Add files using upload-large-folder tool

ee59f3e verified 2 months ago

125 kB

	{
	"num_steps": 78,
	"fps": 15,
	"source_file_path": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-03/Sat_Jun__3_19:17:04_2023/trajectory.h5",
	"recording_folderpath": "gs://xembodiment_data/r2d2/r2d2-data-full/ILIAD/success/2023-06-03/Sat_Jun__3_19:17:04_2023/recordings/MP4",
	"language_instruction": "Put the orange thing in the can",
	"language_instruction_2": "Put the orange duck in the pot",
	"language_instruction_3": "Put the orange thing in the silver can",
	"actions": [
	[
	0.4484771490097046,
	-0.14784355461597443,
	0.2319207489490509,
	-2.8888440132141113,
	-0.06071735918521881,
	-0.14787065982818604,
	0.0
	],
	[
	0.4520873427391052,
	-0.15023010969161987,
	0.22371725738048553,
	-2.8878448009490967,
	-0.06878485530614853,
	-0.1639842689037323,
	0.0
	],
	[
	0.45548224449157715,
	-0.15327468514442444,
	0.215586319565773,
	-2.888038396835327,
	-0.07631146907806396,
	-0.18067291378974915,
	0.0
	],
	[
	0.45874911546707153,
	-0.15793584287166595,
	0.20802846550941467,
	-2.8822996616363525,
	-0.08137910068035126,
	-0.20094192028045654,
	0.0
	],
	[
	0.4612807631492615,
	-0.16333049535751343,
	0.2005830705165863,
	-2.869861602783203,
	-0.08490399271249771,
	-0.22589260339736938,
	0.0
	],
	[
	0.4631567597389221,
	-0.16790981590747833,
	0.1949094831943512,
	-2.8624916076660156,
	-0.08306799829006195,
	-0.24370288848876953,
	0.0
	],
	[
	0.4654444456100464,
	-0.17302489280700684,
	0.18615256249904633,
	-2.850836753845215,
	-0.07556723803281784,
	-0.2574254274368286,
	0.0
	],
	[
	0.46689438819885254,
	-0.17698688805103302,
	0.17942723631858826,
	-2.8465561866760254,
	-0.06832016259431839,
	-0.2666195333003998,
	0.0
	],
	[
	0.4683256447315216,
	-0.18036915361881256,
	0.17199575901031494,
	-2.843712568283081,
	-0.060815393924713135,
	-0.27448323369026184,
	0.0
	],
	[
	0.46925288438796997,
	-0.1829514056444168,
	0.16421061754226685,
	-2.851321220397949,
	-0.048324842005968094,
	-0.2793790102005005,
	0.0
	],
	[
	0.4698069989681244,
	-0.18498799204826355,
	0.15760822594165802,
	-2.8535075187683105,
	-0.03664596751332283,
	-0.283035010099411,
	0.0
	],
	[
	0.4704371988773346,
	-0.1866166591644287,
	0.1511671543121338,
	-2.855564832687378,
	-0.028320038691163063,
	-0.2841949760913849,
	0.0
	],
	[
	0.4719035029411316,
	-0.18643447756767273,
	0.14613933861255646,
	-2.8551058769226074,
	-0.020182473585009575,
	-0.2811553180217743,
	0.0
	],
	[
	0.4736654758453369,
	-0.18594351410865784,
	0.1411902755498886,
	-2.8575210571289062,
	-0.012092428281903267,
	-0.27913597226142883,
	0.0
	],
	[
	0.4752320647239685,
	-0.1854546219110489,
	0.1367853730916977,
	-2.8583998680114746,
	-0.006599441636353731,
	-0.27603578567504883,
	0.0
	],
	[
	0.47647109627723694,
	-0.1850394308567047,
	0.13376881182193756,
	-2.8589305877685547,
	-0.003139871871098876,
	-0.2749468684196472,
	0.0
	],
	[
	0.47753605246543884,
	-0.18525470793247223,
	0.13195207715034485,
	-2.8576245307922363,
	-0.0026321362238377333,
	-0.2752651870250702,
	0.05970675125718117
	],
	[
	0.47786009311676025,
	-0.18560323119163513,
	0.1302247792482376,
	-2.8555355072021484,
	-0.0003663905954454094,
	-0.2760637700557709,
	0.2421533465385437
	],
	[
	0.47812092304229736,
	-0.18674200773239136,
	0.12904179096221924,
	-2.8548333644866943,
	-0.00040538323810324073,
	-0.2780289649963379,
	0.3381057381629944
	],
	[
	0.4781304895877838,
	-0.1878732591867447,
	0.1279376745223999,
	-2.8539726734161377,
	0.001260922523215413,
	-0.28152021765708923,
	0.404185026884079
	],
	[
	0.4774964153766632,
	-0.18903014063835144,
	0.12693220376968384,
	-2.8520545959472656,
	0.0016271614003926516,
	-0.2853696942329407,
	0.48348015546798706
	],
	[
	0.47694849967956543,
	-0.19040921330451965,
	0.1265900582075119,
	-2.850250244140625,
	0.0008360228966921568,
	-0.2889719009399414,
	0.5451541543006897
	],
	[
	0.4765828549861908,
	-0.19163773953914642,
	0.12752391397953033,
	-2.8462159633636475,
	-0.0008253150153905153,
	-0.29360613226890564,
	0.6288546323776245
	],
	[
	0.4764699339866638,
	-0.1926678866147995,
	0.1279522031545639,
	-2.8464479446411133,
	-0.002759849652647972,
	-0.29563459753990173,
	0.6861233711242676
	],
	[
	0.4768678545951843,
	-0.19283121824264526,
	0.1284472644329071,
	-2.8478262424468994,
	-0.0043831756338477135,
	-0.29569587111473083,
	0.7654184699058533
	],
	[
	0.4774712026119232,
	-0.19245634973049164,
	0.12880651652812958,
	-2.8460235595703125,
	-0.0041708266362547874,
	-0.2938029170036316,
	0.8270925283432007
	],
	[
	0.47852081060409546,
	-0.19147685170173645,
	0.12863273918628693,
	-2.841792106628418,
	-0.004309282172471285,
	-0.2915250360965729,
	0.9019823670387268
	],
	[
	0.4795088469982147,
	-0.19024688005447388,
	0.12848931550979614,
	-2.8358535766601562,
	-0.00414884602651,
	-0.2884443700313568,
	0.9680616855621338
	],
	[
	0.4804588258266449,
	-0.18856137990951538,
	0.12800461053848267,
	-2.831209421157837,
	-0.0033473381772637367,
	-0.28472796082496643,
	0.9911894202232361
	],
	[
	0.48113083839416504,
	-0.18703661859035492,
	0.1277533620595932,
	-2.829726457595825,
	-0.00276885530911386,
	-0.28120458126068115,
	1.0
	],
	[
	0.48131605982780457,
	-0.18573661148548126,
	0.12710875272750854,
	-2.8268380165100098,
	-0.0017764938529580832,
	-0.27936193346977234,
	1.0
	],
	[
	0.48147985339164734,
	-0.18494942784309387,
	0.12706494331359863,
	-2.825485944747925,
	-0.0017103619175031781,
	-0.2783781588077545,
	0.9812775254249573
	],
	[
	0.4811234176158905,
	-0.18420353531837463,
	0.127634197473526,
	-2.8243157863616943,
	-0.0027359898667782545,
	-0.2766380310058594,
	0.9812775254249573
	],
	[
	0.4802526533603668,
	-0.18355205655097961,
	0.12910200655460358,
	-2.8247361183166504,
	-0.006038447842001915,
	-0.2739921808242798,
	0.9812775254249573
	],
	[
	0.4786261022090912,
	-0.18305560946464539,
	0.13029000163078308,
	-2.8268771171569824,
	-0.007076621521264315,
	-0.270673543214798,
	0.9812775254249573
	],
	[
	0.47523555159568787,
	-0.1819491982460022,
	0.13219155371189117,
	-2.831913709640503,
	-0.009066606871783733,
	-0.2627037763595581,
	0.9812775254249573
	],
	[
	0.4720291495323181,
	-0.1812402606010437,
	0.13312803208827972,
	-2.839114189147949,
	-0.007566651329398155,
	-0.2571331262588501,
	0.9812775254249573
	],
	[
	0.46574342250823975,
	-0.18077020347118378,
	0.1345224380493164,
	-2.847677230834961,
	-0.011305103078484535,
	-0.2565699815750122,
	0.9812775254249573
	],
	[
	0.4602946937084198,
	-0.18095172941684723,
	0.13582423329353333,
	-2.8500585556030273,
	-0.015140903182327747,
	-0.2607901096343994,
	0.9812775254249573
	],
	[
	0.4521719813346863,
	-0.18139393627643585,
	0.13814669847488403,
	-2.852731943130493,
	-0.020306799560785294,
	-0.2682015597820282,
	0.9812775254249573
	],
	[
	0.4447196424007416,
	-0.18213577568531036,
	0.13978004455566406,
	-2.8552913665771484,
	-0.023419484496116638,
	-0.27216845750808716,
	0.9812775254249573
	],
	[
	0.43794360756874084,
	-0.1830059140920639,
	0.14222297072410583,
	-2.8610191345214844,
	-0.0272350013256073,
	-0.2771764397621155,
	0.9812775254249573
	],
	[
	0.4299796521663666,
	-0.1843566745519638,
	0.14472366869449615,
	-2.8699371814727783,
	-0.033848270773887634,
	-0.28519153594970703,
	0.9812775254249573
	],
	[
	0.42297232151031494,
	-0.18632987141609192,
	0.14945314824581146,
	-2.878309965133667,
	-0.042384497821331024,
	-0.2966024577617645,
	0.9812775254249573
	],
	[
	0.41798514127731323,
	-0.18791060149669647,
	0.15349839627742767,
	-2.8915011882781982,
	-0.048453573137521744,
	-0.3116225600242615,
	0.9812775254249573
	],
	[
	0.4143083095550537,
	-0.19009950757026672,
	0.16090618073940277,
	-2.921213150024414,
	-0.05517801269888878,
	-0.3368936777114868,
	0.9812775254249573
	],
	[
	0.4128503203392029,
	-0.19108211994171143,
	0.1685776561498642,
	-2.9318153858184814,
	-0.06192491948604584,
	-0.36009326577186584,
	0.9812775254249573
	],
	[
	0.4129049777984619,
	-0.1919792741537094,
	0.1763157993555069,
	-2.9596610069274902,
	-0.06828172504901886,
	-0.3794940114021301,
	0.9812775254249573
	],
	[
	0.4132344424724579,
	-0.19335146248340607,
	0.1830071657896042,
	-2.965474843978882,
	-0.07311460375785828,
	-0.3962036669254303,
	0.9812775254249573
	],
	[
	0.4145732820034027,
	-0.19534984230995178,
	0.19010446965694427,
	-2.972546339035034,
	-0.07573342323303223,
	-0.41534745693206787,
	0.9812775254249573
	],
	[
	0.41713812947273254,
	-0.19792355597019196,
	0.19866181910037994,
	-2.9731502532958984,
	-0.07727426290512085,
	-0.4274236857891083,
	0.9812775254249573
	],
	[
	0.4200279712677002,
	-0.20144349336624146,
	0.2064274549484253,
	-2.9839162826538086,
	-0.0777783989906311,
	-0.43939125537872314,
	0.9812775254249573
	],
	[
	0.4236128330230713,
	-0.20497241616249084,
	0.2139897495508194,
	-2.9926657676696777,
	-0.07801258563995361,
	-0.4491804838180542,
	0.9812775254249573
	],
	[
	0.4270184636116028,
	-0.21083477139472961,
	0.22253893315792084,
	-3.0116519927978516,
	-0.0747450441122055,
	-0.4570242762565613,
	0.9812775254249573
	],
	[
	0.43112805485725403,
	-0.2183317393064499,
	0.23246443271636963,
	-3.0386273860931396,
	-0.07436463236808777,
	-0.45731252431869507,
	0.9812775254249573
	],
	[
	0.43609774112701416,
	-0.22723576426506042,
	0.24374690651893616,
	-3.0699455738067627,
	-0.07109692692756653,
	-0.45477229356765747,
	0.9812775254249573
	],
	[
	0.44056329131126404,
	-0.23635439574718475,
	0.2535285949707031,
	-3.1063613891601562,
	-0.06806745380163193,
	-0.45584291219711304,
	0.9812775254249573
	],
	[
	0.44635874032974243,
	-0.24672575294971466,
	0.2658560574054718,
	-3.13684344291687,
	-0.06155288591980934,
	-0.4526444971561432,
	0.9812775254249573
	],
	[
	0.45386046171188354,
	-0.2587451934814453,
	0.2783297002315521,
	3.104538917541504,
	-0.061116162687540054,
	-0.4502491354942322,
	0.9812775254249573
	],
	[
	0.4613591730594635,
	-0.2687073349952698,
	0.2906681299209595,
	3.079712152481079,
	-0.05362328886985779,
	-0.4449273645877838,
	0.9812775254249573
	],
	[
	0.47000017762184143,
	-0.277334064245224,
	0.30205774307250977,
	3.0550529956817627,
	-0.047194626182317734,
	-0.4402676522731781,
	0.9812775254249573
	],
	[
	0.47909605503082275,
	-0.2826947569847107,
	0.31324347853660583,
	3.0351977348327637,
	-0.03855357691645622,
	-0.4349296987056732,
	0.9812775254249573
	],
	[
	0.4883672297000885,
	-0.285352885723114,
	0.3225862681865692,
	3.0128049850463867,
	-0.031522221863269806,
	-0.4320584237575531,
	0.9812775254249573
	],
	[
	0.4977850019931793,
	-0.2851559519767761,
	0.33135664463043213,
	2.9862279891967773,
	-0.026526929810643196,
	-0.4289964437484741,
	0.9812775254249573
	],
	[
	0.5056409239768982,
	-0.28279250860214233,
	0.33800408244132996,
	2.965686559677124,
	-0.021327868103981018,
	-0.4261072874069214,
	0.9812775254249573
	],
	[
	0.5124931335449219,
	-0.2796376347541809,
	0.34251636266708374,
	2.950777530670166,
	-0.014648851938545704,
	-0.4229298233985901,
	0.9812775254249573
	],
	[
	0.5187761783599854,
	-0.27515292167663574,
	0.34377557039260864,
	2.9479875564575195,
	-0.010411053895950317,
	-0.4198284149169922,
	0.9812775254249573
	],
	[
	0.5246751308441162,
	-0.26958513259887695,
	0.34426113963127136,
	2.9600048065185547,
	-0.013408501632511616,
	-0.41467058658599854,
	0.9812775254249573
	],
	[
	0.5306359529495239,
	-0.26399901509284973,
	0.3431313931941986,
	2.9743170738220215,
	-0.00882513914257288,
	-0.4115854501724243,
	0.9812775254249573
	],
	[
	0.5194451808929443,
	-0.2631561756134033,
	0.34425321221351624,
	2.97391414642334,
	-0.03692808374762535,
	-0.4041039049625397,
	0.9251101613044739
	],
	[
	0.5241788029670715,
	-0.25905030965805054,
	0.3422773778438568,
	2.97330904006958,
	-0.03337962552905083,
	-0.398048460483551,
	0.9251101613044739
	],
	[
	0.5264257788658142,
	-0.25842607021331787,
	0.3407179117202759,
	2.9717094898223877,
	-0.030334997922182083,
	-0.396909236907959,
	0.9251101613044739
	],
	[
	0.5267311930656433,
	-0.25917425751686096,
	0.33964207768440247,
	2.9706830978393555,
	-0.027425821870565414,
	-0.3980405032634735,
	0.9251101613044739
	],
	[
	0.5261679887771606,
	-0.2607199251651764,
	0.33972829580307007,
	2.9701285362243652,
	-0.026146721094846725,
	-0.4010688364505768,
	0.9251101613044739
	],
	[
	0.5258446335792542,
	-0.26149946451187134,
	0.34022971987724304,
	2.969853639602661,
	-0.025299720466136932,
	-0.4027840495109558,
	0.9251101613044739
	],
	[
	0.5260186791419983,
	-0.26122522354125977,
	0.3404383361339569,
	2.9697763919830322,
	-0.024169499054551125,
	-0.40248459577560425,
	0.9251101613044739
	],
	[
	0.5260143876075745,
	-0.261222779750824,
	0.3404847979545593,
	2.9697375297546387,
	-0.023682082071900368,
	-0.40257158875465393,
	0.9251101613044739
	],
	[
	0.5259621739387512,
	-0.2612040936946869,
	0.34046152234077454,
	2.9697160720825195,
	-0.023155052214860916,
	-0.4026569724082947,
	0.9251101613044739
	]
	],
	"action_dict": {
	"cartesian_position": [
	[
	0.4484771490097046,
	-0.14784355461597443,
	0.2319207489490509,
	-2.8888440132141113,
	-0.06071735918521881,
	-0.14787065982818604
	],
	[
	0.4520873427391052,
	-0.15023010969161987,
	0.22371725738048553,
	-2.8878448009490967,
	-0.06878485530614853,
	-0.1639842689037323
	],
	[
	0.45548224449157715,
	-0.15327468514442444,
	0.215586319565773,
	-2.888038396835327,
	-0.07631146907806396,
	-0.18067291378974915
	],
	[
	0.45874911546707153,
	-0.15793584287166595,
	0.20802846550941467,
	-2.8822996616363525,
	-0.08137910068035126,
	-0.20094192028045654
	],
	[
	0.4612807631492615,
	-0.16333049535751343,
	0.2005830705165863,
	-2.869861602783203,
	-0.08490399271249771,
	-0.22589260339736938
	],
	[
	0.4631567597389221,
	-0.16790981590747833,
	0.1949094831943512,
	-2.8624916076660156,
	-0.08306799829006195,
	-0.24370288848876953
	],
	[
	0.4654444456100464,
	-0.17302489280700684,
	0.18615256249904633,
	-2.850836753845215,
	-0.07556723803281784,
	-0.2574254274368286
	],
	[
	0.46689438819885254,
	-0.17698688805103302,
	0.17942723631858826,
	-2.8465561866760254,
	-0.06832016259431839,
	-0.2666195333003998
	],
	[
	0.4683256447315216,
	-0.18036915361881256,
	0.17199575901031494,
	-2.843712568283081,
	-0.060815393924713135,
	-0.27448323369026184
	],
	[
	0.46925288438796997,
	-0.1829514056444168,
	0.16421061754226685,
	-2.851321220397949,
	-0.048324842005968094,
	-0.2793790102005005
	],
	[
	0.4698069989681244,
	-0.18498799204826355,
	0.15760822594165802,
	-2.8535075187683105,
	-0.03664596751332283,
	-0.283035010099411
	],
	[
	0.4704371988773346,
	-0.1866166591644287,
	0.1511671543121338,
	-2.855564832687378,
	-0.028320038691163063,
	-0.2841949760913849
	],
	[
	0.4719035029411316,
	-0.18643447756767273,
	0.14613933861255646,
	-2.8551058769226074,
	-0.020182473585009575,
	-0.2811553180217743
	],
	[
	0.4736654758453369,
	-0.18594351410865784,
	0.1411902755498886,
	-2.8575210571289062,
	-0.012092428281903267,
	-0.27913597226142883
	],
	[
	0.4752320647239685,
	-0.1854546219110489,
	0.1367853730916977,
	-2.8583998680114746,
	-0.006599441636353731,
	-0.27603578567504883
	],
	[
	0.47647109627723694,
	-0.1850394308567047,
	0.13376881182193756,
	-2.8589305877685547,
	-0.003139871871098876,
	-0.2749468684196472
	],
	[
	0.47753605246543884,
	-0.18525470793247223,
	0.13195207715034485,
	-2.8576245307922363,
	-0.0026321362238377333,
	-0.2752651870250702
	],
	[
	0.47786009311676025,
	-0.18560323119163513,
	0.1302247792482376,
	-2.8555355072021484,
	-0.0003663905954454094,
	-0.2760637700557709
	],
	[
	0.47812092304229736,
	-0.18674200773239136,
	0.12904179096221924,
	-2.8548333644866943,
	-0.00040538323810324073,
	-0.2780289649963379
	],
	[
	0.4781304895877838,
	-0.1878732591867447,
	0.1279376745223999,
	-2.8539726734161377,
	0.001260922523215413,
	-0.28152021765708923
	],
	[
	0.4774964153766632,
	-0.18903014063835144,
	0.12693220376968384,
	-2.8520545959472656,
	0.0016271614003926516,
	-0.2853696942329407
	],
	[
	0.47694849967956543,
	-0.19040921330451965,
	0.1265900582075119,
	-2.850250244140625,
	0.0008360228966921568,
	-0.2889719009399414
	],
	[
	0.4765828549861908,
	-0.19163773953914642,
	0.12752391397953033,
	-2.8462159633636475,
	-0.0008253150153905153,
	-0.29360613226890564
	],
	[
	0.4764699339866638,
	-0.1926678866147995,
	0.1279522031545639,
	-2.8464479446411133,
	-0.002759849652647972,
	-0.29563459753990173
	],
	[
	0.4768678545951843,
	-0.19283121824264526,
	0.1284472644329071,
	-2.8478262424468994,
	-0.0043831756338477135,
	-0.29569587111473083
	],
	[
	0.4774712026119232,
	-0.19245634973049164,
	0.12880651652812958,
	-2.8460235595703125,
	-0.0041708266362547874,
	-0.2938029170036316
	],
	[
	0.47852081060409546,
	-0.19147685170173645,
	0.12863273918628693,
	-2.841792106628418,
	-0.004309282172471285,
	-0.2915250360965729
	],
	[
	0.4795088469982147,
	-0.19024688005447388,
	0.12848931550979614,
	-2.8358535766601562,
	-0.00414884602651,
	-0.2884443700313568
	],
	[
	0.4804588258266449,
	-0.18856137990951538,
	0.12800461053848267,
	-2.831209421157837,
	-0.0033473381772637367,
	-0.28472796082496643
	],
	[
	0.48113083839416504,
	-0.18703661859035492,
	0.1277533620595932,
	-2.829726457595825,
	-0.00276885530911386,
	-0.28120458126068115
	],
	[
	0.48131605982780457,
	-0.18573661148548126,
	0.12710875272750854,
	-2.8268380165100098,
	-0.0017764938529580832,
	-0.27936193346977234
	],
	[
	0.48147985339164734,
	-0.18494942784309387,
	0.12706494331359863,
	-2.825485944747925,
	-0.0017103619175031781,
	-0.2783781588077545
	],
	[
	0.4811234176158905,
	-0.18420353531837463,
	0.127634197473526,
	-2.8243157863616943,
	-0.0027359898667782545,
	-0.2766380310058594
	],
	[
	0.4802526533603668,
	-0.18355205655097961,
	0.12910200655460358,
	-2.8247361183166504,
	-0.006038447842001915,
	-0.2739921808242798
	],
	[
	0.4786261022090912,
	-0.18305560946464539,
	0.13029000163078308,
	-2.8268771171569824,
	-0.007076621521264315,
	-0.270673543214798
	],
	[
	0.47523555159568787,
	-0.1819491982460022,
	0.13219155371189117,
	-2.831913709640503,
	-0.009066606871783733,
	-0.2627037763595581
	],
	[
	0.4720291495323181,
	-0.1812402606010437,
	0.13312803208827972,
	-2.839114189147949,
	-0.007566651329398155,
	-0.2571331262588501
	],
	[
	0.46574342250823975,
	-0.18077020347118378,
	0.1345224380493164,
	-2.847677230834961,
	-0.011305103078484535,
	-0.2565699815750122
	],
	[
	0.4602946937084198,
	-0.18095172941684723,
	0.13582423329353333,
	-2.8500585556030273,
	-0.015140903182327747,
	-0.2607901096343994
	],
	[
	0.4521719813346863,
	-0.18139393627643585,
	0.13814669847488403,
	-2.852731943130493,
	-0.020306799560785294,
	-0.2682015597820282
	],
	[
	0.4447196424007416,
	-0.18213577568531036,
	0.13978004455566406,
	-2.8552913665771484,
	-0.023419484496116638,
	-0.27216845750808716
	],
	[
	0.43794360756874084,
	-0.1830059140920639,
	0.14222297072410583,
	-2.8610191345214844,
	-0.0272350013256073,
	-0.2771764397621155
	],
	[
	0.4299796521663666,
	-0.1843566745519638,
	0.14472366869449615,
	-2.8699371814727783,
	-0.033848270773887634,
	-0.28519153594970703
	],
	[
	0.42297232151031494,
	-0.18632987141609192,
	0.14945314824581146,
	-2.878309965133667,
	-0.042384497821331024,
	-0.2966024577617645
	],
	[
	0.41798514127731323,
	-0.18791060149669647,
	0.15349839627742767,
	-2.8915011882781982,
	-0.048453573137521744,
	-0.3116225600242615
	],
	[
	0.4143083095550537,
	-0.19009950757026672,
	0.16090618073940277,
	-2.921213150024414,
	-0.05517801269888878,
	-0.3368936777114868
	],
	[
	0.4128503203392029,
	-0.19108211994171143,
	0.1685776561498642,
	-2.9318153858184814,
	-0.06192491948604584,
	-0.36009326577186584
	],
	[
	0.4129049777984619,
	-0.1919792741537094,
	0.1763157993555069,
	-2.9596610069274902,
	-0.06828172504901886,
	-0.3794940114021301
	],
	[
	0.4132344424724579,
	-0.19335146248340607,
	0.1830071657896042,
	-2.965474843978882,
	-0.07311460375785828,
	-0.3962036669254303
	],
	[
	0.4145732820034027,
	-0.19534984230995178,
	0.19010446965694427,
	-2.972546339035034,
	-0.07573342323303223,
	-0.41534745693206787
	],
	[
	0.41713812947273254,
	-0.19792355597019196,
	0.19866181910037994,
	-2.9731502532958984,
	-0.07727426290512085,
	-0.4274236857891083
	],
	[
	0.4200279712677002,
	-0.20144349336624146,
	0.2064274549484253,
	-2.9839162826538086,
	-0.0777783989906311,
	-0.43939125537872314
	],
	[
	0.4236128330230713,
	-0.20497241616249084,
	0.2139897495508194,
	-2.9926657676696777,
	-0.07801258563995361,
	-0.4491804838180542
	],
	[
	0.4270184636116028,
	-0.21083477139472961,
	0.22253893315792084,
	-3.0116519927978516,
	-0.0747450441122055,
	-0.4570242762565613
	],
	[
	0.43112805485725403,
	-0.2183317393064499,
	0.23246443271636963,
	-3.0386273860931396,
	-0.07436463236808777,
	-0.45731252431869507
	],
	[
	0.43609774112701416,
	-0.22723576426506042,
	0.24374690651893616,
	-3.0699455738067627,
	-0.07109692692756653,
	-0.45477229356765747
	],
	[
	0.44056329131126404,
	-0.23635439574718475,
	0.2535285949707031,
	-3.1063613891601562,
	-0.06806745380163193,
	-0.45584291219711304
	],
	[
	0.44635874032974243,
	-0.24672575294971466,
	0.2658560574054718,
	-3.13684344291687,
	-0.06155288591980934,
	-0.4526444971561432
	],
	[
	0.45386046171188354,
	-0.2587451934814453,
	0.2783297002315521,
	3.104538917541504,
	-0.061116162687540054,
	-0.4502491354942322
	],
	[
	0.4613591730594635,
	-0.2687073349952698,
	0.2906681299209595,
	3.079712152481079,
	-0.05362328886985779,
	-0.4449273645877838
	],
	[
	0.47000017762184143,
	-0.277334064245224,
	0.30205774307250977,
	3.0550529956817627,
	-0.047194626182317734,
	-0.4402676522731781
	],
	[
	0.47909605503082275,
	-0.2826947569847107,
	0.31324347853660583,
	3.0351977348327637,
	-0.03855357691645622,
	-0.4349296987056732
	],
	[
	0.4883672297000885,
	-0.285352885723114,
	0.3225862681865692,
	3.0128049850463867,
	-0.031522221863269806,
	-0.4320584237575531
	],
	[
	0.4977850019931793,
	-0.2851559519767761,
	0.33135664463043213,
	2.9862279891967773,
	-0.026526929810643196,
	-0.4289964437484741
	],
	[
	0.5056409239768982,
	-0.28279250860214233,
	0.33800408244132996,
	2.965686559677124,
	-0.021327868103981018,
	-0.4261072874069214
	],
	[
	0.5124931335449219,
	-0.2796376347541809,
	0.34251636266708374,
	2.950777530670166,
	-0.014648851938545704,
	-0.4229298233985901
	],
	[
	0.5187761783599854,
	-0.27515292167663574,
	0.34377557039260864,
	2.9479875564575195,
	-0.010411053895950317,
	-0.4198284149169922
	],
	[
	0.5246751308441162,
	-0.26958513259887695,
	0.34426113963127136,
	2.9600048065185547,
	-0.013408501632511616,
	-0.41467058658599854
	],
	[
	0.5306359529495239,
	-0.26399901509284973,
	0.3431313931941986,
	2.9743170738220215,
	-0.00882513914257288,
	-0.4115854501724243
	],
	[
	0.5194451808929443,
	-0.2631561756134033,
	0.34425321221351624,
	2.97391414642334,
	-0.03692808374762535,
	-0.4041039049625397
	],
	[
	0.5241788029670715,
	-0.25905030965805054,
	0.3422773778438568,
	2.97330904006958,
	-0.03337962552905083,
	-0.398048460483551
	],
	[
	0.5264257788658142,
	-0.25842607021331787,
	0.3407179117202759,
	2.9717094898223877,
	-0.030334997922182083,
	-0.396909236907959
	],
	[
	0.5267311930656433,
	-0.25917425751686096,
	0.33964207768440247,
	2.9706830978393555,
	-0.027425821870565414,
	-0.3980405032634735
	],
	[
	0.5261679887771606,
	-0.2607199251651764,
	0.33972829580307007,
	2.9701285362243652,
	-0.026146721094846725,
	-0.4010688364505768
	],
	[
	0.5258446335792542,
	-0.26149946451187134,
	0.34022971987724304,
	2.969853639602661,
	-0.025299720466136932,
	-0.4027840495109558
	],
	[
	0.5260186791419983,
	-0.26122522354125977,
	0.3404383361339569,
	2.9697763919830322,
	-0.024169499054551125,
	-0.40248459577560425
	],
	[
	0.5260143876075745,
	-0.261222779750824,
	0.3404847979545593,
	2.9697375297546387,
	-0.023682082071900368,
	-0.40257158875465393
	],
	[
	0.5259621739387512,
	-0.2612040936946869,
	0.34046152234077454,
	2.9697160720825195,
	-0.023155052214860916,
	-0.4026569724082947
	]
	],
	"cartesian_velocity": [
	[
	0.20951411128044128,
	-0.10870398581027985,
	-0.3607221841812134,
	0.02599859982728958,
	-0.18598298728466034,
	-0.1544989049434662
	],
	[
	0.22179988026618958,
	-0.13854090869426727,
	-0.34493565559387207,
	0.022788269445300102,
	-0.21168221533298492,
	-0.1674126833677292
	],
	[
	0.22272609174251556,
	-0.16077661514282227,
	-0.32947036623954773,
	0.02303430624306202,
	-0.2254464328289032,
	-0.1786237508058548
	],
	[
	0.21611998975276947,
	-0.1884962022304535,
	-0.31873461604118347,
	0.06470167636871338,
	-0.22242432832717896,
	-0.2078496515750885
	],
	[
	0.19680200517177582,
	-0.21501338481903076,
	-0.31572583317756653,
	0.1435888260602951,
	-0.2154359370470047,
	-0.250009149312973
	],
	[
	0.1736190766096115,
	-0.21306926012039185,
	-0.2923581898212433,
	0.15381409227848053,
	-0.18126507103443146,
	-0.2325868159532547
	],
	[
	0.16236694157123566,
	-0.21019326150417328,
	-0.3139232397079468,
	0.1869390904903412,
	-0.1289696991443634,
	-0.19366751611232758
	],
	[
	0.1476706862449646,
	-0.18806686997413635,
	-0.30829545855522156,
	0.16946792602539062,
	-0.0886637270450592,
	-0.14467057585716248
	],
	[
	0.14168570935726166,
	-0.15973444283008575,
	-0.3047565519809723,
	0.14309987425804138,
	-0.0695909783244133,
	-0.11095123738050461
	],
	[
	0.13027477264404297,
	-0.13477325439453125,
	-0.3028852641582489,
	0.07033457607030869,
	-0.017591960728168488,
	-0.079553984105587
	],
	[
	0.11778025329113007,
	-0.11176993697881699,
	-0.28048229217529297,
	0.05378187447786331,
	-0.00023404191597364843,
	-0.060848165303468704
	],
	[
	0.11172115802764893,
	-0.0965103730559349,
	-0.2508161962032318,
	0.038027599453926086,
	-0.013646988198161125,
	-0.038168907165527344
	],
	[
	0.11576786637306213,
	-0.06999468058347702,
	-0.21466754376888275,
	0.042039304971694946,
	-0.019998077303171158,
	0.001382922870106995
	],
	[
	0.11989700794219971,
	-0.05055422708392143,
	-0.18636567890644073,
	0.023046089336276054,
	-0.013785246759653091,
	0.020802386105060577
	],
	[
	0.11532174795866013,
	-0.04560182988643646,
	-0.16237910091876984,
	0.007554895710200071,
	-0.019816314801573753,
	0.02622578665614128
	],
	[
	0.10290289670228958,
	-0.04761621728539467,
	-0.13513518869876862,
	-0.007092168554663658,
	-0.02610768936574459,
	0.014270694926381111
	],
	[
	0.08662132918834686,
	-0.05893433466553688,
	-0.10718487203121185,
	-0.010235228575766087,
	-0.043106809258461,
	-0.005115265026688576
	],
	[
	0.06769941002130508,
	-0.0687045305967331,
	-0.08551221340894699,
	-0.006368732079863548,
	-0.04680834338068962,
	-0.02060474082827568
	],
	[
	0.052466824650764465,
	-0.07683289051055908,
	-0.07584007829427719,
	-0.008562038652598858,
	-0.051420703530311584,
	-0.031217563897371292
	],
	[
	0.03875822201371193,
	-0.07664802670478821,
	-0.07008789479732513,
	-0.0059628975577652454,
	-0.0430242083966732,
	-0.04239865019917488
	],
	[
	0.02620028704404831,
	-0.07513032853603363,
	-0.06311050802469254,
	-0.00029253537650220096,
	-0.05009986460208893,
	-0.0521516390144825
	],
	[
	0.021059881895780563,
	-0.07447837293148041,
	-0.05579329654574394,
	-2.004287307499908e-05,
	-0.06041453033685684,
	-0.054461780935525894
	],
	[
	0.02080610767006874,
	-0.07223112881183624,
	-0.04088188335299492,
	0.014639677479863167,
	-0.07564540952444077,
	-0.06352236121892929
	],
	[
	0.02341328375041485,
	-0.06453695893287659,
	-0.03735464811325073,
	0.005580884404480457,
	-0.08163399249315262,
	-0.05362702161073685
	],
	[
	0.02928662672638893,
	-0.046578336507081985,
	-0.03492341563105583,
	-0.010978142730891705,
	-0.07948719710111618,
	-0.032211627811193466
	],
	[
	0.03558651730418205,
	-0.028926728293299675,
	-0.033901575952768326,
	-0.003647121600806713,
	-0.07239129394292831,
	-0.005795916076749563
	],
	[
	0.043394580483436584,
	-0.015069808810949326,
	-0.03964048996567726,
	0.015426659025251865,
	-0.07144378125667572,
	0.012015525251626968
	],
	[
	0.04734117537736893,
	-0.007664477918297052,
	-0.04448205977678299,
	0.04506617411971092,
	-0.07242544740438461,
	0.025458600372076035
	],
	[
	0.04760841652750969,
	-0.003540279110893607,
	-0.05346972867846489,
	0.0666000172495842,
	-0.06691407412290573,
	0.03402433544397354
	],
	[
	0.04092489555478096,
	-0.007734482642263174,
	-0.059853989630937576,
	0.06340409070253372,
	-0.05433284118771553,
	0.036481067538261414
	],
	[
	0.032047346234321594,
	-0.016603553667664528,
	-0.06855114549398422,
	0.06878175586462021,
	-0.04757041856646538,
	0.02692013420164585
	],
	[
	0.023733509704470634,
	-0.02789919637143612,
	-0.0699579194188118,
	0.0671042650938034,
	-0.04345855116844177,
	0.014703101478517056
	],
	[
	0.013092844747006893,
	-0.03441425412893295,
	-0.061334289610385895,
	0.06291722506284714,
	-0.04932105168700218,
	0.013395309448242188
	],
	[
	-0.0015495908446609974,
	-0.034191399812698364,
	-0.04127852991223335,
	0.04620113968849182,
	-0.06713157147169113,
	0.025706948712468147
	],
	[
	-0.02397804521024227,
	-0.02974603697657585,
	-0.02530641295015812,
	0.027664314955472946,
	-0.06884762644767761,
	0.04667925462126732
	],
	[
	-0.06882379204034805,
	-0.014397944323718548,
	0.00014670345990452915,
	-0.008841465227305889,
	-0.07194662094116211,
	0.09966437518596649
	],
	[
	-0.10989771038293839,
	-0.005227391142398119,
	0.013577818870544434,
	-0.05204680934548378,
	-0.048584677278995514,
	0.12948466837406158
	],
	[
	-0.18578235805034637,
	-0.0015879001002758741,
	0.03572429344058037,
	-0.11386487632989883,
	-0.06378341466188431,
	0.1263221949338913
	],
	[
	-0.2357320487499237,
	-0.007295400369912386,
	0.0544547513127327,
	-0.1321912407875061,
	-0.09379248321056366,
	0.09772773087024689
	],
	[
	-0.30344897508621216,
	-0.013349846936762333,
	0.08180663734674454,
	-0.14284062385559082,
	-0.12985466420650482,
	0.0559881329536438
	],
	[
	-0.34085097908973694,
	-0.01374878641217947,
	0.10395736247301102,
	-0.1354762464761734,
	-0.15376801788806915,
	0.04430529475212097
	],
	[
	-0.35115504264831543,
	-0.00818344485014677,
	0.1220957487821579,
	-0.13885074853897095,
	-0.16540727019309998,
	0.02683456428349018
	],
	[
	-0.35784268379211426,
	-0.005851989611983299,
	0.14300665259361267,
	-0.15975432097911835,
	-0.19157694280147552,
	-0.01254308596253395
	],
	[
	-0.344655305147171,
	-0.008870120160281658,
	0.18340730667114258,
	-0.178630992770195,
	-0.22614696621894836,
	-0.06485848128795624
	],
	[
	-0.30689868330955505,
	-0.004167050123214722,
	0.20920288562774658,
	-0.20769907534122467,
	-0.226603701710701,
	-0.12016203999519348
	],
	[
	-0.2627604901790619,
	-0.004355203360319138,
	0.25973865389823914,
	-0.32713282108306885,
	-0.17838354408740997,
	-0.2305886298418045
	],
	[
	-0.2085883617401123,
	0.013974668458104134,
	0.29125648736953735,
	-0.30019137263298035,
	-0.14260396361351013,
	-0.30759936571121216
	],
	[
	-0.14901362359523773,
	0.03160058334469795,
	0.3143175542354584,
	-0.37780657410621643,
	-0.05960676074028015,
	-0.33976951241493225
	],
	[
	-0.10315941274166107,
	0.03897440806031227,
	0.3135121464729309,
	-0.32881078124046326,
	-0.022470923140645027,
	-0.3284315764904022
	],
	[
	-0.061340417712926865,
	0.032880693674087524,
	0.31172680854797363,
	-0.2791353464126587,
	0.024371005594730377,
	-0.32097679376602173
	],
	[
	-0.022266488522291183,
	0.010394001379609108,
	0.33093157410621643,
	-0.2049211859703064,
	0.04305677488446236,
	-0.2768111824989319
	],
	[
	0.00387961370870471,
	-0.021950898692011833,
	0.33806154131889343,
	-0.20050357282161713,
	0.08566800504922867,
	-0.25837162137031555
	],
	[
	0.027851827442646027,
	-0.0425284318625927,
	0.3405895233154297,
	-0.1652650535106659,
	0.11908596754074097,
	-0.23454000055789948
	],
	[
	0.04898420348763466,
	-0.07902462780475616,
	0.3500808775424957,
	-0.16713234782218933,
	0.19552408158779144,
	-0.21127332746982574
	],
	[
	0.07944763451814651,
	-0.12584662437438965,
	0.3825482428073883,
	-0.20128676295280457,
	0.25792425870895386,
	-0.1614503413438797
	],
	[
	0.12354966998100281,
	-0.1719813495874405,
	0.42646318674087524,
	-0.22440364956855774,
	0.32758021354675293,
	-0.10463319718837738
	],
	[
	0.15518590807914734,
	-0.1878892183303833,
	0.43630748987197876,
	-0.24870669841766357,
	0.3888024687767029,
	-0.09582021087408066
	],
	[
	0.19888508319854736,
	-0.19722937047481537,
	0.46131521463394165,
	-0.23050469160079956,
	0.4232190251350403,
	-0.053992677479982376
	],
	[
	0.2525472939014435,
	-0.21090742945671082,
	0.47126883268356323,
	-0.2893451154232025,
	0.44872912764549255,
	-0.03401796519756317
	],
	[
	0.2876501679420471,
	-0.18713518977165222,
	0.44255727529525757,
	-0.21405932307243347,
	0.46059340238571167,
	0.012624627910554409
	],
	[
	0.3139984905719757,
	-0.15242062509059906,
	0.38851943612098694,
	-0.1560012847185135,
	0.46491745114326477,
	0.04755287989974022
	],
	[
	0.33025461435317993,
	-0.11168906837701797,
	0.33283495903015137,
	-0.12036125361919403,
	0.47602608799934387,
	0.06006113439798355
	],
	[
	0.3360406160354614,
	-0.0723671093583107,
	0.26592135429382324,
	-0.14492636919021606,
	0.4803013801574707,
	0.03759961947798729
	],
	[
	0.34163832664489746,
	-0.03289041295647621,
	0.21201328933238983,
	-0.21207605302333832,
	0.4849579632282257,
	0.00835265964269638
	],
	[
	0.32883960008621216,
	0.005049942526966333,
	0.15175114572048187,
	-0.22501905262470245,
	0.47282883524894714,
	-0.004194152075797319
	],
	[
	0.2996154725551605,
	0.028148261830210686,
	0.09039830416440964,
	-0.18700483441352844,
	0.44918718934059143,
	-0.00702481297776103
	],
	[
	0.27313917875289917,
	0.04753267019987106,
	0.029501497745513916,
	-0.10842222720384598,
	0.37802454829216003,
	-0.004953279625624418
	],
	[
	0.250726580619812,
	0.062037281692028046,
	-0.002685257699340582,
	-0.00651462422683835,
	0.2494545876979828,
	0.013536892831325531
	],
	[
	0.235106959939003,
	0.06554226577281952,
	-0.030880851671099663,
	0.09450434148311615,
	0.19242238998413086,
	0.00014942024427000433
	],
	[
	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
	]
	],
	"gripper_position": [
	[
	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
	],
	[
	0.05970675125718117
	],
	[
	0.2421533465385437
	],
	[
	0.3381057381629944
	],
	[
	0.404185026884079
	],
	[
	0.48348015546798706
	],
	[
	0.5451541543006897
	],
	[
	0.6288546323776245
	],
	[
	0.6861233711242676
	],
	[
	0.7654184699058533
	],
	[
	0.8270925283432007
	],
	[
	0.9019823670387268
	],
	[
	0.9680616855621338
	],
	[
	0.9911894202232361
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9812775254249573
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	]
	],
	"gripper_velocity": [
	[
	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
	],
	[
	0.23882700502872467
	],
	[
	0.9157500267028809
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	1.0
	],
	[
	0.7929515242576599
	],
	[
	0.6211453676223755
	],
	[
	0.3700440526008606
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.22466960549354553
	],
	[
	0.0
	],
	[
	0.0
	],
	[
	0.0
	],
	[
	0.0
	],
	[
	0.0
	],
	[
	0.0
	],
	[
	0.0
	],
	[
	0.0
	],
	[
	0.0
	]
	],
	"joint_position": [
	[
	-0.09233380854129791,
	0.11782330274581909,
	-0.206549733877182,
	-2.4870004653930664,
	0.5247532725334167,
	2.556063413619995,
	-0.6017832159996033
	],
	[
	-0.10609960556030273,
	0.14816352725028992,
	-0.1898382604122162,
	-2.474012613296509,
	0.5586033463478088,
	2.5793838500976562,
	-0.617906391620636
	],
	[
	-0.12386955320835114,
	0.17881712317466736,
	-0.17073941230773926,
	-2.4596102237701416,
	0.5891222953796387,
	2.6022262573242188,
	-0.6322789788246155
	],
	[
	-0.1462571620941162,
	0.2081487774848938,
	-0.15152519941329956,
	-2.441906452178955,
	0.6208541393280029,
	2.6161715984344482,
	-0.6469863653182983
	],
	[
	-0.1713775098323822,
	0.23628951609134674,
	-0.13200461864471436,
	-2.4234843254089355,
	0.6592718362808228,
	2.624905586242676,
	-0.664965808391571
	],
	[
	-0.1927412450313568,
	0.2603507339954376,
	-0.11707749962806702,
	-2.4066884517669678,
	0.6793844699859619,
	2.6283888816833496,
	-0.6735051870346069
	],
	[
	-0.2156233787536621,
	0.2917460501194,
	-0.10195761919021606,
	-2.3855741024017334,
	0.7021608352661133,
	2.625797748565674,
	-0.688693106174469
	],
	[
	-0.23342424631118774,
	0.3170335292816162,
	-0.09076373279094696,
	-2.369429111480713,
	0.7104231119155884,
	2.6262643337249756,
	-0.6945263743400574
	],
	[
	-0.2499547302722931,
	0.3431040048599243,
	-0.07962246239185333,
	-2.3537206649780273,
	0.7163634896278381,
	2.628537654876709,
	-0.6987137198448181
	],
	[
	-0.26026973128318787,
	0.36959928274154663,
	-0.07383078336715698,
	-2.3409311771392822,
	0.7054921984672546,
	2.6349034309387207,
	-0.6898145079612732
	],
	[
	-0.27221232652664185,
	0.39069417119026184,
	-0.0659196525812149,
	-2.3295698165893555,
	0.6958675980567932,
	2.6361403465270996,
	-0.6817679405212402
	],
	[
	-0.2833602726459503,
	0.41102519631385803,
	-0.05744371563196182,
	-2.3187496662139893,
	0.6893566846847534,
	2.639760732650757,
	-0.678475558757782
	],
	[
	-0.2913346290588379,
	0.42776253819465637,
	-0.048928774893283844,
	-2.3084089756011963,
	0.6822653412818909,
	2.639585018157959,
	-0.6750562787055969
	],
	[
	-0.296093612909317,
	0.4446154534816742,
	-0.04266561567783356,
	-2.298401117324829,
	0.6729828119277954,
	2.6416015625,
	-0.6676768064498901
	],
	[
	-0.30122464895248413,
	0.4593314230442047,
	-0.03605251759290695,
	-2.289259910583496,
	0.6664605736732483,
	2.643533706665039,
	-0.6641524434089661
	],
	[
	-0.30520543456077576,
	0.4697636365890503,
	-0.030949294567108154,
	-2.2821316719055176,
	0.6607440710067749,
	2.644979953765869,
	-0.659513533115387
	],
	[
	-0.31082725524902344,
	0.4772345721721649,
	-0.025309152901172638,
	-2.275956869125366,
	0.6592357158660889,
	2.6463253498077393,
	-0.6586576700210571
	],
	[
	-0.31600111722946167,
	0.4833373427391052,
	-0.020989306271076202,
	-2.271597385406494,
	0.6581903696060181,
	2.6458213329315186,
	-0.6581262350082397
	],
	[
	-0.32016754150390625,
	0.4880635142326355,
	-0.01874181255698204,
	-2.2676966190338135,
	0.6584197878837585,
	2.646639823913574,
	-0.6587686538696289
	],
	[
	-0.3239053189754486,
	0.4922177791595459,
	-0.017270591109991074,
	-2.2645201683044434,
	0.658172070980072,
	2.6462676525115967,
	-0.6573753952980042
	],
	[
	-0.3290303349494934,
	0.4949435889720917,
	-0.014647115021944046,
	-2.263183832168579,
	0.6605493426322937,
	2.646862506866455,
	-0.6587501168251038
	],
	[
	-0.3346705138683319,
	0.49605894088745117,
	-0.011903081089258194,
	-2.262383222579956,
	0.6625841856002808,
	2.6474459171295166,
	-0.6604725122451782
	],
	[
	-0.3407312035560608,
	0.4940020442008972,
	-0.00868159905076027,
	-2.2622690200805664,
	0.6663475036621094,
	2.645775318145752,
	-0.6622459888458252
	],
	[
	-0.3436927795410156,
	0.4934796094894409,
	-0.007586728781461716,
	-2.2620201110839844,
	0.6665705442428589,
	2.647066593170166,
	-0.6627534627914429
	],
	[
	-0.3447585105895996,
	0.4931528866291046,
	-0.006535656750202179,
	-2.2616097927093506,
	0.6647471189498901,
	2.6488096714019775,
	-0.6615235805511475
	],
	[
	-0.3463464379310608,
	0.4929887652397156,
	-0.0043950509279966354,
	-2.260432481765747,
	0.6636837720870972,
	2.6467480659484863,
	-0.6616628766059875
	],
	[
	-0.3489355742931366,
	0.49417898058891296,
	0.00010478869080543518,
	-2.258014678955078,
	0.6654127836227417,
	2.6443185806274414,
	-0.6636567115783691
	],
	[
	-0.3520161807537079,
	0.4950083792209625,
	0.005352504551410675,
	-2.255697727203369,
	0.6682829260826111,
	2.6404829025268555,
	-0.6670660972595215
	],
	[
	-0.3535493016242981,
	0.4964452385902405,
	0.009996127337217331,
	-2.253850221633911,
	0.6701631546020508,
	2.6376936435699463,
	-0.6693923473358154
	],
	[
	-0.35375913977622986,
	0.4972887337207794,
	0.013108136132359505,
	-2.253288984298706,
	0.6693267226219177,
	2.6371407508850098,
	-0.669521152973175
	],
	[
	-0.3551851809024811,
	0.4983890950679779,
	0.016766615211963654,
	-2.2532031536102295,
	0.6708696484565735,
	2.6363525390625,
	-0.6708858013153076
	],
	[
	-0.3559289276599884,
	0.49837714433670044,
	0.018931051716208458,
	-2.2534098625183105,
	0.6714373230934143,
	2.6362221240997314,
	-0.6712440252304077
	],
	[
	-0.3570832908153534,
	0.4962269067764282,
	0.02119303308427334,
	-2.255472183227539,
	0.6721516847610474,
	2.636575222015381,
	-0.6729907989501953
	],
	[
	-0.3581007421016693,
	0.49135279655456543,
	0.023133281618356705,
	-2.259842872619629,
	0.6724178194999695,
	2.6389212608337402,
	-0.6759108901023865
	],
	[
	-0.3575783371925354,
	0.4862775206565857,
	0.022745681926608086,
	-2.2657923698425293,
	0.6702721118927002,
	2.640812873840332,
	-0.6776115298271179
	],
	[
	-0.3556334376335144,
	0.4769464433193207,
	0.02136041410267353,
	-2.2778069972991943,
	0.665818989276886,
	2.6453349590301514,
	-0.6820377707481384
	],
	[
	-0.3516078293323517,
	0.4704764187335968,
	0.01715896837413311,
	-2.288422107696533,
	0.6586217284202576,
	2.649465560913086,
	-0.681614100933075
	],
	[
	-0.3507518768310547,
	0.45872846245765686,
	0.015302181243896484,
	-2.3078315258026123,
	0.658599853515625,
	2.662541389465332,
	-0.6862927079200745
	],
	[
	-0.35398244857788086,
	0.44799506664276123,
	0.01637759804725647,
	-2.3239192962646484,
	0.6648553013801575,
	2.671699285507202,
	-0.6925770044326782
	],
	[
	-0.3595534861087799,
	0.43094536662101746,
	0.018149955198168755,
	-2.3480896949768066,
	0.6743349432945251,
	2.683910369873047,
	-0.7011157870292664
	],
	[
	-0.36585238575935364,
	0.41633859276771545,
	0.019888952374458313,
	-2.3698079586029053,
	0.6804976463317871,
	2.6936328411102295,
	-0.7100405097007751
	],
	[
	-0.37018781900405884,
	0.40051329135894775,
	0.019810529425740242,
	-2.3916897773742676,
	0.6848359107971191,
	2.70500111579895,
	-0.7160061001777649
	],
	[
	-0.37490975856781006,
	0.3827638328075409,
	0.0191046092659235,
	-2.416914224624634,
	0.6902399659156799,
	2.7216436862945557,
	-0.7219839096069336
	],
	[
	-0.3793599605560303,
	0.3608102798461914,
	0.01695389486849308,
	-2.440977096557617,
	0.6951225996017456,
	2.7353341579437256,
	-0.7242530584335327
	],
	[
	-0.3791724443435669,
	0.34360334277153015,
	0.012360827997326851,
	-2.460923671722412,
	0.6944030523300171,
	2.7516748905181885,
	-0.7152312994003296
	],
	[
	-0.36548158526420593,
	0.3214956820011139,
	-0.005556690506637096,
	-2.4831151962280273,
	0.6751161217689514,
	2.7761874198913574,
	-0.6775339245796204
	],
	[
	-0.3474884629249573,
	0.3008163273334503,
	-0.024492444470524788,
	-2.497300386428833,
	0.6792788505554199,
	2.784552574157715,
	-0.6584354043006897
	],
	[
	-0.326193243265152,
	0.2832634747028351,
	-0.046342138200998306,
	-2.5116453170776367,
	0.6490505933761597,
	2.804741859436035,
	-0.6112359762191772
	],
	[
	-0.3182413578033447,
	0.26656487584114075,
	-0.057846322655677795,
	-2.518596649169922,
	0.6336437463760376,
	2.805628538131714,
	-0.5822585225105286
	],
	[
	-0.3077140748500824,
	0.2511236071586609,
	-0.07367367297410965,
	-2.522286891937256,
	0.6086561679840088,
	2.8032522201538086,
	-0.5426288843154907
	],
	[
	-0.3007708787918091,
	0.23326493799686432,
	-0.0882382020354271,
	-2.520549774169922,
	0.5797910094261169,
	2.7881429195404053,
	-0.5070812106132507
	],
	[
	-0.28991398215293884,
	0.2203243374824524,
	-0.10876421630382538,
	-2.51684832572937,
	0.536888599395752,
	2.7784461975097656,
	-0.46085095405578613
	],
	[
	-0.28107547760009766,
	0.20883865654468536,
	-0.12740787863731384,
	-2.5091190338134766,
	0.49335193634033203,
	2.7643425464630127,
	-0.4162648320198059
	],
	[
	-0.29120296239852905,
	0.19667252898216248,
	-0.1358310431241989,
	-2.5000526905059814,
	0.41278839111328125,
	2.748396873474121,
	-0.34766456484794617
	],
	[
	-0.2811777591705322,
	0.18624699115753174,
	-0.16619575023651123,
	-2.4858200550079346,
	0.33285507559776306,
	2.7296900749206543,
	-0.28859013319015503
	],
	[
	-0.27270326018333435,
	0.1758342832326889,
	-0.1985766440629959,
	-2.463672637939453,
	0.24014288187026978,
	2.6994364261627197,
	-0.2239924967288971
	],
	[
	-0.2661874294281006,
	0.1707490235567093,
	-0.22702237963676453,
	-2.438444137573242,
	0.15484625101089478,
	2.6728692054748535,
	-0.1642104685306549
	],
	[
	-0.2636469304561615,
	0.16186577081680298,
	-0.24941903352737427,
	-2.4015564918518066,
	0.07890358567237854,
	2.623847246170044,
	-0.11640140414237976
	],
	[
	-0.2597581446170807,
	0.160760298371315,
	-0.27148330211639404,
	-2.3566393852233887,
	-0.0002981424331665039,
	2.581350564956665,
	-0.06608932465314865
	],
	[
	-0.2630138695240021,
	0.15750567615032196,
	-0.27609556913375854,
	-2.3097105026245117,
	-0.041422076523303986,
	2.5246777534484863,
	-0.04689357429742813
	],
	[
	-0.2646556496620178,
	0.16195744276046753,
	-0.27786511182785034,
	-2.2597150802612305,
	-0.07199043780565262,
	2.473133087158203,
	-0.03409884497523308
	],
	[
	-0.26344195008277893,
	0.16655974090099335,
	-0.27664870023727417,
	-2.2128825187683105,
	-0.09537661075592041,
	2.4224510192871094,
	-0.02273472771048546
	],
	[
	-0.25933754444122314,
	0.1757323294878006,
	-0.27511629462242126,
	-2.170042037963867,
	-0.12027814984321594,
	2.38252329826355,
	-0.004745800048112869
	],
	[
	-0.2519446611404419,
	0.18458829820156097,
	-0.27344051003456116,
	-2.1299023628234863,
	-0.15094034373760223,
	2.3460652828216553,
	0.01997165009379387
	],
	[
	-0.24392099678516388,
	0.19132573902606964,
	-0.269845187664032,
	-2.098444938659668,
	-0.17272800207138062,
	2.3144690990448,
	0.039346061646938324
	],
	[
	-0.23625430464744568,
	0.19862563908100128,
	-0.2653684616088867,
	-2.07193922996521,
	-0.18628720939159393,
	2.2860589027404785,
	0.05236110836267471
	],
	[
	-0.22900642454624176,
	0.20730336010456085,
	-0.2592974603176117,
	-2.0544562339782715,
	-0.18485358357429504,
	2.270878791809082,
	0.05798914656043053
	],
	[
	-0.22347354888916016,
	0.21367871761322021,
	-0.251463383436203,
	-2.0425007343292236,
	-0.16688182950019836,
	2.2666022777557373,
	0.05321799963712692
	],
	[
	-0.21895399689674377,
	0.2233147919178009,
	-0.24316424131393433,
	-2.029578447341919,
	-0.14639094471931458,
	2.2576744556427,
	0.048220206052064896
	],
	[
	-0.22114989161491394,
	0.19709336757659912,
	-0.24797776341438293,
	-2.0662741661071777,
	-0.15703926980495453,
	2.297191619873047,
	0.04589890316128731
	],
	[
	-0.21596074104309082,
	0.20709265768527985,
	-0.24345141649246216,
	-2.056854486465454,
	-0.155839741230011,
	2.293623208999634,
	0.04862546548247337
	],
	[
	-0.21463598310947418,
	0.21468313038349152,
	-0.2422909140586853,
	-2.0499608516693115,
	-0.15584227442741394,
	2.290944814682007,
	0.04990949109196663
	],
	[
	-0.21515251696109772,
	0.2184242308139801,
	-0.24273581802845,
	-2.04717755317688,
	-0.1558559387922287,
	2.2888882160186768,
	0.04992160201072693
	],
	[
	-0.21669495105743408,
	0.2190810590982437,
	-0.24397721886634827,
	-2.0457983016967773,
	-0.1558586210012436,
	2.2867987155914307,
	0.04992668703198433
	],
	[
	-0.2173214852809906,
	0.21870341897010803,
	-0.24474292993545532,
	-2.044727087020874,
	-0.15588077902793884,
	2.2844433784484863,
	0.04994107782840729
	],
	[
	-0.21700279414653778,
	0.21867237985134125,
	-0.24444879591464996,
	-2.0438578128814697,
	-0.15588751435279846,
	2.2823920249938965,
	0.04994707927107811
	],
	[
	-0.2170233279466629,
	0.21867115795612335,
	-0.24440354108810425,
	-2.043598175048828,
	-0.15588758885860443,
	2.28163480758667,
	0.04994223266839981
	],
	[
	-0.2170172482728958,
	0.21863766014575958,
	-0.24439428746700287,
	-2.0435760021209717,
	-0.15588974952697754,
	2.281043529510498,
	0.049944423139095306
	]
	],
	"joint_velocity": [
	[
	-0.23749622702598572,
	0.41571009159088135,
	0.26841285824775696,
	0.1844247579574585,
	0.4406735897064209,
	0.28620150685310364,
	-0.290261834859848
	],
	[
	-0.2798406481742859,
	0.41517165303230286,
	0.2923072278499603,
	0.21932242810726166,
	0.44319605827331543,
	0.2695658206939697,
	-0.30246502161026
	],
	[
	-0.32143619656562805,
	0.40474921464920044,
	0.31632494926452637,
	0.24205489456653595,
	0.4311014413833618,
	0.2500598430633545,
	-0.30101558566093445
	],
	[
	-0.36620908975601196,
	0.39079588651657104,
	0.33371981978416443,
	0.264408141374588,
	0.43287038803100586,
	0.20034196972846985,
	-0.30004096031188965
	],
	[
	-0.4085448980331421,
	0.3756551444530487,
	0.34619244933128357,
	0.27865612506866455,
	0.47015494108200073,
	0.13820448517799377,
	-0.32115939259529114
	],
	[
	-0.410269558429718,
	0.34355100989341736,
	0.33442243933677673,
	0.27104252576828003,
	0.40256229043006897,
	0.09310505539178848,
	-0.28150954842567444
	],
	[
	-0.40863320231437683,
	0.3563065528869629,
	0.3247869610786438,
	0.2821475565433502,
	0.3644123673439026,
	0.04260280728340149,
	-0.27639153599739075
	],
	[
	-0.3794909715652466,
	0.3444972336292267,
	0.3025204837322235,
	0.2691933810710907,
	0.286043256521225,
	0.028370480984449387,
	-0.2357504516839981
	],
	[
	-0.34527477622032166,
	0.337341845035553,
	0.285664439201355,
	0.2575477659702301,
	0.23018202185630798,
	0.0382574200630188,
	-0.19874954223632812
	],
	[
	-0.29506751894950867,
	0.3346060514450073,
	0.24817520380020142,
	0.23610568046569824,
	0.12443377822637558,
	0.06851065903902054,
	-0.12205450981855392
	],
	[
	-0.2681450843811035,
	0.30567842721939087,
	0.23081539571285248,
	0.21418720483779907,
	0.06747524440288544,
	0.06738648563623428,
	-0.07536393404006958
	],
	[
	-0.256969690322876,
	0.27477389574050903,
	0.22700724005699158,
	0.19780102372169495,
	0.03495100513100624,
	0.07429087162017822,
	-0.05890156328678131
	],
	[
	-0.2429896742105484,
	0.24080246686935425,
	0.22672325372695923,
	0.18665599822998047,
	-0.00011439483205322176,
	0.058645837008953094,
	-0.04181099683046341
	],
	[
	-0.21879065036773682,
	0.21693137288093567,
	0.21353751420974731,
	0.17551788687705994,
	-0.044060446321964264,
	0.058400094509124756,
	-0.0049259355291724205
	],
	[
	-0.207796111702919,
	0.19391031563282013,
	0.20335949957370758,
	0.16217030584812164,
	-0.0678272694349289,
	0.06328306347131729,
	0.012010997161269188
	],
	[
	-0.19822703301906586,
	0.1640571504831314,
	0.1881636679172516,
	0.14301149547100067,
	-0.08787740767002106,
	0.06577905267477036,
	0.03349737823009491
	],
	[
	-0.20365320146083832,
	0.13382937014102936,
	0.1815113127231598,
	0.12384284287691116,
	-0.08676165342330933,
	0.06736712157726288,
	0.03348800539970398
	],
	[
	-0.2081429362297058,
	0.10775908827781677,
	0.17361855506896973,
	0.10432156920433044,
	-0.08787556737661362,
	0.06117139756679535,
	0.034474391490221024
	],
	[
	-0.21264390647411346,
	0.09346871078014374,
	0.16971565783023834,
	0.09002208709716797,
	-0.0857379138469696,
	0.06421618163585663,
	0.030641794204711914
	],
	[
	-0.21028368175029755,
	0.08231458067893982,
	0.16408002376556396,
	0.07594109326601028,
	-0.08660995960235596,
	0.06179732829332352,
	0.03703053668141365
	],
	[
	-0.21348771452903748,
	0.06960349529981613,
	0.16616377234458923,
	0.06222397834062576,
	-0.07444227486848831,
	0.06450653821229935,
	0.030106186866760254
	],
	[
	-0.21164903044700623,
	0.06076497957110405,
	0.16455106437206268,
	0.055362261831760406,
	-0.06421897560358047,
	0.06722784042358398,
	0.021357106044888496
	],
	[
	-0.21310649812221527,
	0.04692412167787552,
	0.16682341694831848,
	0.05200662463903427,
	-0.04541318863630295,
	0.058849383145570755,
	0.012480882927775383
	],
	[
	-0.20269571244716644,
	0.04416830465197563,
	0.16358834505081177,
	0.04964115470647812,
	-0.04438066855072975,
	0.06529850512742996,
	0.00995252188295126
	],
	[
	-0.18102802336215973,
	0.04258803650736809,
	0.15681830048561096,
	0.04569520801305771,
	-0.053531236946582794,
	0.07397197932004929,
	0.0161019004881382
	],
	[
	-0.16801907122135162,
	0.04177389666438103,
	0.15574541687965393,
	0.04607090353965759,
	-0.058810941874980927,
	0.063621886074543,
	0.015397708863019943
	],
	[
	-0.16371211409568787,
	0.04770681634545326,
	0.16122114658355713,
	0.052795909345149994,
	-0.05015508830547333,
	0.05146913602948189,
	0.005436245817691088
	],
	[
	-0.1681613326072693,
	0.051870763301849365,
	0.1692989468574524,
	0.059703752398490906,
	-0.03582186624407768,
	0.03232124075293541,
	-0.011614798568189144
	],
	[
	-0.17049245536327362,
	0.058980874717235565,
	0.17285218834877014,
	0.06460428982973099,
	-0.0265204980969429,
	0.018460487946867943,
	-0.02323490008711815
	],
	[
	-0.16351428627967834,
	0.06320825219154358,
	0.16154959797859192,
	0.062281057238578796,
	-0.030791111290454865,
	0.016037816181778908,
	-0.023859327659010887
	],
	[
	-0.1653730869293213,
	0.06864074617624283,
	0.1555936634540558,
	0.06121401488780975,
	-0.02320835366845131,
	0.013401270844042301,
	-0.030719943344593048
	],
	[
	-0.1662553995847702,
	0.06846979260444641,
	0.14732298254966736,
	0.05822541192173958,
	-0.02039944939315319,
	0.012871642597019672,
	-0.03248529136180878
	],
	[
	-0.167258620262146,
	0.057223886251449585,
	0.14218395948410034,
	0.04784011095762253,
	-0.01691289432346821,
	0.014616400003433228,
	-0.0412365086376667
	],
	[
	-0.16447699069976807,
	0.03270500898361206,
	0.13835245370864868,
	0.025944333523511887,
	-0.015604062005877495,
	0.02633967436850071,
	-0.05586152523756027
	],
	[
	-0.15820471942424774,
	0.0073263151571154594,
	0.1314106285572052,
	-0.0037768580950796604,
	-0.026317352429032326,
	0.03578723967075348,
	-0.0642191618680954
	],
	[
	-0.14681361615657806,
	-0.03932565823197365,
	0.12338818609714508,
	-0.0637456476688385,
	-0.048576995730400085,
	0.058393336832523346,
	-0.08542253822088242
	],
	[
	-0.12635518610477448,
	-0.07151331752538681,
	0.10224831104278564,
	-0.11530368775129318,
	-0.08440140634775162,
	0.07893882691860199,
	-0.07745707035064697
	],
	[
	-0.12203004211187363,
	-0.12829354405403137,
	0.09295244514942169,
	-0.20412933826446533,
	-0.081562839448452,
	0.14353825151920319,
	-0.09797228872776031
	],
	[
	-0.13659852743148804,
	-0.16877518594264984,
	0.09847664833068848,
	-0.2578375041484833,
	-0.04939465969800949,
	0.18098072707653046,
	-0.12580783665180206
	],
	[
	-0.15896329283714294,
	-0.22592782974243164,
	0.10754206776618958,
	-0.3290131092071533,
	-0.00198752130381763,
	0.21889664232730865,
	-0.16261808574199677
	],
	[
	-0.1760452687740326,
	-0.2645207643508911,
	0.11649448424577713,
	-0.36762967705726624,
	0.02808753401041031,
	0.22639767825603485,
	-0.19253221154212952
	],
	[
	-0.174967423081398,
	-0.28577589988708496,
	0.11646249145269394,
	-0.3831460475921631,
	0.04754742234945297,
	0.232209712266922,
	-0.19628292322158813
	],
	[
	-0.16996146738529205,
	-0.30848878622055054,
	0.11325627565383911,
	-0.3960765600204468,
	0.07198404520750046,
	0.25321847200393677,
	-0.18987850844860077
	],
	[
	-0.15909793972969055,
	-0.3389078676700592,
	0.10284872353076935,
	-0.3935883939266205,
	0.09258828312158585,
	0.258078932762146,
	-0.16675321757793427
	],
	[
	-0.126362606883049,
	-0.34292471408843994,
	0.08085884153842926,
	-0.37010568380355835,
	0.08434635400772095,
	0.26056358218193054,
	-0.10130062699317932
	],
	[
	-0.02814779058098793,
	-0.3584241569042206,
	-0.006678999401628971,
	-0.3614466190338135,
	-0.01280501950532198,
	0.2964029312133789,
	0.0902816578745842
	],
	[
	0.07190187275409698,
	-0.35604041814804077,
	-0.08516110479831696,
	-0.32337966561317444,
	0.009343278594315052,
	0.24235594272613525,
	0.1671762466430664
	],
	[
	0.17083986103534698,
	-0.3368203043937683,
	-0.16604626178741455,
	-0.29832902550697327,
	-0.1418016254901886,
	0.2502463161945343,
	0.3581601083278656
	],
	[
	0.18728263676166534,
	-0.3109205365180969,
	-0.18119169771671295,
	-0.2530611753463745,
	-0.19687765836715698,
	0.18982425332069397,
	0.4144674837589264
	],
	[
	0.20038574934005737,
	-0.28069958090782166,
	-0.20668581128120422,
	-0.20504853129386902,
	-0.2663232684135437,
	0.12160837650299072,
	0.4751664102077484
	],
	[
	0.18511474132537842,
	-0.27174821496009827,
	-0.21921390295028687,
	-0.14999325573444366,
	-0.31822264194488525,
	0.01934468001127243,
	0.48161232471466064
	],
	[
	0.1896595060825348,
	-0.24737057089805603,
	-0.2577192783355713,
	-0.10742031782865524,
	-0.4093751907348633,
	-0.03131828084588051,
	0.5277532935142517
	],
	[
	0.18093526363372803,
	-0.22583253681659698,
	-0.27409547567367554,
	-0.06181749701499939,
	-0.4615224003791809,
	-0.09983591735363007,
	0.5430057644844055
	],
	[
	0.08399423211812973,
	-0.2077154666185379,
	-0.2300454080104828,
	-0.017100613564252853,
	-0.6568649411201477,
	-0.17030271887779236,
	0.6603628396987915
	],
	[
	0.10679840296506882,
	-0.19080020487308502,
	-0.3004715144634247,
	0.045633621513843536,
	-0.7861251831054688,
	-0.2531574070453644,
	0.7013794183731079
	],
	[
	0.13502830266952515,
	-0.17384760081768036,
	-0.371269166469574,
	0.13846690952777863,
	-0.9009885787963867,
	-0.3791557550430298,
	0.7277768850326538
	],
	[
	0.14700476825237274,
	-0.1358656883239746,
	-0.38746657967567444,
	0.2162732481956482,
	-0.9161019325256348,
	-0.4527723789215088,
	0.7153922319412231
	],
	[
	0.1358761191368103,
	-0.1169532909989357,
	-0.35321861505508423,
	0.31558626890182495,
	-0.8642077445983887,
	-0.5742378830909729,
	0.642998456954956
	],
	[
	0.1396227329969406,
	-0.06891311705112457,
	-0.32457679510116577,
	0.41553035378456116,
	-0.8465689420700073,
	-0.628449559211731,
	0.6132190227508545
	],
	[
	0.10863082110881805,
	-0.02871069312095642,
	-0.21812570095062256,
	0.48153355717658997,
	-0.652092456817627,
	-0.7031006813049316,
	0.44906359910964966
	],
	[
	0.08902831375598907,
	0.029543815180659294,
	-0.1285485327243805,
	0.5199559330940247,
	-0.4757465720176697,
	-0.7195809483528137,
	0.3064739406108856
	],
	[
	0.08889718353748322,
	0.07644661515951157,
	-0.0724959447979927,
	0.5284543037414551,
	-0.3732982277870178,
	-0.711721658706665,
	0.2422882467508316
	],
	[
	0.10032679885625839,
	0.1284025013446808,
	-0.04742678254842758,
	0.5110419988632202,
	-0.3457721471786499,
	-0.6434183716773987,
	0.2539149522781372
	],
	[
	0.11857229471206665,
	0.16842150688171387,
	-0.03920662775635719,
	0.4959946870803833,
	-0.3734400272369385,
	-0.5791817307472229,
	0.3050662875175476
	],
	[
	0.12156925350427628,
	0.19055983424186707,
	-0.021790357306599617,
	0.4590415954589844,
	-0.34950560331344604,
	-0.5201420187950134,
	0.3019886314868927
	],
	[
	0.1086309552192688,
	0.20033085346221924,
	-0.002476556459441781,
	0.41066598892211914,
	-0.28140273690223694,
	-0.4693892002105713,
	0.2509269416332245
	],
	[
	0.08572930097579956,
	0.2038801610469818,
	0.024174032732844353,
	0.34695541858673096,
	-0.17217546701431274,
	-0.38281136751174927,
	0.18003933131694794
	],
	[
	0.05334165319800377,
	0.18843558430671692,
	0.054890550673007965,
	0.2886222302913666,
	-0.03737445920705795,
	-0.28315767645835876,
	0.08735238015651703
	],
	[
	0.026956208050251007,
	0.18608146905899048,
	0.07515695691108704,
	0.2602628767490387,
	0.06866612285375595,
	-0.24744392931461334,
	0.0273473858833313
	],
	[
	-0.018485452979803085,
	0.0007846207590773702,
	0.017137674614787102,
	0.01174712460488081,
	-0.0024581749457865953,
	-0.014520613476634026,
	-0.0015754246851429343
	],
	[
	-0.01839524321258068,
	0.000830648117698729,
	0.016977883875370026,
	0.012051672674715519,
	-0.0025720903649926186,
	-0.014875274151563644,
	-0.001641728449612856
	],
	[
	-0.018098700791597366,
	0.0008931535994634032,
	0.01663406938314438,
	0.012236697599291801,
	-0.0026007629930973053,
	-0.015034527517855167,
	-0.0017075922805815935
	],
	[
	-0.018051818013191223,
	0.0009219846688210964,
	0.01658257283270359,
	0.012281987816095352,
	-0.002670117188245058,
	-0.015041414648294449,
	-0.001669431570917368
	],
	[
	-0.017950495705008507,
	0.000958580756559968,
	0.016474833711981773,
	0.012306001037359238,
	-0.0026550511829555035,
	-0.015015214681625366,
	-0.00167949334718287
	],
	[
	-0.018458453938364983,
	0.0009599181939847767,
	0.016997063532471657,
	0.012345300056040287,
	-0.0027938836719840765,
	-0.015036105178296566,
	-0.0015923026949167252
	],
	[
	-0.01864052191376686,
	0.0009649692801758647,
	0.017182452604174614,
	0.01237905491143465,
	-0.0028401832096278667,
	-0.015070800669491291,
	-0.0015691750450059772
	],
	[
	-0.01861230470240116,
	0.0009719812078401446,
	0.017152637243270874,
	0.012386912479996681,
	-0.0028303812723606825,
	-0.015074608847498894,
	-0.0015766400611028075
	],
	[
	-0.018648717552423477,
	0.0009724788251332939,
	0.017192227765917778,
	0.012385816313326359,
	-0.002843029797077179,
	-0.015071911737322807,
	-0.0015644739614799619
	]
	]
	},
	"observations": {
	"cartesian_position": [
	[
	0.43060302734375,
	-0.14068059623241425,
	0.26660963892936707,
	-2.9011802673339844,
	-0.03106575272977352,
	-0.11321640014648438
	],
	[
	0.43294310569763184,
	-0.1396455019712448,
	0.258175253868103,
	-2.8959829807281494,
	-0.03358655050396919,
	-0.1252661794424057
	],
	[
	0.435682088136673,
	-0.13988536596298218,
	0.24874170124530792,
	-2.8957717418670654,
	-0.03786987438797951,
	-0.13931721448898315
	],
	[
	0.439054012298584,
	-0.141344353556633,
	0.2395242601633072,
	-2.89682936668396,
	-0.043787769973278046,
	-0.15433117747306824
	],
	[
	0.442884236574173,
	-0.14402735233306885,
	0.23134227097034454,
	-2.8975989818573,
	-0.0508551262319088,
	-0.1700090765953064
	],
	[
	0.44687896966934204,
	-0.1475227028131485,
	0.22370322048664093,
	-2.8970248699188232,
	-0.0577143095433712,
	-0.18777327239513397
	],
	[
	0.4504021108150482,
	-0.1522812396287918,
	0.2161787450313568,
	-2.890078544616699,
	-0.06127771735191345,
	-0.20837345719337463
	],
	[
	0.45347359776496887,
	-0.1577100157737732,
	0.20904754102230072,
	-2.8821001052856445,
	-0.06291180849075317,
	-0.22764427959918976
	],
	[
	0.45598867535591125,
	-0.16332359611988068,
	0.20186616480350494,
	-2.873762845993042,
	-0.061128247529268265,
	-0.2444303035736084
	],
	[
	0.45781880617141724,
	-0.16875511407852173,
	0.1941247135400772,
	-2.866703748703003,
	-0.05547751486301422,
	-0.2573181688785553
	],
	[
	0.45957329869270325,
	-0.17310726642608643,
	0.1863035410642624,
	-2.8619866371154785,
	-0.04782767593860626,
	-0.2674494981765747
	],
	[
	0.46107345819473267,
	-0.1768159419298172,
	0.1778651475906372,
	-2.861323833465576,
	-0.03780023753643036,
	-0.27397096157073975
	],
	[
	0.46213212609291077,
	-0.17951226234436035,
	0.1692219078540802,
	-2.8616814613342285,
	-0.02694372460246086,
	-0.2785147726535797
	],
	[
	0.463297039270401,
	-0.18127787113189697,
	0.161520317196846,
	-2.8620078563690186,
	-0.018153918907046318,
	-0.2813967168331146
	],
	[
	0.4647919535636902,
	-0.18219853937625885,
	0.15460622310638428,
	-2.861281156539917,
	-0.01039617508649826,
	-0.28225553035736084
	],
	[
	0.4668147563934326,
	-0.18202783167362213,
	0.14857350289821625,
	-2.860222816467285,
	-0.003776638535782695,
	-0.2798110246658325
	],
	[
	0.46890076994895935,
	-0.18141494691371918,
	0.14350467920303345,
	-2.8588671684265137,
	0.0013197100488469005,
	-0.276887446641922
	],
	[
	0.4712095856666565,
	-0.18079353868961334,
	0.13968196511268616,
	-2.8577992916107178,
	0.004274206236004829,
	-0.27436915040016174
	],
	[
	0.47293269634246826,
	-0.18045657873153687,
	0.13640668988227844,
	-2.8564155101776123,
	0.006779000628739595,
	-0.27295494079589844
	],
	[
	0.474273145198822,
	-0.18102823197841644,
	0.13461267948150635,
	-2.8556125164031982,
	0.007406861521303654,
	-0.27340105175971985
	],
	[
	0.47527921199798584,
	-0.18222206830978394,
	0.13306428492069244,
	-2.85481595993042,
	0.007784449029713869,
	-0.27532467246055603
	],
	[
	0.475528746843338,
	-0.18349610269069672,
	0.13155828416347504,
	-2.853975534439087,
	0.00896943174302578,
	-0.2777813971042633
	],
	[
	0.47534674406051636,
	-0.18493451178073883,
	0.13073216378688812,
	-2.8526394367218018,
	0.009570755995810032,
	-0.28107768297195435
	],
	[
	0.47499093413352966,
	-0.18632195889949799,
	0.13058944046497345,
	-2.8514389991760254,
	0.009437505155801773,
	-0.28435057401657104
	],
	[
	0.4747043550014496,
	-0.1879439651966095,
	0.13077251613140106,
	-2.8506596088409424,
	0.008667686954140663,
	-0.28785592317581177
	],
	[
	0.4746735990047455,
	-0.1894572526216507,
	0.13109660148620605,
	-2.849576950073242,
	0.0073988111689686775,
	-0.2911123037338257
	],
	[
	0.4748263955116272,
	-0.19032113254070282,
	0.13137000799179077,
	-2.8485231399536133,
	0.006294956896454096,
	-0.2930254638195038
	],
	[
	0.47531095147132874,
	-0.1903357058763504,
	0.1316300332546234,
	-2.846982955932617,
	0.005182104650884867,
	-0.29333972930908203
	],
	[
	0.4760144054889679,
	-0.18960243463516235,
	0.13184022903442383,
	-2.845341920852661,
	0.004239778965711594,
	-0.2921835780143738
	],
	[
	0.4769732356071472,
	-0.188177227973938,
	0.13203592598438263,
	-2.8434839248657227,
	0.003323477925732732,
	-0.2896711528301239
	],
	[
	0.47814443707466125,
	-0.18630260229110718,
	0.1322518289089203,
	-2.8409316539764404,
	0.0023070776369422674,
	-0.2864600121974945
	],
	[
	0.47898614406585693,
	-0.18435604870319366,
	0.13226160407066345,
	-2.838589668273926,
	0.00213880673982203,
	-0.28319430351257324
	],
	[
	0.4797450602054596,
	-0.18273505568504333,
	0.13230499625205994,
	-2.836838483810425,
	0.0017666484927758574,
	-0.28041577339172363
	],
	[
	0.4801590144634247,
	-0.1815631240606308,
	0.13222675025463104,
	-2.835319995880127,
	0.0017895725322887301,
	-0.2785983979701996
	],
	[
	0.480375200510025,
	-0.18096233904361725,
	0.13219402730464935,
	-2.8341012001037598,
	0.001746003283187747,
	-0.2778284549713135
	],
	[
	0.48042356967926025,
	-0.18082594871520996,
	0.13218820095062256,
	-2.8336782455444336,
	0.0017157046822831035,
	-0.2776893377304077
	],
	[
	0.48039838671684265,
	-0.18087172508239746,
	0.13218306005001068,
	-2.8335940837860107,
	0.001665859599597752,
	-0.27764078974723816
	],
	[
	0.48025405406951904,
	-0.18083994090557098,
	0.13209420442581177,
	-2.8335916996002197,
	0.0016037578461691737,
	-0.27648690342903137
	],
	[
	0.47959426045417786,
	-0.1806238889694214,
	0.1318170428276062,
	-2.8338680267333984,
	0.002688487060368061,
	-0.275442510843277
	],
	[
	0.47778743505477905,
	-0.18037517368793488,
	0.13175632059574127,
	-2.834909677505493,
	0.0038811801932752132,
	-0.27539801597595215
	],
	[
	0.4746890664100647,
	-0.1804032176733017,
	0.13201592862606049,
	-2.8376688957214355,
	0.004309480544179678,
	-0.27659717202186584
	],
	[
	0.4698486030101776,
	-0.18117181956768036,
	0.13203632831573486,
	-2.8425168991088867,
	0.0042707836255431175,
	-0.27881550788879395
	],
	[
	0.4636392295360565,
	-0.18249279260635376,
	0.13319961726665497,
	-2.8485519886016846,
	0.0021082405000925064,
	-0.2811727821826935
	],
	[
	0.45619386434555054,
	-0.184036985039711,
	0.13408179581165314,
	-2.8555359840393066,
	0.0002882711705751717,
	-0.2833241820335388
	],
	[
	0.4481792449951172,
	-0.1857755035161972,
	0.13589516282081604,
	-2.8628289699554443,
	-0.002582729794085026,
	-0.2869822680950165
	],
	[
	0.4405246376991272,
	-0.18773548305034637,
	0.13802707195281982,
	-2.8722596168518066,
	-0.007451133336871862,
	-0.2941017746925354
	],
	[
	0.43356260657310486,
	-0.18987517058849335,
	0.1416652649641037,
	-2.882974147796631,
	-0.015483031049370766,
	-0.30357858538627625
	],
	[
	0.4281391203403473,
	-0.19227401912212372,
	0.1470901221036911,
	-2.8965604305267334,
	-0.028594255447387695,
	-0.315888375043869
	],
	[
	0.42376604676246643,
	-0.19449274241924286,
	0.15334317088127136,
	-2.909576654434204,
	-0.042510587722063065,
	-0.3322542607784271
	],
	[
	0.4207819998264313,
	-0.19646205008029938,
	0.1602606624364853,
	-2.9213054180145264,
	-0.05444756895303726,
	-0.35178154706954956
	],
	[
	0.4191378057003021,
	-0.19788967072963715,
	0.16734133660793304,
	-2.932976722717285,
	-0.06497002393007278,
	-0.37136179208755493
	],
	[
	0.4188024699687958,
	-0.19875848293304443,
	0.17437027394771576,
	-2.942903995513916,
	-0.07205749303102493,
	-0.3894863426685333
	],
	[
	0.4198416769504547,
	-0.19986188411712646,
	0.18159759044647217,
	-2.951709747314453,
	-0.07833241671323776,
	-0.4043230414390564
	],
	[
	0.42169901728630066,
	-0.20198839902877808,
	0.18910431861877441,
	-2.963675022125244,
	-0.08500028401613235,
	-0.4176645278930664
	],
	[
	0.4234248995780945,
	-0.20507307350635529,
	0.19666485488414764,
	-2.977323293685913,
	-0.09136554598808289,
	-0.4292694628238678
	],
	[
	0.42530715465545654,
	-0.20926108956336975,
	0.20445162057876587,
	-2.9962666034698486,
	-0.0971471294760704,
	-0.4385838806629181
	],
	[
	0.42697399854660034,
	-0.2148469090461731,
	0.21242380142211914,
	-3.020256757736206,
	-0.10149294883012772,
	-0.44524145126342773
	],
	[
	0.4291287660598755,
	-0.22294530272483826,
	0.22165468335151672,
	-3.0496714115142822,
	-0.10483423620462418,
	-0.44804367423057556
	],
	[
	0.43167248368263245,
	-0.23280391097068787,
	0.23214556276798248,
	-3.080472230911255,
	-0.10384213179349899,
	-0.4511379599571228
	],
	[
	0.4352826774120331,
	-0.2440372258424759,
	0.2442769557237625,
	-3.1129043102264404,
	-0.10271627455949783,
	-0.45287787914276123
	],
	[
	0.44029945135116577,
	-0.25579866766929626,
	0.25892505049705505,
	3.135704278945923,
	-0.1018948033452034,
	-0.4529804587364197
	],
	[
	0.44693493843078613,
	-0.26655179262161255,
	0.2739536762237549,
	3.1048245429992676,
	-0.09959360957145691,
	-0.4520673453807831
	],
	[
	0.45503613352775574,
	-0.2749360203742981,
	0.2895420789718628,
	3.0807573795318604,
	-0.09487081319093704,
	-0.44753333926200867
	],
	[
	0.46392735838890076,
	-0.2802736759185791,
	0.3038018047809601,
	3.0619068145751953,
	-0.08683019131422043,
	-0.44109976291656494
	],
	[
	0.4728478491306305,
	-0.28283029794692993,
	0.3164626359939575,
	3.044403076171875,
	-0.07865659147500992,
	-0.4345080852508545
	],
	[
	0.4817142188549042,
	-0.28315743803977966,
	0.3274703025817871,
	3.0242059230804443,
	-0.07151137292385101,
	-0.4293854236602783
	],
	[
	0.49070024490356445,
	-0.28161919116973877,
	0.33632829785346985,
	3.0025558471679688,
	-0.06403179466724396,
	-0.4249108135700226
	],
	[
	0.4988953471183777,
	-0.2784716486930847,
	0.3419025242328644,
	2.984774589538574,
	-0.05482872202992439,
	-0.4207463264465332
	],
	[
	0.5063191056251526,
	-0.2739623486995697,
	0.34456202387809753,
	2.9756217002868652,
	-0.04656236618757248,
	-0.41710829734802246
	],
	[
	0.5135450959205627,
	-0.26854071021080017,
	0.3454611301422119,
	2.9726879596710205,
	-0.040676042437553406,
	-0.4108836054801941
	],
	[
	0.519767165184021,
	-0.26286017894744873,
	0.34412211179733276,
	2.973970890045166,
	-0.03665753826498985,
	-0.4037361443042755
	],
	[
	0.5243756771087646,
	-0.2589290142059326,
	0.3421865999698639,
	2.9732227325439453,
	-0.03323569893836975,
	-0.39791151881217957
	],
	[
	0.5264897346496582,
	-0.258428156375885,
	0.3406341075897217,
	2.9716382026672363,
	-0.030142901465296745,
	-0.39688342809677124
	],
	[
	0.5267230868339539,
	-0.25922080874443054,
	0.3396203815937042,
	2.970654010772705,
	-0.02733459509909153,
	-0.3981296718120575
	],
	[
	0.5261297821998596,
	-0.2608051598072052,
	0.3397539258003235,
	2.9701058864593506,
	-0.026093091815710068,
	-0.40123870968818665
	],
	[
	0.5258460640907288,
	-0.2614994943141937,
	0.34025838971138,
	2.969841718673706,
	-0.025196511298418045,
	-0.4028083086013794
	],
	[
	0.5260279774665833,
	-0.26121240854263306,
	0.3404432535171509,
	2.969775915145874,
	-0.024135954678058624,
	-0.40246012806892395
	],
	[
	0.5260115265846252,
	-0.2612188458442688,
	0.34048566222190857,
	2.969738245010376,
	-0.023653987795114517,
	-0.40257710218429565
	]
	],
	"gripper_position": [
	[
	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
	],
	[
	0.026431767269968987
	],
	[
	0.08810574561357498
	],
	[
	0.16740086674690247
	],
	[
	0.23348015546798706
	],
	[
	0.31277531385421753
	],
	[
	0.3788546025753021
	],
	[
	0.44933921098709106
	],
	[
	0.5154184699058533
	],
	[
	0.5947136878967285
	],
	[
	0.6519823670387268
	],
	[
	0.7356828451156616
	],
	[
	0.7929515242576599
	],
	[
	0.8766520023345947
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	],
	[
	0.9251101613044739
	]
	],
	"joint_position": [
	[
	-0.04137463867664337,
	0.010920536704361439,
	-0.2708035707473755,
	-2.5276899337768555,
	0.40508362650871277,
	2.4797379970550537,
	-0.5311180949211121
	],
	[
	-0.04513788968324661,
	0.0371231809258461,
	-0.25934898853302,
	-2.523499011993408,
	0.4392586052417755,
	2.500685691833496,
	-0.5449531674385071
	],
	[
	-0.05069433152675629,
	0.06789706647396088,
	-0.24726653099060059,
	-2.51719331741333,
	0.4723033905029297,
	2.5274555683135986,
	-0.5585913062095642
	],
	[
	-0.060411836951971054,
	0.10060640424489975,
	-0.23282219469547272,
	-2.5071067810058594,
	0.5053260326385498,
	2.5542564392089844,
	-0.5733771920204163
	],
	[
	-0.0741966962814331,
	0.1324530690908432,
	-0.21693789958953857,
	-2.4935848712921143,
	0.536709189414978,
	2.5779385566711426,
	-0.5882872939109802
	],
	[
	-0.09115050733089447,
	0.16361375153064728,
	-0.19987359642982483,
	-2.4777328968048096,
	0.567432165145874,
	2.5985538959503174,
	-0.6021130681037903
	],
	[
	-0.11244889348745346,
	0.19416935741901398,
	-0.18251478672027588,
	-2.4593703746795654,
	0.6014811992645264,
	2.6104090213775635,
	-0.6187525987625122
	],
	[
	-0.1358085721731186,
	0.22291503846645355,
	-0.16560067236423492,
	-2.4404985904693604,
	0.6311967968940735,
	2.617748737335205,
	-0.6346823573112488
	],
	[
	-0.1594577133655548,
	0.2505577504634857,
	-0.15001213550567627,
	-2.4217212200164795,
	0.6550323367118835,
	2.620636224746704,
	-0.6485978364944458
	],
	[
	-0.1826237440109253,
	0.27801430225372314,
	-0.13561619818210602,
	-2.4038469791412354,
	0.6713839769363403,
	2.6209123134613037,
	-0.6598144173622131
	],
	[
	-0.20256303250789642,
	0.30465200543403625,
	-0.12258472293615341,
	-2.3870391845703125,
	0.6810214519500732,
	2.621238946914673,
	-0.6657183170318604
	],
	[
	-0.21978336572647095,
	0.33191758394241333,
	-0.11117643117904663,
	-2.3711981773376465,
	0.6823750138282776,
	2.6228911876678467,
	-0.6666936278343201
	],
	[
	-0.23278866708278656,
	0.35827961564064026,
	-0.10217904299497604,
	-2.3572442531585693,
	0.6823645234107971,
	2.6251378059387207,
	-0.6666974425315857
	],
	[
	-0.24353383481502533,
	0.38168492913246155,
	-0.0935630351305008,
	-2.344719648361206,
	0.6822875142097473,
	2.6280901432037354,
	-0.6666889190673828
	],
	[
	-0.25309935212135315,
	0.4029279053211212,
	-0.08462449908256531,
	-2.3325276374816895,
	0.681769609451294,
	2.6300010681152344,
	-0.6666893362998962
	],
	[
	-0.26015543937683105,
	0.4219481945037842,
	-0.07608118653297424,
	-2.3206357955932617,
	0.6799493432044983,
	2.6309826374053955,
	-0.6665266752243042
	],
	[
	-0.2660267651081085,
	0.43820059299468994,
	-0.06793451309204102,
	-2.3099448680877686,
	0.678199291229248,
	2.6319262981414795,
	-0.6661781668663025
	],
	[
	-0.2704247832298279,
	0.4515259265899658,
	-0.061115194112062454,
	-2.2999444007873535,
	0.6764925718307495,
	2.632908821105957,
	-0.6652598977088928
	],
	[
	-0.274669349193573,
	0.4626375138759613,
	-0.055342983454465866,
	-2.2917683124542236,
	0.6757569909095764,
	2.6336429119110107,
	-0.6649898290634155
	],
	[
	-0.2778862416744232,
	0.46984604001045227,
	-0.0524846687912941,
	-2.285262107849121,
	0.675559401512146,
	2.6337978839874268,
	-0.6648908853530884
	],
	[
	-0.28215932846069336,
	0.4762451946735382,
	-0.049929145723581314,
	-2.2792904376983643,
	0.6754910945892334,
	2.63391375541687,
	-0.6647775173187256
	],
	[
	-0.28677237033843994,
	0.4813571870326996,
	-0.04764268547296524,
	-2.275397777557373,
	0.6754303574562073,
	2.6339643001556396,
	-0.6647641658782959
	],
	[
	-0.29284659028053284,
	0.4840424954891205,
	-0.04454619064927101,
	-2.2733447551727295,
	0.6754226088523865,
	2.633998155593872,
	-0.6647424101829529
	],
	[
	-0.2984732985496521,
	0.48462724685668945,
	-0.04190157353878021,
	-2.272645950317383,
	0.6754277348518372,
	2.6340057849884033,
	-0.6647365093231201
	],
	[
	-0.3035336434841156,
	0.48465004563331604,
	-0.04015678912401199,
	-2.2718677520751953,
	0.6754459738731384,
	2.634006977081299,
	-0.6647431254386902
	],
	[
	-0.3089948892593384,
	0.48462921380996704,
	-0.037691570818424225,
	-2.270643949508667,
	0.6754527688026428,
	2.6340153217315674,
	-0.664743959903717
	],
	[
	-0.3130565881729126,
	0.48463207483291626,
	-0.03529481962323189,
	-2.269564628601074,
	0.6754493117332458,
	2.6340253353118896,
	-0.6647452712059021
	],
	[
	-0.31644198298454285,
	0.48463040590286255,
	-0.03186021372675896,
	-2.268489360809326,
	0.6754432320594788,
	2.634028911590576,
	-0.664746880531311
	],
	[
	-0.3184937834739685,
	0.48463401198387146,
	-0.02825005166232586,
	-2.267575979232788,
	0.6754466891288757,
	2.6340208053588867,
	-0.6647409796714783
	],
	[
	-0.3195706903934479,
	0.4846457242965698,
	-0.02420627698302269,
	-2.2666876316070557,
	0.6754672527313232,
	2.634000778198242,
	-0.6647491455078125
	],
	[
	-0.3212091326713562,
	0.48464876413345337,
	-0.0187455452978611,
	-2.2656874656677246,
	0.6754906177520752,
	2.6339168548583984,
	-0.6647520661354065
	],
	[
	-0.32215550541877747,
	0.484658807516098,
	-0.014034158550202847,
	-2.2653965950012207,
	0.6755064725875854,
	2.6336629390716553,
	-0.6647431254386902
	],
	[
	-0.3227103352546692,
	0.4846939146518707,
	-0.010265297256410122,
	-2.2650506496429443,
	0.6755184531211853,
	2.6336493492126465,
	-0.6647442579269409
	],
	[
	-0.32374894618988037,
	0.48478999733924866,
	-0.0070208110846579075,
	-2.265045166015625,
	0.6755338907241821,
	2.6336519718170166,
	-0.6647415161132812
	],
	[
	-0.32529860734939575,
	0.48481446504592896,
	-0.00440212432295084,
	-2.2650368213653564,
	0.6755359768867493,
	2.633654832839966,
	-0.6647447943687439
	],
	[
	-0.3259866535663605,
	0.48481032252311707,
	-0.0034930116962641478,
	-2.26503849029541,
	0.6755363941192627,
	2.633655309677124,
	-0.6647685170173645
	],
	[
	-0.326286256313324,
	0.48480793833732605,
	-0.0033056200481951237,
	-2.2650561332702637,
	0.6755330562591553,
	2.633660078048706,
	-0.6649577021598816
	],
	[
	-0.3263351321220398,
	0.48478633165359497,
	-0.0032876115292310715,
	-2.265402317047119,
	0.675502598285675,
	2.633681535720825,
	-0.6661794781684875
	],
	[
	-0.32634487748146057,
	0.48430395126342773,
	-0.003289978252723813,
	-2.2672460079193115,
	0.6748594641685486,
	2.633852243423462,
	-0.666709840297699
	],
	[
	-0.32669755816459656,
	0.4813866913318634,
	-0.003314827335998416,
	-2.2729761600494385,
	0.6747289299964905,
	2.6356985569000244,
	-0.6674919128417969
	],
	[
	-0.32786616683006287,
	0.47573792934417725,
	-0.003359382739290595,
	-2.2830488681793213,
	0.6747318506240845,
	2.640535354614258,
	-0.6687160134315491
	],
	[
	-0.3309215009212494,
	0.4684527814388275,
	-0.003418574808165431,
	-2.2976431846618652,
	0.6748849749565125,
	2.6490731239318848,
	-0.6718989014625549
	],
	[
	-0.3356183171272278,
	0.456365168094635,
	-0.0034826421178877354,
	-2.3171279430389404,
	0.675335705280304,
	2.6596920490264893,
	-0.677402675151825
	],
	[
	-0.34140974283218384,
	0.44334113597869873,
	-0.003539503552019596,
	-2.3395895957946777,
	0.6758477091789246,
	2.6719980239868164,
	-0.6846368908882141
	],
	[
	-0.34802159667015076,
	0.42713460326194763,
	-0.0036208622623234987,
	-2.3643338680267334,
	0.6766204833984375,
	2.684769630432129,
	-0.6914466619491577
	],
	[
	-0.3543066084384918,
	0.41095873713493347,
	-0.0038096902426332235,
	-2.388533353805542,
	0.6775339841842651,
	2.7007765769958496,
	-0.6951549649238586
	],
	[
	-0.3601967394351959,
	0.39190617203712463,
	-0.0042341831140220165,
	-2.4124021530151367,
	0.6776784062385559,
	2.717947483062744,
	-0.6955908536911011
	],
	[
	-0.3618845045566559,
	0.3706261217594147,
	-0.007732567843049765,
	-2.4340763092041016,
	0.6774048209190369,
	2.7375054359436035,
	-0.6916014552116394
	],
	[
	-0.3601720929145813,
	0.3485841155052185,
	-0.01366229634732008,
	-2.4534873962402344,
	0.677410364151001,
	2.755599021911621,
	-0.6821258068084717
	],
	[
	-0.3551044166088104,
	0.3264932632446289,
	-0.022506045177578926,
	-2.469355583190918,
	0.67236328125,
	2.768918991088867,
	-0.6628717184066772
	],
	[
	-0.3470107614994049,
	0.30556467175483704,
	-0.033224184066057205,
	-2.4821252822875977,
	0.6607144474983215,
	2.779628276824951,
	-0.6353777050971985
	],
	[
	-0.3369968831539154,
	0.2861692011356354,
	-0.04538196325302124,
	-2.49116587638855,
	0.6416476964950562,
	2.784433603286743,
	-0.6006280183792114
	],
	[
	-0.3271467983722687,
	0.26856255531311035,
	-0.05808484926819801,
	-2.4956088066101074,
	0.6169745326042175,
	2.7846970558166504,
	-0.5638291239738464
	],
	[
	-0.3164861798286438,
	0.25265631079673767,
	-0.0738585814833641,
	-2.496770143508911,
	0.5826619267463684,
	2.7842202186584473,
	-0.5213713049888611
	],
	[
	-0.3074664771556854,
	0.23745594918727875,
	-0.09078873693943024,
	-2.4966254234313965,
	0.541968822479248,
	2.782370090484619,
	-0.47733885049819946
	],
	[
	-0.30235937237739563,
	0.22312326729297638,
	-0.10731609910726547,
	-2.4947917461395264,
	0.485276997089386,
	2.779995918273926,
	-0.4240613579750061
	],
	[
	-0.29940065741539,
	0.20956136286258698,
	-0.12600725889205933,
	-2.490895986557007,
	0.4146803021430969,
	2.7747256755828857,
	-0.36452504992485046
	],
	[
	-0.29512545466423035,
	0.19673436880111694,
	-0.1517818570137024,
	-2.4806320667266846,
	0.3313599228858948,
	2.761826992034912,
	-0.30213695764541626
	],
	[
	-0.2905513346195221,
	0.1843475103378296,
	-0.18108902871608734,
	-2.4629764556884766,
	0.24509994685649872,
	2.736531972885132,
	-0.23999926447868347
	],
	[
	-0.2874187231063843,
	0.17333842813968658,
	-0.20916034281253815,
	-2.436933755874634,
	0.1618703305721283,
	2.7031867504119873,
	-0.18361899256706238
	],
	[
	-0.2845352292060852,
	0.16228611767292023,
	-0.2346656173467636,
	-2.40246844291687,
	0.08214934915304184,
	2.6611344814300537,
	-0.131971538066864
	],
	[
	-0.28228649497032166,
	0.15563790500164032,
	-0.2531641125679016,
	-2.360767364501953,
	0.01979607529938221,
	2.613612413406372,
	-0.0932227149605751
	],
	[
	-0.28114181756973267,
	0.15105636417865753,
	-0.26267921924591064,
	-2.3146984577178955,
	-0.02340005896985531,
	2.5605099201202393,
	-0.06966735422611237
	],
	[
	-0.27924537658691406,
	0.15004634857177734,
	-0.26566576957702637,
	-2.268427848815918,
	-0.05306747183203697,
	2.5068271160125732,
	-0.05438665673136711
	],
	[
	-0.2752339243888855,
	0.15091830492019653,
	-0.26560738682746887,
	-2.225830078125,
	-0.07800987362861633,
	2.458068609237671,
	-0.03952086344361305
	],
	[
	-0.26755011081695557,
	0.15353639423847198,
	-0.26545554399490356,
	-2.1871800422668457,
	-0.10494519770145416,
	2.4153406620025635,
	-0.019065748900175095
	],
	[
	-0.2571391761302948,
	0.15913888812065125,
	-0.26486897468566895,
	-2.151404619216919,
	-0.13175591826438904,
	2.377211570739746,
	0.0040251086466014385
	],
	[
	-0.2452433854341507,
	0.1672622114419937,
	-0.26409292221069336,
	-2.121661901473999,
	-0.15166325867176056,
	2.3451054096221924,
	0.02350493147969246
	],
	[
	-0.23344337940216064,
	0.17668941617012024,
	-0.262323796749115,
	-2.09879994392395,
	-0.1596876084804535,
	2.321720600128174,
	0.03648899495601654
	],
	[
	-0.22378584742546082,
	0.18697309494018555,
	-0.25775840878486633,
	-2.080294609069824,
	-0.16012145578861237,
	2.3063466548919678,
	0.04319330304861069
	],
	[
	-0.21711647510528564,
	0.19758905470371246,
	-0.25105205178260803,
	-2.0680038928985596,
	-0.15634983777999878,
	2.2998132705688477,
	0.04638649523258209
	],
	[
	-0.212107852101326,
	0.20742154121398926,
	-0.24669602513313293,
	-2.058791399002075,
	-0.15532295405864716,
	2.296440601348877,
	0.04913974180817604
	],
	[
	-0.21099123358726501,
	0.21481892466545105,
	-0.24560292065143585,
	-2.0521650314331055,
	-0.15531887114048004,
	2.293823719024658,
	0.05025562644004822
	],
	[
	-0.21158944070339203,
	0.21832475066184998,
	-0.24608269333839417,
	-2.04955792427063,
	-0.15532058477401733,
	2.2918100357055664,
	0.05025691166520119
	],
	[
	-0.21318365633487701,
	0.2188752144575119,
	-0.2473510056734085,
	-2.0481982231140137,
	-0.15532629191875458,
	2.2896687984466553,
	0.05025680363178253
	],
	[
	-0.21362070739269257,
	0.21849095821380615,
	-0.24814443290233612,
	-2.0471160411834717,
	-0.15532389283180237,
	2.2872438430786133,
	0.050261106342077255
	],
	[
	-0.21326899528503418,
	0.21848393976688385,
	-0.24786242842674255,
	-2.0463030338287354,
	-0.155319482088089,
	2.2853474617004395,
	0.05025594308972359
	],
	[
	-0.21329663693904877,
	0.21846812963485718,
	-0.2478327453136444,
	-2.0460774898529053,
	-0.15532125532627106,
	2.284613609313965,
	0.050262197852134705
	]
	]
	},
	"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,
	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,
	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,
	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,
	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,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false,
	false
	],
	"image_shape": [
	180,
	320,
	3
	]
	}