,
 0.23636697232723236,
 0.011747198179364204,
 -2.2986092567443848,
 0.21523621678352356,
 2.655376434326172,
 -0.10915938764810562
 ],
 [
 0.01573658175766468,
 0.20775538682937622,
 0.011746896430850029,
 -2.3135576248168945,
 0.21377725899219513,
 2.65531325340271,
 -0.1096622571349144
 ],
 [
 0.01579246111214161,
 0.17775020003318787,
 0.011787102557718754,
 -2.3290297985076904,
 0.20991915464401245,
 2.6551566123962402,
 -0.10969550907611847
 ],
 [
 0.01617744192481041,
 0.14696769416332245,
 0.011955303139984608,
 -2.3447463512420654,
 0.20246507227420807,
 2.655060291290283,
 -0.10968764126300812
 ],
 [
 0.01662588119506836,
 0.11602232605218887,
 0.013094473630189896,
 -2.3593297004699707,
 0.1980828195810318,
 2.6550137996673584,
 -0.1101980060338974
 ],
 [
 0.017702383920550346,
 0.08646897226572037,
 0.016486013308167458,
 -2.372598648071289,
 0.19754008948802948,
 2.6550087928771973,
 -0.11396439373493195
 ],
 [
 0.020745329558849335,
 0.05905887857079506,
 0.02152862772345543,
 -2.3838000297546387,
 0.19753985106945038,
 2.655007839202881,
 -0.11923080682754517
 ],
 [
 0.026494132354855537,
 0.03725193440914154,
 0.028132667765021324,
 -2.392315149307251,
 0.1975984126329422,
 2.6549601554870605,
 -0.1253817081451416
 ],
 [
 0.03530719131231308,
 0.022082693874835968,
 0.03695794567465782,
 -2.3975861072540283,
 0.19761069118976593,
 2.6543357372283936,
 -0.12895609438419342
 ],
 [
 0.045333124697208405,
 0.015560493804514408,
 0.046029575169086456,
 -2.4001262187957764,
 0.19759269058704376,
 2.654289722442627,
 -0.12974821031093597
 ],
 [
 0.057465292513370514,
 0.01559020858258009,
 0.05569937080144882,
 -2.401015043258667,
 0.19759732484817505,
 2.6541616916656494,
 -0.13090699911117554
 ],
 [
 0.06966695189476013,
 0.018665367737412453,
 0.06608864665031433,
 -2.401639223098755,
 0.19760683178901672,
 2.653567314147949,
 -0.13293032348155975
 ],
 [
 0.08249599486589432,
 0.024888567626476288,
 0.07705671340227127,
 -2.4020047187805176,
 0.1976020336151123,
 2.6531119346618652,
 -0.135576993227005
 ],
 [
 0.09374584257602692,
 0.03367654234170914,
 0.08761376887559891,
 -2.4020836353302,
 0.1976052224636078,
 2.6527910232543945,
 -0.1391996294260025
 ],
 [
 0.10401731729507446,
 0.046064525842666626,
 0.0979304313659668,
 -2.4014363288879395,
 0.19760438799858093,
 2.652712106704712,
 -0.14381352066993713
 ],
 [
 0.11323221027851105,
 0.06190947815775871,
 0.10649324208498001,
 -2.3993451595306396,
 0.19755566120147705,
 2.6527109146118164,
 -0.14966647326946259
 ],
 [
 0.11907164752483368,
 0.08162881433963776,
 0.11479782313108444,
 -2.3942174911499023,
 0.19567053020000458,
 2.6527204513549805,
 -0.15559598803520203
 ],
 [
 0.12326270341873169,
 0.10320721566677094,
 0.12165658175945282,
 -2.386018991470337,
 0.18778261542320251,
 2.6527414321899414,
 -0.1576228141784668
 ],
 [
 0.12629733979701996,
 0.12709100544452667,
 0.12633126974105835,
 -2.3755037784576416,
 0.17601701617240906,
 2.652738571166992,
 -0.15771730244159698
 ],
 [
 0.1282823532819748,
 0.15282562375068665,
 0.12857601046562195,
 -2.3623387813568115,
 0.16208456456661224,
 2.652742624282837,
 -0.15784811973571777
 ],
 [
 0.13017839193344116,
 0.181911900639534,
 0.12896966934204102,
 -2.346667528152466,
 0.14303886890411377,
 2.6527183055877686,
 -0.15780964493751526
 ],
 [
 0.13082720339298248,
 0.21020278334617615,
 0.12906885147094727,
 -2.3302972316741943,
 0.12565696239471436,
 2.652719259262085,
 -0.1578008234500885
 ],
 [
 0.13166990876197815,
 0.24028123915195465,
 0.1290924847126007,
 -2.311626434326172,
 0.10630591958761215,
 2.652740955352783,
 -0.15768972039222717
 ],
 [
 0.13256984949111938,
 0.268862783908844,
 0.1290869265794754,
 -2.2928619384765625,
 0.09104195982217789,
 2.6527280807495117,
 -0.15764367580413818
 ],
 [
 0.13411453366279602,
 0.2980489730834961,
 0.1291089802980423,
 -2.272287368774414,
 0.0753740593791008,
 2.6526987552642822,
 -0.15761546790599823
 ],
 [
 0.13562779128551483,
 0.324579656124115,
 0.12910565733909607,
 -2.2531752586364746,
 0.06019503250718117,
 2.652576208114624,
 -0.15699733793735504
 ],
 [
 0.13786284625530243,
 0.35168594121932983,
 0.12910838425159454,
 -2.2334706783294678,
 0.04558295011520386,
 2.651853322982788,
 -0.15645471215248108
 ],
 [
 0.14019975066184998,
 0.3776593804359436,
 0.12910649180412292,
 -2.2145328521728516,
 0.03092494234442711,
 2.651193380355835,
 -0.15542493760585785
 ],
 [
 0.14306724071502686,
 0.40228405594825745,
 0.12909333407878876,
 -2.1956753730773926,
 0.018019145354628563,
 2.650179386138916,
 -0.15465089678764343
 ]
 ]
 },
 "rewards": [
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0,
 0.0
 ],
 "discounts": [
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0,
 1.0
 ],
 "is_first": [
 true,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false
 ],
 "is_last": [
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 true
 ],
 "is_terminal": [
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false,
 false
 ],
 "image_shape": [
 180,
 320,
 3
 ]
}